CN105744754B - A kind of parallel clamp-type large-sized electronic component patch inserts operation head and its patch insert method - Google Patents

Abstract

The invention discloses a parallel clamping type large-scale electronic component sticking and inserting operation head and a sticking and inserting method thereof. The sticking and inserting operating head includes a plug support, a synchronous belt device 1, a control motor 1, an L-shaped slider, and a clamping cylinder , synchronous belt device 2, control motor 2, parallel clamping chuck, spline shaft, spline sleeve 1, spline sleeve 2, pull rod, pull rod connecting sleeve and thrust bearing; under the action of clamping cylinder, The parallel clamping chuck can be controlled to be clamped or loosened by the pull rod; by controlling the rotation of the motor, the synchronous belt can drive the L-shaped slider, the clamping cylinder, the pull rod and the parallel clamping chuck along the vertical Move up and down; the driven wheel 2 of the synchronous belt device 2 is fixedly connected to the outer peripheral surface of the spline shaft sleeve 1, and by controlling the rotation of the motor 2, it can drive the driven wheel 2, the spline shaft sleeve 1, the spline shaft, and the spline shaft The upper ring of the sleeve two, the parallel clamping chuck, the pull rod and the thrust bearing rotates in the horizontal direction around the axis of the spline shaft.

Description

A parallel clamping type large-scale electronic component sticking and inserting operation head and its sticking and inserting method

technical field

The invention relates to a plug for attaching and inserting electronic components and a method for attaching and inserting, in particular to a parallel clamping type large-scale electronic component attaching and inserting operation head and the inserting and inserting method.

Background technique

The placement and insertion machine is configured after the dispensing machine or screen printing machine in the production line. It is a device that accurately attaches and inserts electronic components to the PCB pads by moving the plug. The automatic placement and insertion machine is a device used to realize high-speed, high-precision automatic placement and insertion of electronic components. It is the most critical and complex equipment in the entire SMT production. The placement and insertion machine has developed from the early low-speed mechanical placement and insertion machine. It is a high-speed optical centering and inserting machine, and it is developing towards multi-functional and flexible connection modularization. As a crucial functional part of the placement machine, the plug plug can quickly and accurately place the electronic components without damaging the components and printed circuit boards through the functions of suction-displacement-positioning-placement to the PCB board. The sticking plug plays a decisive role in the sticking speed, sticking accuracy and work efficiency of the sticking machine, and even directly determines the grade of the sticking machine.

Some of the electronic components are large electronic components, the maximum size is length × width × height = 50mm × 50mm × 45mm, the maximum weight is 200g, the minimum size is 50mm × 25mm × 15mm, and the minimum weight is 30g. When attaching and inserting large electronic components, it is difficult for existing plugs to ensure that large electronic components are quickly and accurately inserted on the PCB, which affects the insertion speed, insertion accuracy and work of the placement machine. efficiency. Therefore, it is necessary to develop a special mounting plug for such large-scale electronic components with special shapes, and combine it with the suction nozzle of the general chip head to form a composite mounting plug to complete the mounting of electronic components.

The publication number is CN202818781U, and the Chinese utility model patent with the publication date of March 20, 2013 discloses a multifunctional special-shaped placement head device, including a mounting frame, on which at least one sticker is arranged. The placement head includes a component suction device and a vertical motion control mechanism, a horizontal rotation control mechanism and an air control device respectively connected to it. The vertical motion control mechanism is used to drive the component suction device to move up and down. The horizontal rotation control mechanism is used to drive the component suction device to rotate, the component suction device is provided with a cavity, the air control device is used to extract the air in the cavity, and the component suction device is used to The components are sucked after forming a vacuum negative pressure in the cavity.

The publication number is CN203416568U, and the publication date is January 29, 2014. The Chinese utility model patent discloses a new placement machine placement head, including a skeleton, a copper sleeve, a crown gear, a suction pipe, a suction nozzle, a motor, a row Line support plate, the lower part of the feeding pipe is connected to the suction nozzle, the outside of the suction pipe is fixed on the copper sleeve through the fixed pin, the copper sleeve is embedded in the center of the skeleton through the bearing, the limit block is set on the suction pipe, and the line support plate is fixed on the side of the skeleton.

