CN115939905A - High-speed pin machine of robot - Google Patents
High-speed pin machine of robot Download PDFInfo
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- CN115939905A CN115939905A CN202211473561.4A CN202211473561A CN115939905A CN 115939905 A CN115939905 A CN 115939905A CN 202211473561 A CN202211473561 A CN 202211473561A CN 115939905 A CN115939905 A CN 115939905A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention is suitable for the technical field of automatic pin inserting, and provides a robot high-speed pin inserting machine, a feeding and discharging mechanism, a lifting and positioning mechanism and a pin inserting mechanism, wherein the feeding and discharging mechanism is used for feeding and discharging a pin inserting jig, lifting the pin inserting jig and positioning the pin inserting jig; the robot PIN visual image detection system is used for detecting the angle and the perpendicularity of the PIN PIN and conducting visual guide on the PIN jig; the four-axis robot PIN inserting mechanism is used for grabbing a PIN PIN and a PIN inserting and monitoring the inserting force in real time; and the detection mechanism is used for pressing the PIN and detecting the pressing depth of the PIN. Compared with the prior art, the PIN inserting device has the advantages of flexible PIN inserting angle, simple structure, good debugging, high efficiency, high intelligent degree, man-machine interaction and the like.
Description
Technical Field
The invention belongs to the technical field of automatic pin inserting, and particularly relates to a robot high-speed pin inserting machine.
Background
At present, for automatic pins at home and abroad, the rotary component is generally adopted to take the pins, and the two-axis module is generally adopted to combine the modes of feeding and discharging the disc-shaped jig and matching the visual detection component. Has the advantages of low cost, high universality and the like. But the PIN needle after cutting the coil stock lacks supplied materials detection function such as burr, angle and skew, and mostly be the simplex position and go up unloading, goes up unloading in-process thimble position and need stop the action and wait for, and the thimble angle is not nimble enough simultaneously, when changing the product of different thimble angles, needs to increase carrier rotating assembly, and rotatory thimble assembly debugging degree of difficulty is big, the debugging is long, can not satisfy multiple angle and efficient thimble needs. To this end we propose a robotic high-speed pin machine.
Disclosure of Invention
The invention aims to provide a high-speed pin inserting machine of a robot, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
high-speed pin machine of robot, including the frame, still include:
the feeding and discharging mechanism is used for feeding and discharging the pin jig, jacking the pin jig and positioning the pin jig;
the PIN vision image detection system of the robot is used for detecting the angle and the verticality of the PIN PIN and carrying out vision guide on the PIN jig;
the four-axis robot PIN inserting mechanism is used for grabbing a PIN PIN and a PIN inserting and monitoring the inserting force in real time;
and the detection mechanism is used for pressing the PIN and detecting the depth of the pressed PIN.
Further, go up unloading mechanism and include DD motor, side push cylinder and two sets of cam jacking structures, the output of DD motor is equipped with the carousel, be equipped with the carrier on the carousel.
Further, the robot pin visual image detection system includes:
the incoming material visual detection structure is used for detecting the angle and the perpendicularity of the PIN needle;
and the pin guide visual structure is used for visually guiding a pin jig on the carrier.
Further, four-axis robot pin inserting mechanism includes four-axis robot and robot head.
Furthermore, the robot head comprises a clamping jaw cylinder, an air blowing ejector rod and a pressure sensor, a clamping jaw is arranged at the output end of the clamping jaw cylinder, and the pressure sensor is connected with the air blowing ejector rod.
Further, the detection mechanism includes:
the two-axis height detection module is used for detecting the height of the PIN;
and the pressing PIN assembly is used for pressing the PIN.
Furthermore, the two-axis height detection module comprises a laser displacement sensor.
Compared with the prior art, the invention has the beneficial effects that:
compared with the prior art, the robot high-speed PIN inserting machine has the advantages of flexible PIN inserting angle, simple structure, good debugging, high efficiency, high intelligent degree, man-machine interaction and the like.
Drawings
FIG. 1 is a schematic view of the present invention.
FIG. 2 is a schematic top view of a part of the loading and unloading mechanism of the present invention.
FIG. 3 is a schematic side view of a part of the loading and unloading mechanism of the present invention.
Fig. 4 is a schematic perspective view of a robot head according to the present invention.
