CN107205335A - One kind automation plug-in method - Google Patents
One kind automation plug-in method Download PDFInfo
- Publication number
- CN107205335A CN107205335A CN201610158603.3A CN201610158603A CN107205335A CN 107205335 A CN107205335 A CN 107205335A CN 201610158603 A CN201610158603 A CN 201610158603A CN 107205335 A CN107205335 A CN 107205335A
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- pcb board
- delivery section
- electronic component
- plug
- component
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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
- H05K13/046—Surface mounting
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manufacturing Of Electrical Connectors (AREA)
Abstract
Plug-in method, including following operating procedure are automated the invention provides one kind：Step one：A kind of inserter is provided；Step 2：Pcb board position is recognized, is recognized by the 2nd CCD identifying devices and is recorded pcb board image information, and the pcb board image information includes stitch jack positional information；Step 3：The identification of electronic component, mechanical arm grips electronic component to the first CCD identifying devices, the identification of the first CCD identifying devices and recorded electronic component image information, and the electronic component image information includes Pin locations information；Step 4：Plug-in unit, control computer is according to stitch jack positional information, Pin locations information control machinery arm, and mechanical arm drives correspondence stitch jack position on electronic component to pcb board to carry out plug-in unit.Present invention seek to address that existing in existing plug-in unit technique for various sizes of pcb board bad adaptability, the problem of positioning requirements precision is high.
Description
Technical field
Plug-in method is automated the present invention relates to one kind.
Background technology
PCB as electronic product core component, it is right with developing rapidly for electronics techniques
In the quality requirement also more and more higher of PCB.In the process of PCB, there is a weight
Plug-in unit process is wanted, electronic component is transported to the determination above pcb board generally by artificial or inserter
Position, then electronic component is inserted into the stitch jack preset on pcb board, when pcb board completes to insert
Reinforcement of weld is carried out to the stitch jack for being inserted with electronic component again after part.
Existing plug-in unit technique to pcb board mainly by positioning, and clamping device clamps relevant position
Component, is moved to correspondence position on pcb board and carries out plug-in unit, operational mode is more single.In actual production
In, the size of the pcb board of different batches is not consistent, when the pcb board for needing to change other sizes enters
During row plug-in unit, need to reset the fortune of the fixed position of pcb board and clamping device using existing inserter
Walking along the street line, and existing inserter is higher for the fixation precision prescribed of pcb board position, pcb board position
Little deviation occur all can cause component not insert in stitch jack, damage pcb board.
The content of the invention
For existing in existing plug-in unit technique for various sizes of pcb board bad adaptability, positioning requirements precision
High the problem of, the present invention provides a kind of automation plug-in method, can adapt to most of electronic component from
Dynamic part mate, substitutes artificial, saving production cost completely；Using component, the dual automatic benefit of pcb board
Repay, installation accuracy is high, reduce fraction defective.
The technical scheme that present invention solution above-mentioned technical problem is used is as follows：
A kind of automation plug-in method, including following operating procedure are provided：
Step one：A kind of inserter is provided, the inserter includes support and the machinery being arranged on support
The 2nd CCD identifying devices are provided with arm, the first CCD identifying devices and control computer, the mechanical arm；
Step 2：Pcb board position is recognized, is recognized by the 2nd CCD identifying devices and is recorded pcb board figure
As information, the pcb board image information includes stitch jack positional information；
Step 3：The identification of electronic component, mechanical arm grips electronic component to the first CCD identifying devices,
The identification of first CCD identifying devices and recorded electronic component image information, the electronic component image information
Including Pin locations information；
Step 4：Plug-in unit, control computer is according to stitch jack positional information, Pin locations information control machinery
Arm, mechanical arm drives correspondence stitch jack position on electronic component to pcb board to carry out plug-in unit.
Further, in the step one, identification point is provided with the pcb board, is remembered in control computer
Record has the relative position information of identification point and stitch jack on pcb board；
In the step 2, the pcb board image information includes mark dot position information, and the 2nd CCD knows
Other device identification marking dot position information, determines and records that stitch jack position is believed by identifying dot position information
Breath.
Further, in the step one, the identification point is two, is separately positioned on the pcb board
Diagonal position.
Further, in the step one, the inserter also includes PCB conveying devices, defeated by PCB
Device is sent to convey and position pcb board, PCB conveying devices are three-stage conveying, are respectively arranged with the
One delivery section, the second delivery section, the 3rd delivery section, first delivery section are feed zone, and described second passes
The positioning processing sections that section is pcb board are sent, the 3rd delivery section is discharging section；First delivery section,
Two delivery sections and the 3rd delivery section are respectively arranged with the first driving means for adjusting its transfer rate, the second driving
Device and the 3rd drive device.
