CN113163704A - Automatic special-shaped device plug-in equipment and operation method - Google Patents
Automatic special-shaped device plug-in equipment and operation method Download PDFInfo
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- CN113163704A CN113163704A CN202110458941.XA CN202110458941A CN113163704A CN 113163704 A CN113163704 A CN 113163704A CN 202110458941 A CN202110458941 A CN 202110458941A CN 113163704 A CN113163704 A CN 113163704A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 232
- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 230000005540 biological transmission Effects 0.000 claims description 50
- 230000000007 visual effect Effects 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000003032 molecular docking Methods 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 210000000078 claw Anatomy 0.000 description 10
- 238000005498 polishing Methods 0.000 description 10
- 210000001503 joint Anatomy 0.000 description 6
- 239000010410 layer Substances 0.000 description 3
- 150000003071 polychlorinated biphenyls Chemical class 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000006052 feed supplement Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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Abstract
本发明公开了一种自动异形器件插件设备及操作方法，它涉及PCB板的插件技术领域，其包括设备框架，一安装在设备框架上、用以管式物料送料的管式送料组件，一安装在设备框架上、用以传输PCB板的接驳组件，一安装在设备框架上、用以托盘物料送料的托盘物料送料组件，一安装在设备框架上的插件组件，所述插件组件包括移动模组及插件机械手，所述移动模组安装在设备框架上，且位于管式送料组件、托盘物料送料组件及接驳组件的上方，所述接驳组件包括顶升定位机构，所述顶升定位机构安装在所述接驳组件上、用以定位PCB板，位于所述移动模组的下方。采用上述技术方案后，本发明采用机器代替人工、能够节约人工，提高效率。
The invention discloses an automatic special-shaped device plug-in device and an operation method, which relate to the technical field of PCB board plug-in. On the equipment frame, a connecting assembly for transferring PCB boards, a pallet material feeding assembly installed on the equipment frame and used for pallet material feeding, and a plug-in assembly installed on the equipment frame, the plug-in assembly includes a moving mold Group and plug-in manipulator, the mobile module is installed on the equipment frame, and is located above the tubular feeding component, the tray material feeding component and the connecting component, the connecting component includes a jacking and positioning mechanism, and the jacking and positioning The mechanism is installed on the connecting assembly for positioning the PCB board, and is located below the moving module. After adopting the above technical solution, the present invention uses machines to replace labor, which can save labor and improve efficiency.
Description
Technical Field
The invention relates to the technical field of PCB (printed circuit board) plug-in components, in particular to automatic special-shaped device plug-in component equipment and an operation method.
Background
The PCB is a printed circuit board, is a provider of electrical connection of electronic components, and the circuit board has the main advantages of greatly reducing errors of wiring and assembly, improving automation level and production labor rate, and can be divided into single-layer boards, double-sided boards, four-layer boards, six-layer boards and other multilayer circuit boards according to the number of layers of the circuit board.
The PCB board need carry out the plug-in components and parts in the course of working, and traditional PCB board plug-in components generally adopt the manual work to carry out the plug-in components, through manual sorting material, insert the material in the PCB board again, need consume a large amount of manual works like this, and manual plug-in components efficiency and human spirit, physical power etc. are closely correlated, and long-time work probably leads to plug-in components mistake to efficiency has been reduced, consequently need a machine automatic plug-in components to replace traditional artifical plug-in components.
Disclosure of Invention
The invention aims to provide automatic special-shaped device plug-in equipment and an operation method thereof, aiming at the defects and the defects of the prior art, wherein a machine is adopted to replace manual work, the manual work can be saved, and the efficiency is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic special-shaped device plug-in device comprises a device frame, a tubular feeding component arranged on the device frame and used for feeding tubular materials, a connecting component arranged on the device frame and used for transmitting PCB boards, a tray material feeding component arranged on the device frame and used for feeding tray materials, and a plug-in component arranged on the device frame, wherein the plug-in component comprises a moving module and a plug-in manipulator, the moving module is arranged on the device frame and positioned above the tubular feeding component, the tray material feeding component and the connecting component, the connecting component comprises a jacking positioning mechanism, the jacking positioning mechanism is arranged on the connecting component and used for positioning the PCB boards and positioned below the moving module, and the moving module drives the plug-in manipulator to grab the materials on the tubular feeding component and the tray material feeding component, and grabbing the material to the upper part of the jacking positioning mechanism, and plugging the PCB board by a plugging manipulator.
Further, the moving module comprises an X shaft assembly, a Y shaft assembly and a supporting seat, wherein the X shaft assembly is installed on the supporting seat, and the Y shaft assembly is installed on the X shaft assembly;
the X-axis assembly comprises two X-axis slide rails and two groups of X-axis slide blocks which are arranged on the X-axis slide rails in a sliding manner, the two X-axis slide rails are respectively arranged in parallel, the bottoms of the two X-axis slide rails are both arranged on a supporting seat, the supporting seat is arranged on an equipment frame, and the two groups of X-axis slide blocks are respectively arranged at the same ends of the two X-axis slide rails;
the Y-axis assembly comprises Y-axis slide rails, Y-axis slide blocks and fixed connecting plates, wherein the Y-axis slide blocks and the fixed connecting plates are slidably arranged on the Y-axis slide rails, two ends of each Y-axis slide rail are respectively provided with one fixed connecting plate, the two fixed connecting plates are respectively arranged on the two sets of X-axis slide blocks, and the Y-axis slide blocks are arranged on the Y-axis slide rails.
