CN115179038B - Automatic PCB board assembling process for base of direct-drive motor - Google Patents
Automatic PCB board assembling process for base of direct-drive motor Download PDFInfo
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- CN115179038B CN115179038B CN202210949888.8A CN202210949888A CN115179038B CN 115179038 B CN115179038 B CN 115179038B CN 202210949888 A CN202210949888 A CN 202210949888A CN 115179038 B CN115179038 B CN 115179038B
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- 230000007246 mechanism Effects 0.000 claims abstract description 172
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- 238000005286 illumination Methods 0.000 claims description 3
- NMWSKOLWZZWHPL-UHFFFAOYSA-N 3-chlorobiphenyl Chemical compound ClC1=CC=CC(C=2C=CC=CC=2)=C1 NMWSKOLWZZWHPL-UHFFFAOYSA-N 0.000 description 47
- 101001082832 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) Pyruvate carboxylase 2 Proteins 0.000 description 47
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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Abstract
The invention relates to the technical field of motor assembly, in particular to a process for automatically assembling a PCB (printed circuit board) by a base of a direct-drive motor, wherein the base is automatically fed through a base feeding mechanism and is grabbed and placed on an assembly jig, and the assembly jig provided with the base is rotated to the next station; the base on the assembly jig is clamped and rotated to be adjusted to a specified assembly angle through the rotary positioning mechanism, and the turntable mechanism rotates after the rotary positioning to rotate the assembly jig with the base to the next station; the PCB feeding mechanism grabs and places the PCB on an assembly groove on the base, the turntable mechanism rotates after the PCB is placed, and the base provided with the PCB rotates to the next station; calibrating the hole sites of the PCB and the base through a calibrating mechanism, and rotating to the next station through a turntable mechanism after calibrating; and (5) locking a screw. The invention realizes automatic assembly by combining a plurality of stations in a turntable way, the whole process is automatically completed, the labor is saved, the assembly is convenient, and the assembly precision is high.
Description
Technical Field
The invention relates to the technical field of motor assembly, in particular to a process for automatically assembling a PCB (printed circuit board) by a base of a direct-drive motor.
Background
The direct drive motor, the short term of direct drive motor, mainly means that the motor does not need to pass through a transmission device (such as a transmission belt, a gear and other structures) when driving a load, so as to realize the driving output of the structure. The existing various intelligent robots, intelligent cleaning equipment and the like are used for driving direct-drive motors. When being applied to the motor that directly drives, all need set up the control panel in the inside of motor that directly drives, need with control panel fixed mounting on the base of motor that directly drives when motor production directly, current all through artifical equipment, artifical packaging efficiency is low when needs mass production, influences production efficiency.
Disclosure of Invention
In order to solve the problems, the invention provides a process for automatically assembling the PCB by the base of the direct-drive motor, which realizes automatic assembly by a turntable mode and matching with a plurality of stations, sequentially performs base feeding, rotary positioning, PCB feeding, assembly calibration, screw locking fixation and automatic discharging, automatically completes the whole process, saves labor, is convenient to assemble and has high assembly precision.
The technical scheme adopted by the invention is as follows: the base of the direct-drive motor automatically assembles the PCB board technology, which comprises assembling equipment, a base and a PCB board, wherein the base is provided with an assembling groove, the assembling groove is provided with an identification position, the PCB board is assembled in the assembling groove and is provided with a matching position, and the matching position is used for matching the identification position; the assembly equipment comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembly jigs are uniformly distributed on the turntable mechanism in the circumferential direction, and the assembly jigs are used for fixing and assembling the base; the base feeding mechanism is used for feeding the base to the assembly jig; the rotary positioning mechanism is used for feeding the base on the assembly jig for rotary positioning; the PCB feeding mechanism is used for feeding the PCB and grabbing and placing the PCB on an assembly groove of the base; the calibration mechanism is used for calibrating and matching the matching position with the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembly groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB.
The process comprises the following steps:
step S1, feeding a base, automatically feeding the base through a base feeding mechanism, grabbing and placing the base on an assembly jig, rotating a turntable mechanism, and rotating the assembly jig with the base to a next station; s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating a turntable mechanism after rotary positioning, and rotating the assembly jig with the base to a next station; s3, feeding the PCB, grabbing the PCB by a PCB feeding mechanism and placing the PCB on an assembly groove on a base, rotating by a turntable mechanism after placing the PCB, and rotating the base with the PCB to a next station; s4, calibrating the PCB, namely calibrating the hole sites of the PCB and the base through a calibrating mechanism, and rotating the PCB to the next station through a turntable mechanism after calibrating; s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating the PCB to the next station through a turntable mechanism after the locking is completed; and S6, blanking, wherein the base which is assembled is grabbed and blanked by the blanking mechanism, so that automatic assembly is completed.
The base comprises a lower end and an upper end, the assembly groove is formed in an integral processing mode on the upper surface of the upper end, the identification position is formed in the peripheral surface of the upper end, the avoidance position is arranged on the lower side of the upper end located on the assembly groove, the positioning column is arranged on the upper end in a centering mode, the positioning hole is formed in the PCB corresponding to the positioning column, and the positioning hole is sleeved on the positioning column during assembly, and the matching position is located on the periphery of the PCB.
