PCB board feeding device

Abstract

The utility model relates to a kind of PCB board feeding device, comprising: main body, main body has accommodating space, for accommodating hopper, accommodating space side has material inlet and outlet, material inlet and outlet are set in first direction;Lifting assembly, set in main body to drive hopper to move in third direction;Carrying assembly, it is located in the side of material inlet and outlet and is set in main body, carrying assembly includes moving mechanism and material handling mechanism, several material handling mechanisms are spaced apart along first direction, moving mechanism drives material handling mechanism to move along first direction, and material handling mechanism is used to carry material;Conveying assembly, it is located in the material inlet and outlet and is set in main body, the conveying assembly includes driving mechanism, and the transmission mechanism connected with driving mechanism, driving mechanism drives the transmission mechanism movement, to make material pass through transmission mechanism to enter and exit material inlet and outlet.The utility model uses a group of carrying assembly to reduce space occupation, control is convenient, and the stability when conveying PCB board can be simultaneously promoted.

Description

Technical Field

[0001] This utility model relates to the field of PCB board conveying technology, and in particular to a PCB board feeding device. Background Technology

[0002] Currently, PCB boards are transported between processing equipment and storage devices using AGVs. The AGVs carry the hopper to the processing equipment, outputting PCB boards from the hopper or receiving PCB boards from the processing equipment and inputting them into the hopper. Currently, PCB board transport typically uses symmetrically arranged conveying devices to push the PCB boards in one direction, allowing them to enter and exit the hopper. However, symmetrically arranged conveying devices occupy a large amount of space, reducing the storage space available for the hopper. Furthermore, the control complexity of these conveying devices is high. Summary of the Invention

[0003] One objective of this invention is to solve the existing technical problems by providing a PCB board feeding device that can solve the problem of space occupation by the handling device and reduce the difficulty of control.

[0004] To achieve the objectives of this utility model, the embodiments of this utility model adopt the following technical solutions:

[0005] A PCB board feeding device, comprising:

[0006] The main body has a receiving space for housing the silo, and the receiving space has material inlets and outlets on its periphery, which are located in the first direction;

[0007] A lifting assembly is installed on the main body to drive the hopper to move in a third direction;

[0008] A conveying assembly is disposed on the main body and located on the side of the material inlet and outlet. The conveying assembly includes a moving mechanism and a material handling mechanism. Several material handling mechanisms are arranged at intervals along a first direction. The moving mechanism drives the material handling mechanisms to move along the first direction. The material handling mechanisms are used to handle materials.

[0009] A conveying assembly is disposed on the main body and located at the material inlet and outlet. The conveying assembly includes a drive mechanism and a conveying mechanism connected to the drive mechanism. The drive mechanism drives the conveying mechanism to move so that the material passes through the conveying mechanism to enter and exit the material inlet and outlet.

[0010] In some embodiments, the material handling mechanism includes a gripper, a rotating power component, and a power unit for driving the gripper. The rotating power components of several material handling mechanisms are all disposed at the output end of the moving mechanism. The output end of the rotating power component is connected to the power unit. The rotating power component causes the gripper to switch between a first direction and a second direction, so that the gripper switches between a conveying state and a clearance state. The grippers of several material handling mechanisms move synchronously.

[0011] In some embodiments, the main body is disposed on the AGV, the straight direction of the AGV is the second direction, the lifting component and the conveying component are disposed on the same side of the AGV, and the main body includes a support portion, which is vertically disposed on the AGV.

[0012] In some embodiments, a hopper inlet / outlet is provided on one side of the accommodating space, and the hopper inlet / outlet is located in a second direction and is disposed opposite to the conveying component.

[0013] In some embodiments, the lifting assembly includes a fork arm and a lifting mechanism. The fork arm is located in the receiving space, one end of the fork arm is connected to the output end of the lifting mechanism, and the other end is a free end. The lifting mechanism is mounted on the main body.

[0014] In some embodiments, the conveying assembly includes a support, one end of which is connected to the main body and the other end is a free end. The support has an opening that corresponds to the storage layer of the hopper. A first detection element and a second detection element are respectively provided on both sides of the support. The detection area of ​​the first detection element is located outside the support, and the detection area of ​​the second detection element is located between the support and the hopper.

[0015] In some embodiments, the conveying mechanism includes rollers and clearance grooves, the rollers being disposed along a second direction and located in the opening, and the clearance grooves being disposed between adjacent rollers and disposed along a first direction.

[0016] In some embodiments, the drive mechanism includes a drive member, a drive shaft, and a driven shaft. The drive member is connected to the drive shaft, the driven shaft and the drive shaft are arranged in parallel and connected by a transmission belt, and a roller is arranged on the drive shaft and the driven shaft.

[0017] In some embodiments, the drive shaft is provided with at least two rollers, the driven shaft is provided with at least two rollers, the rollers are located at the same height, the clearance groove is located between the coaxial rollers, and the clearance groove has flared openings at both ends.

[0018] In some embodiments, the hopper includes a plurality of storage layers, each storage layer having a support plate, and a slot is provided in the middle of the support plate, the slot being disposed along a first direction.

[0019] This utility model has the following main advantages:

[0020] (1) The handling components are set on one side, reducing space occupation and facilitating control; (2) The stability of PCB board conveying is improved by several material handling mechanisms set on the same side; (3) The flexible method of combining pushing and conveying is adopted for loading and unloading, which simplifies the supporting hopper structure and effectively saves costs, and solves the problems of AGV stopping position being inaccurate, direct pushing causing board jamming, impacting pins leading to loading and unloading failure and damage to board processing accuracy. The conveying components provide auxiliary power and support, enabling PCB boards to be conveyed smoothly. Other advantages of the present invention are described in the specific embodiments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a perspective view of a feeding device provided in Embodiment 1 of this utility model.

[0023] Figure 2 This is a schematic diagram of a feeding device and processing equipment corresponding to one embodiment of the present utility model.

[0024] Figure 3 This is a schematic diagram of the main body provided in Embodiment 1 of this utility model.

[0025] Figure 4 This is a schematic diagram of the lifting assembly provided in Embodiment 1 of this utility model.

[0026] Figure 5 This is a schematic diagram of the AGV and temporary storage device provided in Embodiment 1 of this utility model.

[0027] Figure 6 This is a perspective view of the material handling mechanism provided in Embodiment 1 of this utility model.

[0028] Figure 7 This is a schematic diagram of the gripper provided in Embodiment 1 of this utility model.

[0029] Figure 8 This is a cross-sectional view of the gripper provided in Embodiment 1 of this utility model.

[0030] Figure 9 This is a schematic diagram of the self-adjusting module provided in Embodiment 1 of this utility model.

[0031] Figure 10 This is a schematic diagram of another gripper provided in Embodiment 1 of this utility model.

[0032] Figure 11 This is a schematic diagram of another self-adjusting module provided in Embodiment 1 of this utility model.

[0033] Figure 12 This is a schematic diagram of the PCB board provided in Embodiment 1 of this utility model.

[0034] Figure 13 This is a schematic diagram of the feeding device provided in Embodiment 2 of this utility model.

[0035] Figure 14 This is a schematic diagram of the lifting assembly provided in Embodiment 2 of this utility model.

[0036] Figure 15 This is another schematic diagram of the lifting assembly provided in Embodiment 2 of this utility model.

[0037] Figure 16 This is an installation diagram of the conveying assembly provided in Embodiment 3 of this utility model.