Further, is respectively arranged with first delivery section, the second delivery section and the 3rd delivery section
One sensor, second sensor and 3rd sensor, first sensor, second sensor and 3rd sensor
Whether be respectively induced in first delivery section, the second delivery section and the 3rd delivery section has pcb board to pass through, from
And first driving means, the second drive device and the 3rd drive device are controlled respectively, drive first to pass
Send the operation of section, the second delivery section and the 3rd delivery section.
Further, it is additionally provided with positioner in second delivery section, the positioner is located at the
Terminal position of two delivery sections in its direction of transfer；The positioner includes positioning cylinder and locating rod, institute
State locating rod and upper and lower displacement is promoted by positioning cylinder, for limiting in the second delivery section material in its direction of transfer
On displacement.
Further, in the step 4, when pcb board carries out plug-in unit, it is provided with and subtracts in the bottom of pcb board
Shake pad；The shore hardness of the beam is 10-50, and tensile strength is 5-40kg/cm2, elongation at break
300-700%, tearing strength is 5-30kg/cm.
Further, in the step 3, the screening of electronic component, the electronic component figure are included
As information includes pin bending information, the arrangement position of pin is determined according to the image of electronic component bottom legs
Whether correct put, if the degree for bending and bending, if the position of pin and degree of crook can influence
Plug-in unit, it is determined that be unqualified electronic component, unqualified electronic component is put into specified case by mechanical arm
It is interior, re-start the gripping identification of electronic component.
Further, in the step 3, the mechanical arm is carried out in primary electron Identify chip flow
Component fixture, the component are provided with the gripping and identification of multiple electronic components, the mechanical arm
Fixture include it is multigroup can independent-lifting elevator, be installed with component chuck on the elevator, lead to
Cross component fixture and rotate the switching for carrying out component chuck, single elevator controls single component chuck to enter
The gripping and identification of row Single Electron component, determine and record the pinout information of each electronic component, enter
Row step 4 is operated.
Further, in the step 3, the electronic component is by setting component feeding mechanism to convey
To the front position of component feeding mechanism, mechanical arm gripping is carried out；The component feeding mechanism includes pipe
Shape feed appliance, plate-like feed appliance, vibrating disk feed appliance and banded material feeding apparatus.
This automation plug-in method is provided with the 2nd CCD identifying devices on the robotic arm, passes through the 2nd CCD
Identifying device identification pcb board on identification point position, so that it is determined that on pcb board stitch jack particular location；
The first CCD identifying devices are provided with support, the first CCD identifying devices are used for electronic component
Pin identification screening, underproof electronic component is put into specified case, while determining qualified electronics member
The position of the species of device and each pin；So as to which system can be according to the Pin locations and pcb board of electronic component
Position Design running route, electronic component is properly inserted to the correspondence position of pcb board, the setting use
The dual position feedback of electronic component and pcb board, can comparatively fast adapt to the plug-in unit of different size pcb boards
Work, while reducing the positioning accuracy request of pcb board, can know during plug-in unit according to the 2nd CCD identifying devices
Operation of other pcb board position to mechanical arm is adjusted, it is ensured that installation accuracy.
Brief description of the drawings
Fig. 1 is the structural representation for the inserter that the present invention is provided；
Fig. 2 is another viewing angle constructions schematic diagram for the inserter that the present invention is provided；
Fig. 3 is the structural representation for the mechanical arm that the present invention is provided；
Fig. 4 is the structural representation for the first CCD identifying devices that the present invention is provided；
Fig. 5 is the structural representation for the PCB conveying devices that the present invention is provided；
Fig. 6 is the structural representation for the PCB positioning tables that the present invention is provided.
Reference in Figure of description is as follows：
1st, support；2nd, mechanical arm；21st, portal frame；22nd, component fixture；221st, elevator；222、
Component chuck；223rd, clamping head；23rd, fixing end；24th, transmission mechanism；25th, free end；26th, it is living
Lever；3rd, the 2nd CCD identifying devices；31st, the second CCD camera；32nd, the second annular light source；4、
First CCD identifying devices；41st, the first CCD camera；42nd, first annular light source；5th, strip material feeding
Device；6th, vibrating disk feed appliance；7th, tubulose feed appliance；8th, plate-like feed appliance；9th, PCB conveying devices；
91st, the first delivery section；92nd, the second delivery section；93rd, the 3rd delivery section；94th, PCB fixed stations；941、
Beam；942nd, backing plate；943rd, magnetic fixing；944th, adjustable plate；945th, cylinder；946th, support
Plate；95th, first sensor；96th, second sensor；97th, 3rd sensor；98th, positioner.
Embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect are more clearly understood, with
Lower combination drawings and Examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " radial direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, is for only for ease of the description present invention and simplifies description, rather than indicate or imply the device or member of meaning
Part must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Limitation.In the description of the invention, unless otherwise indicated, " multiple " are meant that two or more.
