CN116234174A

CN116234174A - Material replacement method and circuit board processing system

Info

Publication number: CN116234174A
Application number: CN202310286638.5A
Authority: CN
Inventors: 季峰; 孙兵
Original assignee: Suzhou Vega Technology Co Ltd
Current assignee: Suzhou Vega Technology Co Ltd
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-06-06

Abstract

The invention provides a material replacement method and a circuit board processing system, wherein the material replacement method is applied to circuit board processing equipment, the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close, and the material replacement method comprises the following steps: under the condition that a refueling signal is obtained, controlling an executing mechanism to drive a protective door to open; and under the condition that a refueling completion signal is obtained, controlling the executing mechanism to drive the protective door to be closed. According to the invention, the circuit board processing equipment can determine that the material needs to be replaced when the material replacing signal is acquired through the acquisition of the signal, so that the automatic control executing mechanism drives the protective door to be opened, and operations such as circuit board processing and the like need to be started when the material replacing signal is acquired, so that the automatic control executing mechanism drives the protective door to be closed. The automatic switching of the opening and closing states of the protective door under the tasks of material changing and processing is realized through automatic control, and the production efficiency is improved.

Description

Material replacement method and circuit board processing system

Technical Field

The invention relates to the technical field of automatic equipment, in particular to a material replacement method and a circuit board processing system.

Background

In the production process of circuit boards, special processing such as drilling is required for connection between circuit layers and mounting of later-stage electronic components, and processing tools such as cutters are required in the processing process of circuits.

The circuit board and the processing tool and the like commonly adopt manual material taking and discharging, the operation intensity of manual material taking and discharging is high, the time consumption is long, and the production efficiency is low.

Disclosure of Invention

The invention provides a material replacement method and a circuit board processing system for solving the problems in the prior art.

According to a first aspect of the present invention, there is provided a material replacement method applied to a circuit board processing apparatus provided with a protection door and an actuator for driving the protection door to open and close, the method comprising:

under the condition that a refueling signal is obtained, controlling an executing mechanism to drive a protective door to open;

and under the condition that a refueling completion signal is obtained, controlling the executing mechanism to drive the protective door to be closed.

According to a second aspect of the present invention, there is provided a material replacement method applied to a circuit board processing system including a circuit board processing apparatus, a material replacement apparatus, and a control terminal; the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing equipment comprises a material carrying mechanism and a material buffering warehouse; the method comprises the following steps:

The circuit board processing equipment sends a material changing signal to the control end under the condition that the material changing condition is achieved;

the control end responds to the material changing signal and sends a first trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to open;

the control end sends a material changing trigger signal to the material changing device under the condition that the control end receives a state signal that the feedback protective door of the circuit board processing device is opened;

the material changing device responds to a material changing trigger signal, drives the material handling mechanism to change the material between the circuit board processing device and the material buffering warehouse, and feeds back a finishing signal to the control end after the material changing is finished;

and the control end responds to the completion signal and sends a second trigger signal to the actuating mechanism so as to trigger the actuating mechanism to drive the protective door to be closed.

According to a third aspect of the present invention, there is provided a circuit board processing system comprising: the circuit board processing equipment, the material changing equipment and the control end; the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing equipment comprises a material carrying mechanism and a material buffering warehouse;

the circuit board processing equipment is used for sending a material changing signal to the control end under the condition that the material changing condition is met;

The control end is used for responding to the material changing signal and sending a first trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to open; under the condition that a state signal that the feedback protection door of the circuit board processing equipment is opened is received, a material changing trigger signal is sent to material changing equipment;

the material changing device is used for responding to the material changing trigger signal, driving the material handling mechanism to change the material between the circuit board processing device and the material buffer warehouse, and feeding back a finishing signal to the control end after the material changing is finished;

the control end is also used for responding to the completion signal and sending a second trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to be closed.

According to a fourth aspect of the present invention, there is provided a material replacement method, for use on a control terminal, the method comprising:

responding to a material changing signal sent by the circuit board processing equipment, and sending a first trigger signal to an actuating mechanism of the circuit board processing equipment so as to trigger the actuating mechanism to drive a protective door of the circuit board processing equipment to be opened;

receiving a state signal fed back by the circuit board processing equipment that the protective door is opened;

sending a material trigger signal to the material changing device to drive the material changing device to change materials;

And under the condition that a finishing signal sent by the refueling equipment is received, sending a second trigger signal to the executing mechanism so as to trigger the executing mechanism to drive the protective door to be closed.

According to a fifth aspect of the present invention, there is provided a computing device comprising a memory and a processor;

the memory is for storing computer executable instructions and the processor is for executing the computer executable instructions to implement the material replacement method as provided in the first or fourth aspect.

According to a sixth aspect of the present invention there is provided a computer readable storage medium storing computer instructions which, when executed by a processor, perform a method of changing materials as provided in the first or fourth aspects.

The invention provides a material replacement method, which is applied to circuit board processing equipment, wherein the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close, and the material replacement method comprises the following steps: under the condition that a refueling signal is obtained, controlling an executing mechanism to drive a protective door to open; and under the condition that a refueling completion signal is obtained, controlling the executing mechanism to drive the protective door to be closed.