In a further improvement of the above scheme, the turntable mechanism comprises a disc for installing the assembly jig and a turntable driving device for driving the disc to rotate.
The jig comprises a jig seat arranged on the disc, an assembling and fixing device arranged on the jig seat, and a clamping driving device positioned below the disc and used for driving the assembling and fixing device.
The jig groove is formed in the jig seat, the jig groove comprises an upper groove body and a lower groove body communicated with the upper groove body, the lower end portion of the jig groove is arranged in the lower groove body, and the upper end portion of the jig groove is arranged in the upper groove body and exposes the assembly groove.
In a further improvement of the above scheme, the assembly fixing device comprises an assembly clamping jaw which can move around the lower groove body and is used for clamping and fixing the lower end part, an assembly fixing plate used for fixing the assembly clamping jaw to move, and a clamping elastic element which is arranged on the assembly fixing plate and is used for providing clamping for the assembly clamping jaw.
According to a further improvement of the scheme, the clamping driving device comprises a clamping jacking cylinder and a jacking driving shaft connected to the clamping jacking cylinder, the assembly clamping jaw is provided with a driving lug, and the jacking driving shaft is used for jacking the driving lug so that the lower end part of the assembly clamping jaw is clamped.
In the step S1, the upper end of the base is clamped by the base feeding mechanism, the lower end of the clamped base is placed into the lower groove body, the clamping jacking cylinder drives the jacking driving shaft to drive the assembly clamping jaw to be in an open state in the placing process, and the clamping jacking cylinder descends after the clamping jacking cylinder is placed in place, so that the lower end of the assembly clamping jaw is clamped.
The base feeding mechanism comprises a first feeding conveying device used for conveying the base and a first feeding grabbing device used for taking materials on the first feeding conveying device and placing the materials on the assembling jig.
The technical scheme is further improved in that the first feeding grabbing device comprises a first feeding transferring module and a first feeding lifting module arranged on the first feeding transferring module, and the first feeding grabbing device is arranged on the first feeding lifting module.
In step S1, the base feeding mechanism conveys the base through the first feeding conveying device, and drives the first feeding and taking device to clamp and fix the upper end part of the base through the cooperation of the first feeding conveying device and the first feeding lifting module when the base feeding mechanism conveys the base to a specified position.
The rotary positioning mechanism comprises a positioning driving device, a detection device which is arranged on the positioning driving device and used for detecting that the base is placed in the direction of the assembly jig, and a rotary adjusting device which is used for clamping and adjusting the direction of the base.
The further improvement of above-mentioned scheme is, location drive arrangement includes the stand, installs the sideslip module at the stand and installs the location lifting module at the sideslip module, detection device and rotation adjustment device all install at the location lifting module.
The detection device is a CCD detection lens and faces to the assembly jig, and is used for shooting the direction of the base identification position on the assembly jig.
The rotary adjusting device comprises an adjusting servo motor arranged on the positioning lifting module and an adjusting clamping jaw connected to the adjusting servo motor, wherein the adjusting clamping jaw is used for clamping a base and adjusting the direction of the base through rotation of the adjusting servo motor.
In step S2, when the assembly jig is located on the CCD detection lens, the CCD detection lens will take a picture of the base, the CCD detection lens is connected with a comparison system, the comparison system compares the taken picture with the stored illumination and gives an instruction to an adjustment servo motor, the adjustment servo motor cooperates with an adjustment clamping jaw to clamp the base, the assembly fixture releases the lower end of the base after clamping, and the adjustment servo motor drives the adjustment clamping jaw to rotate and adjust the clamped base to a designated angle.
The PCB feeding mechanism comprises a second feeding conveying device used for conveying the PCB and a second feeding grabbing device used for taking materials on the second feeding conveying device and placing the materials on the assembling groove.
The improvement of the scheme is that the second feeding grabbing device comprises a second feeding transferring module and a second feeding lifting module arranged on the second feeding transferring module, and the second feeding grabbing device is arranged on the second feeding lifting module.
In step S3, the second feeding and conveying device conveys the PCB to the designated position, and then the second feeding and grabbing device grabs the PCB and places the PCB on the assembly groove of the base.
The further improvement to above-mentioned scheme does, a plurality of mounting holes have been seted up to the assembly groove, the PCB board corresponds the mounting hole and is equipped with the through-hole, calibration mechanism includes calibration drive arrangement, installs at calibration drive arrangement and is used for shooting the shooting camera of PCB board in assembly inslot position to and be used for snatching the calibrating device of adjustment PCB board position.
The further improvement of the scheme is that the calibration driving device comprises a calibration moving module and a calibration lifting module arranged on the calibration moving module, and the shooting camera is arranged on the calibration lifting module.
The calibration device comprises a calibration servo motor arranged on the calibration lifting module and a calibration sucker arranged on the calibration servo motor, wherein the calibration sucker is used for adsorbing and grabbing a PCB.