Furthermore, the plug-in manipulator comprises a plug-in grabbing mechanism and a visual positioning assembly, the visual positioning assembly is arranged on the plug-in grabbing mechanism, the plug-in grabbing mechanism comprises a driving mechanism and a plurality of material grabbing air claws, and the driving mechanism is in driving connection with the material grabbing air claws;
the driving mechanism comprises a mounting plate, a plurality of servo motors, a plurality of ball screws, a plurality of ball splines, a driving motor and an outer cover, wherein the ball screws and the ball splines are arranged on the mounting plate, the servo motors are arranged on the mounting plate and drive the ball screws to move up and down, the ball screws are connected with one ends of the ball splines, the other ends of the ball splines are connected with the material grabbing air claw, the driving motor is arranged on the mounting plate and drives the ball splines, the ball splines drive the material grabbing air claw to lift and rotate, the outer cover is arranged on the outer sides of the ball screws and the ball splines, and the mounting plate is arranged on the Y-axis assembly;
the vision positioning assembly comprises a third camera support, a positioning camera and a third light source, the third camera support is arranged on the plug-in unit grabbing mechanism, the positioning camera and the third light source are both arranged on the third camera support, and the third light source is located below the positioning camera.
Further, the tubular feeding assembly comprises a plurality of tubular material feeding mechanisms, a first camera assembly and a first feeding table, wherein the tubular material feeding mechanisms are arranged on the first feeding table, and the first camera assembly is arranged on the first feeding table;
the first feeding table comprises a first row of sockets, first vibration cylinders and first positioning pins, a plurality of first electric butt joints are arranged on the side face of the first row of sockets, a plurality of first positioning pins are arranged on the upper surface of the first row of sockets at equal intervals, a first straight vibration material channel is formed between every two first positioning pins, a plurality of first vibration cylinders are arranged on the lower surface of the first row of sockets, and each first vibration cylinder corresponds to the first straight vibration material channel;
the pipe material supply mechanism comprises a direct vibration base, a direct vibration motor, a material pipe, a mounting seat, a fixture block and a fixing piece, wherein the direct vibration base is arranged on the first direct vibration material channel, the direct vibration motor is arranged on the direct vibration base, the mounting seat is arranged on the direct vibration motor, the fixture block is arranged at one end, facing the connection assembly, of the mounting seat, the material pipe is arranged on the mounting seat and located between the fixture blocks, and the fixing piece is matched with the fixture block to fix the material pipe on the mounting seat;
the first camera assembly comprises a first fixing support, a first camera, a first light source and a first polishing box, the first fixing support is arranged on the first direct vibration material channel, and the first camera, the first light source and the first polishing box are all arranged on the first fixing support and located below the plug-in assembly.
Further, the tray material feeding assembly comprises a tray cross feeding mechanism, a second camera assembly, a second feeding table and a tray material placing assembly, and the tray cross feeding mechanism, the second camera assembly and the tray material placing assembly are all arranged on the second feeding table;
the second feeding table comprises a second row of sockets, a second vibration cylinder and second positioning pins, a second electrical butt joint is arranged on the side face of the second row of sockets, a plurality of second positioning pins are arranged on the upper surface of the second row of sockets at equal intervals, a second straight vibration material channel is formed between every two second positioning pins, a plurality of second vibration cylinders are arranged on the lower surface of the second row of sockets, and the positions of the second vibration cylinders correspond to the positions of the second straight vibration material channels;
the second camera component comprises a second fixing support, a second camera, a second light source and a second polishing box, the second fixing support is arranged on the second straight vibrating material channel and is positioned between the tray cross feeding mechanism and the tray material placing component, and the second camera, the second light source and the second polishing box are all arranged on the second fixing support and are positioned below the plug-in component;
the tray material placing assembly comprises a lifter, a lifter mounting seat and a material tray, the lifter mounting seat is arranged on one of the second direct vibration material channels, the lifter is mounted on the lifter mounting seat, and the material tray is arranged on the lifter;
tray alternately feed mechanism includes slide mechanism, no pole cylinder, upper tray, lower floor's tray, slide mechanism installing support, unable adjustment base sets up on the second directly shakes the material way, the slide mechanism installing support sets up on unable adjustment base, slide mechanism sets up on the slide mechanism installing support, no pole cylinder sets up on slide mechanism, upper tray and lower floor's tray all set up on slide mechanism, and no pole cylinder drives upper tray and the crisscross motion of lower floor's tray.
Further, slide mechanism includes many slide rails, a plurality of slider, gear and rack, many slide rail parallel arrangement all are provided with the slider on the slide mechanism installing support, the gear sets up on slide mechanism installing support, rack quantity is two, and parallel arrangement on the slider of two adjacent slide rails and with gear drive connects, upper tray sets up on one of them rack, lower floor's tray sets up on another rack, and lower floor's tray is connected with no pole cylinder.