According to the material replacement method provided by the invention, the circuit board processing equipment can determine that the material needs to be replaced when the material replacement signal is acquired through the acquisition of the signal, so that the automatic control actuating mechanism drives the protective door to be opened, and operations such as circuit board processing and the like need to be started when the material replacement completion signal is acquired, and the automatic control actuating mechanism drives the protective door to be closed. The automatic switching of the opening and closing states of the protective door under the tasks of material changing and processing is realized through automatic control, so that the working safety is ensured, the manual participation is reduced, the automatic production is convenient to realize, and the production efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic flow chart of a material replacement method applied to a circuit board processing device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a circuit board processing device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of another circuit board processing apparatus according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an interactive flow of a material replacement method applied to a circuit board processing system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a circuit board processing system according to an embodiment of the present invention;

fig. 6 is a signal flow diagram of material replacement under a circuit board processing system architecture according to an embodiment of the present invention;

fig. 7 is a schematic flow chart of a material replacement method applied to a control end according to an embodiment of the present invention;

FIG. 8 is a block diagram of a computing device provided by an embodiment of the invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

The following describes specific embodiments of the present invention with reference to the drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The invention provides a material replacement method which is applied to circuit board processing equipment, wherein the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close.

The circuit board processing equipment is used for processing the circuit board such as drilling, edge milling and the like. In order to realize safe production, the circuit board processing equipment is generally provided with a protective cover, and the protective cover is used for isolating a processing area from a non-processing area and guaranteeing the stability of a processing environment. One side of the protective cover is provided with a material inlet and outlet through which manual/automatic feeding and discharging can be realized. The material inlet and outlet is provided with a protective door, the protective door can be subjected to position transformation, the opening and the closing are realized through the position transformation, and the protective door has the following functions: safety isolation is carried out when the device is closed, and materials can normally enter and exit when the device is opened. The inside workstation that is equipped with of protection casing, workstation are the processing material and bear the weight of the module of placing, fixed.

Fig. 1 shows a flow chart of a material replacement method applied to a circuit board processing device, which specifically includes the following steps:

and S102, under the condition that a refueling signal is acquired, controlling the execution mechanism to drive the protective door to open.

The reload signal is generated when there is a reload demand. The material changing signal can be automatically generated when the circuit board processing equipment recognizes that whether the condition of material changing is met or not, for example, the circuit board processing equipment is provided with a circuit board processing program, and the material changing is required to be carried out under the condition that the circuit board processing program is executed, so that the material changing signal is generated; the material changing signal can also be initiated by a technician at the central console, and when the technician finds that the cutter in the cutter box has reached the service life and the circuit board has been processed but the cutter is not replaced, the technician can initiate a material changing request on the central console, and generate a material changing signal to be sent to the circuit board processing equipment; the material replacement signal can also be automatically initiated by the control end, the processing condition of the circuit board and the service life of the cutter are identified by the control end, and when the material replacement is identified to be needed, the material replacement signal is generated and sent to the circuit board processing equipment. In other embodiments of the present invention, the reloading signal may also be initiated by a reloading device, received by a circuit board processing device, which are in dual channel signal interaction. And are not limited in this regard.

When the circuit board processing equipment acquires a material replacement signal, the current material replacement need to be carried out can be determined, so that the execution mechanism can be automatically controlled to drive the protective door to open, namely, the execution mechanism is controlled to move, and the movement of the execution mechanism drives the protective door to open. After the protective door is opened, the materials in the circuit board processing equipment can be replaced.

And S104, controlling the executing mechanism to drive the protective door to be closed under the condition that a refueling completion signal is obtained.

The reload complete signal is generated after reload is completed. The material change completion signal may be automatically generated after the circuit board processing device recognizes whether the material change has been completed, for example, the circuit board processing device may set a sensor at each processing position, the sensor may detect whether the material is replaced, the sensors at all processing positions detect that the material is replaced, and the circuit board processing device may generate the material change completion signal; the material replacement completion signal can also be initiated by a technician on the central console, and when the technician observes that the material replacement is completed, the technician can initiate the material replacement completion signal on the central console and send the material replacement completion signal to the circuit board processing equipment; the reloading signal can also be automatically initiated by a reloading device, wherein the reloading device is a device for automatically executing reloading operation, the reloading device can automatically identify whether the reloading operation is completed or not, and under the condition that the execution is completed, a reloading completion signal is generated and sent to the circuit board processing device. The material replacement completion signal can also be automatically initiated by the control end, the control end monitors the action and the process of replacing the material, and when the material replacement completion is monitored, the material replacement completion signal is generated and sent to the circuit board processing equipment.

When the circuit board processing equipment acquires a material changing completion signal, the material changing operation can be determined to be completed, namely new materials are changed in the circuit board processing equipment, and the processing operation is needed, so that the execution mechanism can be automatically controlled to drive the protective door to be closed, namely, the execution mechanism is controlled to move, and the movement of the execution mechanism drives the protective door to be closed. After the protective door is closed, materials in the circuit board processing equipment can be processed.

By the embodiment of the invention, the circuit board processing equipment can determine that the material needs to be replaced when the material replacing signal is acquired through the acquisition of the signal, so that the automatic control executing mechanism drives the protective door to be opened, and operations such as circuit board processing and the like need to be started when the material replacing signal is acquired, so that the automatic control executing mechanism drives the protective door to be closed. The automatic switching of the opening and closing states of the protective door under the tasks of material changing and processing is realized through automatic control, so that the working safety is ensured, the manual participation is reduced, the automatic production is convenient to realize, and the production efficiency is improved.

In one implementation mode of the embodiment of the invention, a position sensor is arranged on the protective door; the material replacement method may further include the steps of:

Acquiring opening and closing state information of the protective door detected by the position sensor;

accordingly, S102 may be specifically implemented by the following steps:

under the condition that the opening and closing state information is that the protective door is closed, the control executing mechanism drives the protective door to be opened;

s104 may be specifically implemented by the following steps:

and under the condition that the opening and closing state information is that the protective door is opened, controlling the actuating mechanism to drive the protective door to be closed.

A position sensor may be disposed on the protective door, and the position sensor is configured to detect a position of the protective door, and determine whether the protective door is in an open state or a closed state according to a result of the position detection.