The publication number is CN204652794U, and the Chinese utility model patent published on September 16, 2015 discloses a placement head applied to an LED placement machine, including a frame that can be relatively movably installed on the LED placement machine The movable installation frame includes a vertically arranged movable installation riser and a movable installation horizontal plate screwed on the top of the movable installation riser and arranged horizontally and horizontally. The front surface of the movable installation riser is equipped with two Left and right symmetrical and spaced camera mounting frames, each camera mounting frame is respectively equipped with a positioning camera, and the front side of the movable mounting vertical plate can be relatively movably equipped with six vertical spaced arrangements between the two positioning cameras. Hollow vertical suction rods, the upper ends of each vertical suction rod pass through the movable installation horizontal plate and extend to the upper end side of the movable installation horizontal plate, and the lower ends of each vertical suction rod are respectively equipped with lamp grain suction head; between the movable installation horizontal plate and the upper end of each vertical suction rod, a suction head rotation adjustment mechanism is respectively installed, and each suction head rotation adjustment mechanism includes a rotation adjustment driving motor installed on the movable installation horizontal plate, a device The first driving synchronous pulley arranged on the power output shaft of the rotation-adjusting drive motor, and the rotating body installed on the movable horizontal plate in a relatively rotatable manner, each rotating body includes synchronous rotation and is respectively sleeved on the corresponding vertical suction The first driven synchronous pulley and the rotating sleeve on the periphery of the upper end of the rod. The first transmission synchronous belts are respectively wound around the wheels, and the center holes of each rotating sleeve are respectively embedded with rod sleeves that move synchronously with the corresponding rotating sleeve and are set on the periphery of the corresponding vertical suction rod. The upper end of the movable mounting horizontal plate is respectively equipped with a stopper on the upper end side of the horizontal plate, and each vertical suction rod is respectively equipped with a spring on the lower end side of the corresponding stopper, and the upper end of each spring is in contact with the corresponding stopper respectively. The lower end of each spring respectively passes through the center hole of the corresponding first driven synchronous pulley and abuts against the upper end of the corresponding rod sleeve; the movable mounting vertical plate corresponds to each vertical suction rod on the lower end side of the movable mounting horizontal plate A suction head lifting drive mechanism is installed respectively, and each suction head lifting drive mechanism is respectively connected with a corresponding vertical suction rod.

The publication number is CN204697399U, and the Chinese utility model patent published on October 7, 2015 discloses a placement head of a placement machine, including a receiving body; the receiving body is a circular cylinder with a mounting groove in the middle The upper end is provided with a mounting column; the mounting column is provided with an air hole communicating with the mounting groove; a mounting block is fixedly arranged on the mounting groove, and the specification of the mounting block is smaller than the mounting groove and the outer surface of the mounting block is An annular suction port is formed with the inner wall of the installation groove; a pneumatic cylinder is fixedly arranged on the installation block, and a push-out block is connected to the pneumatic cylinder; an induction groove is arranged at the bottom of the receiving body, and a laser is arranged on the induction groove Inductor; the laser sensor is connected with the cylinder through wires.

The Chinese utility model patent with the publication number CN204929551U and the publication date of December 30, 2015 discloses a placement head structure for an SMT placement machine, including a suction nozzle assembly, a rotary motor bracket, a rotary motor, a rotary joint, and a vacuum generator. Components, motor mounts, lifting motors, ball screws, linear guides, mount head mounts, sliders, mount head substrates and bearing housings; the mount head mounts are fixed on the back of the mount head substrate, There is a groove on the front of the mounting head substrate, the lifting motor is fixedly installed on the motor mounting seat, the motor mounting seat is fixed and installed in the groove of the mounting head substrate by bolts, and the upper end of the ball screw passes through the coupling It is connected with the output shaft of the lifting motor, and its lower end is installed on the bearing seat through a bearing. The bearing seat is fixed on the front of the mounting head substrate near the bottom end by bolts. The nut cooperates with the ball screw, and the nut is fixed on the rotary motor. The bottom end of the bracket, the linear guide rail is fixed on the front of the mounting head substrate by bolts, the slider is installed on the linear guide rail, the rotary motor bracket is fixed on the slider by bolts, and the rotary motor is installed on the rotary motor On the bracket, the suction nozzle assembly is fixedly installed at the lower end of the rotating shaft of the rotary motor, and the vacuum generator assembly is connected with the upper end of the rotating shaft of the rotary motor through a rotary joint.