In the description of the invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or removable
Connection is unloaded, or is integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together,
It can also be indirectly connected to by intermediary, can be the connection of two element internals.For the general of this area
For logical technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Referring to shown in Fig. 1 and Fig. 2, being the structural representation of the corresponding inserter of this automation plug-in method；
Including support 1 and the PCB conveying devices 9 being arranged on support 1, mechanical arm 2, the first CCD identifications
Device 4 (CCD, Charge-coupled Device, charge coupled cell) and multiple component feeding mechanisms；
The first CCD identifying devices 4 are used for the pin identification screening of electronic component, by underproof electronics member
Device is put into specified case, while determining the species of qualified electronic component and the position of each pin；Pass through PCB
9 pairs of conveying device needs the pcb board of plug-in unit to be conveyed and positioned.
The mechanical arm 2 include being used for installing fixed fixing end 23 and for gather component, plug-in unit from
By end 25, transmission mechanism 24 is provided between the free end 25 and fixing end 23, the mechanical arm 2
The CCD identifying devices 3 of component fixture 22 and the 2nd are provided with free end 25；The 2nd CCD identifications
The identification that device 3 is used for pcb board is positioned：Recognized and identified on pcb board by the 2nd CCD identifying devices 3
Point position, so that it is determined that on pcb board stitch jack particular location so that system can be according to electronics member device
The Pin locations of part and the Position Design running route of pcb board, pcb board is properly inserted by electronic component
Correspondence position.
The setting employs the dual position feedback of electronic component and pcb board, can comparatively fast adapt to different chis
The plug-in unit work of very little pcb board, while the positioning accuracy request of pcb board is reduced, can be according to second during plug-in unit
Operation of the pcb board position that CCD identifying devices 3 are recognized to mechanical arm 2 is adjusted, it is ensured that installation accuracy.
Referring to shown in Fig. 1 and Fig. 2, the bottom of the mechanical arm 2 is additionally provided with portal frame 21, the fixation
End 23 is installed on the top center of the portal frame 21, and the two ends of the portal frame 21 are respectively erected in PCB
The both sides of conveying device 9.
As shown in figure 3, being the structural representation of mechanical arm 2, the transmission mechanism 24 is swing arm, the biography
The two ends of motivation structure 24 are rotatably connected with fixing end 23 and free end 25 respectively, and the fixing end 23
Set servomotor to carry out rotational angle regulation with the link position of transmission mechanism 24, the free end 25 with
The link position of transmission mechanism 24 sets servomotor to carry out rotational angle regulation；Set on transmission mechanism 24
Put two frees degree so that free end 25 can be moved freely in same level, facilitate mechanical arm 2 to move
Moving needs feeding position and needs the top of card address.
One end away from transmission mechanism 24 has extended downwardly motion bar 26, the activity on the free end 25
Bar 26 can be rotated and upper and lower displacement relative to free end 25, the rotation and upper and lower displacement point of the motion bar 26
It is not controlled, the component fixture 22 is installed on the bottom of the motion bar 26, is led to by servomotor
Crossing motion bar 26 can drive component fixture 22 to be rotated and upper and lower displacement, realize feeding and plug-in unit.
The component fixture 22 include it is multigroup can independent-lifting elevator 221, on the elevator 221
Component chuck 222 is installed with, the component chuck 222 includes clamping head 223, by controlling to press from both sides
First 223 folding is held, so as to control the clamping and release to electronic component.Multiple component chucks 222
It can individually control, realize the effect for disposably gripping multiple different electronic components, disposably complete multiple electricity
The plug-in unit of sub- component, improves plug-in unit efficiency；The further preferred elevator 221 is 4, is set respectively
On the four direction for being placed in the bottom of motion bar 26, and the component chuck 222 is arranged on elevator 221
In the one side of motion bar 26.
The quantity of the first CCD identifying devices 4 has 2, respectively positioned at the two of PCB conveying devices 9
Side, the electronic component that mechanical arm 2 is gripped from the side of PCB conveying devices 9 can the side the first CCD
Identifying device 4 carries out pin identification, improves recognition efficiency.
As shown in figure 4, the first CCD identifying devices 4 include the first annular CCD of light source 42 and the first
Camera 41, upward, the first annular light source 42 is located at first to the camera lens of first CCD camera 41
The top of CCD camera 41, and first annular light source 42 is embedded in the upper surface of support 1, the first CCD
Camera 41 is built in inside support 1, when the pin identification of electronic component is carried out, component fixture
Electronic component is clamped and runs to the top of first annular light source 42 by 22, the pin direction of electronic component
Lower section, the light of first annular light source 42 is radiated at the bottom of electronic component, to improve electronic component bottom
The brightness in portion, first CCD camera 41 receives electronic component bottom diagram picture, identification Pin locations and
Flexibility, if the pin of electronic component is unqualified, specified case is placed into by underproof electronic component
In, if the pin of electronic component is qualified, plug-in unit can be carried out.