In order to avoid misoperation of the executing mechanism, namely under the condition that the material is required to be changed, the executing mechanism is required to be controlled to drive the protective door to be opened only when the protective door is in a closed state, and the operation that the executing mechanism is required to drive the protective door to be opened is not required to be controlled to drive the protective door to be opened any more if the protective door is already opened.

Therefore, before the control actuator drives the protective door to open or close, the open-close state information of the protective door detected by the position sensor needs to be acquired. Under the condition that the opening and closing state information is that the protective door is closed, the control executing mechanism drives the protective door to be opened; and under the condition that the opening and closing state information is that the protective door is opened, controlling the actuating mechanism to drive the protective door to be closed.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, and the protective door is fixed with a single-side hinge of the equipment protective cover.

Accordingly, S102 may be specifically implemented by the following steps:

controlling the extension of the telescopic rod to drive the protective door to rotate around the axle center to be opened;

s104 may be specifically implemented by the following steps:

the telescopic rod is controlled to be shortened so as to drive the protective door to rotate around the axle center to be closed.

Fig. 2 shows a schematic structural diagram of a circuit board processing device provided by the embodiment of the invention, where the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, and as can be seen from fig. 2, the actuating mechanism 2 includes a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 2, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the equipment protective cover is fixed, the protective door is fixed with the single-side hinge of the equipment protective cover, and the protective door can be driven to rotate around the axle center to open and close through the telescopic rod, wherein the axle center is the axle of the single-side hinge of the protective door and the equipment protective cover.

Under the condition that a refueling signal is obtained, the circuit board processing equipment can drive the protective door to rotate and open around the axle center by controlling the extension of the telescopic rod; under the condition that a material changing completion signal is obtained, the circuit board processing equipment is shortened by controlling the telescopic rod, and the protective door can be driven to rotate around the axle center to be closed. The automatic opening and closing of the protective door is realized.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, and the protective door is connected with guide rails on two sides of the equipment protective cover.

Accordingly, S102 may be specifically implemented by the following steps:

controlling the extension of the telescopic rod to drive the protective door to move upwards along the guide rail to be opened;

s104 may be specifically implemented by the following steps:

the telescopic rod is controlled to shorten so as to drive the protective door to move downwards along the guide rail to be closed.

Fig. 3 shows a schematic structural diagram of another circuit board processing device provided by the embodiment of the invention, where the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, and as can be seen from fig. 3, the actuating mechanism 2 includes a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 3, the two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the two sides of the protective door and the equipment protective cover are connected through the guide rail 3, and the protective door can be driven to move up and down along the direction of the guide rail 3 through the telescopic of the telescopic rod, so that the opening and closing of the protective door are realized.

Under the condition that a refueling signal is obtained, the circuit board processing equipment can drive the protective door to move upwards along the guide rail to be opened by controlling the extension of the telescopic rod; under the condition that a material changing completion signal is obtained, the circuit board processing equipment shortens through controlling the telescopic rod, and can drive the protective door to move downwards along the guide rail to be closed. The automatic opening and closing of the protective door is realized.

In one implementation of the embodiment of the invention, the material includes at least one circuit board to be processed; accordingly, S102 may be specifically implemented by the following steps:

processing at least one circuit board to be processed according to a preset processing program;

after finishing processing at least one circuit board to be processed, a material changing signal is obtained, and the executing mechanism is controlled to drive the protective door to open.

In an actual application scenario, the material to be replaced can be at least one circuit board to be processed by the circuit board processing device, a processing program for the circuit board, such as a drilling program or an edge milling program, is generally preset in the circuit board processing device, after the processing is started, the circuit board processing device starts to process according to the configured program, after the program is executed, the circuit board processing device can determine that the processing of the at least one circuit board to be processed is completed, and at the moment, the circuit board processing device can automatically generate a material changing signal to control the execution mechanism to drive the protective door to open.

Because the circuit board processing equipment presets the processing program aiming at the circuit board, the execution progress of the preset processing program can be automatically judged in the process of processing at least one circuit board to be processed according to the preset processing program, and after the execution of the preset processing program is finished, namely the processing of the at least one circuit board to be processed is finished, the circuit board processing equipment can automatically generate a material changing signal, so that the protection door is driven to be opened by the automatic control executing mechanism.

In one implementation mode of the embodiment of the invention, a workbench is arranged in an equipment protection cover of the circuit board processing equipment;

accordingly, after obtaining the refueling signal for the circuit board, the physical replacement method may further include the steps of:

and controlling the workbench to move to the position to be reloaded.

The workstation in the circuit board processing equipment is the module that is arranged in processing material to bear and places, fix, and when circuit board processing equipment carried out the processing operation, the position of workstation is more close to central point, and when there is the demand of changing the circuit board, circuit board processing equipment can control the workstation to remove to wait to change the material position, wait to change the material position for being close to the position of guard gate, like this, the circuit board that waits to change has been removed to the position that is close to the guard gate, more is convenient for take out the circuit board from circuit board processing equipment inside.

In one implementation of an embodiment of the invention, the material includes at least one tool box;

accordingly, S102 may be specifically implemented by the following steps:

acquiring use information of a tool box;

and under the condition that the tool box replacement condition is met according to the use information, obtaining a refueling signal, and controlling the executing mechanism to drive the protective door to open.

The processing tool is placed in the tool box, the use information of the tool box refers to information capable of reflecting the use condition of the processing tool, such as the use time of the processing tool, the abrasion degree of the processing tool and the like, and the information can be obtained through a time statistics module or a vision acquisition module.

The invention also provides another material replacement method which is applied to the circuit board processing system, wherein the circuit board processing system comprises circuit board processing equipment, material replacement equipment and a control end; the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing device comprises a material carrying mechanism and a material buffering warehouse.