The connection assembly further comprises a connection power mechanism and a width adjusting mechanism, the connection power mechanism is arranged on the width adjusting mechanism, the width adjusting mechanism is arranged on the equipment frame, and the jacking positioning mechanism is arranged on the connection power mechanism;
the width adjusting mechanism comprises two groups of screw rod adjusting modules and a width adjusting driving module, the two groups of screw rod adjusting modules are arranged in parallel, the width adjusting driving module is arranged on the screw rod adjusting modules and drives the screw rod adjusting modules,
the lead screw adjusting module comprises an adjusting lead screw, a width adjusting slide seat and a width adjusting slide block, the width adjusting drive module comprises a stepping motor, a driving wheel, a driven wheel and a synchronous belt, the width adjusting slide seat is arranged on the equipment frame, the width adjusting slide block is slidably arranged on the width adjusting slide seat, the driving wheel and the driven wheel are arranged on the width adjusting slide seat, the driving wheel is connected with the driven wheel through the synchronous belt, the stepping motor is connected with the driving wheel, the driven wheel is connected with one end of the adjusting lead screw, and the other end of the adjusting lead screw is fixed on the width adjusting slide block;
the connection power mechanism comprises a connection power module and a limit plate, two ends of the screw rod adjusting module are respectively provided with a connection power module, the two connection power modules are respectively provided with a limit plate,
the connection power module comprises a first section of power belt, a second section of power belt, a third section of power belt, a plurality of transmission wheels, a plurality of transmission motors and transmission wheel mounting plates, wherein the two sides of the width adjusting sliding seat are respectively provided with the transmission wheel mounting plates, the transmission wheel mounting plates are provided with the plurality of transmission wheels, the transmission wheels are driven by the transmission motors, the front end and the rear end of the first section of power belt are connected through the transmission wheels, the front end and the rear end of the second section of power belt are connected through the transmission wheels, the front end and the rear end of the third section of power belt are connected through the transmission wheels, the first section of power belt is in butt joint with one end of the second section of power belt, and the other end of the second section of power belt is in butt joint with the third section of power belt;
the jacking positioning mechanism comprises two groups of positioning modules and an adjusting driving module, the two groups of positioning modules are respectively arranged on the two connection power modules in a matching way, and the adjusting driving module is arranged on one connection power module and is close to one positioning module;
the adjusting and driving module comprises a knob, a positioning cylinder, a first gear, a second gear and a conveyor belt, wherein the two sets of positioning modules are respectively arranged on two side transmission wheel mounting plates, each positioning module comprises a top plate, a jacking cylinder and a cylinder fixing plate, the jacking cylinders are arranged on the cylinder fixing plates, the top plates are arranged on the jacking cylinders, the first gears and the second gears are arranged on one side transmission wheel mounting plate, the first gears and the second gears are connected through the conveyor belt, the knob is arranged on the transmission wheel mounting plates and connected with the first gears, and the positioning cylinders are arranged between the knob and the positioning modules and connected with the conveyor belt.
Further, the outside of equipment frame is provided with the equipment safety cover, including the equipment safety cover covers tubular pay-off subassembly, the subassembly of plugging into, tray material pay-off subassembly and plug-in components, be provided with the control assembly in the equipment frame, the control assembly and tubular pay-off subassembly, the subassembly of plugging into, tray material pay-off subassembly and plug-in components electric connection.
Further, be provided with the host computer on the lateral wall of equipment safety cover, host computer and tubular pay-off subassembly, the subassembly of plugging into, tray material pay-off subassembly and plug-in components electric connection.
The invention also discloses an operation method using the automatic special-shaped device plug-in equipment, which comprises the following steps:
step A: the pipe material feeding mechanism of the pipe type feeding assembly vibrates the material to the material grabbing position area, and the tray cross feeding mechanism and the tray material placing assembly of the tray material feeding assembly send the material to the material grabbing position area;
and B: the connection power mechanism of the connection assembly conveys the PCB and positions the PCB through the jacking positioning mechanism of the connection assembly;
and C: setting or presetting a material taking program in advance, and taking materials on the tubular feeding component or the tray material feeding component by the plug-in manipulator of the plug-in component according to the set program;
step D: the plug-in manipulator of the plug-in component grabs the material to the connection component and above the PCB for plug-in;
step F: after the PCB board is plugged in, the PCB board is sent out of the automatic special-shaped device plugging device through the connecting assembly.
Furthermore, in the step C and the step D, the plug-in manipulator of the plug-in component positions the material and the PCB through the visual positioning component on the plug-in manipulator.
Further, in the step C, after the plug-in manipulator of the plug-in component grabs the material on the tubular feeding component, the material needs to be grabbed above the first camera component on the tubular feeding component to shoot to identify the material posture, and then the material pins are adjusted through an algorithm; if the plug-in manipulator of the plug-in component grabs the material on the tray material feeding component and finishes, need to snatch the material to the top of the second camera subassembly on the tray material feeding component and shoot and discern the material gesture, then adjust the material stitch through the algorithm.
After the technical scheme is adopted, the automatic special-shaped device plug-in equipment feeds materials through the tubular feeding assembly and the tray material feeding assembly, the PCB is transmitted through the connecting assembly, the PCB in transmission is positioned through the jacking positioning mechanism on the connecting assembly, the plug-in manipulator is driven by the moving module on the plug-in assembly to grab the materials on the tubular feeding assembly and the tray material feeding assembly and grab the materials above the jacking positioning mechanism, and the plug-in manipulator plugs the PCB, so that the automatic special-shaped device plug-in equipment can replace manpower to plug in the PCB, the labor is reduced, the labor cost is saved, and the efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the device protection cover 11 of the present invention.