It is difficult for the placement heads in the above patent documents to quickly and accurately place large electronic components on the PCB, thus affecting the placement speed, placement accuracy and work efficiency of the placement machine.

In summary, how to design a new type of plug and its insertion method, so that it can quickly and accurately attach large electronic components to the PCB board, and improve the insertion speed, insertion accuracy and work efficiency of the placement machine is a key issue. Technical problems that need to be solved urgently.

Contents of the invention

The technical problem to be solved by the present invention is to provide a parallel clamping type large-scale electronic component sticking and inserting operation head and a sticking and inserting method for the defects in the prior art, which can quickly and accurately stick and insert large electronic components into the On the PCB board, the placement speed, placement accuracy and work efficiency of the placement machine are improved.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a parallel clamping type large-scale electronic component sticking and inserting operation head, including a plug support, a timing belt device set on one end of the plug support, and a It is used to drive the control motor 1 of the synchronous belt device 1, the L-shaped slider fixed on the synchronous belt 1 of the synchronous belt device 1, the clamping cylinder arranged on the L-shaped slider and the other end of the plug support. The timing belt device 2 and the control motor 2 for driving the timing belt device 2;

The parallel clamping type large-scale electronic component insertion operation head also includes a ball spline assembly and a parallel clamping chuck for clamping large electronic components. The ball spline assembly includes a hollow spline shaft, a spline sleeve One and two spline shaft sleeves, the first spline shaft sleeve is connected to the inside of the other end of the plug support, the second spline shaft sleeve is fixedly connected to the inside of the parallel clamping chuck, and one end of the spline shaft is rotatably connected to the On the L-shaped slider, the other end of the spline shaft passes through the first spline sleeve and the second spline sleeve and extends into the parallel clamping chuck to connect with the parallel clamping chuck;

The parallel clamping type large-scale electronic component sticking and inserting operation head also includes a pull rod and a pull rod connecting sleeve. The lower ring is fixedly connected to the tie rod connecting sleeve, and there is a gap between the upper ring of the thrust bearing and the tie rod connecting sleeve. One end of the tie rod passes through the thrust bearing and is fixedly connected to the upper ring of the thrust bearing, so that the pull rod is connected to the clamp through the tie rod connecting sleeve. The other end of the pull rod passes through the inner cavity of the spline shaft and connects with the parallel clamping chuck. Under the action of the piston rod clamping the cylinder, the parallel clamping clamp can be controlled by the pull rod. The head is clamped or unclamped to clamp or loosen large electronic components with parallel clamping chucks;

Under the control of the rotation of the motor one, the synchronous belt one can drive the L-shaped slider to move vertically up and down, thereby driving the clamping cylinder, the tie rod connection sleeve, the thrust bearing, the pull rod, the spline shaft, the spline shaft sleeve two and the parallel The clamping chucks move vertically up and down together;

The driven wheel 2 of the synchronous belt device 2 is fixedly connected to the outer peripheral surface of the spline shaft sleeve 1. By controlling the rotation of the motor 2, the driven wheel 2 can be driven to rotate, thereby sequentially driving the spline shaft sleeve 1, the spline shaft, and the spline shaft Sleeve 2. The upper ring of the parallel clamping chuck, the pull rod and the thrust bearing rotates in the horizontal direction around the axis of the spline shaft, so as to realize the control of the rotation angle of the parallel clamping chuck.

Preferably, a guide rail slider assembly is arranged between one side of the L-shaped slider and the plug support, and one side of the L-shaped slider is connected with the plug support through the guide rail slider assembly; The other side is provided with a bearing mounting hole 1, and the inside of the bearing mounting hole 1 is provided with a centripetal bearing 1, and the upper part of the bearing mounting hole 1 is provided with a bearing hole cover plate, and a support frame is provided on the bearing hole cover plate, and the clamping cylinder is fixedly connected. On the support frame, the clamping cylinder is arranged on the L-shaped slider; one end of the spline shaft passes through the other side of the L-shaped slider and extends into the inner ring of the radial bearing 1 to cooperate with the radial bearing 1. Connect, so that one end of the spline shaft is connected to the L-shaped slider in rotation.