In step S4, the camera shoots the PCB board, shoots the position of the matching position and the position of the matching position, then rotationally calibrates the PCB board after grabbing the PCB board by driving the calibration chuck through the calibration servo motor, shoots the camera again after calibration, and determines the position matching of the through hole and the mounting hole.
The screw locking mechanism comprises a manipulator, a screw feeding device and an electric screw driver arranged on the manipulator, wherein the manipulator is used for taking materials on the screw feeding device and locking screws into mounting holes, and the PCB is fixed in the mounting groove.
According to the technical scheme, the blanking mechanism comprises a blanking grabbing device used for grabbing the base which is assembled on the assembling jig and taking materials, and a blanking conveying device used for placing and conveying the base grabbed by the blanking grabbing device.
In step S5, the PCB is locked in the assembly groove of the base after the screw is grabbed from the screw feeding device by the manipulator.
The beneficial effects of the invention are as follows:
compared with the existing direct-drive motor PCB assembly, the assembly groove is formed in the base of the direct-drive motor, the assembly groove is used for being matched with the installation of the PCB, the automatic assembly is realized in a turntable mode and matched with a plurality of stations in the specific assembly process, and the base feeding, the rotary positioning, the PCB feeding, the assembly calibration, the screw locking and the automatic discharging are sequentially carried out, so that the whole process is automatically completed, the labor is saved, the assembly is convenient, and the assembly precision is high. The PCB is assembled in the assembly groove and provided with a matching position, and the matching position is used for matching the identification position; the assembly apparatus includes: the PCB comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembly jigs are uniformly distributed in the circumferential direction of the turntable mechanism, and the assembly jigs are used for fixing and assembling the base; the base feeding mechanism is used for feeding the base to the assembly jig; the rotary positioning mechanism is used for feeding the base on the assembly jig for rotary positioning; the PCB feeding mechanism is used for feeding the PCB, grabbing and placing the PCB on an assembly groove of the base, and the calibration mechanism is used for calibrating and matching the matching position with the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembly groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB. The process comprises the following steps: step S1, feeding a base, automatically feeding the base through a base feeding mechanism, grabbing and placing the base on an assembly jig, rotating a turntable mechanism, and rotating the assembly jig with the base to a next station; s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating a turntable mechanism after rotary positioning, and rotating the assembly jig with the base to a next station; s3, feeding the PCB, grabbing the PCB by a PCB feeding mechanism and placing the PCB on an assembly groove on a base, rotating by a turntable mechanism after placing the PCB, and rotating the base with the PCB to a next station; s4, calibrating the PCB, namely calibrating the hole sites of the PCB and the base through a calibrating mechanism, and rotating the PCB to the next station through a turntable mechanism after calibrating; s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating the PCB to the next station through a turntable mechanism after the locking is completed; and S6, blanking, wherein the base which is assembled is grabbed and blanked by the blanking mechanism, so that automatic assembly is completed. The whole assembly process is automatically completed, the assembly efficiency is high, the manpower is saved, and the assembly precision is high.
Drawings
FIG. 1 is a schematic flow chart of an assembly process of the present invention;
fig. 2 is a schematic structural diagram of a base and a PCB board of the direct drive motor of the present invention;
FIG. 3 is a perspective view of the base of the direct drive motor of FIG. 2;
FIG. 4 is a schematic perspective view of an assembly apparatus of the present invention;
FIG. 5 is a schematic perspective view of the assembly apparatus of FIG. 4 from another perspective;
FIG. 6 is a schematic top view of the assembly apparatus of FIG. 4;
FIG. 7 is a schematic structural diagram of an assembling jig of the assembling apparatus of FIG. 4;
FIG. 8 is a schematic view of a base feeding mechanism of the assembly apparatus of FIG. 4;
FIG. 9 is a schematic view of the rotational positioning mechanism of the assembly apparatus of FIG. 4;
fig. 10 is a schematic structural view of a PCB loading mechanism of the assembly apparatus of fig. 4;
fig. 11 is a schematic structural view of a calibration mechanism of the assembly apparatus of fig. 4.