The 2nd CCD identifying devices 3 include the second annular light source 32 and the second CCD camera 31, described
Down, second annular light source 32 is located at the bottom of the second CCD camera 31 to the camera lens of second CCD camera 31
Portion, and the second annular light source 32 is fixedly mounted by the free end 25 of support and mechanical arm 2, described second
The intermediate openings of annular light source 32, when pcb board positioning is carried out, mechanical arm 2 controls the 2nd CCD to know
Other device 3 is moved at the top of pcb board, and the light of the second annular light source 32 is radiated on pcb board, with
The brightness of pcb board is improved, the second CCD camera 31 receives the image of pcb board top surface, identifies PCB
Sign point on plate, so that it is determined that on pcb board and pcb board stitch jack accurate location, mechanical arm 2
The Pin locations of electronic component are determined again in pickup, according to the relative position of pcb board and electronic component
Running route is determined, electronic component is inserted in stitch jack.
The automation inserter also includes control computer, the PCB conveying devices 9, mechanical arm 2, first
CCD identifying devices 4, the 2nd CCD identifying devices 3 with control computer be connected, by control computer reception come
From in the image of the first CCD identifying devices 4 and the 2nd CCD identifying devices 3, analyzed, it is determined that figure
The position of pin and identification point in piece；On the other hand, the operation of control computer control PCB conveying devices 9,
The actions such as action and the material folding of mechanical arm 2, plug-in unit such as stopping, PCB positioning.
The component feeder structure includes tubulose feed appliance 7, plate-like feed appliance 8, vibrating disk feed appliance 6 and band
Shape material feed appliance 5, the tubulose feed appliance 7, plate-like feed appliance 8, vibrating disk feed appliance 6 and strip material are sent
Glassware 5 is separately positioned on the both sides of the PCB conveying devices 9.
As shown in figure 5, the PCB conveying devices 9 include be used for pcb board transmit the first delivery section 91,
Second delivery section 92, the 3rd delivery section 93 and PCB fixed stations 94, first delivery section 91, second are passed
The delivery section 93 of section 92 and the 3rd is sent to be set gradually along material direction of transfer, and first delivery section 91,
The top of two delivery sections 92 and the 3rd delivery section 93 is in the same plane, and the PCB fixed stations 94 are set
Inside the second delivery section 92, the first delivery section 91 is feed zone, and the second delivery section 92 is processing sections, the
Three delivery sections 93 are discharging section, PCB fixed stations 94 are provided with the second delivery section 92, for fixing
Pcb board, carries out the plug-in unit of inserter；
First delivery section 91, the second delivery section 92 and the 3rd delivery section 93 are respectively arranged with regulation, and it is passed
Send the first driving means, the second drive device and the 3rd drive device of speed.
Positioner 98 is provided with second delivery section 92, the positioner 98 is located at the second transmission
Terminal position of the section 92 in its direction of transfer；The positioner 98 includes positioning cylinder 945 and locating rod,
The locating rod promotes upper and lower displacement by positioning cylinder 945, exists for limiting pcb board in the second delivery section 92
Displacement on its direction of transfer.
Sense is separately provided in first delivery section 91, the second delivery section 92 and the 3rd delivery section 93
Answer first sensor 95, second sensor 96 and 3rd sensor 97 that material passes through, first sensing
Device 95 is located at initial end of first delivery section 91 on its direction of transfer, and the second sensor 96 is located at the
End of two delivery sections 92 on its direction of transfer, the 3rd sensor 97 exists positioned at the 3rd delivery section 93
End on its direction of transfer.
As shown in fig. 6, the PCB fixed stations 94 are arranged inside second delivery section 92, pass through PCB
Fixed station 94 is fixed for pcb board, so as to carry out plug-in unit to pcb board.The PCB fixed stations
94 include supporting plate 946, cylinder 945, adjustable plate 944, backing plate 942 and beam 941, the cylinder
945 are located in supporting plate 946, and the adjustable plate 944 is installed on the top of cylinder 945, is controlled by cylinder 945
Magnetic fixing 943 is provided with the height of adjustable plate 944 processed, the adjustable plate 944, the backing plate 942 is
Steel, the backing plate 942 is fixed on the top of magnetic fixing 943, and the beam 941 is fixed on pad
On the top surface of plate 942, when the second conveyer belt is in running status, cylinder 945 is in contraction state, when
When second sensor 96 senses the pcb board on the second conveyer belt, locating rod ejection, limitation pcb board
Displacement, while the second conveyer belt is out of service, now pcb board is located at the top of PCB fixed stations 94, PCB
The cylinder 945 of fixed station 94 is driven and pushed up on adjustable plate 944 and backing plate 942, and pcb board ejection second is transmitted
On band, beam 941 is directly contacted with PCB bottom surfaces, passes through beam 941 and trapped orbit upper groove
Cooperation pcb board is fixed, start plug-in unit.
The shore hardness of the beam 941 is 10-50, and tensile strength is 5-40kg/cm2, elongation at break
300-700%, tearing strength is 5-30kg/cm.