The circuit board processing device is used for processing drilling, edge milling and the like on a circuit board, and in the embodiment of the invention, the circuit board processing device can be any one of the following: drilling equipment, forming equipment, cutting equipment, detection equipment and the like. In order to realize safe production, the circuit board processing equipment is generally provided with a protective cover, and the protective cover is used for isolating a processing area from a non-processing area and guaranteeing the stability of a processing environment. One side of the protective cover is provided with a material inlet and outlet through which manual/automatic feeding and discharging can be realized. The material inlet and outlet is provided with a protective door, the protective door can be subjected to position transformation, the opening and the closing are realized through the position transformation, and the protective door has the following functions: safety isolation is carried out when the device is closed, and materials can normally enter and exit when the device is opened. The inside workstation that is equipped with of protection casing, workstation are the processing material and bear the weight of the module of placing, fixed.

The material changing device refers to a machine device capable of realizing automatic material changing, and can be realized as self-moving feeding and discharging devices or partial self-moving feeding and discharging devices, including but not limited to a combination of an AGV and a material box, and a combination of an AGV and a Buffer. When the reloading equipment is the integrated structure of AGV and workbin, reloading equipment includes material handling mechanism and material buffering storehouse, and material handling mechanism specifically can be the arm for carry out the material handling between material buffering storehouse and the circuit board processing equipment and change, the material buffering storehouse is used for caching the material, can be for the cache frame on the reloading equipment. The material handling mechanism is used for grabbing materials from the circuit board processing equipment and placing the materials into the material buffer warehouse, grabbing new materials from the material buffer warehouse and placing the new materials into the circuit board processing equipment to realize material replacement. When the equipment of reloading is the integrated configuration of AGV and Buffer, the equipment of reloading includes material handling mechanism AGV and material Buffer storehouse Buffer, and material handling mechanism specifically can be for removing AGV certainly for to material Buffer storehouse Buffer exchange material, by material Buffer storehouse Buffer to circuit board processing equipment exchange material again, material Buffer storehouse Buffer is used for caching the material, can be for the Buffer mechanism between material handling mechanism AGV and the circuit board processing equipment.

The control end can be an upper computer or a server in an actual scene, and can also be a scheduling control terminal for controlling a plurality of circuit board processing devices and a plurality of material changing devices so as to adapt to the material scheduling platform with the highest efficiency to each circuit board processing device through the material changing devices. Of course, the automatic control device can also be a control box and the like arranged on the circuit board processing equipment, and the main function is to receive and send instructions so as to realize automatic control of the material changing process of the circuit board processing equipment and the material changing equipment.

Fig. 4 is a schematic diagram of an interactive flow chart of a material replacement method applied to a circuit board processing system, which specifically includes the following steps:

s402, the circuit board processing equipment sends a material changing signal to the control end under the condition that the material changing condition is achieved.

The circuit board processing equipment can judge whether the material replacement condition is reached, and sends a material replacement signal to the control end under the condition that the material replacement condition is reached.

In one implementation of the embodiment of the invention, the material includes at least one circuit board to be processed;

accordingly, S402 may be specifically implemented by the following steps:

the circuit board processing equipment processes at least one circuit board to be processed according to a preset processing program; after finishing processing at least one circuit board to be processed, generating a material changing signal and sending the material changing signal to a control end.

As illustrated in the embodiment shown in fig. 1, in an actual application scenario, the material to be replaced may be at least one circuit board to be processed by the circuit board processing device, a processing program for the circuit board, such as a drilling program or an edge milling program, is generally preset in the circuit board processing device, after the circuit board processing device starts to process according to the configured program after the circuit board processing device starts to process, after the program is executed, the circuit board processing device may determine that the processing of the at least one circuit board to be processed is completed, and at this time, the circuit board processing device may automatically generate a material changing signal and send the material changing signal to the control end.

Because the circuit board processing equipment presets the processing program aiming at the circuit board, the execution progress of the preset processing program can be automatically judged in the process of processing at least one circuit board to be processed according to the preset processing program, and after the execution of the preset processing program is finished, namely the processing of the at least one circuit board to be processed is finished, the circuit board processing equipment can automatically generate a material changing signal and send the material changing signal to the control end.

In one implementation mode of the embodiment of the invention, a workbench for placing at least one circuit board to be processed and a motion controller for controlling the workbench to move are arranged in a protective cover of the circuit board processing equipment; correspondingly, the material replacement method can further comprise the following steps:

The control end responds to the reloading signal and sends an action instruction to the motion controller;

the motion controller responds to the action instruction and controls the workbench to move to the position to be reloaded.

The workbench in the circuit board processing equipment is a module for bearing, placing and fixing processing materials, when the circuit board processing equipment executes processing operation, the position of the workbench is closer to the center, after receiving a material changing signal, the control end can send an action instruction to the motion controller, the motion controller can control the workbench to move to a material changing position, the material changing position is a position close to the protective door, and therefore the circuit board to be changed is moved to the position close to the protective door, and the circuit board can be taken out from the circuit board processing equipment conveniently.

accordingly, S402 may be specifically implemented by the following steps:

the method comprises the steps that circuit board processing equipment obtains use information of a tool box; and generating a reloading signal and sending the reloading signal to the control end under the condition that the tool box replacement condition is met according to the use information.

The processing tool is placed in the tool box, the use information of the tool box refers to information capable of reflecting the use condition of the processing tool, for example, the use time of the processing tool, the wear degree of the processing tool and the like can be obtained through a time statistics module or a vision acquisition module, and if the use information of the tool box meets the tool box replacement condition, for example, the use time reaches the preset time, or the wear degree reaches the preset wear degree, the circuit board processing equipment can automatically generate a material replacement signal to a control end.

S404, the control end responds to the material changing signal and sends a first trigger signal to the executing mechanism so as to trigger the executing mechanism to drive the protective door to open.