[0038] Figure 17 This is a schematic diagram of the conveying assembly provided in Embodiment 3 of this utility model.

[0039] Figure 18 This is a schematic diagram of the feeding device provided in Embodiment 3 of this utility model.

[0040] Figure 19 This is a schematic diagram of the feeding device provided in Embodiment 4 of this utility model.

[0041] Figure 20 This is a schematic diagram of the material handling mechanism provided in Embodiment 4 of this utility model.

[0042] Figure 21 This is a schematic diagram of the conveying component provided in Embodiment 4 of this utility model.

[0043] Figure 22 This is a schematic diagram of the main body provided in Embodiment 4 of this utility model.

[0044] Figure 23 This is a schematic diagram of the hopper provided in Embodiment 4 of this utility model.

[0045] Figure 24 This is a schematic diagram of the support layer plate provided in Embodiment 4 of this utility model.

[0046] Figure 25 This is a schematic diagram of the feeding device provided in Embodiment 5 of this utility model.

[0047] Figure 26 This is a schematic diagram of the displacement mechanism provided in Embodiment 5 of this utility model.

[0048] Figure 27This is a schematic diagram of the main body provided in Embodiment 5 of this utility model.

[0049] Figure 28 This is a schematic diagram of the temporary storage device provided in Embodiment Six of this utility model.

[0050] Figure 29 This is a schematic diagram of the main body provided in Embodiment Seven of this utility model.

[0051] Figure 30 This is a schematic diagram of the line-side warehouse provided in Embodiment 7 of this utility model.

[0052] In the attached diagram: 1. Processing equipment; 2. Guide pin; 3. Temporary storage device; 4. Line-side bin; 5. Bin transport device; 10. Bin; 11. Conveying end; 11. Positioning hole structure; 13. Storage layer; 31. Arm; 32. Bin connecting mechanism; 33. Limiting mechanism; 34. Hollowed-out part; 35. Bin detection sensor; 100. Main body; 110. Accommodation space; 111. Material inlet / outlet; 112. Bin inlet / outlet; 120. Support part; 130. Cantilever. ; 140, Mounting slot; 141, Guide slot; 200, Lifting assembly; 210, Fork arm; 220, Lifting mechanism; 230, Carrier plate; 231, Connecting mechanism; 240, Lifting mechanism; 241, Support rod; 242, Hydraulic cylinder; 300, Adjustment assembly; 400, Handling assembly; 400a, First handling assembly; 400b, Second handling assembly; 411, Material rack; 412, Base; 413, Connecting mechanism; 420, Material handling mechanism; 421, Gripper; 422. Power unit; 423. Clamping space; 4231. Clamping port; 424. Sensor; 425. Rotational power component; 430. Self-adjusting module; 431. Bearing; 432. End head; 433. Insertion part; 434. First pressure plate; 435. Second pressure plate; 436. Elastic element; 437. Moving part; 4371. Contact surface; 438. Guide element; 440. First moving module; 450. Second moving module; 500. AGV; 600. Conveying assembly; 610, drive mechanism; 611, drive element; 612, drive shaft; 613, driven shaft; 614, transmission belt; 620, conveying mechanism; 621, clearance groove; 6211, bell mouth; 622, roller; 630, bracket; 640, first detection element; 650, second detection element; 4211, mounting groove; 4212, second groove; 4213, first groove; 4214, upper surface; 4215, recess; 4321, contact surface. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0054] In this embodiment, "several" and "more than" refer to two or more. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0056] <Example 1>

[0057] This embodiment provides a feeding device for material conveying. Taking a PCB board as an example, the feeding device conveys the PCB board to be processed or the already processed PCB board to a designated location. During PCB board processing, the PCB board to be processed needs to be conveyed to the processing equipment via the feeding device, and the PCB board already processed by the processing equipment also needs to be transported away by the feeding device to a designated location.

[0058] like Figures 1 to 12As shown, a feeding device in this embodiment includes a main body 100, a lifting assembly 200, an adjusting assembly 300, and a conveying assembly 400. The main body 100 has a receiving space 110 for receiving a hopper 10. The hopper 10 is used to receive PCB boards. The hopper 10 has several storage layers 13, and PCB boards are placed in the storage layers 13. In this embodiment, each storage layer 13 holds one PCB board. The storage layers 13 are stacked along a third direction (height direction) to accommodate multiple PCB boards. The receiving space 110 has a material inlet / outlet 111 and a hopper inlet / outlet 112 on its periphery. In this embodiment, the receiving space 110 has a material inlet / outlet 111 and a hopper inlet / outlet 112 on adjacent sides. The material inlet / outlet 111 is located in a first direction X. PCB boards enter or exit the hopper through the material inlet / outlet 111. The material inlet / outlet 111 can be provided on both the left and right sides of the main body 100. The two material inlets / outlets 111 are arranged opposite each other in the first direction, making the material entry and exit more flexible. The hopper inlet / outlet 112 is located in the second direction Y. The hopper 10 enters or leaves the receiving space 110 through the hopper inlet / outlet 112 for material transfer. One hopper inlet / outlet 112 is provided and is adjacent to the material inlet / outlet 111. Since the hopper enters and exits through the second direction Y, the arm 31 of the temporary storage device 3 supporting the hopper is in the width direction of the hopper, i.e., the second direction Y, supporting the hopper. An increase in the hopper length does not affect the support. Simultaneously, the material inlet / outlet 111 is located along the first direction X, facilitating material input and output docking with the processing equipment 1. In this embodiment, the first direction X is the left-right direction, and the second direction Y is the front-back direction. The lifting assembly 200 is located on the main body 100 and is used to drive the hopper 10 to move in the third direction Z, which is the up-down direction. Since the storage layers 13 of the hopper are stacked along the third direction Z, the lifting assembly 200 drives the hopper to rise and fall, allowing different storage layers 13 to reach the required positions for material input and output, facilitating material transport docking with the external processing equipment 1. The adjusting component 300 is disposed on the main body 100. The conveying component 400 is connected to the adjusting component 300 and is correspondingly disposed with respect to the hopper inlet / outlet 112. That is, the conveying component 400 is located at the hopper inlet / outlet 112 and can contact the PCB board through the hopper inlet / outlet 112 to drive the PCB board to move. Since the placement of the conveying component 400 will obstruct the hopper's entry and exit, the adjusting component 300 drives the conveying component 400 to switch between a conveying position and a clearance position. When the conveying component 400 is in the conveying position, it is located at the hopper inlet / outlet 112, thus being able to contact the PCB board. When the conveying component 400 needs to clear a path, the adjusting component 300 drives the conveying component 400 away from the hopper inlet / outlet 112, and then the hopper can enter and exit through the hopper inlet / outlet 112.The handling assembly 400 includes a moving mechanism 410 and a material handling mechanism 420. The moving mechanism 410 drives the material handling mechanism 420 to move along the first direction X. The material handling mechanism 420 is used to handle materials. After the material handling mechanism 420 comes into contact with the material, it is powered by the moving mechanism 410, so that the material handling mechanism 420 moves the material back and forth along the first direction X, thereby moving the material into or out of the hopper.