Fig. 3 is a schematic view of the upper surface of the tubular feed module 2 of the present invention.
Fig. 4 is a schematic structural diagram of the second camera assembly 22 according to the present invention.
Fig. 5 is a schematic perspective view of the tubular feed assembly 2 of the present invention.
Fig. 6 is a schematic structural view of the tube material supply mechanism 21 according to the present invention.
Fig. 7 is a schematic structural view of the upper surface of the tray material feeding unit 4 according to the present invention.
Fig. 8 is a schematic perspective view of the tray material feeding assembly 4 according to the present invention.
Fig. 9 is a schematic structural view of the tray cross-feeding mechanism 41 of the present invention, in which the upper tray 413 and the lower tray 414 are not installed.
Fig. 10 is a schematic perspective view of the connection assembly 3 of the present invention.
Fig. 11 is a top view of the docking assembly 3 of the present invention.
Fig. 12 is a schematic view of the structure of the insert unit 5 of the present invention.
Fig. 13 is a schematic structural view of the inserter robot 52 of the present invention.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Referring to fig. 1-2, the invention discloses an automatic special-shaped plug-in machine with a tubular feeding assembly, which comprises an equipment frame 1, a tubular feeding assembly 2, a connecting assembly 3, a tray material feeding assembly 4, a plug-in assembly 5 and a control assembly 6.
The tubular feeding component 2 is arranged on the equipment frame 1 and used for conveying tubular materials; the connecting component 3 is installed on the equipment frame 1, the connecting component 3 is used for transmitting PCB boards, the tubular feeding component 2 is arranged on one side of the connecting component 3, the tray material component 4 is arranged on the equipment frame 1 and located on the other side of the connecting component 3 and used for conveying tray materials, the plug-in component 5 is arranged on the equipment frame 1 and located above the tubular feeding component 2, the connecting component 3 and the tray material feeding component 4, and the plug-in component 5 is used for grabbing materials on the tubular feeding component 2 and the tray material feeding component 4 onto the PCB boards on the connecting component 3 and plugging in the materials.
The outside of equipment frame 1 is provided with equipment safety cover 11, including equipment safety cover 11 covers tubular pay-off subassembly 2, the subassembly 3 of plugging into, tray material pay-off subassembly 4 and plug-in components subassembly 5, be provided with host computer 12 on the lateral wall of equipment safety cover 11, host computer 12 and tubular pay-off subassembly 2, the subassembly 3 of plugging into, tray material pay-off subassembly 4 and plug-in components subassembly 5 electric connection, be provided with control assembly 6 in the equipment frame 1, control assembly 6 and tubular pay-off subassembly 2, the subassembly 3 of plugging into, tray material pay-off subassembly 4 and plug-in components subassembly 5 electric connection.
As shown in fig. 3-6, the tubular feeding assembly 2 includes a plurality of tubular material feeding mechanisms 21, a first camera assembly 22, and a first feeding table 23, wherein the tubular material feeding mechanisms 21 are disposed on the first feeding table 23, and the first camera assembly 22 is disposed on the first feeding table 23;
the first feeding table 23 comprises a first row of sockets 231, first vibration cylinders 232 and first positioning pins 233, a plurality of first electrical interfaces 2311 are arranged on the side surfaces of the first row of sockets 231, a plurality of first positioning pins 233 are arranged on the upper surface of the first row of sockets 231 at equal intervals, a first direct vibration material channel 234 is formed between every two first positioning pins 233, a plurality of first vibration cylinders 232 are arranged on the lower surface of the first row of sockets 231, and the positions of each first vibration cylinder 232 correspond to the position of the first direct vibration material channel 234;
the tube material feeding mechanism 21 comprises a direct vibration base 211, a direct vibration motor 212, a material tube 213, a mounting seat 214, a fixture block 215 and a fixing member 216, wherein the direct vibration base 211 is arranged on the first direct vibration material channel 234, the direct vibration motor 212 is arranged on the direct vibration base 211, the mounting seat 214 is arranged on the direct vibration motor 212, the fixture block 215 is arranged at one end of the mounting seat 214 facing the connection component 3, the material tube 213 is arranged on the mounting seat 214 and located between the fixture blocks 215, the material tube 213 is fixed on the mounting seat 214 through the fixing member 216 and the fixture block 215 in a matching manner, the direct vibration motor 212 vibrates to drive the material tube 213 to vibrate, the material tube 213 is filled with the material, when vibrating, the material tube 213 vibrates the material in the tube and flows out and flows to a material grabbing position area, the fixing member 216 is arranged to fix the material tube 213, and displacement of the material tube 213 caused by vibration of the direct vibration motor 212 is avoided, causing the material tube 213 to disengage from the grab position area;
the first positioning pins 233 can be used for positioning the direct vibration base 211 of the tube material supply mechanism 21 and the first camera component 22, and a plurality of first direct vibration material channels 234 formed by the first positioning pins 233 can also be used for installing a plurality of tube material supply mechanisms 21, so that the material replacement time is saved, and the material feeding time is reduced;
the first camera assembly 22 comprises a first fixing bracket 221, a first camera 222, a first light source 223 and a first polishing box 224, wherein the first fixing bracket 221 is arranged on the first vertical vibrating material channel 234, and the first camera 222, the first light source 223 and the first polishing box 224 are all arranged on the first fixing bracket 221 and are positioned below the plug-in component 5; through setting up first throw magazine 224 and can put the material of damage to first throw magazine 224 in, the convenient recovery, through setting up first camera 222 and first light source 223, when the material was snatched to first camera 222's top by plug-in components subassembly 5, first camera 222 took a picture to the stitch of material below from bottom to top to host computer 12 is given images to, plug-in components subassembly 5 judges and revises the stitch position to the stitch position of material according to the image result, thereby guarantee that material stitch position is correct, guarantee that the plug-in components is correct.