Fig. 5 is a schematic three-dimensional structure diagram of the incoming material visual detection structure of the present invention.
Fig. 6 is a schematic perspective view of a pin guide vision structure according to the present invention.
Fig. 7 is a schematic perspective view of the detecting mechanism of the present invention.
In the figure: go up unloading mechanism 1, DD motor 11, side push cylinder 12, cam jacking structure 13, carousel 14, carrier 15, contact pin tool 16, four-axis robot 21, clamping jaw cylinder 22, the ejector pin 23 of blowing, pressure sensor 24, clamping jaw 25, supplied materials visual detection structure 3, vibration dish material level 4 of getting, contact pin guide visual structure 5, tucking subassembly 6, diaxon height detection module 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1 to 7, a robot high-speed pin inserter provided for one embodiment of the present invention includes a rack, and further includes:
the feeding and discharging mechanism 1 is used for feeding and discharging the pin jig 16, jacking the pin jig 16 and positioning the pin jig 16;
the PIN vision image detection system of the robot, the PIN vision image detection system of the said robot is used for detecting angle and verticality of PIN needle and carrying on the visual guide to the PIN jig 16;
the four-axis robot 21 PIN inserting mechanism is used for grabbing a PIN PIN and a PIN inserting and monitoring the inserting force in real time;
and the detection mechanism is used for pressing the PIN and detecting the depth of the pressed PIN.
As shown in fig. 1-3, as a preferred embodiment of the present invention, the loading and unloading mechanism 1 includes a DD motor 11, a side-push cylinder 12, and two sets of cam lifting structures 13, wherein an output end of the DD motor 11 is provided with a turntable 14, and the turntable 14 is provided with a carrier 15.
In the embodiment of the invention, preferably, the DD motor 11 has the advantages of high speed and high precision; the cam jacking structure 13 has self-locking performance, can bear large load, prevents the DD motor 11 motor alarm caused by overlarge downward pressure or robot crash, and simultaneously prevents the pin jig 16 from inclining and unsmooth pin insertion caused by poor planeness of the rotary table 14. The feeding four-axis robot 21 grabs the pin inserting jig 16 and places the pin inserting jig 16 on the carrier 15 at the upper and lower material positions, the photoelectric sensor senses the pin inserting jig 16, the DD motor 11 rotates anticlockwise by 90 degrees and sends the jig to the pin inserting position 18, and the action is finished; the tool is put in place to the photoelectric sensor of robot contact pin position 18, and cam jacking structure 13 action will carry 15 together with tool jacking 1mm for contact pin tool 16 breaks away from carousel 14, and side pushes away cylinder 12 and stretches out and with contact pin tool 16 top tight, prevents that contact pin tool 16 from rocking at the contact pin in-process and leading to the robot contact pin inaccurate, accomplishes the action.
As shown in fig. 1 to 6, as a preferred embodiment of the present invention, the system for detecting a pin vision image of a robot includes:
the incoming material visual detection structure 3 is used for detecting the angle and the perpendicularity of the PIN needle;
a pin guide vision structure 5, the pin guide vision structure 5 is used for performing vision guide on a pin fixture 16 on the carrier 15.
In the embodiment of the invention, preferably, the pin guide vision structure 5 shoots the deviation between the lifted pin jig 16 and the calibration reference, and feeds information back to the PLC control system, so that the position and the angle of the pin of the four-axis robot 21 are accurate, and the action is completed; four-axis robot 21 gets the needle from the vibration dish, through supplied materials visual detection structure 3, judge the angle (supplied materials angle detection 32) and the straightness that hangs down (supplied materials vertical detection 31) of PIN needle, the OK material moves and carries out the pre-insertion needle above contact PIN tool 16, NG material is delivered to NG magazine, so reciprocating motion, until contact PIN tool 16 is full of 24 PIN needles after, side thrust cylinder 12 retracts, cam jacking cylinder withdraws, contact PIN tool 16 falls on carousel 14, DD motor 11 is rotatory 180, deliver contact PIN tool 16 to detection mechanism, accomplish the action.
As shown in fig. 1 and 4, as a preferred embodiment of the present invention, the four-axis robot 21 pin insertion mechanism includes a four-axis robot 21 and a robot head.