Preferably, a bearing mounting hole 2 is provided on the other end of the plug support, and a radial bearing 2 and a radial bearing 3 are provided in the bearing mounting hole 2, and the outer peripheral surface of the spline shaft sleeve 1 is fixedly connected with an upper ring body and the lower ring body, the upper ring body and the lower ring body are respectively fixed on the inner rings of the second radial bearing and the third radial bearing so that the spline sleeve is connected to the other end of the plug support by rotation; the lower One end of the ring body is exposed in the bearing installation hole 2, and the driven wheel 2 is sleeved on one end of the lower ring body exposed in the bearing installation hole 2 so that the outer peripheral surface of the driven wheel 2 and the spline shaft sleeve 1 is fixedly connected.

Preferably, the parallel clamping chuck includes a chuck support, a left V-shaped clamping block, a right V-shaped clamping block, a left connecting rod, a right connecting rod, a left flat jaw and a right flat jaw ; There is also a jaw moving guide rod on the chuck support, the left flat type jaw passes through one end of the jaw moving guide rod and can move back and forth along the jaw moving guide rod, and the right flat type jaw passes through the end of the jaw moving guide rod. The other end of the jaw moving guide rod can also move back and forth along the jaw moving guide rod, and a reset compression spring is sleeved on the jaw moving guide rod between the left flat type jaw and the right flat type jaw. ;

The second spline shaft sleeve is fixedly connected to the inside of the chuck support, and the other end of the spline shaft passing through the second spline shaft sleeve is fixedly connected with a lower limit ring, and the lower limit ring is in contact with the chuck support so that The other end of the spline shaft is connected with the parallel clamping chuck;

The parallel clamping collet also includes a collet slider, which is arranged inside the lower limit ring and can move up and down along the lower limit ring, and one end of the left connecting rod is hinged on the collet On the slider, one end of the right connecting rod is also hinged on the chuck slider, the middle part of the left V-shaped clamping block is hinged on the chuck support, and one end of the left V-shaped clamping block is connected to the outer side of the left flat jaw. The other end of the left V-shaped clamping block is hinged with the other end of the left connecting rod; the middle part of the right V-shaped clamping block is hinged on the chuck support, and one end of the right V-shaped clamping block is hinged with the right flat plate The outer parts of the jaws are in contact, and the other end of the right V-shaped clamping block is hinged with the other end of the right connecting rod; the other end of the pull rod passing through the inner cavity of the spline shaft is fixedly connected with the chuck slider.

Preferably, the chuck support includes a support frame and a support sleeve arranged on the top of the support frame, the second spline shaft sleeve is affixed in the support sleeve, and the lower limit ring is affixed to the through spline. On the other end of the spline shaft of the key shaft sleeve two.

Preferably, the inner cavity of the support sleeve includes an upper mounting hole and a lower mounting hole, a flange is provided between the two mounting holes and on the inner side wall of the support sleeve, and the spline shaft sleeve is fixedly connected to the upper mounting hole. In the hole, the other end of the spline shaft passes through the spline shaft sleeve 2 and is located in the lower installation hole, and the lower limit ring is fixedly connected to the other end of the spline shaft located in the lower installation hole; the opening inside the lower limit ring There is a cavity, the collet slider is arranged in the inner cavity of the lower limiting ring, and the collet sliding block can move up and down along the inner cavity of the lower limiting ring.

Preferably, an upper limit ring is fixedly connected to the spline shaft between the driven wheel two and the support sleeve, and a pre-set ring is sleeved on the spline shaft between the upper limit ring and the support sleeve. Cushion spring in compressed state.