As shown in fig. 7-9, the tray material feeding assembly 4 includes a tray cross feeding mechanism 41, a second camera assembly 42, a second feeding table 43, and a tray material placing assembly 44, and the tray cross feeding mechanism 41, the second camera assembly 42, and the tray material placing assembly 44 are all disposed on the second feeding table 43;
the second feeding table 43 comprises a second row of sockets 431, a second vibration cylinder 432 and second positioning pins 433, a second electrical interface 4311 is arranged on the side surface of the second row of sockets 431, a plurality of second positioning pins 433 are arranged on the upper surface of the second row of sockets 431 at equal intervals, a second straight vibration material channel 434 is formed between every two second positioning pins 433, a plurality of second vibration cylinders 432 are arranged on the lower surface of the second row of sockets 431, and the positions of each second vibration cylinder 432 and the second straight vibration material channel 434 correspond to each other; the tray cross feeding mechanism 41, the second camera component 42 and the tray material placing component 44 can be positioned by arranging the second positioning pin 433, and frequent material supplement is not needed in the feeding process by arranging the tray material placing component 44 and the tray cross feeding mechanism 41, so that more time can be saved;
the second camera assembly 42 comprises a second fixing support 421, a second camera 422, a second light source 423 and a second polishing box 424, the second fixing support 421 is arranged on the second straight material vibrating channel 434 and is located between the tray cross feeding mechanism 41 and the tray material placing assembly 44, and the second camera 422, the second light source 423 and the second polishing box 424 are all installed on the second fixing support 421 and are located below the plug-in component 5; the damaged materials can be placed into the second polishing box 424 through the second polishing box 424, the materials are convenient to recycle, when the materials are grabbed to the upper side of the second camera 422 by the plug-in component 5 through the second camera 422 and the second light source 423, the pins below the materials are photographed by the second camera 422 from bottom to top and images are transmitted to the upper computer 12, the plug-in component 5 judges the pin positions of the materials according to the image results and corrects the pin positions, so that the correct pin positions of the materials are ensured, and the correct plug-in is ensured;
the tray material placing assembly 44 includes a lifter 441, a lifter mount 442 and a material tray 443, the lifter mount 442 is disposed on the one of the second straight vibrating material channels 434, the lifter 441 is mounted on the lifter mount 442, and the material tray 443 is disposed on the lifter 441; the height of the material tray 443 can be controlled by the elevator 441, so that the material tray 443 can be matched with the plug-in component 5, and the plug-in component 5 can conveniently grab materials;
the tray cross feeding mechanism 41 comprises a sliding mechanism 411, a rodless cylinder 412, an upper tray 413, a lower tray 414, a sliding mechanism mounting bracket 415 and a fixed base 416, wherein the fixed base 416 is arranged on a second straight vibrating channel 434, the sliding mechanism mounting bracket 415 is arranged on the fixed base 416, the sliding mechanism 411 is arranged on the sliding mechanism mounting bracket 415, the rodless cylinder 412 is arranged on the sliding mechanism 411, the upper tray 413 and the lower tray 414 are both arranged on the sliding mechanism 411, and the rodless cylinder 412 drives the upper tray 413 and the lower tray 414 to move in a staggered manner;
the sliding mechanism 411 comprises a plurality of sliding rails 4111, a plurality of sliding blocks 4112, a gear 4113 and a rack 4114, the plurality of sliding rails 4111 are arranged in parallel on a sliding mechanism mounting bracket 415, each sliding rail 4111 is provided with a sliding block 4112, the gear 4113 is arranged on the sliding mechanism mounting bracket 415, the number of the racks 4114 is two, the racks 4112 are arranged on the sliding blocks 4112 of two adjacent sliding rails 4111 in parallel and are in transmission connection with the gear 4113, the upper tray 413 is arranged on one of the racks 4114, the lower tray 414 is arranged on the other rack 4114, and the lower tray 414 is connected with the rodless cylinder 412; drive through rodless cylinder 412 and drive lower floor's tray 414 inward movement, when lower floor's tray 414 inward movement, drive the rack 4114 inward movement of lower floor's tray 414 below, during this rack 4114 inward movement, through cooperating with gear 4113 for another rack 4114 outward movement, thereby drive upper tray 413 outward movement, realize that one of upper tray 413 and lower floor's tray 414 advances one and goes out, thereby reduce feed supplement number of times and feed supplement time.