In the embodiment of the invention, preferably, an Epson four-axis robot 21 is adopted, the repetition precision of the robot is +/-0.05 mm, and the maximum head load capacity is 3kg.
As shown in fig. 4, as a preferred embodiment of the present invention, the robot head is composed of a clamping jaw cylinder 22, an air blowing ejector rod 23 and a pressure sensor 24, the output end of the clamping jaw cylinder 22 is provided with a clamping jaw 25, and the pressure sensor 24 is connected with the air blowing ejector rod 23.
In the embodiment of the invention, preferably, the clamping jaw 25 needs to tightly abut against the upper surface of the cylinder of the PIN needle by using the air blowing ejector rod 23 before clamping, the top of the clamping jaw is limited, the thimble can bear force when pressing the PIN needle, meanwhile, the PIN needle can be prevented from being inclined, and the clamping jaw 25 clamps the cylinder section of the PIN needle in a V shape. The pressure sensor 24 is hard connected with the air blowing ejector rod 23 by adopting a linear guide rail; when not inserting the needle, pressure sensor 24 shows the pulling force numerical value, gets material level 4 at the vibration dish and blows behind ejector PIN 23 contact PIN needle and show pressure numerical value, when the inserting needle, can real-time detection insertion pressure's change again, and the pressure is acquiescence inserts unusually when too big, needs snatch the PIN needle again.
As shown in fig. 1, as a preferred embodiment of the present invention, the detecting mechanism includes:
the two-axis height detection module 7 is used for detecting the height of the PIN needle;
a needle pressing component 6, wherein the needle pressing component 6 is used for pressing the PIN needle.
In the embodiment of the invention, preferably, the PIN pressing function is realized by that a PIN pressing jig is provided with the same number of thimble holes at the same PIN hole position right above the PIN pressing jig 16, a compression spring is arranged at the upper end of the thimble to apply downward pre-pressure to the thimble, in the process of pressing the PIN pressing jig downwards, a guide rod on the PIN pressing jig is firstly matched with a positioning PIN on the PIN pressing jig 16, then the thimble is pressed into the PIN hole, and if the PIN in the hole is not in place, the thimble is ejected out by the same height. The photoelectric sensor of the detection mechanism detection position 17 senses a PIN inserting jig 16, the cam jacking cylinder acts to jack the PIN inserting jig 16 by 1mm to enable the PIN inserting jig to be separated from the rotary table 14, the PIN pressing component 6 retracts, the PIN pressing component 6 presses and keeps a PIN which is not inserted in place, the two-shaft height detection module 7 moves to detect the heights of the PINs in sequence, whether all the PINs are inserted in place or not is judged, after detection is finished, the PIN pressing component 6 extends out through the cylinder, the cam jacking cylinder withdraws, the PIN inserting jig 16 falls to the rotary table 14 and moves to a discharging position along with the rotary table 14, and action is finished.
As shown in fig. 1, as a preferred embodiment of the present invention, the two-axis height detection module 7 includes a laser displacement sensor.
In the embodiment of the invention, preferably, if the situation that the pin is not pressed in place occurs, the ejector pins are higher than the normal situation by a certain distance, the laser displacement sensors are used for detecting one by one at the moment, and the detection information is fed back to the PLC control system, so that the four-axis robot 21 grabs the NG flow channel when the pin inserting abnormal jig performs blanking through the blanking position.