After receiving the reloading signal, the control end firstly sends a first trigger signal to the executing mechanism, wherein the first trigger signal is a signal for triggering the executing mechanism to work, and after the executing mechanism receives the first trigger signal, the executing mechanism starts to drive the protective door to open.

S406, the control end sends a material changing trigger signal to the material changing device under the condition that the control end receives a state signal that the feedback protective door of the circuit board processing device is opened.

After the protective door is completely opened, the circuit board processing equipment feeds back a state signal that the protective door is opened to the control end, the control end receives the state signal and determines that the protective door is completely opened, and at the moment, the control end can send a material changing trigger signal to the material changing equipment, wherein the material changing trigger signal is a signal for triggering the material changing equipment to work.

S408, the material changing device responds to the material changing trigger signal, drives the material handling mechanism to change the material between the circuit board processing device and the material buffer warehouse, and feeds back a completion signal to the control end after the material changing is completed.

After the material changing equipment receives the material changing trigger signal, the protective door is determined to be completely opened, material changing can be started, and at the moment, the material handling mechanism can be driven to change the material between the circuit board processing equipment and the material buffering storage, namely the material which needs to be changed in the circuit board processing equipment is taken out and placed in the material buffering storage, and then new material in the material buffering storage is placed in the circuit board processing equipment. After the material is replaced, the material replacing equipment feeds a completion signal back to the control end so as to inform the control end that the material replacement is completed.

And S410, the control end responds to the completion signal and sends a second trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to be closed.

The control unit receives a finishing signal sent by the material changing device, determines that material changing is finished, and sends a second trigger signal to the execution mechanism at the moment, wherein the second trigger signal is a signal for triggering the execution mechanism to work, and the execution mechanism starts to drive the protective door to close after receiving the second trigger signal.

By applying the embodiment of the invention, through signal interaction among the circuit board processing equipment, the material changing equipment and the control end, when the material is required to be changed, the circuit board processing equipment can automatically open the protective door, the material changing equipment automatically changes the material, and after the material is changed, the circuit board processing equipment automatically closes the protective door, so that the full-flow automatic change of the material is realized, and the high automation of the material change is realized.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the protective cover, and the protective door is fixed with a single-side hinge of the protective cover.

Accordingly, S404 may be specifically implemented by the following steps:

The control end sends a first trigger signal to the execution structure;

the actuating structure responds to the first trigger signal and controls the extension of the telescopic rod so as to drive the protective door to rotate around the axle center to be opened.

S410 may be specifically implemented by the following steps:

the control end sends a second trigger signal to the execution structure;

the actuating structure responds to the second trigger signal and controls the telescopic rod to be shortened so as to drive the protective door to rotate around the axle center to be closed.

As shown in fig. 2, the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, as can be seen from fig. 2, the actuating mechanism 2 comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 2, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the equipment protective cover is fixed, the protective door is fixed with the single-side hinge of the equipment protective cover, and the protective door can be driven to rotate around the axle center to open and close through the telescopic rod, wherein the axle center is the axle of the single-side hinge of the protective door and the equipment protective cover.

The control end sends a first trigger signal to the execution structure under the condition of receiving the material changing signal, and the execution structure responds to the first trigger signal to control the expansion link to extend so as to drive the protective door to rotate around the axle center to be opened; and the control end sends a second trigger signal to the execution structure under the condition of receiving the material changing completion signal, and the execution structure responds to the second trigger signal to control the telescopic rod to shorten so as to drive the protective door to rotate around the axle center to be closed.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the protective cover, and the protective door is connected with guide rails on two sides of the protective cover.

Accordingly, S404 may be specifically implemented by the following steps:

the control end sends a first trigger signal to the execution structure;

the execution structure responds to the first trigger signal and controls the extension of the telescopic rod so as to drive the protective door to move upwards along the guide rail to be opened;

s410 may be specifically implemented by the following steps:

the control end sends a second trigger signal to the execution structure;

and the execution structure responds to the second trigger signal and controls the telescopic rod to shorten so as to drive the protective door to move downwards along the guide rail to be closed.

As shown in fig. 3, the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, as can be seen from fig. 3, the actuating mechanism 2 comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 3, the two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the two sides of the protective door and the equipment protective cover are connected through the guide rail 3, and the protective door can be driven to move up and down along the direction of the guide rail 3 through the telescopic of the telescopic rod, so that the opening and closing of the protective door are realized.

The control end sends a first trigger signal to the execution structure under the condition of receiving the material changing signal, and the execution structure responds to the first trigger signal to control the extension of the telescopic rod so as to drive the protective door to move upwards along the guide rail to be opened; and the control end sends a second trigger signal to the execution structure under the condition of receiving the material changing completion signal, and the execution structure responds to the second trigger signal to control the telescopic rod to shorten so as to drive the protective door to move downwards along the guide rail to be closed.

In one implementation mode of the embodiment of the invention, a position sensor is arranged on a protective door of the circuit board processing equipment;

correspondingly, the execution structure responds to the first trigger signal to control the extension of the telescopic rod, and the method can be realized by the following steps:

the actuating mechanism responds to the first trigger signal, acquires opening and closing state information of the protective door detected by the position sensor, and controls the extension of the telescopic rod under the condition that the opening and closing state information is that the protective door is closed;

the execution structure responds to the second trigger signal to control the telescopic rod to shorten, and the method can be realized by the following steps:

the actuating mechanism responds to the second trigger signal, acquires opening and closing state information of the protective door detected by the position sensor, and controls the telescopic rod to shorten under the condition that the opening and closing state information is that the protective door is opened.

A position sensor may be provided on the protective door of the circuit board processing apparatus, the position sensor being for detecting a position where the protective door is located, and judging whether the protective door is in an open state or a closed state by a result of the position detection.