The present invention also discloses a method for attaching and inserting the above-mentioned parallel clamping type large-scale electronic component inserting operation head, which includes the following steps:

1) After the placement and insertion machine determines the precise position of each component on the PCB board at the insertion station, the feeder or tray sends the large electronic components to be inserted and inserted to the position of the clamping component of the plug, The placement and insertion machine drives the parallel clamping type large-scale electronic component insertion and insertion operation head to the top of the large electronic components to be inserted. By controlling the action of the second motor, the driven wheel 2 rotates, thereby driving the spline shaft sleeve 1 and the spline shaft in turn. 1. Spline sleeve 2. The upper ring of the parallel clamping chuck, the pull rod and the thrust bearing rotates in the horizontal direction around the axis of the spline shaft, and the parallel clamping chuck is rotated to the reasonable clamping direction of large electronic components , and then by controlling the action of the motor 1, the timing belt 1 of the timing belt device 1 drives the L-shaped slider to move down, thereby driving the clamping cylinder, the tie rod connecting sleeve, the pull rod, the spline shaft, the spline shaft sleeve 2 and the parallel clamping The type chuck moves down together;

2) Control the movement of the piston rod of the clamping cylinder, and control the parallel clamping chuck to be in the clamping state through the pull rod, so that the parallel clamping chuck can be used to clamp large electronic components;

3) By controlling the motor one to move again, the timing belt one of the synchronous belt device one drives the L-shaped slider to move up, thereby driving the parallel clamping chuck to move up, and the parallel clamping chuck is used to move large electronic components from Pick up from the feeder or tray, and when it moves up to a certain height, the placement and insertion machine drives the parallel clamping type large-scale electronic component placement and insertion operation head to move over the camera and light source components installed on the placement machine table, from the parallel clamp Take pictures of the large electronic components under the large electronic components clamped by the holding chuck, and the placement machine analyzes the pins and directions of the large electronic components and the insertion position requirements according to the acquired bottom surface image of the electronic components and performs graphic image processing After calculating the displacement value of each rectangular coordinate motion axis and the angle value that the large electronic component needs to rotate, by controlling the second action of the motor, the parallel clamping chuck is controlled to rotate again to the parallel clamping clamp. Adjust the angle of the head. When the angle of the large electronic components in the parallel clamping chuck is consistent with the angle of the electronic components required on the PCB, the parallel clamping large electronic component placement and insertion operation head is driven by the placement machine to move so that the parallel clamping type The electronic components in the clamping chuck are located above the station to be pasted;

4) By controlling the action of the motor, the parallel clamping chuck drives the large electronic components to move down together. When the pins below the large electronic components are inserted into the holes on the PCB board, the clamping cylinder is controlled. The piston rod moves, and the parallel clamping chuck is controlled by the pull rod to be in an open state, so that the parallel clamping chuck loosens the clamping of large electronic components, and then by controlling the motor to move, the parallel clamping chuck Move up to complete the placement and insertion of a large electronic component;

After step 4) is completed, go to step 1) to place and insert the next large electronic component until all large electronic components are placed.

Preferably, a bearing mounting hole 2 is provided on the other end of the plug support, and a radial bearing 2 and a radial bearing 3 are provided in the bearing mounting hole 2, and the outer peripheral surface of the spline shaft sleeve 1 is fixedly connected with an upper ring body and the lower ring body, the upper ring body and the lower ring body are respectively fixed on the inner rings of the second radial bearing and the third radial bearing so that the spline sleeve is connected to the other end of the plug support by rotation; the lower One end of the ring body is exposed in the bearing installation hole 2, and the driven wheel 2 is sleeved on one end of the lower ring body exposed in the bearing installation hole 2, so that the outer peripheral surface of the driven wheel 2 and the spline shaft sleeve 1 is fixed;