[0059] In this embodiment, when the feeding device is in use, it moves to the material conveying end 11 of the processing equipment 1. The lifting component 200 drives the hopper 10 to move up and down in the third direction X, so that the storage layer 13 and the conveying end 11 are at the corresponding height. The PCB board is pushed from the storage layer 13 to the material conveying end 11 by the handling component 400, or the material conveying end 11 pushes the processed PCB board into the storage layer 13, and then the handling component 400 pulls it into place. When the hopper needs to be replaced, the feeding device moves to the hopper temporary storage device, places the hopper on the temporary storage device, and then receives the new hopper from the temporary storage device.

[0060] like Figure 2 and Figure 3As shown, the main body 100 is further mounted on the AGV 500, and the straight-line direction of the AGV 500 is the second direction Y. In this embodiment, a straight-line AGV can be used, without the need for lateral straight-line movement capability, thereby further reducing costs. The AGV can drive the main body 100 to move. When the feeding device is transporting PCB boards, the material inlet / outlet 111 faces the processing equipment, and the main body 100 can move along the processing equipment, thereby traversing multiple processing areas of the processing equipment. The lifting component 200 is mounted on one side of the AGV and is opposite to the hopper inlet / outlet 112. The material inlet / outlet 111 is opposite to both sides of the AGV. When changing the hopper, the lifting component 200 lifts the hopper to a set height, and the AGV moves to place the hopper on the temporary storage device. In this embodiment, the first direction is perpendicular to the second direction. The hopper 20 is roughly rectangular, and the accommodating space 110 above the AGV is also rectangular. Of the four sides of the accommodating space 110, one side is equipped with the main body, and the other three sides are open, namely two material inlets / outlets 111 and one hopper inlet / outlet 112. At least two sets of the conveying components 400 are provided, arranged according to the PCB board size in the first direction. In this embodiment, two sets of conveying components are provided. The first conveying component 400a is connected to the adjusting component 300, allowing the first conveying component 400a to move along the third direction Z, switching between a conveying position and a clearance position. The second conveying component 400b is disposed on the main body 100, and the two sets of conveying components are arranged opposite each other on both sides of the accommodating space 110. When the PCB board is conveyed, it is moved simultaneously by the conveying components 400 on both sides, which can improve the conveying stability. When the hopper enters or exits, the adjusting component 300 raises the first conveying component 400a to the clearance position, so that its height is above the hopper, thereby avoiding interference when the hopper enters or exits.

[0061] like Figure 3 and Figure 4As shown, specifically, the main body 100 includes a support portion 120 and a cantilever 130. The support portion 120 is mounted on the AGV 500 and is vertically arranged. The cantilever 130 is located above the accommodating space 110, higher than the hopper position. One end of the cantilever 130 is connected to the support portion 120, and the other end is suspended, thus forming the hopper inlet / outlet 120 between the cantilever and the AGV. The adjusting component 300 is disposed on the cantilever 130, away from the support portion 120. The conveying component 400a is disposed below the adjusting component 300, and the conveying component 400b is disposed on the support portion 120. In this embodiment, the cantilever 130 adopts a truss structure, thereby having better structural strength and making the installation of the conveying component 400a and the adjusting component 300 more reliable. The lifting component 200 includes a fork arm 210 and a lifting mechanism 220. The fork arm 210 is located in the accommodating space 110 and is used to support the hopper and drive the hopper to rise or fall. One end of the fork arm 210 is connected to the output end of the lifting mechanism 220, which drives the fork arm 210 to rise and fall in the third direction Z. The other end is a free end, meaning the fork arm 210 is cantilevered, with the free end facing the hopper inlet / outlet 120, thus eliminating the need for a lifting assembly in the hopper inlet / outlet area. The lifting mechanism 220 is mounted on the main body 100, specifically on the support part 120. The lifting mechanism 220 can be a linear motion mechanism such as a ball screw, as long as it can drive the fork arm 210 to rise and fall.

[0062] Figures 6 to 8 As shown, specifically, the material handling mechanism 420 includes grippers 421 and a power unit 422 that drives the grippers 421. The power unit 422 drives the grippers 421 to move, causing the grippers 421 to clamp or open in a third direction. In this embodiment, the power unit 422 is a cylinder. The material handling mechanism 420 is driven by a moving mechanism to move on a conveying plane, which is the plane containing the first direction X and the second direction Y. Since the PCB board is conveyed horizontally parallel to the ground in this embodiment, the conveying plane is parallel to the horizontal plane. There is a clamping space 423 between the grippers 421 for accommodating the PCB board. The grippers 421 are provided with a self-adjusting module 430. When the grippers 421 clamp the material, the self-adjusting module 430 contacts the material so that the material moves within the conveying plane when it collides during conveying. Due to inaccurate movement of the feeding device and inaccurate position of the hopper, the conveying path of the PCB board and the conveying end 11 of the processing equipment may not be perfectly aligned, resulting in a slight error and causing interference between the PCB board and the processing equipment during conveying. The above technical solution enables the PCB board to swing slightly when interference occurs, thereby bypassing the interference area and allowing the PCB board to continue moving.

[0063] Furthermore, the gripper 421 is provided with a mounting groove 4211, and the self-adjusting module 430 is disposed in the mounting groove 4211, so that the self-adjusting module 430 can be embedded in the gripper 421. In this embodiment, the two grippers 421 are arranged vertically opposite each other, and each gripper is provided with at least one set of self-adjusting modules 430. The self-adjusting modules 430 are arranged opposite each other on the two grippers 421, so that when clamping materials, they can be clamped from both sides of the PCB board. The self-adjusting module 430 includes a movable part and a limiting part connected to the movable part. The movable part is a movable component, and the limiting part limits the movement of the movable part. The movable part has a contact surface, and the contact surface forms a height difference with the upper surface 4214 of the gripper 421, so that the contact surface can contact the material when clamping the material. When the material is conveyed and collided, the movable part swings or rotates in the mounting groove, so that the material follows the movement through the swinging or rotating of the movable part, thereby deflecting a certain angle in the conveying plane to avoid obstacles. Specifically, taking the feeding of a PCB board into the hopper as an example, since the PCB board is equipped with guide pins 2, with two guide pins 2 located at both ends of the PCB board, and the hopper 10 is equipped with guide grooves 141 corresponding to the pins, when the PCB board enters the hopper, the guide pins 2 enter the guide grooves 141 to allow the PCB board to enter the hopper smoothly. When the position deviates slightly, the guide pins 2 collide and interfere with the sides of the guide grooves 141. At this time, the slight deflection of the PCB board allows the guide pins 2 to smoothly pass through the guide grooves 141, guiding the PCB board into the hopper. When moving materials, the grippers 421 face the second direction Y, and the upper and lower contact surfaces clamp the materials. The grippers 421 move and drag the materials along the first direction X. When the relative position of the feeding device and the processing equipment is inaccurate, the self-adjusting module drives the material to move during the material conveying process, so that the guide pins 2 engage with the guide grooves 141, avoiding material damage caused by rigid pushing.