Plug-in method, including following operating procedure are automated the invention discloses one kind：
Step one：A kind of inserter is provided, the inserter includes support 1 and is arranged on support 1
The 2nd CCD is provided with mechanical arm 2, the first CCD identifying devices 4 and control computer, the mechanical arm 2
Identifying device 3；
Step 2：Pcb board position recognizes that mechanical arm 2 is moved above pcb board, while the 2nd CCD
Identifying device 3 gathers and records pcb board image information, and the pcb board image information includes stitch jack position
Confidence ceases, and stitch jack is used to coordinate with the pin of electronic component, realizes the fixed installation of electronic component
And electric connection；
Step 3：The identification of electronic component, mechanical arm 2 grips electronic component to the first CCD identifications and filled
4 are put, the first CCD identifying devices 4 are recognized and recorded electronic component image information, the electronic component
Image information includes Pin locations information；
Step 4：Plug-in unit, control computer is according to stitch jack positional information, Pin locations information design machinery
The running route of arm 2, mechanical arm 2 drives correspondence stitch jack position on electronic component to pcb board to carry out
Plug-in unit.
It should be noted that the 2nd CCD identifying devices 3 can Direct Recognition stitch jack positional information,
It preferred embodiment, can also pass through identification point as one kind of the present invention and carry out stitch jack positional information
It is determined that.
In the step one, identification point is provided with the pcb board, record has identification point in control computer
With relative position information of the stitch jack on pcb board；
In the step 2, the pcb board image information includes mark dot position information, and the 2nd CCD knows
Identification point described in the other identification marking dot position information of device 3 is to have higher discrimination in color with pcb board
, the planar graph with given shape is easy to the 2nd CCD identifying devices 3 for the identification of identification point；
Mechanical arm 2 is moved above pcb board, while the 2nd CCD identifying devices 3 gather pcb board image information,
2nd CCD identifying devices 3 transmit the image information of collection to control computer, control computer by the figure of collection
As information is contrasted with default mark dot image in system, identification point is picked out, identification point position is confirmed
Information, so as to determine and record corresponding stitch jack positional information by identifying dot position information.
In the present invention, in the step one, the identification point is two, is separately positioned on the pcb board
Diagonal position, the stitch jack is arranged between described two identification points, to improve stitch jack and mark
Know the relative position accuracy of identification of point.
In the step one, the inserter also includes PCB conveying devices 9, passes through PCB conveying devices 9
Pcb board is conveyed and positioned, PCB conveying devices 9 convey for three-stage, are respectively arranged with the first biography
Section 91, the second delivery section 92, the 3rd delivery section 93 are sent, first delivery section 91 is feed zone, described
Second delivery section 92 is the positioning processing sections of pcb board, and the 3rd delivery section 93 is discharging section；Described
One delivery section 91, the second delivery section 92 and the 3rd delivery section 93, which are respectively arranged with, adjusts the of its transfer rate
One drive device, the second drive device and the 3rd drive device.
By setting different drive devices to realize the regulation of different delivery section transfer rates respectively, control respectively
Charging rate and discharging speed, can need to the first delivery section 91, the second delivery section the 92, the 3rd according to different
The transfer rate of delivery section 93 is adjusted, to realize different demands, and the setting further increases PCB
The transporting velocity of plate, shortens the time that processing sections reload, it is to avoid occur the situation of putty.
First is respectively arranged with first delivery section 91, the second delivery section 92 and the 3rd delivery section 93
Sensor 95, second sensor 96 and 3rd sensor 97, first sensor 95, the and of second sensor 96
3rd sensor 97 is respectively induced in first delivery section 91, the second delivery section 92 and the 3rd delivery section 93
Whether there is pcb board to pass through, so that respectively to first driving means, the second drive device and the 3rd drive device
It is controlled, drives the operation of the first delivery section 91, the second delivery section 92 and the 3rd delivery section 93, so that
Control in the material transferring speed in different delivery sections, and control 98 pair of second delivery section 92 of positioner
Material carry out it is spacing and release.Type of the present invention not to sensor is limited, first sensing
Infrared ray sensor, sonac, electricity may be selected in device 95, second sensor 96 and 3rd sensor 97
Hold sensor etc., can realize function of the present invention.
Positioner 98 is additionally provided with second delivery section 92, the positioner 98 is located at second
Terminal position of the delivery section 92 in its direction of transfer；The positioner 98 includes positioning cylinder and locating rod,
The locating rod promotes upper and lower displacement by positioning cylinder, is transmitted for limiting material in the second delivery section 92 at it
Displacement on direction.