Reference numerals illustrate: the device comprises a base 1, an assembly groove 11, a mounting hole 111, an identification position 12, a lower end 13, an upper end 14, a avoidance position 141 and a positioning column 142;
the PCB 2, the matching position 21, the positioning hole 22 and the through hole 23;
the turntable mechanism 3, the assembly jig 31, the jig seat 311, the assembly fixture 312, the assembly clamping jaw 312a, the assembly fixture plate 312b, the elastic element 312c, the driving bump 312d, the clamping driving device 313, the clamping lifting cylinder 313a, the lifting driving shaft 313b, the jig groove 314, the upper groove body 314a, the lower groove body 314b, the disc 32 and the turntable driving device 33;
the base feeding mechanism 4, the first feeding conveying device 41, the first feeding grabbing device 42, the first feeding transfer module 421 and the first feeding lifting module 422;
the rotary positioning mechanism 5, the positioning driving device 51, the upright 511, the traversing module 512, the positioning lifting module 513, the detecting device 52, the rotary adjusting device 53, the adjusting servo motor 531 and the adjusting clamping jaw 532;
the PCB feeding mechanism 6, the second feeding conveying device 61, the second feeding grabbing device 62, the second feeding transfer module 621 and the second feeding lifting module 622;
a calibration mechanism 7, a calibration driving device 71, a calibration moving module 711, a calibration lifting module 712, a shooting camera 72, a calibration device 73, a calibration servo motor 731, and a calibration sucker 732;
the screw locking mechanism 8, the manipulator 81, the screw feeding device 82 and the electric screw driver 83;
a blanking mechanism 9, a blanking grabbing device 91 and a blanking conveying device 92.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 11, a process for automatically assembling a PCB board by a base of a direct-drive motor is provided, in which a base 1 and a PCB board 2 are provided, the base 1 has an assembly groove 11, the assembly groove 11 has an identification position 12, the PCB board 2 is assembled in the assembly groove 11 and has a fitting position 21, and the fitting position 21 is used for fitting the identification position 12; the assembly device includes: the PCB feeding device comprises a turntable mechanism 3, a base feeding mechanism 4, a rotary positioning mechanism 5, a PCB feeding mechanism 6, a calibration mechanism 7, a screw locking mechanism 8 and a blanking mechanism 9, wherein a plurality of assembling jigs 31 are uniformly distributed on the turntable mechanism 3 in the circumferential direction, and the assembling jigs 31 are used for fixedly assembling the base 1; the base feeding mechanism 4 is used for feeding the base 1 to the assembling jig 31; the rotary positioning mechanism 5 is used for feeding the base 1 on the assembly jig 31 for rotary positioning; the PCB feeding mechanism 6 is used for feeding the PCB 2, grabbing and placing the PCB 2 onto the assembly groove 11 of the base 1, and the calibrating mechanism 7 is used for calibrating and matching the matching position 21 with the identification position 12; the screw locking mechanism 8 is used for locking screws on the PCB 2 and the assembly groove 11; the blanking mechanism 9 is used for grabbing and blanking the base 1 assembled with the PCB 2.
The process comprises the following steps:
step S1, feeding a base 1, automatically feeding the base 1 through a base feeding mechanism 4, grabbing and placing the base 1 on an assembly jig 31, rotating a turntable mechanism 3, and rotating the assembly jig 31 with the base 1 to the next station;
step S2, positioning the base 1, clamping and rotating the base 1 on the assembly jig 31 to a specified assembly angle through the rotary positioning mechanism 5, rotating the turntable mechanism 3 after rotary positioning, and rotating the assembly jig 31 with the base 1 to the next station;
step S3, feeding the PCB 2, grabbing the PCB 2 by a PCB feeding mechanism and placing the PCB 2 on an assembly groove 11 on a base 1, rotating a turntable mechanism 3 after placing the PCB 2, and rotating the base 1 with the PCB 2 to a next station;
s4, calibrating the PCB 2, calibrating the hole positions of the PCB 2 and the base 1 through a calibrating mechanism 7, and rotating to the next station through a turntable mechanism 3 after calibrating;
step S5, locking screws, namely locking and fixing the PCB 2 and the base 1 through a screw locking mechanism 8, and rotating to the next station through a turntable mechanism 3 after the locking is completed;
and S6, blanking, wherein the base 1 which is assembled is grabbed and blanked by the blanking mechanism 9, so that automatic assembly is completed.
Referring to fig. 2, the base 1 includes a lower end 13 and an upper end 14, the assembly slot 11 is formed on the upper surface of the upper end 14, the lower end 13 and the upper end 14 are integrally formed, the identification position 12 is disposed on the outer circumferential surface of the upper end 14, a avoidance position 141 is disposed on the lower side of the upper end 14 located on the assembly slot 11, a positioning column 142 is centrally disposed on the upper end 14, a positioning hole 22 is disposed on the positioning column 142 corresponding to the PCB 2, and when assembled, the positioning hole 22 is sleeved on the positioning column 142, the matching position 21 is located on the outer circumference of the PCB 2, in this embodiment, the base 1 is used as an inner base 1 of a direct drive motor, applied to a direct drive motor of an outer rotor, the assembly slot 11 is integrally formed on the base 1 and used for assembling the upper PCB 2, and meanwhile, the upper end 14 and the lower end 13 are matched for stator connection and output connection of the direct drive motor respectively, which is also convenient for structure assembly and distinction.
The turntable mechanism 3 includes a disk 32 for mounting the assembly jig 31, and a turntable driving device 33 for driving the disk 32 to rotate; in the working of the embodiment, the rotary driving device is matched with the disc 32 to drive the disc 32 to rotate, and the rotary disc driving device 33 can be a DD motor or a divider as a driving device, so that the rotary disc driving device is suitable for multi-station machining of the rotary disc.