Therefore, the actuating mechanism responds to the first trigger signal, firstly, the state information of the protective door detected by the position sensor is obtained, the expansion rod is controlled to be elongated when the opening and closing state information is that the protective door is closed, and the expansion rod is controlled to be shortened when the opening and closing state information is that the protective door is opened.

In one implementation manner of the embodiment of the present invention, before the step S408 is performed, the material replacement method may further include the following steps:

The control end sends a moving instruction to the material changing equipment;

and the material changing equipment responds to the moving instruction, and conveys the carried materials in the material buffer warehouse to a material changing port of the circuit board processing equipment.

In practical application, the material changing device may be an AGV (Automated Guided Vehicle, automatic guided vehicle), and then before the material changing device is driven to change the material, the control end may send a movement instruction to the material changing device, when the material changing device receives the movement instruction, the control end may start to move according to movement information (such as path information and position information) carried in the movement instruction, and transport the material carried in the material buffer library to a material changing port of the circuit board processing device through movement, where the material changing port of the circuit board processing device is near the protection door. The control end sends the moving instruction to the material changing equipment to schedule the material changing equipment, so that the real-time scheduling of the material changing equipment is realized, and the material changing equipment has higher utilization rate.

In one implementation manner of the embodiment of the present invention, after the step S410 is performed, the material replacement method may further include the following steps:

after the circuit board processing equipment determines that the protective door is closed, a closing state signal of the protective door is fed back to the control end, and the circuit board to be processed is processed according to a preset processing program.

The circuit board processing equipment can recognize the opening and closing state of the protective door, after recognizing that the protective door is closed, the circuit board processing equipment can feed back a closing state signal of the protective door to the control end so as to inform the control end that the protective door is closed and can carry out subsequent processing, and because the protective door is closed, the circuit board processing equipment can process a circuit board to be processed according to a preset processing program, and the self-starting of circuit board processing is realized.

In one implementation manner of the embodiment of the present invention, after the step S408 is performed, the material replacement method may further include the following steps:

the material changing device moves to the circuit board processing device to be changed after the material is changed.

After the material between the circuit board processing equipment and the material buffer warehouse is replaced, the material replacement equipment can drive away from the vicinity of the current circuit board processing equipment, can move to other circuit board processing equipment to be replaced without waiting in situ all the time, and continues to replace the material of other circuit board processing equipment. The utilization rate of the material changing equipment can be further improved.

The embodiment of the invention also provides a circuit board processing system, as shown in fig. 5, which is a schematic structural diagram of the circuit board processing system provided by the embodiment of the invention, wherein the circuit board processing system comprises: a circuit board processing apparatus 10, a refueling apparatus 20, and a control terminal 30; the circuit board processing equipment 10 is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing apparatus 20 includes a material handling mechanism and a material buffer store. The circuit board processing device 10 is in communication connection with the control end 30, and the material changing device 20 is in communication connection with the control end 30.

The circuit board processing equipment 10 is used for sending a material changing signal to the control end under the condition that the material changing condition is met;

the control end 30 is used for responding to the material changing signal and sending a first trigger signal to the executing mechanism so as to trigger the executing mechanism to drive the protective door to open; sending a reloading trigger signal to a reloading device when receiving a state signal that the feedback protection door of the circuit board processing device 10 is opened;

the material changing device 20 is configured to respond to the material changing trigger signal, drive the material handling mechanism to change the material between the circuit board processing device 10 and the material cache, and feed back a completion signal to the control end 30 after the replacement is completed;

the control end 30 is further configured to send a second trigger signal to the actuator to trigger the actuator to drive the protective door to close in response to the completion signal.

The above is a schematic solution of a circuit board processing system of the present embodiment. It should be noted that, the technical solution of the circuit board processing system and the technical solution of the material replacement method applied to the circuit board processing system described above belong to the same concept, and details of the technical solution of the circuit board processing system which are not described in detail can be referred to the description of the technical solution of the material replacement method applied to the circuit board processing system described above.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the protective cover, the protective door is fixed with a single-side hinge of the protective cover, and the telescopic rod stretches to drive the protective door to rotate around the axle center to open and close.

As shown in fig. 2, the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, as can be seen from fig. 2, the actuating mechanism 2 comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 2, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the equipment protective cover is fixed, the protective door is fixed with a single-side hinge of the equipment protective cover, the protective door can be driven to rotate around the axis to open and close by the telescopic rod, the axis is the axis of the single-side hinge of the protective door and the equipment protective cover, and the telescopic rod can drive the protective door to rotate around the axis to open and close by the telescopic rod.

In one implementation mode of the embodiment of the invention, the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the protective cover, the protective door is connected with guide rails on two sides of the protective cover, and the telescopic rod stretches to drive the protective door to move along the guide rails to open and close.

As shown in fig. 3, the circuit board processing device is provided with a protective door 1 and an actuating mechanism 2 for driving the protective door 1 to open and close, as can be seen from fig. 3, the actuating mechanism 2 comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, and the driving can adopt a pneumatic or motor screw rod structure. In the structure shown in fig. 3, the two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, the two sides of the protective door and the equipment protective cover are connected through the guide rail 3, the telescopic rod can drive the protective door to move up and down along the direction of the guide rail 3, the opening and closing of the protective door are realized, and the telescopic rod can drive the protective door to move along the guide rail to open and close.

In one implementation mode of the embodiment of the invention, a workbench for placing a circuit board and a motion controller for controlling the workbench to move are arranged in a protective cover of circuit board processing equipment;

Correspondingly, the control end can also be used for responding to a reloading signal aiming at the circuit board and sending an action instruction to the motion controller;

and the motion controller can be used for responding to the action instruction and controlling the workbench to move to the position to be reloaded.