In the present invention, in the step 4, when pcb board carries out plug-in unit, it is provided with the bottom of pcb board
Beam 941；The shore hardness of the beam 941 is 10-50, and tensile strength is 5-40kg/cm2, is broken
Elongation 300-700% is split, tearing strength is 5-30kg/cm, the beam 941 effectively can be buffered and absorbed
Impulsive force and vibrations that inserter is brought, it is to avoid obvious vibrations occurs in pcb board, so as to prevent from having inserted
Good electronic component is fallen off.Simultaneously as the beam 941 has suitable mechanical property, can
Make inside the stable insertion elastomer of the pin of electronic component, make electronic component stabilization is fixed on damping
On pad 941.After the completion of the plug-in unit process of whole pcb board, pcb board is separated with elastomer, you can will
Component takes out out of elastomer, while electronic component is still located in the stitch jack of pcb board.
In the step 3, include the screening of electronic component, the electronic component image information includes
Pin camber information, the first CCD identifying devices 4 gather the bottom diagram picture of electronic component, according to electronics member
The image of bottom device pin determines whether the arrangement position of pin is correct, if bends and bends
Degree, the degree of crook of the pin re-imaging length of pin can be determined in image, due to electronics member
The pin of device is set perpendicular to its bottom surface, and pin is imaged as a point under normal condition, when pin occurs
During bending, its length being imaged also can accordingly increase；If the position of pin and degree of crook can influence plug-in unit,
Then it is defined as unqualified electronic component, unqualified electronic component is put into specified case by mechanical arm 2,
Re-start the gripping identification of electronic component, it is to avoid damage of the underproof electronic component to pcb board,
Improve final product quality.
As one kind of the invention preferred embodiment, in the step 3, the mechanical arm 2 is once
The gripping and identification of multiple electronic components, the component fixture 22 are carried out in electronic component identification process
Including it is multigroup can independent-lifting elevator 221, be installed with component chuck on the elevator 221
222, the switching for carrying out component chuck 222 is rotated by component fixture 22, single elevator 221 is controlled
Gripping and identification that single component chuck 222 carries out Single Electron component are made, each electricity is determined and recorded
The positional information of sub- component's feet, then carries out step 5 operation.
In order to adapt to the plug-in unit of various shaped pieces, in the step 3, the electronic component is by setting
Component feeding mechanism is transported to the front position of component feeding mechanism, carries out mechanical arm 2 and grips；It is described
Component feeding mechanism is sent including tubulose feed appliance 7, plate-like feed appliance 8, vibrating disk feed appliance 6 and strip material
Glassware 5.
By the tubulose feed appliance 7, plate-like feed appliance 8, vibrating disk feed appliance 6 and banded material feeding apparatus 5,
The feeding of existing different types of electronic component can be adapted to substantially；The banded material feeding apparatus 5 is act as：
The braid material of miniature electric component, such as capacitance kind, resistance class component are conveyed, while carrying out braid material
Cut pin；The tubulose feed appliance 7, plate-like feed appliance 8 and vibrating disk feed appliance 6 are used to convey some many pins
The bulk cargo of electronic component, such as dual inline type component, circular matrix form component, specifically can be according to electricity
The outer shape of sub- component selects corresponding feed appliance；By the setting of a variety of component feeding mechanisms, adapt to
The plug-in unit work of a variety of components, can replace artificial, cost-effective, improve inserting quality.
Present invention additionally comprises step 5：Pcb board discharges, and releases the positioning to pcb board, will complete plug-in unit work
The pcb board discharging of sequence, while feeding the PCB by plug-in unit is treated again, repeats the above steps.
A kind of automation plug-in method disclosed by the invention employs the dual position of electronic component and pcb board
Feedback, can comparatively fast adapt to the plug-in unit work of different size pcb boards, while reducing the positioning precision of pcb board
It is required that, fortune of the pcb board position that can be recognized during plug-in unit according to the 2nd CCD identifying devices 3 to mechanical arm 2
Row is adjusted, it is ensured that installation accuracy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in this hair
Any modifications, equivalent substitutions and improvements made within bright spirit and principle etc., should be included in the present invention
Protection domain within.
Claims (10)
1. one kind automation plug-in method, it is characterised in that including following operating procedure：
Step one：A kind of inserter is provided, the inserter includes support and the machinery being arranged on support
The 2nd CCD identifying devices are provided with arm, the first CCD identifying devices and control computer, the mechanical arm；
Step 2：Pcb board position is recognized, is recognized by the 2nd CCD identifying devices and is recorded pcb board figure
As information, the pcb board image information includes stitch jack positional information；
Step 3：The identification of electronic component, mechanical arm grips electronic component to the first CCD identifying devices,
The identification of first CCD identifying devices and recorded electronic component image information, the electronic component image information
Including Pin locations information；
Step 4：Plug-in unit, control computer is according to stitch jack positional information, Pin locations information control machinery
Arm, mechanical arm drives correspondence stitch jack position on electronic component to pcb board to carry out plug-in unit.
2. a kind of automation plug-in method according to claim 1, it is characterised in that
In the step one, identification point is provided with the pcb board, record has identification point in control computer
With relative position information of the stitch jack on pcb board；
In the step 2, the pcb board image information includes mark dot position information, and the 2nd CCD knows
Other device identification marking dot position information, determines and records that stitch jack position is believed by identifying dot position information
Breath.