[0064] Specifically, in this embodiment, the limiting member is a bearing 431, and the movable member includes an end head 432 and a plug-in part 433. One end of the plug-in part 433 is connected to the end head 432, and the plug-in part 433 is rod-shaped and inserted into the bearing 431, allowing the end head 322 to rotate in the gripper, so that the movable member rotates in the conveying plane when the material is conveyed and collides. The end head 432 is circular, and the contact surface 4321 is located on the surface of the end head 432. The mounting groove 4211 is circular, and the two ends of the mounting groove 4211 are provided with a first pressure plate 434 and a second pressure plate 435. The mounting groove 4211 is configured as a through hole, and the mounting groove 4211 includes a second groove body 4212 and a first groove body 4213 that matches the diameter of the bearing. The plug-in part 433 and the bearing 431 are disposed in the first groove body 4213. The second pressure plate 435 is disposed in the second groove 4212, the first pressure plate 434 is disposed on the gripper 421 and abuts against the bearing, the second pressure plate 435 limits the self-adjusting module in the mounting groove 4211 from the back of the gripper, and the first pressure plate 435 limits the self-adjusting module in the mounting groove 4211 from the upper surface 4214 of the gripper.

[0065] like Figure 10 and Figure 11 As shown, in another embodiment, the limiting member is an elastic member 436. In this embodiment, the elastic member is a spring, which can provide axial elastic force. The limiting member is disposed in the mounting groove 4211 and abuts against the movable member 437. Several limiting members are disposed around the movable member 437 to balance the elastic force on the movable member 437, so that when the movable member 437 is not subjected to external force, it can be held in the middle of the mounting groove 4211. When the material is conveyed and collided, the movable member 437 swings in the conveying plane. The mounting groove 4211 is square, and the movable member 437 is cuboid. When the gripper holds the material, the movable member 437 contacts the material through the contact surface 4371, which is rectangular. When the material collides, the movable member 437 is subjected to the frictional force of the contact surface, causing it to swing in the conveying plane against the elastic force of the elastic member, thereby allowing the material to adjust its position.

[0066] Specifically, the limiting members are symmetrically arranged on both sides of the movable member 437, and a guide member 438 is provided in the mounting groove 4211. The guide member 438 is arranged in the same direction as the limiting members, that is, the direction of the elastic force of the elastic member 436 is the same as that of the guide member 438, so that the movable member 437 moves more smoothly. The movable member 437 and the guide member 438 are slidably connected. In this embodiment, the guide member 438 is a slide rail and is arranged at the bottom of the movable member 437.

[0067] Furthermore, a sensor 424 is provided on the upper surface 4214 of the gripper 421. The sensor 424 is disposed opposite to the two grippers 421 to detect material in the clamping space 423. In this embodiment, the sensor 424 is a photoelectric sensor. A pair of photoelectric sensors are respectively disposed in the recesses 4215 of the two grippers 421 and do not protrude from the upper surface 4214. When the material is located between the upper and lower sensors, the device control module receives a signal, determines that the material is in place, and clamps it. The clamping space 423 has a clamping opening 4231. The distance between the sensor 424 and the clamping opening 4231 is greater than the distance between the self-adjusting module 430 and the clamping opening 4231, that is, the self-adjusting module 430 is closer to the clamping opening 4231. The edge of the PCB board enters the clamping space 423 from the clamping opening 4231. When it is detected by the sensor, the self-adjusting module 430 is already located on the upper and lower sides of the PCB board, thereby ensuring that the self-adjusting module 430 is in contact with the PCB board during clamping.

[0068] Furthermore, the material handling mechanism 420 includes a rotary power component 425, which is located at the output end of the moving mechanism 410. The moving mechanism 410 provides linear displacement power to the rotary power component 425, which can be a linear module, a lead screw power module, etc., enabling the rotary power component 425 to move in a direction parallel to the PCB board. The output end of the rotary power component 425 is connected to the power unit 422. The rotary power component 425 causes the gripper 421 to switch between a first direction X and a second direction Y. That is, the gripping opening 4231 of the gripper 421 can face either the first direction X or the second direction Y. When the gripper 421 needs to grip the PCB board, the gripping opening 4231 faces the second direction Y, and the gripper 421 extends into the hopper to pick up the material. When the hopper needs to be lifted or lowered, the gripper 421 rotates to an avoidance position, that is, the gripping opening 4231 faces the first direction X, and disengages from the hopper to avoid interfering with the lifting or lowering of the hopper. The rotary power component 425 can be an existing rotary device such as a rotary cylinder.

[0069] <Example 2>

[0070] In this embodiment, the parts that are the same as in Embodiment 1 are given the same reference numerals, and the same text descriptions are omitted.

[0071] like Figures 13 to 15 As shown, compared to Embodiment 1, the feeding device provided in this embodiment has the following structural design differences:

[0072] The lifting assembly in this embodiment differs from that in Embodiment 1 to provide a more stable lifting effect. Because the lifting assembly in Embodiment 1 uses a cantilever structure with no support at one end, when the hopper is heavy, it is prone to imbalance at both ends of the fork arm, causing the hopper to tilt. Greater rigidity is required to maintain stability, leading to an increase in the overall weight and cost of the lifting assembly.

[0073] The lifting assembly 200 of this embodiment includes a carrier plate 230 and a lifting mechanism 240. The lifting mechanism 240 is mounted on the AGV 500 and provides lifting power. The carrier plate 230 is positioned above and connected to the lifting mechanism 240. The carrier plate 230 supports the hopper 10 and has a hopper engagement mechanism 231 on it. The engagement mechanism 231 engages with a positioning mechanism at the bottom of the hopper, making the hopper more stable. In this embodiment, the engagement mechanism 231 consists of several protrusions, and correspondingly, the positioning mechanism at the bottom of the hopper is a groove. Those skilled in the art will know that the engagement mechanism and positioning mechanism can be implemented in other ways. The lifting mechanism 240, located at the bottom of the carrier plate 230, provides power to raise the carrier plate in a third direction, making the hopper lifting and lowering more stable and preventing tilting. The lifting mechanism 240 is a scissor-type structure, hinged by several support rods 241 and driven by a hydraulic cylinder 242, which will not be described in detail here.

[0074] <Example 3>

[0075] In this embodiment, the parts that are the same as in Embodiment 1 are given the same reference numerals, and the same text descriptions are omitted.

[0076] like Figures 16 to 18 As shown, compared to Embodiment 1 and Embodiment 2, the feeding device provided in this embodiment has the following structural design differences:

[0077] The relative position between the feeding device and the processing equipment may be deviated, or the lifting of the hopper may cause errors, which may result in the PCB board not being able to enter or leave the hopper.

[0078] In this embodiment, the material inlet / outlet 111 is equipped with a conveying component 600 to assist in the conveying of PCB boards. The position of the conveying component 600 corresponds to that of the handling component 400, meaning that when the handling component 400 moves linearly to transport the PCB board, the PCB board can pass through the conveying component 600. During material conveying, the lifting component 200 drives the storage layer 13 of the hopper 10 to correspond with the conveying component 600, so that the height of the storage layer 13 corresponds to that of the conveying component 600, ensuring that the PCB board can enter and exit the storage layer 13 via the conveying component 600. The conveying component 600 includes a driving mechanism 610 and a conveying mechanism 620 connected to the driving mechanism 610. The driving mechanism 610 drives the conveying mechanism 620 to move, so that the material is conveyed through the material inlet / outlet 111. When the PCB board is conveyed, the driving mechanism 610 provides power to the conveying mechanism 620. When the PCB board contacts the conveying mechanism 620, the conveying mechanism provides auxiliary power to the PCB board, enabling it to adjust its position, thereby correcting the docking error with the processing equipment and allowing the PCB board to enter and exit smoothly.