For ease of understanding, the process of material replacement is described below in connection with the overall flow of the circuit board processing system. As shown in fig. 6, a signal flow diagram for material replacement under a circuit board processing system architecture according to an embodiment of the present invention mainly includes flow nodes, such as a control end receiving a material replacement signal, a control end controlling movement of a material replacement device, a control end controlling movement of a workbench, a control end controlling opening and closing of a protective door, and a material replacement device. The material replacement process mainly comprises the following steps:

The first step: acquiring processing state information of circuit board processing equipment, judging whether material replacement is needed, and outputting a material replacement signal to a control end when the material replacement is needed;

and a second step of: the control end acquires a material changing signal, sends an action instruction to the circuit board processing equipment, and controls the workbench to move to a material changing position in response to the action instruction by a motion controller in the circuit board processing equipment;

and a third step of: an actuating mechanism in the circuit board processing equipment responds to the action instruction, the opening and closing state of the protective door is judged, if the protective door is closed, the telescopic rod is controlled to extend out, the protective door is opened, and after the protective door is completely opened, a position signal of the opening of the protective door is obtained and fed back to the control end;

fourth step: the material changing device responds to the moving instruction and conveys materials to a material changing port of the circuit board processing device;

fifth step: a material handling mechanism (mechanical arm) of the material changing equipment carries out material handling and replacement between the material buffering warehouse and the workbench, and feeds back a completion signal to the control end after the material replacement is completed;

sixth step: the control end responds to the completion signal and gives an instruction to the execution mechanism;

seventh step: the actuating mechanism acquires an action instruction, judges the opening and closing state of the protective door, controls the telescopic rod to retract and closes the protective door if the protective door is opened, and acquires a closed position signal of the protective door to feed back to the control end after the protective door is completely closed;

Eighth step: the circuit board processing equipment carries out production processing, and the material changing equipment moves to process material changing of other circuit board processing equipment.

Through the flow of the material replacement, the full-automatic material replacement function can be realized, the manual participation is reduced, the downtime of the circuit board processing equipment is reduced, and the production efficiency is improved.

The invention also provides a material replacement method, which is applied to a control end, as shown in fig. 7, and the flow diagram of the material replacement method applied to the control end provided by the embodiment of the invention specifically comprises the following steps:

s702, responding to a material changing signal sent by the circuit board processing equipment, and sending a first trigger signal to an actuating mechanism of the circuit board processing equipment so as to trigger the actuating mechanism to drive a protective door of the circuit board processing equipment to be opened.

S704, receiving a state signal of the circuit board processing equipment that the feedback protective door is opened.

S706, sending a material trigger signal to the material changing device so as to drive the material changing device to change the material.

And S708, under the condition that a finishing signal sent by the refueling equipment is received, sending a second trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to be closed.

By the embodiment of the invention, through the control of the control end, the circuit board processing equipment and the material changing equipment, when the material is required to be changed, the circuit board processing equipment can automatically open the protective door, the material changing equipment automatically changes the material, and after the material is changed, the circuit board processing equipment automatically closes the protective door, so that the full-flow automatic change of the material is realized, and the high automation of the material change is realized.

The above is a schematic scheme of a material replacement method applied to a control end in this embodiment. It should be noted that, the technical solution of the method and the technical solution of the material replacement method applied to the circuit board processing system described above belong to the same concept, and details of the technical solution of the method, which are not described in detail, can be referred to the description of the technical solution of the material replacement method applied to the circuit board processing system described above.

The control end can specifically comprise a programmable controller, a motion controller, an input/output module, a wireless communication module and a machine vision module. The programmable controller can be used for editing control programs, carrying out logic control on the input and output modules and configuring the motion control module and the servo parameters. The input/output module can be used for accessing the position of sensor detection circuit board, tool holder, detects the moving point and the origin of cylinder in the actuating mechanism, control telescopic link motion etc.. The wireless communication module may be used to enable communication with other devices. The machine vision module can be used for collecting the positions of the circuit board and the tool box, and providing the coordinates of the circuit board and the tool box for the material handling mechanism, and grabbing the coordinates.

FIG. 8 illustrates a block diagram of a computing device provided by an embodiment of the invention. The components of computing device 800 include, but are not limited to, memory 810 and processor 820. Processor 820 is coupled to memory 810 through bus 830 and database 850 is used to hold data.

Computing device 800 also includes access device 840, access device 840 enabling computing device 800 to communicate via one or more networks 860. Examples of such networks include public switched telephone networks (PSTN, public Switched Telephone Network), local area networks (LAN, local Area Network), wide area networks (WAN, wide Area Network), personal area networks (PAN, personal Area Network), or combinations of communication networks such as the internet. Access device 840 may include one or more of any type of network interface, wired or wireless, such as a network interface card (NIC, network interface controller), such as an IEEE802.11 wireless local area network (WLAN, wireless Local Area Network) wireless interface, a worldwide interoperability for microwave access (Wi-MAX, worldwide Interoperability for Microwave Access) interface, an ethernet interface, a universal serial bus (USB, universal Serial Bus) interface, a cellular network interface, a bluetooth interface, a near field communication (NFC, near Field Communication) interface, and so forth.

In one embodiment of the invention, the above-described components of computing device 800, as well as other components not shown in FIG. 8, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device illustrated in FIG. 8 is for exemplary purposes only and is not intended to limit the scope of the present invention. Those skilled in the art may add or replace other components as desired.

The processor 820 is configured to perform the material replacement method applied to the circuit board processing apparatus or the material replacement method applied to the control terminal as described above.

The foregoing is a schematic illustration of a computing device of this embodiment. It should be noted that, the technical solution of the computing device and the technical solution of the material replacement method applied to the circuit board processing device or the control end belong to the same concept, and details of the technical solution of the computing device, which are not described in detail, can be referred to the description of the technical solution of the material replacement method.