3. a kind of automation plug-in method according to claim 2, it is characterised in that the step one
In, the identification point is two, is separately positioned on the diagonal position of the pcb board.
4. a kind of automation plug-in method according to claim 1, it is characterised in that the step one
In, the inserter also includes PCB conveying devices, and pcb board is conveyed by PCB conveying devices
And positioning, PCB conveying devices be three-stage conveying, be respectively arranged with the first delivery section, the second delivery section,
3rd delivery section, first delivery section is feed zone, and second delivery section is processed for the positioning of pcb board
Section, the 3rd delivery section is discharging section；First delivery section, the second delivery section and the 3rd delivery section point
First driving means, the second drive device and the 3rd drive device for adjusting its transfer rate are not provided with.
5. a kind of automation plug-in method according to claim 4, it is characterised in that described first
First sensor, second sensor and are respectively arranged with delivery section, the second delivery section and the 3rd delivery section
Three sensors, first sensor, second sensor and 3rd sensor be respectively induced first delivery section,
Whether there is pcb board to pass through in second delivery section and the 3rd delivery section, so that respectively to first driving means,
Two drive devices and the 3rd drive device are controlled, and drive the first delivery section, the second delivery section and the 3rd to pass
Send the operation of section.
6. a kind of automation plug-in method according to claim 4, it is characterised in that described second
Positioner is additionally provided with delivery section, the positioner is located at the second delivery section at the end of its direction of transfer
End position；The positioner includes positioning cylinder and locating rod, and the locating rod is promoted by positioning cylinder
Bottom offset, for limiting displacement of the material on its direction of transfer in the second delivery section.
7. a kind of automation plug-in method according to claim 1, it is characterised in that the step 4
In, when pcb board carries out plug-in unit, the bottom of pcb board is provided with beam；The shore of the beam is hard
Spend for 10-50, tensile strength is 5-40kg/cm2, and elongation at break 300-700%, tearing strength is 5-30
kg/cm。
8. a kind of automation plug-in method according to claim 1, it is characterised in that the step 3
In, include the screening of electronic component, the electronic component image information includes pin camber information,
Determine whether the arrangement position of pin is correct according to the image of electronic component bottom legs, if bend
And the degree of bending, if the position of pin and degree of crook can influence plug-in unit, it is determined that be unqualified electronics
Unqualified electronic component is put into specified case by component, mechanical arm, re-starts electronic component
Gripping identification.
9. a kind of automation plug-in method according to claim 1, it is characterised in that the step 3
In, the mechanical arm carries out the gripping and knowledge of multiple electronic components in primary electron Identify chip flow
, be not provided with component fixture on the mechanical arm, the component fixture include it is multigroup can independent-lifting
Component chuck is installed with elevator, the elevator, is rotated by component fixture and carries out first device
The switching of part chuck, single elevator control single component chuck carry out Single Electron component gripping and
Identification, determines and records the pinout information of each electronic component, carries out step 4 operation.
10. a kind of automation plug-in method according to claim 1 or 9, it is characterised in that described
In step 3, the electronic component is by setting component feeding mechanism to be transported to component feeding mechanism
Front position, carries out mechanical arm gripping；The component feeding mechanism includes tubulose feed appliance, plate-like feeding
Device, vibrating disk feed appliance and banded material feeding apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158603.3A CN107205335A (en) | 2016-03-17 | 2016-03-17 | One kind automation plug-in method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158603.3A CN107205335A (en) | 2016-03-17 | 2016-03-17 | One kind automation plug-in method |
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| CN107205335A true CN107205335A (en) | 2017-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610158603.3A Pending CN107205335A (en) | 2016-03-17 | 2016-03-17 | One kind automation plug-in method |