Further preferably, in the above embodiment, the assembling jig 31 includes a jig base 311 mounted on the disc 32, an assembling fixing device 312 provided on the jig base 311, and a clamping driving device 313 located below the disc 32 and used for driving the assembling fixing device 312; the jig base 311 is provided with a jig groove 314, the jig groove 314 comprises an upper groove body 314a and a lower groove body 314b communicated with the upper groove body 314a, the lower end part 13 is arranged in the lower end part 13, the upper end part 14 is arranged in the upper groove body 314a and exposes the assembly groove 11, the jig groove 314 is used for mounting and fixing the base 1, meanwhile, an assembly fixing device 312 and a clamping driving device 313 are arranged, the base 1 is clamped and fixed on the jig groove 314 through the assembly fixing device 312, and the clamping driving device 313 is used for driving the opening and closing of the assembly fixing device 312 to be fixed.
Further preferably, as shown in fig. 6, the assembly fixture 312 includes an assembly jaw 312a movably disposed at the outer periphery of the lower groove 314b for clamping and fixing the lower end portion 13, an assembly fixing plate 312b for fixing the assembly jaw 312a, and a clamping elastic member 312c disposed on the assembly fixing plate 312b for providing clamping to the assembly jaw 312 a; in a further development, the clamping drive 313 comprises a clamping lifting cylinder 313a and a lifting drive shaft 313b for connection to the clamping lifting cylinder 313a, the mounting jaw 312a being provided with a drive cam 312d, the lifting drive shaft 313b being used for lifting the drive cam 312d such that the mounting jaw 312a clamps the lower end 13. The lifting drive shaft 313b is used for lifting drive to drive the drive lug 312d to be matched with the assembly clamping jaw 312a to clamp or unclamp the lower end 13.
In step S1, the base feeding mechanism 4 clamps the upper end 14 of the base 1, and puts the clamped lower end of the base 1 into the lower groove 314b, and during the putting process, the clamping and lifting cylinder 313a drives the lifting driving shaft 313b to drive the assembly clamping jaw 312a to open, and after the clamping and lifting cylinder 313a is put in place, the assembly clamping jaw 312a descends to clamp the lower end.
Referring to fig. 7, the base feeding mechanism 4 includes a first feeding and conveying device 41 for conveying the base 1, and a first feeding and gripping device 42 for taking materials from the first feeding and conveying device 41 and placing the materials on the assembling jig 31; the first feeding grabbing device 42 comprises a first feeding transferring module 421 and a first feeding lifting module 422 arranged on the first feeding transferring module 421, wherein the first feeding grabbing device 42 is arranged on the first feeding lifting module 422; the first feeding and conveying device 41 is used for feeding and conveying the base 1, and when the base 1 is conveyed to a specified position, the base 1 is grabbed by the first feeding and grabbing device 42, and the base 1 is placed on the assembly jig 31 for assembly after grabbing.
In step S1, the base feeding mechanism 4 conveys the base 1 through the first feeding conveying device 41, and drives the first feeding and taking device 42 through the cooperation of the first feeding conveying device 41 and the first feeding lifting module 422 to clamp and fix the upper end 14 of the base 1 for feeding when the base is conveyed to the specified position.
Referring to fig. 8, the rotary positioning mechanism 5 includes a positioning driving device 51, a detecting device 52 mounted on the positioning driving device 51 and used for detecting that the base 1 is placed in the direction of the assembling jig 31, and a rotary adjusting device 53 used for clamping and adjusting the direction of the base 1; the detection device 52 and the rotation adjustment device 53 are driven by the positioning driving device 51 to adjust the position of the base 1, so that subsequent assembly is facilitated.
The positioning driving device 51 comprises a vertical column 511, a traversing module 512 arranged on the vertical column 511, and a positioning lifting module 513 arranged on the traversing module 512, wherein the detecting device 52 and the rotation adjusting device 53 are arranged on the positioning lifting module 513; the traversing module 512 is matched with the lifting module for traversing and lifting of the structure, and the traversing module 512 and the lifting module are linear modules.
The detecting device 52 is a CCD detecting lens and faces the assembling jig 31, and is used for shooting the direction of the identification position 12 of the base 1 on the assembling jig 31; further, the rotation adjusting device 53 includes an adjusting servo motor 531 installed on the positioning lifting module 513, and an adjusting jaw 532 connected to the adjusting servo motor 531, where the adjusting jaw 532 is used to clamp the base 1 and adjust the direction of the base 1 by rotating the adjusting servo motor 531; the CCD detection lens is adopted to take a picture of the base 1, the direction of the identification position 12 is identified, and then the base 1 is clamped and then rotated and adjusted to the designated direction by driving the adjusting clamping jaw 532 through the servo motor, so that the subsequent assembly is convenient.
In step S2, when the assembly jig 31 is located on the CCD detection lens, the CCD detection lens will take a picture of the base 1, the CCD detection lens is connected with a contrast system, the contrast system compares the taken picture with the stored illumination, and gives an instruction to the adjustment servo motor 531, the adjustment servo motor 531 cooperates with the adjustment clamping jaw 532 to clamp the base 1, the assembly fixture releases the lower end of the base 1 after clamping, and the adjustment servo motor 531 drives the adjustment clamping jaw 532 to rotate and adjust the clamped base 1 to a designated angle.