The parallel clamping chuck includes a chuck support, a left V-shaped clamping block, a right V-shaped clamping block, a left connecting rod, a right connecting rod, a left flat jaw and a right flat jaw; There is also a jaw moving guide rod on the head support, the left flat jaw passes through one end of the jaw moving guide rod and can move back and forth along the jaw moving guide rod, and the right flat jaw moves through the jaw moving guide The other end of the guide rod can also move back and forth along the movable guide rod of the jaws, and a return pressure spring 1 is sleeved on the jaw moving guide rod between the left flat type gripper and the right flat type gripper; the spline The second shaft sleeve is firmly connected to the inside of the chuck support, and the other end of the spline shaft passing through the second spline shaft sleeve is fixedly connected with a lower limit ring, through which the lower limit ring is in contact with the chuck support to make the spline The other end of the shaft is connected with the parallel clamping collet; the parallel clamping collet also includes a collet slider, which is arranged inside the lower limit ring and the collet slider can move along the lower limit ring. , moving down, one end of the left connecting rod is hinged on the chuck slider, one end of the right connecting rod is also hinged on the chuck slider, the middle part of the left V-shaped clamping block is hinged on the chuck support, and the left V-shaped One end of the clamping block is in contact with the outer part of the left flat jaw, the other end of the left V-shaped clamping block is hinged with the other end of the left connecting rod; the middle part of the right V-shaped clamping block is hinged on the chuck support , one end of the right V-shaped clamping block is in contact with the outer part of the right flat jaw, and the other end of the right V-shaped clamping block is hinged with the other end of the right connecting rod; after passing through the inner cavity of the spline shaft The other end of the pull rod is fixedly connected with the chuck slider;

In the first) step and the third) step, the parallel clamping chuck rotates by controlling the action of the motor two, which sequentially drives the driven wheel two, the lower ring body, the spline shaft sleeve one, and the spline shaft of the synchronous belt device two , spline shaft sleeve 2, parallel clamping chuck, pull rod and the upper ring of the thrust bearing rotate together to realize.

Preferably, in the second) step, controlling the parallel clamping chuck to be in the clamping state is by controlling the piston rod of the clamping cylinder to shrink, driving the connecting sleeve of the tie rod, the thrust bearing, the pull rod and the slider of the chuck to move upward, when When the chuck slider moves upward, the left V-shaped clamping block is driven to rotate around the hinge point of the left V-shaped clamping block and the chuck support through the left connecting rod, and the right V-shaped clamping block is driven to rotate around the right V-shaped clamping block through the right connecting rod. The hinge point of the V-shaped clamping block and the chuck support is rotated, so that one end of the left V-shaped clamping block is used to push the left flat plate jaw to move along the jaw movement guide rod, and one end of the right V-shaped clamping block is used to push the right plate The clamping jaw moves along the clamping jaw moving guide rod, so that the left flat clamping jaw and the right flat clamping jaw gradually move closer together. When the parallel clamping clamping chuck is in the clamping state, it is located The return compression spring between the flat jaws is compressed for a while and is in a compressed state;

In the 4th step, controlling the parallel clamping chuck to be in the open state is by controlling the piston rod of the clamping cylinder to extend out. This is achieved by moving the jaws along the jaw moving guides in directions away from each other.

The beneficial effect of the present invention is that: the present invention can quickly and accurately paste and insert large-scale electronic components on the PCB board, and improve the inserting speed, inserting accuracy and work efficiency of the inserting machine. Through structural design, the invention can accurately control the lifting process, rotating process and clamping process of the parallel clamping chuck, and further improves the insertion accuracy of large electronic components. By setting the thrust bearing, pull rod, pull rod connecting sleeve and clamping cylinder piston rod to cooperate with each other, the parallel clamping chuck will not change the clamping due to the angular rotation of the parallel clamping chuck when clamping electronic components. status. By arranging collet sliders, connecting rods, V-shaped clamping blocks to cooperate with flat clamping jaws, the clamping state and loosening state of the parallel clamping collets can be controlled conveniently and quickly. By setting the upper and lower limit rings on the spline shaft and by setting the buffer spring to cooperate with the parallel clamping chuck, it is possible to make the plug bump from top to bottom due to some mistakes during the insertion process. , to ensure that the electronic components clamped on the parallel clamping chuck will not automatically fall, and the plug will not be damaged due to the impact force from bottom to top.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of a parallel clamping type large-scale electronic component sticking and inserting operation head in an embodiment of the present invention;

Fig. 2 is a schematic cross-sectional structure diagram of a parallel clamping type large-scale electronic component sticking and inserting operation head along the axis of the spline shaft in an embodiment of the present invention;