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| CN (1) | CN107205335A (en) |
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| CN108770230A (en) * | 2018-07-28 | 2018-11-06 | 东莞市新泽谷机械制造股份有限公司 | A kind of electronic component automatic assembly equipment |
| CN108834395A (en) * | 2018-07-20 | 2018-11-16 | 江门市蓬江区珠西智谷智能装备协同创新研究院 | Full-automatic special-shaped component plug-in machine |
| CN109003533A (en) * | 2018-09-27 | 2018-12-14 | 肇庆三向教学仪器制造股份有限公司 | A kind of wiring board Intelligent assembly teaching training apparatus |
| CN109195331A (en) * | 2018-09-14 | 2019-01-11 | 珠海智新自动化科技有限公司 | A kind of plug-in machine |
| CN109673144A (en) * | 2018-12-21 | 2019-04-23 | 惠州市骏亚数字技术有限公司 | It is a kind of cold to plug standby multistation continuous operation method |
| CN109688786A (en) * | 2018-12-06 | 2019-04-26 | 珠海智新自动化科技有限公司 | A kind of high-precision plug-in machine |
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| WO2019192402A1 (en) * | 2018-04-02 | 2019-10-10 | 鲁班嫡系机器人（深圳）有限公司 | Plug-in method and plug-in device |
| CN110573003A (en) * | 2019-01-01 | 2019-12-13 | 宁夏隆基宁光仪表股份有限公司 | automatic online plug-in control system, implementation method and plug-in mechanism |
| CN112005624A (en) * | 2018-05-31 | 2020-11-27 | 雅马哈发动机株式会社 | Recognition parameter optimization device, component mounting system, and recognition parameter optimization method |
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| CN113258412A (en) * | 2021-05-18 | 2021-08-13 | 江苏力德尔电子信息技术有限公司 | Automatic plugging mechanism |
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| CN113438891A (en) * | 2021-07-02 | 2021-09-24 | 南通海舟电子科技有限公司 | Automatic assembly process for circuit board |
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| CN114501980A (en) * | 2022-01-13 | 2022-05-13 | 武汉纺织大学 | Device and method for detecting pins of special-shaped components and automatically plugging in components |
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| CN110031184A (en) * | 2018-01-11 | 2019-07-19 | 宁波舜宇光电信息有限公司 | A kind of bales catch material system and method |
| WO2019192402A1 (en) * | 2018-04-02 | 2019-10-10 | 鲁班嫡系机器人（深圳）有限公司 | Plug-in method and plug-in device |
| CN110463376A (en) * | 2018-04-02 | 2019-11-15 | 鲁班嫡系机器人（深圳）有限公司 | A kind of plug in machine method and slotting machine equipment |
| CN112005624A (en) * | 2018-05-31 | 2020-11-27 | 雅马哈发动机株式会社 | Recognition parameter optimization device, component mounting system, and recognition parameter optimization method |
| CN112005624B (en) * | 2018-05-31 | 2022-04-26 | 雅马哈发动机株式会社 | Recognition parameter optimization device, component mounting system, and recognition parameter optimization method |
| CN108834395A (en) * | 2018-07-20 | 2018-11-16 | 江门市蓬江区珠西智谷智能装备协同创新研究院 | Full-automatic special-shaped component plug-in machine |
| CN108770230A (en) * | 2018-07-28 | 2018-11-06 | 东莞市新泽谷机械制造股份有限公司 | A kind of electronic component automatic assembly equipment |
| CN109195331A (en) * | 2018-09-14 | 2019-01-11 | 珠海智新自动化科技有限公司 | A kind of plug-in machine |
| CN109003533A (en) * | 2018-09-27 | 2018-12-14 | 肇庆三向教学仪器制造股份有限公司 | A kind of wiring board Intelligent assembly teaching training apparatus |
| CN109688786A (en) * | 2018-12-06 | 2019-04-26 | 珠海智新自动化科技有限公司 | A kind of high-precision plug-in machine |
| CN109673144A (en) * | 2018-12-21 | 2019-04-23 | 惠州市骏亚数字技术有限公司 | It is a kind of cold to plug standby multistation continuous operation method |
| CN110573003A (en) * | 2019-01-01 | 2019-12-13 | 宁夏隆基宁光仪表股份有限公司 | automatic online plug-in control system, implementation method and plug-in mechanism |
| CN112649780A (en) * | 2020-12-17 | 2021-04-13 | 泰安轻松信息科技有限公司 | Intelligent instrument circuit identification detection equipment |
| CN113207273A (en) * | 2021-03-29 | 2021-08-03 | 深圳市正达飞智能卡有限公司 | Smart card paster device |
| CN113316325A (en) * | 2021-04-30 | 2021-08-27 | 山东英信计算机技术有限公司 | Plug-in components equipment system of server PCB |
| CN113258412A (en) * | 2021-05-18 | 2021-08-13 | 江苏力德尔电子信息技术有限公司 | Automatic plugging mechanism |
| CN113258412B (en) * | 2021-05-18 | 2023-03-07 | 江苏力德尔电子信息技术有限公司 | Automatic plugging mechanism |
| CN113438891A (en) * | 2021-07-02 | 2021-09-24 | 南通海舟电子科技有限公司 | Automatic assembly process for circuit board |
| CN113866627A (en) * | 2021-11-23 | 2021-12-31 | 广东电网有限责任公司 | Automatic wiring device for electrical test of high-voltage circuit breaker |
| CN114501980A (en) * | 2022-01-13 | 2022-05-13 | 武汉纺织大学 | Device and method for detecting pins of special-shaped components and automatically plugging in components |
| CN117500261A (en) * | 2023-12-10 | 2024-02-02 | 巨野万鑫电子产品有限公司 | Integrated circuit board manufacturing system and method based on big data |
| CN117500261B (en) * | 2023-12-10 | 2024-04-26 | 任娟 | Integrated circuit board manufacturing system and method based on big data |
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Application publication date: 20170926 |