Referring to fig. 9, the PCB loading mechanism 6 includes a second loading conveyor 61 for conveying the PCB 2, and a second loading gripper 62 for taking materials from the second loading conveyor 61 and placing the materials onto the assembly slot 11; further improved, the second feeding grabbing device 62 comprises a second feeding transferring module 621 and a second feeding lifting module 622 installed on the second feeding transferring module 621, the second feeding grabbing device 62 is installed on the second feeding lifting module 622, and the second feeding grabbing device 62 is used for grabbing and placing the PCB 2 conveyed by the second feeding conveying device 61 onto the assembly groove 11 of the base 1.
In step S3, the second feeding and conveying device conveys the PCB 2 to a designated position, and then the second feeding and grabbing device grabs the PCB 2 and places the PCB on the assembly groove 11 of the base 1.
Referring to fig. 10, the assembly slot 11 is provided with a plurality of mounting holes 111, the PCB 2 is provided with through holes 23 corresponding to the mounting holes 111, and the calibration mechanism 7 includes a calibration driving device 71, a camera 72 mounted on the calibration driving device 71 and used for shooting the position of the PCB 2 in the assembly slot 11, and a calibration device 73 used for grabbing and adjusting the position of the PCB 2; in this embodiment, through the cooperation of mounting hole 111 and through-hole 23, make things convenient for subsequent equipment, and then, when PCB board 2 goes up to assembly groove 11, shoot whether mounting hole 111 and through-hole 23 match through shooting camera 72, and then accessible calibrating device 73 calibrates, makes things convenient for subsequent equipment.
Preferably, for the above embodiment, the calibration driving device 71 includes a calibration moving module 711 and a calibration lifting module 712 mounted on the calibration moving module 711, and the photographing camera 72 is mounted on the calibration lifting module 712; further improved, the calibration device 73 comprises a calibration servo motor 731 installed on the calibration lifting module 712 and a calibration sucker 732 installed on the calibration servo motor 731, the calibration sucker 732 is used for absorbing and grabbing the PCB 2, the calibration driving device 71 drives the PCB 2 to transversely move and lift, the PCB 2 is absorbed by the sucker during calibration, and then the calibration servo motor 731 is used for micro-motion adjustment, so that the mounting hole 111 is matched with the through hole 23.
In step S4, the camera shoots the PCB 2, shoots the position of the matching position and the position of the matching position, then drives the calibration chuck to rotationally calibrate the PCB 2 through the calibration servo motor 731, shoots the camera again after calibration, and determines that the positions of the through holes and the mounting holes are matched.
The screw locking mechanism 8 comprises a manipulator 81, a screw feeding device 82 and an electric screw driver 83 arranged on the manipulator 81, wherein the manipulator 81 is used for taking materials on the screw feeding device 82 and locking screws into the mounting holes 111, so that the PCB 2 is fixed in the assembly groove 11, the manipulator 81 drives the electric screw driver 83 to take materials on the screw feeding device 82, and then the screws are locked into the mounting holes 111 under the action of the manipulator 81.
In step S5, the manipulator 81 grabs the screws from the screw feeding device 82 and locks the PCB 2 to the assembly groove 11 of the base 1.
The blanking mechanism 9 comprises a blanking grabbing device 91 for grabbing the assembled base 1 on the assembly jig and a blanking conveying device 92 for placing and conveying the base 1 grabbed by the blanking grabbing device 91, and the base 1 is grabbed by the blanking grabbing device 91 and then is placed into the blanking conveying device 92 for conveying and blanking, so that automatic assembly of the PCB 2 is completed.
According to the invention, the assembly groove 11 is formed in the base 1 of the direct-drive motor, the assembly groove 11 is used for being matched with the installation of the PCB 2, the automatic assembly is realized in a turntable mode and matched with a plurality of stations in the specific assembly process, and the feeding, the rotary positioning, the feeding, the assembly calibration, the screw locking fixation and the automatic discharging of the PCB 2 of the base 1 are sequentially carried out, so that the whole process is automatically completed, the labor is saved, the assembly is convenient, and the assembly precision is high. Specifically, the base 1 and the PCB 2 are provided, the base 1 is provided with an assembly groove 11, the assembly groove 11 is provided with an identification position, the PCB 2 is assembled in the assembly groove 11 and is provided with a matching position, and the matching position is used for matching the identification position; the assembly device includes: the device comprises a turntable mechanism 3, a base feeding mechanism 4, a rotary positioning mechanism 5, a PCB feeding mechanism, a calibration mechanism 7, a screw locking mechanism 8 and a blanking mechanism 9, wherein a plurality of assembling jigs 31 are uniformly distributed on the turntable mechanism 3 in the circumferential direction, and the assembling jigs 31 are used for fixedly assembling the base 1; the base feeding mechanism 4 is used for feeding the base 1 to the assembling jig 31; the rotary positioning mechanism 5 is used for feeding the base 1 on the assembly jig 31 for rotary positioning; the PCB feeding mechanism is used for feeding the PCB 2, grabbing and placing the PCB 2 onto the assembly groove 11 of the base 1, and the calibration mechanism 7 is used for calibrating and matching the matching position and the identification position; the screw locking mechanism 8 is used for locking screws on the PCB 2 and the assembly groove 11; the blanking mechanism 9 is used for grabbing and blanking the base 1 assembled with the PCB 2. The process comprises the following steps: step S1, feeding a base 1, automatically feeding the base 1 through a base feeding mechanism 4, grabbing and placing the base 1 on an assembly jig 