An embodiment of the present invention also provides a computer readable storage medium storing computer instructions that when executed by a processor implement the above-described material replacement method applied to a circuit board processing apparatus or a control terminal.

The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the material replacement method applied to the circuit board processing device or the control end described above belong to the same concept, and details of the technical solution of the storage medium are not described in detail, and all reference may be made to the description of the technical solution of the material replacement method described above.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. The material replacement method is characterized by being applied to circuit board processing equipment, wherein the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close, and the material replacement method comprises the following steps:

Under the condition that a refueling signal is obtained, controlling the executing mechanism to drive the protective door to open;

2. The material replacement method according to claim 1, wherein the protective door is provided with a position sensor; the material replacement method further comprises the following steps:

the controlling the actuating mechanism to drive the protective door to open comprises the following steps:

controlling the executing mechanism to drive the protective door to open under the condition that the opening and closing state information is that the protective door is closed;

the controlling the actuating mechanism to drive the protective door to be closed comprises the following steps:

and under the condition that the opening and closing state information indicates that the protective door is opened, controlling the executing mechanism to drive the protective door to be closed.

3. The material replacement method according to claim 1 or 2, wherein the actuator comprises a cylinder and a telescopic rod, the telescopic rod stretches in the cylinder, and two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover;

and controlling the telescopic rod to shorten so as to drive the protective door to rotate around the axle center to be closed.

4. The material replacement method according to claim 1 or 2, wherein the actuating mechanism comprises a cylinder body and a telescopic rod, the telescopic rod stretches in the cylinder body, two ends of the telescopic rod are respectively arranged on the protective door and the equipment protective cover, and the protective door is connected with guide rails on two sides of the equipment protective cover;

and controlling the telescopic rod to shorten so as to drive the protective door to move downwards along the guide rail to be closed.

5. The material replacement method according to claim 1, wherein the material includes at least one circuit board to be processed;

Under the condition that a refueling signal is obtained, controlling the executing mechanism to drive the protective door to open comprises the following steps:

processing the at least one circuit board to be processed according to a preset processing program;

after the at least one circuit board to be processed is processed, a material changing signal is obtained, and the executing mechanism is controlled to drive the protective door to open.

6. The material replacement method according to claim 5, wherein a workbench is arranged in an equipment protection cover of the circuit board processing equipment;

after the obtaining of the reload signal, further comprising:

and controlling the workbench to move to a position to be reloaded.

7. The method of claim 1, wherein the material comprises at least one tool box;

acquiring the use information of the tool box;

and under the condition that the tool box replacement condition is met according to the use information, a refueling signal is obtained, and the executing mechanism is controlled to drive the protective door to open.

8. The material replacement method is characterized by being applied to a circuit board processing system, wherein the circuit board processing system comprises circuit board processing equipment, material changing equipment and a control end; the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing equipment comprises a material handling mechanism and a material buffering warehouse; the material replacement method comprises the following steps:

the control end responds to the material changing signal and sends a first trigger signal to the executing mechanism so as to trigger the executing mechanism to drive the protective door to open;

the control end sends a material changing trigger signal to the material changing device under the condition that the control end receives a state signal that the circuit board processing device feeds back that the protective door is opened;

the material changing device responds to the material changing trigger signal, drives the material handling mechanism to change the material between the circuit board processing device and the material buffering warehouse, and feeds back a completion signal to the control end after the material changing is finished;

and the control end responds to the completion signal and sends a second trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to be closed.

9. The method of material replacement of claim 8, further comprising, prior to the material changing apparatus driving the material handling mechanism to perform material replacement between the circuit board processing apparatus and the material buffer bin in response to the material changing trigger signal:

The control end sends a moving instruction to the material changing equipment;

and the material changing equipment responds to the moving instruction and conveys the materials carried in the material buffer warehouse to a material changing port of the circuit board processing equipment.

10. The material replacement method according to claim 8, further comprising, after the control end sends a second trigger signal to the actuator in response to the completion signal:

after the circuit board processing equipment determines that the protective door is closed, feeding back a closing state signal of the protective door to the control end, and processing the circuit board to be processed according to a preset processing program.

11. The method of material replacement of claim 8, further comprising, after the material changing apparatus drives the material handling mechanism to perform material replacement between the circuit board processing apparatus and the material buffer bin in response to the material changing trigger signal:

and the material changing equipment moves to the circuit board processing equipment to be changed after the material is changed.

12. A circuit board processing system, comprising: the circuit board processing equipment, the material changing equipment and the control end; the circuit board processing equipment is provided with a protective door and an actuating mechanism for driving the protective door to open and close; the material changing equipment comprises a material handling mechanism and a material buffering warehouse;

the control end is used for responding to the refueling signal and sending a first trigger signal to the execution mechanism so as to trigger the execution mechanism to drive the protective door to open; under the condition that a state signal that the protective door is opened is fed back by the circuit board processing equipment, a material changing trigger signal is sent to the material changing equipment;

the material changing device is used for responding to the material changing trigger signal, driving the material handling mechanism to change the material between the circuit board processing device and the material buffering warehouse, and feeding back a finishing signal to the control end after the material changing is finished;

the control end is further used for responding to the completion signal and sending a second trigger signal to the executing mechanism so as to trigger the executing mechanism to drive the protective door to be closed.

13. A material replacement method, characterized in that it is applied to a control terminal, the material replacement method comprising:

responding to a material changing signal sent by circuit board processing equipment, and sending a first trigger signal to an actuating mechanism of the circuit board processing equipment so as to trigger the actuating mechanism to drive a protective door of the circuit board processing equipment to open;

sending a material trigger signal to a material changing device to drive the material changing device to change materials;