CN-122009788-A - Feeding equipment, feeding system and feeding method

CN122009788ACN 122009788 ACN122009788 ACN 122009788ACN-122009788-A

Abstract

The application provides a feeding device, a feeding system and a feeding method, the feeding system comprises a feeding frame, processing equipment and feeding equipment. The feeding device comprises a carrying mechanism, a turnover mechanism and an information acquisition structure, wherein the carrying mechanism is used for carrying a circuit board from a feeding frame to the turnover mechanism, the turnover mechanism is used for turning over the circuit board, the information acquisition structure is used for acquiring first pose information of the circuit board, the carrying mechanism is used for adjusting the pose of the circuit board according to the first pose information, and the carrying mechanism is used for carrying the circuit board with the adjusted pose to the processing device. The feeding method comprises the steps of clamping a circuit board from a feeding frame through a carrying mechanism, overturning the circuit board through an overturning mechanism, acquiring first pose information of the circuit board through an information acquisition structure, adjusting the pose of the circuit board according to the first pose information through the carrying mechanism, and carrying the positioned circuit board to processing equipment through the carrying mechanism. The application can improve the feeding efficiency and the processing efficiency of the circuit board.

Inventors

XU YULIANG
WANG BO
HE DEQING
HUANG JIANDONG
XI YUAN

Assignees

深圳市大族数控科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260303

Claims (14)

1. The feeding equipment is used for feeding a circuit board between a feeding frame and processing equipment and is characterized by comprising a carrying mechanism, a turnover mechanism and an information acquisition structure, wherein the carrying mechanism is used for carrying the circuit board from the feeding frame to the turnover mechanism, the turnover mechanism is used for turnover of the circuit board, the information acquisition structure is used for acquiring first pose information of the circuit board on the carrying mechanism, the carrying mechanism is used for adjusting the pose of the circuit board according to the first pose information, and the carrying mechanism is also used for carrying the circuit board with the adjusted pose to the processing equipment.
2. The feeding device of claim 1, wherein the processing device is provided with an identification code, the identification code is bound with positioning information of the circuit board in the processing device, the feeding device further comprises a vision unit for acquiring the identification code, and the handling mechanism is used for adjusting the pose of the circuit board according to the positioning information of the circuit board and the first pose information of the circuit board.
3. The feeding device of claim 1, wherein the circuit board is provided with a positioning member, and the information acquisition structure is configured to capture the positioning member to obtain first pose information of the circuit board.
4. The feeding device of claim 3, wherein the carrying mechanism comprises a carrying clamp for clamping the circuit board, and the information acquisition structure is arranged below the carrying clamp and is used for shooting a positioning piece of the circuit board from bottom to top to acquire first pose information of the circuit board.
5. The loading apparatus of any one of claims 1 to 4, wherein the handling mechanism comprises a robot arm and a handling jig mounted to the robot arm, the handling jig being configured to clamp the circuit board, the robot arm being configured to adjust a pose of the handling jig to adjust the pose of the circuit board.
6. The loading apparatus of any one of claims 1 to 4, wherein the turnover mechanism comprises at least one turnover structure comprising: the lifting assembly is used for outputting linear motion along the vertical direction; the overturning assembly is arranged at the output end of the lifting assembly and is used for outputting rotary motion; The material taking assembly is arranged at the output end of the overturning assembly and is used for clamping the circuit board; The lifting assembly is used for driving the overturning assembly and the material taking assembly to lift so that the material taking assembly and the circuit board can be overturned at a preset height.
7. The loading apparatus of claim 6, wherein the take-out assembly comprises: the support plate is connected with the output end of the overturning assembly; a fixing plate mounted to the support plate; The movable plate is arranged on the supporting plate in a sliding manner; And the clamping driving piece is arranged on the supporting plate and used for driving the movable plate to move so that the movable plate can abut against the circuit board on the fixed plate.
8. The loading device of claim 6, wherein the turnover mechanism comprises at least two horizontal moving structures and at least two turnover structures, each horizontal moving structure is used for driving one turnover structure to horizontally move, and the moving stroke of at least one turnover structure is larger than the moving strokes of the rest turnover structures.
9. The feeding device as set forth in any one of claims 1 to 4, further comprising a vision unit and a controller, wherein the vision unit is configured to detect image information of the circuit board and feed back the image information to the controller, and the controller determines whether the circuit board needs to be turned according to the image information of the circuit board.
10. The feeding system is characterized by comprising a feeding frame, processing equipment and the feeding equipment according to any one of claims 1 to 9, wherein the feeding frame is used for providing a circuit board, the processing equipment is used for processing the circuit board, and the feeding equipment is arranged between the feeding frame and the processing equipment so as to overturn and position the circuit board and then feed the circuit board to the processing equipment.
11. A feeding method, characterized in that feeding is performed by a feeding device according to any one of claims 1 to 9, comprising the steps of: taking materials, and clamping the circuit board from the feeding frame through the carrying mechanism; Overturning, namely overturning the circuit board through an overturning mechanism; Information acquisition, namely acquiring first pose information of the circuit board on the carrying mechanism through an information acquisition structure; The adjusting and carrying mechanism adjusts the pose of the circuit board according to the first pose information of the circuit board; And feeding, namely conveying the positioned circuit board to processing equipment through a conveying mechanism.
12. The loading method as recited in claim 11, wherein prior to the reclaiming step, comprising the steps of: the vision unit obtains the positioning information of the circuit board by obtaining the identification code of the processing area corresponding to the processing equipment; the adjusting step comprises the following steps: The carrying mechanism adjusts the pose of the circuit board according to the positioning information of the circuit board and the first pose information of the circuit board.
13. The loading method as recited in claim 11, wherein prior to the reclaiming step, comprising the steps of: judging whether the circuit board on the feeding frame needs to be overturned or not; After the take-out step, the following steps are performed: When the circuit board needs to be overturned, sequentially executing step overturning, information acquisition, adjustment and feeding; And when the circuit board does not need to be overturned, step information acquisition, adjustment and feeding are sequentially executed.
14. The method of feeding as set forth in claim 13, wherein said determining whether the circuit board on the supply rack needs to be turned over comprises: acquiring image information of the circuit board through a visual unit and feeding back the image information to a controller; And the controller judges whether the circuit board needs to be overturned or not according to the image information.