31, rotating a turntable mechanism 3, and rotating the assembly jig 31 with the base 1 to the next station; step S2, positioning the base 1, clamping and rotating the base 1 on the assembly jig 31 to a specified assembly angle through the rotary positioning mechanism 5, rotating the turntable mechanism 3 after rotary positioning, and rotating the assembly jig 31 with the base 1 to the next station; step S3, feeding the PCB 2, grabbing the PCB 2 by a PCB feeding mechanism and placing the PCB 2 on an assembly groove 11 on a base 1, rotating a turntable mechanism 3 after placing the PCB 2, and rotating the base 1 with the PCB 2 to a next station; s4, calibrating the PCB 2, calibrating the hole positions of the PCB 2 and the base 1 through a calibrating mechanism 7, and rotating to the next station through a turntable mechanism 3 after calibrating; step S5, locking screws, namely locking and fixing the PCB 2 and the base 1 through a screw locking mechanism 8, and rotating to the next station through a turntable mechanism 3 after the locking is completed; and S6, blanking, wherein the base 1 which is assembled is grabbed and blanked by the blanking mechanism 9, so that automatic assembly is completed. The whole assembly process is automatically completed, the assembly efficiency is high, the manpower is saved, and the assembly precision is high.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. A process for automatically assembling a PCB (printed Circuit Board) by a base of a direct-drive motor is characterized by comprising the following steps of:
the PCB assembly device comprises assembly equipment, a base and a PCB, wherein the base is provided with an assembly groove, the assembly groove is provided with an identification position, and the PCB is assembled in the assembly groove and is provided with a matching position, and the matching position is used for matching the identification position;
the assembly equipment comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembly jigs are uniformly distributed on the turntable mechanism in the circumferential direction, and the assembly jigs are used for fixing and assembling the base; the base feeding mechanism is used for feeding the base to the assembly jig; the rotary positioning mechanism is used for feeding the base on the assembly jig for rotary positioning; the PCB feeding mechanism is used for feeding the PCB and grabbing and placing the PCB on an assembly groove of the base; the calibration mechanism is used for calibrating and matching the matching position with the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembly groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB; the base comprises a lower end and an upper end, the assembly groove is formed in the upper surface of the upper end, the lower end and the upper end are integrally processed and formed, the identification position is arranged on the outer circumferential surface of the upper end, the upper end is arranged on the lower side of the assembly groove and is provided with a avoidance position, the upper end is provided with a positioning column in the middle, the PCB is provided with a positioning hole corresponding to the positioning column, the positioning hole is sleeved on the positioning column during assembly, and the matching position is arranged on the outer circumference of the PCB; the turntable mechanism comprises a disc for installing the assembly jig and a turntable driving device for driving the disc to rotate;
the assembling jig comprises a jig seat arranged on the disc, an assembling and fixing device arranged on the jig seat, and a clamping driving device which is positioned below the disc and used for driving the assembling and fixing device;
the jig seat is provided with a jig groove, the jig groove comprises an upper groove body and a lower groove body communicated with the upper groove body, the lower end part is arranged in the lower groove body, and the upper end part is arranged in the upper groove body and exposes the assembly groove;
the assembly fixing device comprises an assembly clamping jaw which can move around the lower groove body and is used for clamping and fixing the lower end part, an assembly fixing plate which is used for fixing the assembly clamping jaw to move, and a clamping elastic element which is arranged on the assembly fixing plate and is used for providing clamping for the assembly clamping jaw;
the clamping driving device comprises a clamping jacking cylinder and a jacking driving shaft connected to the clamping jacking cylinder, the assembly clamping jaw is provided with a driving lug, and the jacking driving shaft is used for jacking the driving lug so that the lower end part of the assembly clamping jaw is clamped;
the rotary positioning mechanism comprises a positioning driving device, a detection device which is arranged on the positioning driving device and used for detecting that the base is placed in the direction of the assembly jig, and a rotary adjusting device which is used for clamping and adjusting the direction of the base;
the positioning driving device comprises a stand column, a transverse moving module arranged on the stand column and a positioning lifting module arranged on the transverse moving module, and the detecting device and the rotation adjusting device are arranged on the positioning lifting module;
the detection device is a CCD detection lens and faces the assembly jig, and is used for shooting the direction of the base identification position on the assembly jig;
the rotation adjusting device comprises an adjusting servo motor arranged on the positioning lifting module and an adjusting clamping jaw connected with the adjusting servo motor, wherein the adjusting clamping jaw is used for clamping the base and adjusting the direction of the base through rotation of the adjusting servo motor; the assembly groove is provided with a plurality of mounting holes, the PCB board is provided with through holes corresponding to the mounting holes, and the calibration mechanism comprises a calibration driving device, a shooting camera which is arranged on the calibration driving device and is used for shooting the position of the PCB board in the assembly groove, and a calibration device which is used for grabbing and adjusting the position of the PCB board;