[0079] Furthermore, the conveying mechanism 620 is provided with a clearance groove 621, which is arranged along the first direction X. The clearance groove 621 is used to guide and avoid the guide pins 2 on the PCB board, preventing the guide pins 2 from interfering with the conveying mechanism. The conveying mechanism 620 includes rollers 622, which are arranged along the second direction Y and driven by the driving mechanism 610, so that the rollers 622 can rotate during conveying. The PCB board is located on the rollers during conveying, and the rotation of the rollers provides forward power for the PCB board. The clearance grooves 621 are arranged between adjacent rollers 622, so that the guide pins 2 of the PCB board will not interfere with the rollers.

[0080] Specifically, the drive mechanism 610 includes a drive member 611, a drive shaft 612, and a driven shaft 613. The drive member 611 is connected to the drive shaft 612, enabling the drive shaft 612 to rotate. The drive member 611 can be a motor. The driven shaft 613 is arranged parallel to the drive shaft 612 and connected by a transmission belt 614, allowing the drive shaft 612 to drive the driven shaft 613 to rotate synchronously. Rollers 622 are mounted on the drive shaft 612 and the driven shaft 613, enabling several rollers 622 to rotate synchronously. The drive shaft 612 and the driven shaft 613 can expand the coverage area of ​​the rollers 622, providing better support for the PCB board.

[0081] Furthermore, the drive shaft 612 is provided with at least two rollers 622, and the driven shaft 613 is provided with at least two rollers 622, with the rollers 622 located at the same height. When the PCB board is on the rollers, it is driven by different rollers on the same shaft. When slight interference or collision occurs, it can swing on the rollers to adjust its direction. The clearance groove 621 is located between the coaxial rollers 622 and is perpendicular to the drive shaft 612 and the driven shaft 613. That is, a gap is formed between two adjacent rollers on the drive shaft 612 and a gap is formed between two adjacent rollers on the driven shaft 613. The gaps form the clearance groove 621, which facilitates the passage of the guide pin 2. When the PCB board moves on the rollers, it can swing under the force during the transmission process. During the swing, it finds the accurate docking position and flexibly docks, thereby achieving accurate docking of the guide pin 2 with the material guiding mechanism on the processing equipment and avoiding material damage caused by rigid pushing.

[0082] Furthermore, the conveying assembly 600 is located below the cantilever 130. The conveying assembly 600 includes a bracket 630, one end of which is connected to the support portion 120, and the other end is connected to the cantilever 130. Both ends of the bracket 630 can be fixedly connected, enhancing the structural stability.

[0083] <Example 4>

[0084] In this embodiment, the parts that are the same as in embodiments one to three are given the same reference numerals, and the same text descriptions are omitted.

[0085] like Figures 19 to 24 As shown, compared to embodiments one to three, this embodiment provides a feeding device, including a main body 100, a lifting assembly 200, a conveying assembly 400, and a transport assembly 600. The main body 100 has a receiving space 110 for receiving a hopper 10. The receiving space 110 has material inlets and outlets 111 on its periphery, which are located in a first direction X. The lifting assembly 200 is disposed on the main body 100 to drive the hopper 10 to move in a third direction Z, thereby lifting the hopper 10. The conveying assembly 400 is disposed on the main body 100 and located on one side of the material inlet and outlet 111. Compared to the embodiment where the conveying assembly 400 is disposed on both sides of the material inlet and outlet 111, only one set of conveying assemblies 400 is needed, reducing costs and space. There is no need to avoid obstacles when the hopper enters or exits, and the automation control is simpler. The handling assembly 400 includes a moving mechanism 410 and a material handling mechanism 420 connected to the moving mechanism 410. Several material handling mechanisms 420 are spaced apart along a first direction X. The material handling mechanisms 420 are used to handle materials, thereby expanding the contact range between the material handling mechanism 420 and the material and improving handling stability. During handling, the moving mechanism 410 drives the material handling mechanism 420 to move along the first direction X, pushing or pulling the material into the hopper 10. In this embodiment, two sets of material handling mechanisms 420 are provided and located on the same side. The two sets of material handling mechanisms 420 are driven by a moving mechanism 410. The moving mechanism 410 can be a linear module or other power device that provides linear displacement. The conveying assembly 600 is disposed on the main body 100 and located at the material inlet / outlet 111. The conveying assembly 600 includes a driving mechanism 610 and a conveying mechanism 620 connected to the driving mechanism 610. The driving mechanism 610 drives the conveying mechanism 620 to move, so that the material enters and exits the material inlet / outlet 111 through the conveying mechanism 620. In this embodiment, by setting the material handling mechanism on one side, the space occupied by the handling mechanism can be reduced, and the storage space of the hopper can be expanded. Furthermore, the stability of PCB board conveying is improved by having several material handling mechanisms 420 arranged on the same side. Since the material handling mechanism 420 contacts the PCB board along its length during conveying, the PCB board has sufficient length for the several material handling mechanisms 420 to push it, and the material handling mechanism 420 is located on one side of the PCB board's movement path, allowing for a longer travel range. Further, since the material handling mechanism 420 is set on one side, it may cause uneven force on the PCB board relative to both sides of the material inlet / outlet 111, causing the PCB board to tilt. The conveying assembly 600 provides auxiliary power and support, enabling the PCB board to be conveyed smoothly.

[0086] In this embodiment, the handling component 400 and the conveying component 600 work together. When material is sent out from the hopper 10 through the material inlet / outlet 111, the moving mechanism 410 drives the material handling mechanism 420 to push the material along the first direction X onto the conveying mechanism 620. The driving mechanism 610 then starts, providing continuous conveying power to the material, so that the material moves smoothly along the first direction X to the processing equipment. The handling component 400, which is set on one side, can save space, and the combination with several material handling mechanisms 420 set on one side can improve the handling stability.

[0087] Furthermore, a hopper inlet / outlet 112 is provided on one side of the accommodating space 110. The hopper inlet / outlet 112 is located in the second direction Y and is opposite to the conveying component 400. The hopper inlet / outlet 112 is used for the overall entry and exit of the hopper 10. When the hopper needs to be replaced, the hopper 10 can be moved out or into the accommodating space 110 of the main body 100 through the hopper inlet / outlet 112. The main body 100 is mounted on the AGV 500, and the straight-line direction of the AGV 500 is the second direction Y. The lifting component 200 and the conveying component 400 are located on the same side of the AGV, thereby making the structure more compact. The main body 100 includes a support part 120, which is vertically mounted on the AGV. The support part 120 is provided on one side above the AGV, which can expand the utilization rate of the space above the AGV. The lifting component 200 and the conveying component 400 are mounted on the support part 120, both located on one side of the accommodating space. At the same time, there is no obstruction above the accommodating space, which can expand the lifting range of the hopper.

[0088] Specifically, the material handling mechanism 420 includes a gripper 421, a rotating power component 425, and a power unit 422 for driving the gripper 421. The rotating power components 425 of the various material handling mechanisms 420 are all located at the output end of the moving mechanism 410. The output end refers to the power output section of the power module, which is connected to the driven module. The output end of the rotating power component 425 is connected to the power unit 422. The rotating power component 425 switches the gripper between the first direction X and the second direction Y, allowing the gripper to switch between a conveying state and a clearance state to avoid interference between the lifting and lowering of the hopper and the gripper, thus preventing damage to the gripper 421 and the hopper 10. In the conveying state, the gripper is close to the PCB board and can clamp the PCB board, thereby moving the PCB board. In the clearance state, the gripper is away from the PCB board to avoid interference with the lifting and lowering of the hopper. The grippers 421 of the various material handling mechanisms 420 move synchronously, facilitating control. In this embodiment, the rotating power component 425 is a rotary cylinder, and the power unit 422 is a gripper cylinder.