Description

Feeding equipment, feeding system and feeding method Technical Field The application belongs to the technical field of automatic equipment, and particularly relates to feeding equipment, a feeding system and a feeding method. Background In the PCB processing process, positioning is required by PIN needles fixed to the PCB. Because the PIN needle is higher than the PCB, when the PCB stacks, the front and back sides of the PCB need to be aligned and placed, namely when the PIN needle of the first PCB is arranged below, the second PCB is aligned with the first PCB but the PIN needle is arranged above, the third PCB is staggered with the second PCB and the PIN needle is arranged below, and the fourth PCB is aligned with the third PCB but the PIN needle is arranged above, and the cycle is performed. Because the PCB board drilling machine needs to be positioned through the PIN needle below during processing, when feeding the drilling machine, the PCB board with the PIN needle above needs to be turned over to be in the position with the PIN needle below. The above operations generally require manual operations, resulting in low PCB loading efficiency and, in turn, low PCB production efficiency. Disclosure of Invention The embodiment of the application aims to provide a feeding device, a feeding system and a feeding method, which are used for solving the technical problem that in the prior art, the feeding efficiency is low due to the fact that a PCB needs to be manually turned over and then fed. The feeding device comprises a carrying mechanism, a turnover mechanism and an information acquisition structure, wherein the carrying mechanism is used for carrying the circuit board from the feeding frame to the turnover mechanism, the turnover mechanism is used for turning over the circuit board, the information acquisition structure is used for acquiring first pose information of the circuit board on the carrying mechanism, the carrying mechanism is used for adjusting the pose of the circuit board according to the first pose information, and the carrying mechanism is also used for carrying the circuit board subjected to pose adjustment to the processing device. In some embodiments, the processing device is provided with an identification code, the identification code is bound with positioning information of the circuit board in the processing device, the feeding device further comprises a vision unit for acquiring the identification code, and the carrying mechanism is used for adjusting the pose of the circuit board according to the positioning information of the circuit board and the first pose information of the circuit board. In some embodiments, the circuit board is provided with a positioning piece, and the information acquisition structure is used for shooting the positioning piece to acquire first pose information of the circuit board. In some embodiments, the handling mechanism includes a handling clamp for clamping the circuit board, and the information acquisition structure is disposed below the handling clamp for capturing a positioning piece of the circuit board from bottom to top to obtain first pose information of the circuit board. In some embodiments, the handling mechanism includes a mechanical arm and a handling clamp mounted to the mechanical arm, the handling clamp is used for clamping the circuit board, and the mechanical arm is used for adjusting the pose of the handling clamp to adjust the pose of the circuit board. In some embodiments, the flipping mechanism comprises at least one flipping structure comprising: the lifting assembly is used for outputting linear motion along the vertical direction; the overturning assembly is arranged at the output end of the lifting assembly and is used for outputting rotary motion; The material taking assembly is arranged at the output end of the overturning assembly and is used for clamping the circuit board; The lifting assembly is used for driving the overturning assembly and the material taking assembly to lift so that the material taking assembly and the circuit board can be overturned at a preset height. In some embodiments, the take-off assembly comprises: the support plate is connected with the output end of the overturning assembly; a fixing plate mounted to the support plate; The movable plate is arranged on the supporting plate in a sliding manner; And the clamping driving piece is arranged on the supporting plate and used for driving the movable plate to move so that the movable plate can abut against the circuit board on the fixed plate. In some embodiments, the turnover mechanism comprises at least two horizontal moving structures and at least two turnover structures, wherein each horizontal moving structure is used for driving one turnover structure to horizontally move, and the moving stroke of at least one turnover structure is larger than the moving stroke of the rest turnover structures. In some embodiments, the feeding device further include