As shown in fig. 10 to 11, the connection assembly 3 includes a jacking positioning mechanism 31, a connection power mechanism 32, and a width adjusting mechanism 33, the connection power mechanism 32 is disposed on the width adjusting mechanism 33, the width adjusting mechanism 33 is disposed on the equipment frame 1, the jacking positioning mechanism 31 is disposed on the connection power mechanism 32, and the jacking positioning mechanism 31 is used for positioning a PCB and is located below the card assembly 5;
the width adjusting mechanism 33 comprises two sets of screw rod adjusting modules 331 and a width adjusting driving module 332, the two sets of screw rod adjusting modules 331 are arranged in parallel, and the width adjusting driving module 332 is arranged on the screw rod adjusting modules 331 and drives the screw rod adjusting modules 331; by arranging the lead screw adjusting module 331 and the width adjusting driving module 332, the width adjusting driving module 332 can adjust the width of the lead screw adjusting module 331, so that the width of the connecting component 3 is adjusted to adapt to the plugging operation of the PCB with different widths;
the lead screw adjusting module 331 comprises an adjusting lead screw 3311, a width adjusting slide 3312 and a width adjusting slider 3313, the width adjusting drive module 332 comprises a stepping motor 3321, a driving wheel 3322, a driven wheel 3323 and a synchronous belt 3324, the width adjusting slide 3312 is arranged on the equipment frame 1, the width adjusting slide 3313 is slidably arranged on the width adjusting slide 3312, the driving wheel 3322 and the driven wheel 3323 are arranged on the width adjusting slide 3312, the driving wheel 3322 is connected with the driven wheel 3323 through the synchronous belt 3324, the stepping motor 3321 is connected with the driving wheel 3322, the driven wheel 3323 is connected with one end of the adjusting lead screw 3311, and the other end of the adjusting lead screw 3311 is fixed on the width adjusting slider 3313; the two adjusting screw rods 3311 are arranged in parallel, and the two adjusting screw rods 3311 are connected through a driven wheel 3323 and a synchronous belt 3324; the driving wheel 3322 is driven by the stepping motor 3321, the driving wheel 3322 drives the driven wheel 3323 to transmit through the synchronous belt 3324, and the driven wheel 3323 respectively drives the two adjusting screw rods 3311, so that the width of the adjusting screw rods 3311 is adjusted;
the connection power mechanism 32 comprises a connection power module 321 and a limiting plate 322, two ends of the screw rod adjusting module 331 are respectively provided with one connection power module 321, and the two connection power modules 321 are respectively provided with one limiting plate 322; the PCB is conveyed by the connection power module 321, and the PCB can be limited by the limit plate 322, so that the PCBs can be conveyed one by one, and the problems of disordered conveying and the like of the PCBs in the conveying process are avoided;
the connection power module 321 comprises a first section of power belt 3211, a second section of power belt 3212, a third section of power belt 3213, a plurality of transmission wheels 3214, a plurality of transmission motors 3215 and transmission wheel mounting plates 3216, wherein a transmission wheel mounting plate 3216 is respectively disposed on each of two sides of the width adjustment slide 3312, a plurality of transmission wheels 3214 are disposed on the transmission wheel mounting plates 3216, the transmission wheels 3214 are driven by the transmission motors 3215, the front and rear ends of the first section of power belt 3211 are connected by the transmission wheels 3214, the front and rear ends of the second section of power belt 3212 are connected by the transmission wheels 3214, the front and rear ends of the third section of power belt 3213 are connected by the transmission wheels 3214, the first section of power belt 3211 is in butt joint with one end of the second section of power belt 3212, the other end of the second section of power belt 3212 is in butt joint with the third section of power belt 3213, and the PCB board is placed between the power belt and the limiting plate 322 for transmission; the first section of power belt 3211, the second section of power belt 3212 and the third section of power belt 3213 are arranged, so that transmission of the three sections of power belts can be separately controlled, a PCB can stay on the power belts for waiting, and after a previous PCB is inserted, the next PCB is connected immediately, so that the transmission time of the PCB is saved, and the efficiency is improved;
the jacking positioning mechanism 31 comprises two groups of positioning modules 311 and an adjusting driving module 312, the two groups of positioning modules 311 are respectively arranged on the two connection power modules 321 in a matching manner, and the adjusting driving module 312 is arranged on one connection power module 321 and is close to one positioning module 311; the PCB can be positioned by arranging the positioning module 311, and when the PCB is conveyed above the positioning module 311, the height of the positioning module 311 is adjusted by adjusting the driving module 312, so that the PCB is positioned;
the adjusting and driving die set 312 comprises a knob 3121, a positioning cylinder 3122, a first gear 3123, a second gear 3124, and a conveyor belt 3125, the two sets of positioning die sets 311 are respectively disposed on two side transmission wheel mounting plates 3216, the positioning die set 311 comprises a top plate 3111, a jacking cylinder 3112, a cylinder fixing plate 3113, the jacking cylinder 3112 is disposed on the cylinder fixing plate 3113, the jacking cylinder 3112 is provided with the top plate 3111, the first gear 3123 and the second gear 3124 are both disposed on one side transmission wheel mounting plate 3216, the first gear 3123 and the second gear 3124 are connected through the conveyor belt 3125, the knob 3121 is disposed on the transmission wheel mounting plate 3216 and connected with the first gear 3213, and the positioning cylinder 3122 is disposed between the knob 3121 and the positioning die set 311 and connected with the conveyor belt 3125; through manual rotatory knob 3121, drive first gear 3123 transmission, first gear 3121 and the cooperation of second gear 3124 drive conveyer belt 3125 transmission, and conveyer belt 3125 drives the action of location cylinder 3122 to through the front and back width of location cylinder 3122 adjustment location module 311, and then the cooperation power unit 32 of plugging into.