[0089] Specifically, the lifting assembly 200 includes a fork arm 210 and a lifting mechanism 220. The fork arm 210 is located in the accommodating space 110. One end of the fork arm 210 is connected to the output end of the lifting mechanism 220, and the other end is a free end. The fork arm is raised and lowered by the lifting mechanism 220, which is mounted on the main body 100. The single-sided lifting mechanism 220 reduces space occupation. The conveying assembly 600 includes a support 630. One end of the support is connected to the main body 100, and the other end is a free end. The support 630 has an opening 631, which is U-shaped and corresponds to the storage layer 13 of the hopper 10. Materials enter and exit the storage layer 13 through the opening 631. When materials enter or exit, the hopper is first raised or lowered by the lifting mechanism 220 so that the storage layer 13 corresponds to the opening 631 to facilitate material entry and exit. The support 630 is equipped with a first detection element 640 and a second detection element 650 on both sides. The detection area of ​​the first detection element 640 is located outside the support 630. When the first detection element 640 does not detect any material, the AGV trolley is in a movable state, preventing damage to the material caused by the movement of the AGV trolley before the material has been completely conveyed. The detection area of ​​the second detection element 650 is located between the support 630 and the hopper 10. When the second detection element 650 does not detect any material, the hopper is movable, preventing damage to the material caused by the movement of the hopper when it is located between the hopper and the conveying components. In this embodiment, the first and second detection elements are sensors, which can improve the safety of material conveying and reduce the risk of damage.

[0090] Furthermore, the conveying mechanism 620 includes a roller 622 and a clearance groove 621. The roller 622 is arranged along the second direction Y and located in the opening 631. The clearance groove 621 is arranged between adjacent rollers 622 and along the first direction X. If the AGV's stopping position is inaccurate, causing the PCB board to shift during transport, the clearance groove 621 corresponds to the guide pin of the PCB board, allowing the guide pin to enter the clearance groove 621 for guidance, facilitating the PCB board's entry and exit. The driving mechanism 610 includes a driving component 611, a drive shaft 612, and a driven shaft 613. The driving component 611 is connected to the drive shaft 612. The driven shaft 613 is arranged parallel to the drive shaft 612 and connected by a transmission mechanism. In this embodiment, the connection is made via a transmission belt 614, but it can also be connected via a gear, chain, or other transmission mechanism. The roller 622 is integrally formed with the drive shaft 612 and the driven shaft 613. The drive shaft 612 is provided with at least two rollers 622, the driven shaft 613 is provided with at least two rollers 622, the rollers are located at the same height, and the clearance groove 621 is located between the coaxial rollers 622. The clearance groove 621 has flared openings 6211 at both ends. By setting the flared openings 6211, it is easy to guide the guide pins 2 on the material into the clearance groove 621.

[0091] Furthermore, the hopper includes several storage layers 13, each storage layer 13 having a support plate 14. The support plate 14 has a guide groove 141 in the middle, which is arranged along the first direction X. The guide groove 141 is used to guide the guide pins 2 on the material. Support bars 142 are provided on both sides of the guide groove 141 to support the movement of the material. The feed end of the guide groove 141 is provided with a flared opening to facilitate the entry of the guide pins.

[0092] <Example 5>

[0093] In this embodiment, the parts that are the same as in embodiments one to four are given the same reference numerals, and the same text descriptions are omitted.

[0094] like Figures 25 to 27As shown, the main difference between this embodiment and the previous embodiment lies in the different handling components, providing another solution to the interference between the lifting and lowering of the hopper and the handling components. This embodiment provides a mobile feeding device, comprising a main body 100, a lifting component 200, and a handling component 400. The structure and function of the main body 100 and the lifting component 200 are the same as in the previous embodiment, and will not be repeated here. The handling component 400 is disposed on the main body 100 and includes a displacement mechanism and a material handling mechanism 420. The material handling mechanism 420 is connected to the displacement mechanism. The displacement mechanism drives the material handling mechanism 420 to move linearly along a first direction X or a second direction Y. The material handling mechanism 420 moves linearly along the first direction X to move away from or towards the material inlet / outlet 111, moving the material in the hopper 10; the material handling mechanism 420 moves linearly along the second direction Y to move away from or towards the hopper 10. Since materials enter and exit the hopper along the first direction, and the hopper moves up and down along the third direction, and the hopper 10 has a U-shaped groove 15, when the PCB board is in the hopper, the middle of the PCB board is supported by the hopper, and both sides extend to the position of the U-shaped groove. The material handling mechanism 420 is close to the edge of the PCB board in the U-shaped groove, thereby pushing or pulling the PCB board. Therefore, before the hopper is raised or lowered, the material handling mechanism 420 needs to be kept away from the material to avoid the material from colliding with the material handling mechanism due to the hopper's movement. When the hopper 10 needs to be raised or lowered, the displacement mechanism drives the material handling mechanism 420 to move along the second direction, keeping it away from the hopper and the material to avoid interference with the PCB board's movement. When material handling is required, the displacement mechanism first drives the material handling mechanism 420 to move along the second direction Y towards the hopper 10, so that the material handling mechanism 420 can contact the material and perform a gripping action; then, the displacement mechanism drives the material handling mechanism 420 to move along the first direction X, removing the material from the hopper 10 and conveying it to the designated position. By coordinating these two-way linear movements, the position of the material handling mechanism 420 can be flexibly adjusted, effectively solving the spatial interference problem between the material handling components and the hopper during lifting, while ensuring the accuracy and stability of material handling. The displacement mechanism can be a power device that enables bidirectional movement in both the first and second directions; no limitation is made here. Compared to a rotational avoidance method, the bidirectional linear movement of the material handling mechanism 420 facilitates control of the distance between the material handling mechanism 420 and the hopper and materials. When the material size is large or small, the material handling mechanism can adapt to materials of different sizes by controlling the stroke of the material handling mechanism 420 in the second direction.

[0095] Furthermore, the displacement mechanism includes a first moving module 440 and a second moving module 450. A material handling mechanism 420 is connected to the first moving module 440. The first moving module 440 drives the material handling mechanism 420 to move along a first direction X to convey materials. The first moving module 440 can employ the moving mechanism 410 described in the previous embodiment to provide linear motion power. The first moving module 440 is connected to the second moving module 450, and the second moving module 450 drives the first moving module 440 and the material handling mechanism 420 to move along a second direction Y. The fixed end of the second moving module 450 is connected to the main body 100, and the moving end is fixed to the first moving module 440, thereby driving the entire first moving module 440 and the material handling mechanism 420 to translate along the second direction Y, allowing the material handling mechanism to switch between a conveying state and a clearance state. By combining the first moving module 440 and the second moving module 450, the material handling mechanism 420 achieves two degrees of freedom movement in the plane. In this embodiment, both the first and second moving modules can be linear modules or other linear drive devices.

[0096] Furthermore, the main body 100 has a mounting groove 140, which is arranged along the third direction Z and its opening faces the hopper. The lifting assembly 200 includes a lifting mechanism 220, which is located in the mounting groove 140, and a material handling mechanism 420 is located outside the lifting mechanism 220. The lifting mechanism 220 is arranged in the mounting groove 140, which can save space in the second direction, thereby allowing the second moving module 450 to have sufficient travel space in the second direction, further improving space utilization.