the calibration driving device comprises a calibration moving module and a calibration lifting module arranged on the calibration moving module, and the shooting camera is arranged on the calibration lifting module;
the calibrating device comprises a calibrating servo motor arranged on the calibrating lifting module and a calibrating sucker arranged on the calibrating servo motor, wherein the calibrating sucker is used for adsorbing and grabbing a PCB; the process comprises the following steps:
step S1, feeding a base, automatically feeding the base through a base feeding mechanism, grabbing and placing the base on an assembly jig, rotating a turntable mechanism, and rotating the assembly jig with the base to a next station;
s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating a turntable mechanism after rotary positioning, and rotating the assembly jig with the base to a next station;
s3, feeding the PCB, grabbing the PCB by a PCB feeding mechanism and placing the PCB on an assembly groove on a base, rotating by a turntable mechanism after placing the PCB, and rotating the base with the PCB to a next station;
s4, calibrating the PCB, namely calibrating the hole sites of the PCB and the base through a calibrating mechanism, and rotating the PCB to the next station through a turntable mechanism after calibrating; shooting the PCB by a shooting camera, shooting the positions of the identification matching position and the identification position, driving a calibration sucker by a calibration servo motor to grab the PCB, rotationally calibrating the PCB, shooting a picture again by the shooting camera after calibrating, and determining that the positions of the through holes and the mounting holes are matched;
s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating the PCB to the next station through a turntable mechanism after the locking is completed;
and S6, blanking, wherein the base which is assembled is grabbed and blanked by the blanking mechanism, so that automatic assembly is completed.
2. The process for automatically assembling a PCB board on a base of a direct drive motor according to claim 1, wherein: in the step S1, the upper end of the base is clamped by the base feeding mechanism, the lower end of the clamped base is placed into the lower groove body, in the placing process, the clamping and jacking cylinder drives the jacking driving shaft to drive the assembly clamping jaw to be in an open state, and when the clamping and jacking cylinder is placed in place, the clamping and jacking cylinder descends, and the lower end of the assembly clamping jaw is clamped.
3. The process for automatically assembling a PCB board on a base of a direct drive motor according to claim 1, wherein: the base feeding mechanism comprises a first feeding conveying device used for conveying the base and a first feeding grabbing device used for taking materials on the first feeding conveying device and placing the materials on the assembling jig;
the first feeding grabbing device comprises a first feeding transferring module and a first feeding lifting module arranged on the first feeding transferring module, and is arranged on the first feeding lifting module;
in step S1, the base feeding mechanism conveys the base through the first feeding conveying device, and drives the first feeding and taking device to clamp and fix the upper end of the base through the cooperation of the first feeding conveying device and the first feeding lifting module when the base feeding mechanism conveys the base to a specified position.
4. The process for automatically assembling a PCB board on a base of a direct drive motor according to claim 1, wherein: in step S2, when the assembly fixture is located on the CCD detection lens, the CCD detection lens will take a picture of the base, the CCD detection lens is connected with a comparison system, the comparison system compares the taken picture with the stored illumination, and gives an instruction to an adjustment servo motor, the adjustment servo motor cooperates with an adjustment clamping jaw to clamp the base, the assembly fixture releases the lower end of the base after clamping, and the adjustment servo motor drives the adjustment clamping jaw to rotate and adjust the clamped base to a designated angle.
5. The process for automatically assembling a PCB board on a base of a direct drive motor according to claim 1, wherein: the PCB feeding mechanism comprises a second feeding conveying device used for conveying the PCB and a second feeding grabbing device used for taking materials on the second feeding conveying device and placing the materials on the assembly groove;
the second feeding grabbing device comprises a second feeding transferring module and a second feeding lifting module arranged on the second feeding transferring module, and is arranged on the second feeding lifting module;
in step S3, the second feeding and conveying device conveys the PCB to a designated position, and then the PCB is grabbed by the second feeding and grabbing device and then placed on an assembly groove of the base.
6. The process for automatically assembling a PCB board on a base of a direct drive motor according to claim 1, wherein: the screw locking mechanism comprises a manipulator, a screw feeding device and an electric screw driver arranged on the manipulator, wherein the manipulator is used for taking materials on the screw feeding device and locking screws into the mounting holes so that the PCB is fixed in the assembly groove;
the blanking mechanism comprises a blanking grabbing device used for grabbing the assembled base on the assembly jig and a blanking conveying device used for placing and conveying the base grabbed by the blanking grabbing device;
in step S5, after the manipulator grabs the screw from the screw feeding device, the PCB is locked on the assembly groove of the base.
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| CN202210949888.8A CN115179038B (en) | 2022-08-09 | 2022-08-09 | Automatic PCB board assembling process for base of direct-drive motor |
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| CN202210949888.8A CN115179038B (en) | 2022-08-09 | 2022-08-09 | Automatic PCB board assembling process for base of direct-drive motor |
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| CN115179038A (en) | 2022-10-14 |
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