Fig. 3 is a schematic diagram of the enlarged structure of part A in Fig. 2;

Fig. 4 is a schematic diagram of the enlarged structure of part B in Fig. 2;

Fig. 5 is a partial enlarged structural schematic diagram of the parallel clamping chuck after removing the large electronic components in Fig. 2;

Fig. 6 is a partial enlarged structural schematic diagram of the parallel clamping chuck after removing the large electronic components in Fig. 1;

Fig. 7 is a schematic diagram of the enlarged structure of part C in Fig. 5;

Among the figure: 1. plug support, 2. synchronous belt device one, 211. synchronous belt one, 3. control motor one, 4. L-shaped slide block, 5. clamping cylinder, 6. synchronous belt device two, 611 . Driven wheel 2, 7. Control motor 2, 8. Large electronic components, 9. Parallel clamping chuck, 10. Spline shaft, 11. Spline sleeve 1, 12. Spline sleeve 2, 13. Tie rod, 14. Tie rod connection sleeve, 15. Thrust bearing, 16. Movable bracket, 17. Guide rail slider assembly, 18. Radial bearing one, 19. Bearing hole cover plate, 20. Support frame, 21. Radial bearing two , 22. Radial bearing three, 23. Upper ring body, 24. Lower ring body, 25. Collet support, 251. Support frame, 252. Support sleeve, 26. Left V-shaped clamping block, 27. Right V-shaped clamping block, 28. Left connecting rod, 29. Right connecting rod, 30. Left flat clamping jaw, 31. Right flat clamping jaw, 32. Gripper moving guide rod, 33. Return compression spring One, 34. Lower limit ring, 35. Chuck slider, 36. Pin one, 37. Pin two, 38. Lower mounting hole, 39. Flange, 40. Upper limit ring, 41. Buffer compression spring.

Detailed ways

The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Embodiment: as shown in Fig. 1 to Fig. 3, a kind of parallel clamping type large-scale electronic component pasting and inserting work head, comprises sticking plug support 1, the synchronous belt device-2 that is arranged on one end of plug sticking support 1 and uses Drive the control motor-3 of synchronous belt device-2 (synchronous belt device-2 comprises driving wheel-1, driven wheel-1 and synchronous belt-1 211), be fixed on the L-shaped sliding belt on the synchronous belt-1211 of synchronous belt device-1 Block 4, the clamping cylinder 5 arranged on the L-shaped slide block 4 and the timing belt device two 6 arranged on the other end of the plug support 1 and the control motor two 7 for driving the timing belt device two 6 (synchronous belt Device two includes driving wheel two, driven wheel two 611 and synchronous belt two);

The parallel clamping type large-scale electronic component insertion operation head also includes a ball spline assembly and a parallel clamping chuck 9 for clamping large electronic components 8. The ball spline assembly includes a hollow spline shaft 10, a spline The first key shaft sleeve 11 and the second spline shaft sleeve 12, the first spline shaft sleeve 11 is rotatably connected to the inside of the other end of the plug support 1, and the second spline shaft sleeve 12 is fixedly connected to the inside of the parallel clamping chuck 9 , one end of the spline shaft 10 is rotatably connected to the L-shaped slider 4, and the other end of the spline shaft 10 passes through the first spline sleeve 11 and the second spline sleeve 12 to extend into the parallel clamping chuck 9 The center is connected with the parallel clamping chuck 9;