[0097] like Figure 26 As shown, further, several material handling mechanisms 420 are spaced apart along the first direction X. This embodiment has two sets of material handling mechanisms. Each material handling mechanism includes a gripper 421 and a power unit 422 that drives the gripper 421. The power unit 422 can be a cylinder. The grippers 421 of the several material handling mechanisms 420 move synchronously in a linear motion to maintain consistent movement. One end of the gripper 421 is connected to the power unit 422, and the other end extends along the second direction Y, ensuring that the gripping opening 4231 of the material handling mechanism 420 always faces the hopper direction. The second moving module 450 allows materials to enter and exit the gripping opening. Compared to the gripper rotation avoidance method, the grippers in this embodiment do not need to rotate, allowing for the use of shorter grippers with greater gripping force. Furthermore, the linear drive structure has good rigidity and can withstand large impact loads in the event of a collision, resulting in high reliability.

[0098] <Example 6>

[0099] In this embodiment, the parts that are the same as in embodiments one to five are given the same reference numerals, and the same text descriptions are omitted.

[0100] Compared with embodiments one to five, this embodiment provides a feeding method applied to the feeding device of the above embodiments.

[0101] In one embodiment, a feeding method selectively executes either a material conveying process or a silo conveying process. When the feeding device executes the material conveying process, it is used for loading and unloading PCB boards. During loading, the PCB boards in the silo are conveyed outward to the processing equipment; during unloading, the PCB boards that have been processed on the processing equipment are received and placed into the silo storage layer. When executing the silo conveying process, it is used for loading and unloading silos 10. During silo loading, the feeding device retrieves the silo containing the PCB boards to be processed from the silo temporary storage device and places it into the receiving space 110; during silo unloading, the silo on the feeding device is placed on the silo temporary storage device.

[0102] In this embodiment, the silo conveying process includes the following steps:

[0103] S110: The lifting assembly 200 moves along the third direction Z to a set position, aligning the lifting assembly 200 with the temporary storage device 3. This step can be performed during the movement of the feeding device or when the feeding device stops. Specifically, when the hopper is being filled, the lifting assembly 200 extends below the temporary storage device 3; when the hopper is being unloaded, the lifting assembly 200 raises the hopper above the temporary storage device 3 for easy placement. Figure 28 As shown, the temporary storage device 3 in this embodiment includes an arm 31, and a hopper fitting mechanism 32 and a limiting mechanism 33 disposed on the arm 31. The hopper fitting mechanism 32 is used to dock with the bottom of the hopper. In this embodiment, it is a protruding structure. Correspondingly, the bottom of the hopper 10 has a positioning hole structure 11. The limiting mechanism 33 is disposed in the hopper inlet / outlet direction to prevent the hopper from slipping off the arm 31. When the hopper is unloading, the lifting assembly 200 lifts the hopper above the limiting mechanism 33 and the hopper fitting mechanism 32, and then places the hopper on the arm 31 from top to bottom. The arm 31 is also provided with a hopper detection sensor 35. After the hopper is placed in place, the hopper detection sensor 35 sends a signal to the control system.

[0104] S120: The adjusting component 300 drives the conveying component 400 to move to the clearance position, and the hopper inlet / outlet 112 opens. The clearance position is the position where the conveying component 400 leaves the hopper inlet / outlet 112, meaning that the conveying component 400 will not obstruct the hopper from entering or exiting through the hopper inlet / outlet 112. This step can be performed during the movement of the feeding device or when the feeding device stops. It can be performed synchronously with step S110 or before step S110, and the execution order is not limited.

[0105] S130: The feeding device moves to the temporary storage device 3 to load and unload materials from the hopper. When the feeding device moves to the temporary storage device 3, the hopper inlet / outlet 112 of the feeding device is positioned opposite to the temporary storage device 3. The AGV 500 enters below the temporary storage device, and the lifting assembly 200 extends into the hollow portion 34 of the temporary storage device 3. If the hopper is being loaded, it is lifted from bottom to top, allowing the hopper to enter the receiving space 110. If the hopper is being unloaded, it is placed on the arm 31 from top to bottom.

[0106] In this embodiment, the material conveying process includes a loading step or a unloading step; the loading step includes:

[0107] S210: The lifting assembly 200 moves along the third direction Z to a set position, so that the storage layer 13 of the hopper 10 corresponds to the processing equipment 1. The processing equipment 1 can be a PCB board drilling machine, PCB board AOI equipment, or other processing equipment. The lifting assembly 200 makes the height of the storage layer 13 correspond to the height of the material input end of the processing equipment, so that the PCB board can enter the processing equipment after being output.

[0108] S220: The gripper 421 of the material handling mechanism 420 rotates to the second direction Y, that is, the clamping opening 4231 of the material handling mechanism 421 faces the PCB board, and the PCB board is located in the clamping space of the gripper 421. The gripper 421 clamps the material in the storage layer 13 and drives the material handling mechanism 420 to output the material through the material inlet and outlet 111 along the first direction X through the moving mechanism 410. When the PCB board is conveyed, it is parallel to the horizontal plane.

[0109] The material cutting steps in this embodiment include:

[0110] S310: The lifting assembly 200 moves along the third direction Z to a set position, so that the storage layer 13 of the hopper 10 corresponds to the processing equipment 1; this step is similar to S210, both aimed at facilitating the transport of PCB boards by ensuring the position is aligned. In this embodiment, the arm 31 of the temporary storage device 3 is set on the ground, which is more stable and can support heavier hoppers compared to a cantilever forklift structure. The distance between the two arms 31 is less than the length of the hopper and greater than the width of the AGV, so that the AGV can enter the space between the arms 31 and place the hopper on the arms 31.

[0111] S320: Receives materials from the processing equipment. The materials enter at least partially into the storage layer 13 of the silo via material inlet / outlet 111. The processing equipment is usually also equipped with a material handling mechanism that can drive the material to move, thus delivering the material to the storage layer 13. However, it may not be able to reach the storage layer completely, requiring the material handling mechanism of the feeding device to move the material to its final position. When the material enters, the grippers 421 of the material handling mechanism 420 are in a clearance position to avoid collision with the material.

[0112] S330: The gripper 421 of the material handling mechanism 420 rotates to the second direction Y, clamps the material in the storage layer 13, and drives the material handling mechanism 410 to pull the material into the storage layer 13 through the material inlet / outlet 111 along the first direction X, thereby moving the material into place. When loading, the gripper 421 drags the material to the left; when unloading, the gripper 421 drags the material to the right.

[0113] Furthermore, the material inlet / outlet 111 is equipped with a conveying component 600. When the material is loaded or unloaded, the roller 622 of the conveying component 600 drives the material to move. The roller 622 assists in the movement of the material. At the same time, it can adjust the direction when the material interferes or collides with the processing equipment or silo, so as to facilitate the smooth entry and exit of the material.

[0114] <Example 7>

[0115] In this embodiment, the parts that are the same as in embodiments one through six are given the same reference numerals, and the same text descriptions are omitted.