As shown in fig. 12 to 13, the card inserting assembly 5 includes a moving module 51 and a card inserting manipulator 52, the moving module 51 is mounted on the equipment frame 1 and is located above the tubular feeding assembly 2, the tray material feeding assembly 4 and the connecting assembly 3, the moving module 51 drives the card inserting manipulator 52 to grab the materials on the tubular feeding assembly 2 and the tray material feeding assembly 4 and grab the materials above the jacking positioning mechanism 31, and the card inserting manipulator inserts the PCB;
the moving module 51 comprises an X-axis assembly 511, a Y-axis assembly 512 and a support base 513, wherein the X-axis assembly 511 is mounted on the support base 513, and the Y-axis assembly 512 is mounted on the X-axis assembly 511; the X-axis assembly 511 and the Y-axis assembly 512 are arranged to drive the plug-in manipulator 52 to move on the X axis and the Y axis;
the X-axis assembly 511 comprises two X-axis sliding rails 5111 and two groups of X-axis sliding blocks 5112 which are slidably arranged on the X-axis sliding rails 5111, the two X-axis sliding rails 5111 are respectively arranged in parallel, the bottoms of the two X-axis sliding rails 5111 are both arranged on a supporting seat 513, the supporting seat 513 is arranged on the equipment frame 1, and the two groups of X-axis sliding blocks 5112 are respectively arranged at the same end of the two X-axis sliding rails 5111;
the Y-axis assembly 512 comprises a Y-axis slide rail 5121, Y-axis sliders 5122 and fixed connection plates 5123, wherein the Y-axis sliders 5122 and the fixed connection plates 5123 are slidably arranged on the Y-axis slide rail 5121, two ends of the Y-axis slide rail 5121 are respectively provided with one fixed connection plate 5123, the two fixed connection plates 5123 are respectively arranged on the two groups of X-axis sliders 5112, and the Y-axis sliders 5122 are arranged on the Y-axis slide rail 5121; by arranging the fixed connecting plate 5123 on the X-axis slider 5112, when the X-axis slider 5112 slides, the Y-axis slide rail 5121 is driven to slide, the plug-in manipulator 52 is arranged on the Y-axis slider 5112, and when the Y-axis slider 5122 slides, the plug-in manipulator 52 is driven to slide;
the plug-in manipulator 52 comprises a plug-in grabbing mechanism 521 and a visual positioning component 524, the visual positioning component 522 is arranged on the plug-in grabbing mechanism 521, the plug-in grabbing mechanism 521 comprises a driving mechanism 522 and a plurality of material grabbing air claws 523, the number of the material grabbing air claws 523 is four, and the driving mechanism 522 is in driving connection with the material grabbing air claws 523; the plug-in unit grabbing mechanism 521 is arranged for grabbing materials, the visual positioning component 524 shoots and positions the materials and the PCB, the plug-in unit grabbing mechanism 521 can grab the materials conveniently, and the accuracy of the plug-in unit is improved;
the driving mechanism 522 includes a mounting plate 5221, a plurality of servo motors 5222, a plurality of ball screws 5223, a plurality of ball splines 5224, a driving motor 5225 and a housing 5226, the number of the ball screws 5223 and the number of the ball splines 5224 are four, and are all arranged on the mounting plate 5221, the number of the servo motors 5222 is four, the four servo motors 5222 are arranged on the mounting plate 5221 and respectively drive the four ball screws 5223 to move up and down, the four ball screws 5223 are respectively connected with one ends of four ball splines 5224, the other ends of the four ball splines 5224 are respectively connected with the four material grabbing air claws 523, the driving motors 5225 are arranged on the mounting plate 5221, and drives the ball spline 5224, the ball spline 5224 drives the lifting and rotating of the material grabbing pneumatic claw 523, the housing 5226 is mounted on the outside of the ball screw 5223 and the ball spline 5224, and the mounting plate 5221 is disposed on the Y-shaft assembly 512; four ball screws 5223 are driven by a servo motor 5222, four ball splines 5224 are driven by a driving motor 5225, and the four ball screws 5223 are matched with the four ball splines 5224, so that the four material grabbing air claws 523 can lift and rotate, and the material grabbing is realized;
the visual positioning assembly 524 includes a third camera bracket 5241, a positioning camera 5242 and a third light source 5243, the third camera bracket 5241 is disposed on the card grasping mechanism 521, the positioning camera 5242 and the third light source 5243 are both mounted on the third camera bracket 5241, and the third light source 5243 is located below the positioning camera 5242.