The working principle of the invention is as follows:
in the robot high-speed pin inserting machine, an empty pin inserting jig 16 is used for feeding, a photoelectric sensor of a feeding position senses in place, a DD motor 11 rotates by 90 degrees to send the pin inserting jig 16 to a pin inserting position 18, and the action is finished; when a photoelectric sensor of the pin position 18 senses a pin jig 16, the cam lifts the cylinder to move, the carrier 15 and the pin jig 16 are lifted by 1mm to be separated from the turntable 14, the side push cylinder 12 extends out, and the pin jig 16 is laterally pressed to complete the movement; the pin guide visual structure 5 shoots the deviation between the lifted pin jig 16 and the calibration reference, and feeds information back to the PLC control system, so that the position and the angle of the robot pin are accurate, and the action is finished; the four-axis robot 21 takes PINs from the vibration disc, judges the angle and the verticality of the PIN PINs through the incoming material visual detection structure 3, moves OK materials to the upper part of the PIN jig 16 for pre-inserting the PINs, sends NG materials to the NG material box, reciprocates in such a way until the PIN jig 16 is fully inserted with 24 PIN PINs, retracts the side-push cylinder 12, retracts the cam jacking cylinder, the PIN jig 16 falls to the turntable 14, rotates the DD motor 11 by 180 degrees to send the PIN jig 16 to the detection mechanism, and finishes the action; the photoelectric sensor of detection mechanism detection position 17 senses contact PIN tool 16, the action of cam jacking cylinder, 1mm of contact PIN tool 16 jacking breaks away from carousel 14, the cylinder of tucking needle subassembly 6 retracts, tucking needle subassembly 6 will not be inserted to the position PIN needle and is pressed to the position and keep, the motion of diaxon height detection module 7, detect the thimble height in proper order, judge whether whole insertion of PIN needle is in the position, after detecting, tucking needle subassembly 6 cylinder stretches out, the withdrawal of cam jacking cylinder, contact PIN tool 16 falls to carousel 14 and moves to the unloading position along with carousel 14, accomplish the action.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (7)
1. High-speed pin machine of robot, including the frame, its characterized in that still includes:
the feeding and discharging mechanism is used for feeding and discharging the pin inserting jig, jacking the pin inserting jig and positioning the pin inserting jig;
the PIN visual image detection system of the robot is used for detecting the angle and the verticality of the PIN PIN and carrying out visual guidance on the PIN jig;
the four-axis robot PIN inserting mechanism is used for grabbing PIN PINs and inserting PINs and monitoring inserting force in real time;
and the detection mechanism is used for pressing the PIN and detecting the depth of the pressed PIN.
2. The high-speed pin inserting machine of a robot as claimed in claim 1, wherein the loading and unloading mechanism comprises a DD motor, a side pushing cylinder and two sets of cam jacking structures, a turntable is arranged at an output end of the DD motor, and a carrier is arranged on the turntable.
3. The robotic high-speed pin inserter of claim 1, wherein the robotic pin vision image inspection system comprises:
the incoming material visual detection structure is used for detecting the angle and the perpendicularity of the PIN needle;
and the pin guide visual structure is used for visually guiding a pin jig on the carrier.
4. The robotic high-speed pin inserter machine of claim 1 wherein the four-axis robotic pin insertion mechanism comprises a four-axis robot and a robot head.
5. The robot high-speed pin inserting machine according to claim 3, wherein the robot head is composed of a clamping jaw cylinder, an air blowing ejector rod and a pressure sensor, a clamping jaw is arranged at the output end of the clamping jaw cylinder, and the pressure sensor is connected with the air blowing ejector rod.
6. The robotic high speed pin inserter of claim 1 wherein the detection mechanism comprises:
the two-axis height detection module is used for detecting the height of the PIN needle;
the PIN pressing component is used for pressing the PIN.
7. The robotic high speed pin inserter of claim 6, wherein the two-axis height detection module comprises a laser displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211473561.4A CN115939905A (en) | 2022-11-23 | 2022-11-23 | High-speed pin machine of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211473561.4A CN115939905A (en) | 2022-11-23 | 2022-11-23 | High-speed pin machine of robot |
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| Publication Number | Publication Date |
|---|---|
| CN115939905A true CN115939905A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211473561.4A Pending CN115939905A (en) | 2022-11-23 | 2022-11-23 | High-speed pin machine of robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116207034A (en) * | 2023-05-04 | 2023-06-02 | 烟台台芯电子科技有限公司 | Tooling fixture and IGBT module pin inserting method applying tooling fixture |
| CN116810336A (en) * | 2023-08-31 | 2023-09-29 | 上海轩田工业设备有限公司 | Carousel contact pin system |
-
2022
- 2022-11-23 CN CN202211473561.4A patent/CN115939905A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116207034A (en) * | 2023-05-04 | 2023-06-02 | 烟台台芯电子科技有限公司 | Tooling fixture and IGBT module pin inserting method applying tooling fixture |
| CN116810336A (en) * | 2023-08-31 | 2023-09-29 | 上海轩田工业设备有限公司 | Carousel contact pin system |
| CN116810336B (en) * | 2023-08-31 | 2024-01-05 | 上海轩田工业设备有限公司 | Carousel contact pin system |
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