[0116] like Figure 29 and Figure 30 As shown, compared to embodiments one through six, this embodiment provides a processing system for processing PCB boards. The processing system includes a feeding device 6, a temporary storage device 3, and a processing equipment 1. The feeding device 6 moves between the temporary storage device 3 and the processing equipment 1 (e.g., ...). Figure 29 (The dashed line represents the path). At least one temporary storage device 3 is used to store raw materials, and at least one temporary storage device 3 is used to store processed materials. Raw materials refer to PCB boards to be processed, which need to be conveyed to the processing equipment 1 via the feeding device 6. Processed materials refer to PCB boards that have already been processed by the processing equipment. In this embodiment, two temporary storage devices 3 are provided. The hopper containing raw materials is placed on one temporary storage device 3, and the other temporary storage device 3 is used to hold processed materials. The feeding device 6 reciprocates between the processing equipment 1 and the temporary storage device 3.

[0117] Furthermore, the processing system also includes a line-side silo 4 and a silo transport device 5. The silo transport device 5 moves between the temporary storage device 3 and the line-side silo 4. The line-side silo 4 is used for storing raw materials and processed materials. All silos are centrally located in the line-side silo for convenient unified scheduling. The silo transport device 5 uses AGV (Automated Guided Vehicle) handling equipment to transport processed materials from the temporary storage device 3 to the line-side silo 4, or to transport raw materials from the line-side silo 4 to the temporary storage device 3. Through the above technical solution, automated conveying of silos and materials can be achieved, reducing costs.

[0118] Furthermore, the line-side silo 4 includes several storage units 41 for storing materials. These storage units 41 are stacked horizontally and / or vertically, increasing the silo's capacity. Specifically, each storage unit 41 includes a rack 411 and a base 412 connected to the rack 411. The base 412 is equipped with a coupling mechanism 413. After the silo is placed into the storage unit 41, the coupling mechanism 413 engages with the silo 10 to position it. The coupling mechanism 413 can have the same structure as the temporary storage device, and will not be described further.

[0119] <Example 8>

[0120] In this embodiment, the parts that are the same as in Embodiment 1 are given the same reference numerals, and the same text descriptions are omitted.

[0121] Compared to embodiments one through seven, this embodiment provides a processing method applied to the above-mentioned processing system, enabling automated conveying and processing of the hopper and PCB board.

[0122] The processing method in this embodiment includes a feeding method and a hopper conveying method. The feeding method can adopt the feeding method of Embodiment 4. The hopper conveying method is used for hopper conveying and includes:

[0123] S410: The raw material hopper 10 of the line-side hopper 4 is transported to the temporary storage device 3 by the hopper conveying device 5 for use by the feeding device 6. Specifically, after receiving the instruction from the control system, the hopper conveying device 5 moves autonomously to the position of the line-side hopper 4 to obtain the hopper 10 filled with raw material, and then transports it to the temporary storage device 3 and places it on the temporary storage device 3.

[0124] S420: The silo conveying device 5 transports the clinker silo 10 from the temporary storage device 3 to the side line silo 4. Since the temporary storage device 3 is usually located adjacent to the silo, after the raw material silo 10 is placed, the silo conveying device 5 is empty, allowing the adjacent clinker silo to be moved, thus improving turnover efficiency. By repeatedly executing the above steps, rapid turnover of the raw material silo and the clinker silo can be achieved. The silo conveying device 5 can also transfer the silo 19 from the side line silo 4 to the next workstation.

[0125] Through the above technical solution, the feeding device 6 and the temporary storage device 3 exchange silos, the feeding device 6 and the processing equipment 1 exchange PCB boards, and the silo conveying device 5 and the edge silo and temporary storage device perform silo turnover. The feeding device 6 and the silo conveying device 5 transport materials separately in their respective moving areas to avoid mutual interference and improve the efficiency of silo and material turnover.

[0126] In the above embodiments one to eight, during the working process, depending on the different working environments, some of the technical implementation methods of embodiments one to eight can be combined or replaced.

[0127] The technical principles of this utility model have been described above in conjunction with specific embodiments. However, it should be noted that these descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, other specific embodiments or equivalent substitutions of this utility model that can be conceived by those skilled in the art without creative effort will all fall within the scope of protection of this utility model.

Claims

1. A PCB board feeding device, characterized in that, include: The main body has a receiving space for housing the silo, and the receiving space has material inlets and outlets on its periphery, which are located in the first direction; A lifting assembly is installed on the main body to drive the hopper to move in a third direction; A conveying assembly is disposed on the main body and located on the side of the material inlet and outlet. The conveying assembly includes a moving mechanism and a material handling mechanism. Several material handling mechanisms are arranged at intervals along a first direction. The moving mechanism drives the material handling mechanisms to move along the first direction. The material handling mechanisms are used to handle materials. A conveying assembly is disposed on the main body and located at the material inlet and outlet. The conveying assembly includes a drive mechanism and a conveying mechanism connected to the drive mechanism. The drive mechanism drives the conveying mechanism to move so that the material passes through the conveying mechanism to enter and exit the material inlet and outlet.

2. The PCB board feeding device according to claim 1, characterized in that, The material handling mechanism includes grippers, a rotating power component, and a power unit that drives the grippers. The rotating power components of several material handling mechanisms are all located at the output end of the moving mechanism. The output end of the rotating power component is connected to the power unit. The rotating power component causes the grippers to switch between a first direction and a second direction, so that the grippers can switch between a conveying state and a clearance state. The grippers of several material handling mechanisms move synchronously.

3. The PCB board feeding device according to claim 2, characterized in that, The main body is mounted on the AGV, with the straight-line direction of the AGV being the second direction. The lifting component and the conveying component are mounted on the same side of the AGV. The main body includes a support portion, which is vertically mounted on the AGV.

4. The PCB board feeding device according to claim 1, characterized in that, The accommodating space is provided with a hopper inlet / outlet on one side, which is located in the second direction and is opposite to the handling components.

5. The PCB board feeding device according to claim 1, characterized in that, The lifting assembly includes a fork arm and a lifting mechanism. The fork arm is located in the accommodating space. One end of the fork arm is connected to the output end of the lifting mechanism, and the other end is a free end. The lifting mechanism is mounted on the main body.

6. The PCB board feeding device according to claim 1, characterized in that, The conveying assembly includes a support frame, one end of which is connected to the main body and the other end is a free end. The support frame has an opening that corresponds to the storage layer of the hopper. A first detection element and a second detection element are respectively provided on both sides of the support frame. The detection area of ​​the first detection element is located outside the support frame, and the detection area of ​​the second detection element is located between the support frame and the hopper.

7. The PCB board feeding device according to claim 6, characterized in that, The conveying mechanism includes rollers and clearance grooves. The rollers are arranged along a second direction and located in the opening. The clearance grooves are arranged between adjacent rollers and along a first direction.

8. The PCB board feeding device according to claim 7, characterized in that, The drive mechanism includes a drive component, a drive shaft, and a driven shaft. The drive component is connected to the drive shaft, and the driven shaft and the drive shaft are arranged in parallel and connected by a transmission mechanism. The roller is integrally formed with the drive shaft and the driven shaft.

9. The PCB board feeding device according to claim 8, characterized in that, The drive shaft is provided with at least two rollers, the driven shaft is provided with at least two rollers, the rollers are located at the same height, the clearance groove is located between the coaxial rollers, and the clearance groove has flared openings at both ends.

10. The PCB board feeding device according to claim 1, characterized in that, The silo includes several storage layers, each storage layer having a support plate, and a slot is provided in the middle of the support plate, the slot being arranged along a first direction.

Images