The invention also discloses an operation method using the automatic special-shaped device plug-in equipment, which comprises the following steps:
step A: the pipe material supply mechanism 21 of the pipe type feeding component 2 vibrates the material to the material grabbing position area, and the tray cross feeding mechanism 41 and the tray material placing component 44 of the tray material feeding component 4 send the material to the material grabbing position area;
and B: the connection power mechanism 32 of the connection component 3 conveys the PCB and positions the PCB through the jacking positioning mechanism 31 of the connection component 3; when the PCB is conveyed, the connection component 3 can adjust the width of the connection power mechanism 32 through the width adjusting mechanism 33 to adapt to the conveying of the PCBs with different widths, and the jacking positioning mechanism 31 adjusts the positioning module 311 to position the PCB through adjusting the driving module 312;
and C: a material taking program is set or preset in advance through the upper computer 12, and the plug-in manipulator 52 of the plug-in component 5 takes materials on the tubular feeding component 2 or the tray material feeding component 4 according to the set program;
step D: the plug-in manipulator 52 of the plug-in component 5 grabs the material onto the connection component 3 and above the PCB for plug-in;
step F: after the PCB board is plugged in, the PCB board is sent out of the automatic special-shaped device plugging device through the connecting component 3.
Further, in the step C and the step D, the inserter robot 52 of the inserter assembly 5 positions the material and the PCB board by the visual positioning assembly 524 on the inserter robot 52.
Further, in the step C, after the plug-in manipulator 52 of the plug-in component 5 grabs the material on the tubular feeding component 2, the material needs to be grabbed above the first camera component 22 on the tubular feeding component 2 to photograph so as to identify the material posture, and then the material pins are adjusted through an algorithm; if the plug-in manipulator 52 of the plug-in component 5 grabs the materials on the tray material feeding component 4, the materials need to be grabbed to the position above the second camera component 42 on the tray material feeding component 4 to shoot and identify the material posture, and then the material pins are adjusted through an algorithm.
The working principle of the invention is as follows: the tubular feeding component 2 is arranged at one side of the connection component 3 on the equipment frame 1, tubular materials are placed in the material pipe 213, the direct vibration motor 212 of the pipe material supply mechanism 21 drives the material pipe 213 to vibrate so as to vibrate the materials to a material grabbing position area, the plug-in manipulator 52 of the plug-in component 5 is driven by the moving module 51, the tube material is positioned by the visual positioning component 524, and moved to a material grabbing position to grab the vibrated tube material, and the tubular material is grabbed above the first camera assembly 22, the first camera assembly 22 takes a picture of the tubular material and uploads the picture to the upper computer 12, then judging the pin position of the tubular material according to the image result, adjusting the pin position of the material through the plug-in component 5, then, grabbing the tubular material above the PCB on the lifting and positioning mechanism 31 of the connecting assembly 3 through the plug-in manipulator 52, and plugging in through the plug-in manipulator 52; the tray cross feeding mechanism 41 and the tray material placing component 44 of the tray material feeding component 4 are both used for placing materials, the plug-in manipulator 52 is driven by the moving module 51 to move to the position area of the tray cross feeding mechanism 41 or the tray material placing component 44 for grabbing materials, then the grabbed materials are moved to the upper part of the second camera component 42, the second camera component 42 shoots the materials and uploads images to the upper computer 12, then the pin positions of the tubular materials are judged according to the image results, the positions of the material pins are adjusted by the plug-in component 5, then the tubular materials are grabbed to the upper part of the PCB on the jacking positioning mechanism 31 on the connecting component 3 by the plug-in manipulator 52, and plug-in is carried out by the plug-in machine 52, so that the plug-in of the PCB is completed, the automatic special-shaped device plug-in device can replace manual plug-in of the PCB, the labor is reduced, the labor cost is saved, and the efficiency is improved.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110458941.XA CN113163704A (en) | 2021-04-27 | 2021-04-27 | Automatic special-shaped device plug-in equipment and operation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110458941.XA CN113163704A (en) | 2021-04-27 | 2021-04-27 | Automatic special-shaped device plug-in equipment and operation method |
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| Publication Number | Publication Date |
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| CN113163704A true CN113163704A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110458941.XA Pending CN113163704A (en) | 2021-04-27 | 2021-04-27 | Automatic special-shaped device plug-in equipment and operation method |
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| CN113825387A (en) * | 2021-11-01 | 2021-12-21 | 深圳市乐福衡器有限公司 | Electronic scale base PCB board group equipment and flow direction of packaging line thereof |
| CN114001075A (en) * | 2021-11-01 | 2022-02-01 | 深圳市乐福衡器有限公司 | Electronic scale base double faced adhesive tape pastes and applies mechanism and flow direction of packaging line thereof |
| CN115802639A (en) * | 2022-12-14 | 2023-03-14 | 深圳市星迅电子科技有限公司 | Special-shaped plug-in machine |
| CN116175676A (en) * | 2023-04-07 | 2023-05-30 | 苏州利亚得智能装备有限公司 | Automatic board separator for continuous cutting |
| CN118338644A (en) * | 2024-06-13 | 2024-07-12 | 苏州元脑智能科技有限公司 | Automatic plug-in equipment, method and circuit board assembly equipment |
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| CN115802639B (en) * | 2022-12-14 | 2023-06-09 | 深圳市星迅电子科技有限公司 | Special-shaped plug-in machine |
| CN116175676A (en) * | 2023-04-07 | 2023-05-30 | 苏州利亚得智能装备有限公司 | Automatic board separator for continuous cutting |
| CN118338644A (en) * | 2024-06-13 | 2024-07-12 | 苏州元脑智能科技有限公司 | Automatic plug-in equipment, method and circuit board assembly equipment |
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