The parallel clamping type large-scale electronic component sticking and inserting operation head also includes a pull rod 13 and a pull rod connecting sleeve 14. The pull rod connecting sleeve 14 is fixedly connected to the piston rod of the clamping cylinder 5, and a thrust force is also provided inside the pull rod connecting sleeve 14. Bearing 15, the lower ring of the thrust bearing 15 is firmly connected with the tie rod connecting sleeve 14, there is a gap between the upper ring of the thrust bearing 15 and the tie rod connecting sleeve 14, and one end of the pull rod 13 passes through the thrust bearing 15 and the upper ring of the thrust bearing 15 Affixed, so that the pull rod 13 is connected to the piston rod of the clamping cylinder 5 through the pull rod connecting sleeve 14; the other end of the pull rod 13 passes through the inner cavity of the spline shaft 10 and is connected with the parallel clamping chuck 9. Under the action of the piston rod of the clamping cylinder 5, the parallel clamping chuck 9 can be controlled to be in the clamping state or in the loosening state through the pull rod 13, so that the parallel clamping chuck 9 can be used to clamp or loosen large electronic components 8. The thrust bearing is set here and the lower ring of the thrust bearing is fixedly connected to the connecting sleeve of the tie rod. There is a gap between the upper ring of the thrust bearing and the inner wall of the bearing installation hole 3 and the upper ring of the thrust bearing is connected to one end of the tie rod. The fixed connection is to ensure that when the parallel clamping chuck rotates, the tie rod and the tie rod connecting sleeve are in a disconnected state, because when the parallel clamping chuck rotates, the pull rod also rotates together. When the connection sleeve is disconnected, the tie rod connection sleeve will rotate together with the pull rod, and the tie rod connection sleeve is connected with the piston rod of the clamping cylinder, so this setting prevents the rotation of the piston rod of the clamping cylinder, so that the pull rod (or Cable) does not produce torsional deformation, that is, when the parallel clamping chuck clamps electronic components, the clamping state will not be changed due to the angular rotation of the parallel clamping chuck.

Under the rotation of the control motor one 3, the synchronous belt one 211 can drive the L-shaped slider 4 to move vertically up and down, thereby driving the clamping cylinder 5, the tie rod connecting sleeve 14, the thrust bearing 15, the pull rod 13, and the spline shaft 10 1. The second spline shaft sleeve 12 and the parallel clamping chuck 9 move vertically up and down together;

The driven wheel 2 611 of the synchronous belt device 2 is fixedly connected to the outer peripheral surface of the spline shaft sleeve 11. By controlling the rotation of the motor 2 7, the driven wheel 2 611 can be driven to rotate, thereby sequentially driving the spline shaft sleeve 11 and the spline shaft sleeve 11. The shaft 10, the spline sleeve 2 12, the parallel clamping chuck 9, the pull rod 13 and the upper ring of the thrust bearing 15 rotate in the horizontal direction around the axis of the spline shaft 10 to realize the adjustment of the parallel clamping chuck rotation angle. control. Through the above structural design, this embodiment can quickly and accurately paste and insert large electronic components on the PCB, improving the insertion speed, insertion accuracy and work efficiency of the placement machine. In this embodiment, the first control motor 3 is a servo motor, and the second control motor 7 is a stepper motor. Control motor-3 is fixedly connected on an end of sticking plug support 1, driving wheel-1 is fixedly connected on the rotating shaft of control motor-3, is also provided with movable support 16 on sticking plug support 1, and movable support 16 can stick along The plug support 1 moves back and forth vertically, and the driven wheel 1 is connected to the movable support 16 by rotation, and the driving wheel 1 and the driven wheel 1 are connected by synchronous belt 1 211 to cooperate with the transmission. The bracket adjusts the driven wheel 1 up and down, so that the synchronous belt can be tensioned conveniently and quickly. In this embodiment, the pull rod 13 can also be replaced by a soft and inelastic cable, the pull rod 13 passes through the cavity of the spline shaft 10 and there is a gap between the pull rod 13 and the inner side wall of the cavity of the spline shaft 10 .

As shown in Figure 2 and Figure 3, a guide rail slider assembly 17 is arranged between one side of the L-shaped slider 4 and the plug support 1, and one side of the L-shaped slider 4 passes through the guide rail slider assembly 17 and When the plug support 1 is connected, when the L-shaped slider 4 moves vertically up and down under the drive of the synchronous belt 1 211, it can be guided by the guide rail slider assembly 17, thereby ensuring that the L-shaped slider moves more smoothly The other side of the L-shaped slide block 4 is provided with a bearing mounting hole 1, and the inside of the bearing mounting hole 1 is provided with a centripetal bearing 18, and the upper part of the bearing mounting hole 1 is provided with a bearing hole cover plate 19, and on the bearing hole cover plate 19 A support frame 20 is provided, and the clamping cylinder 5 is affixed to the support frame 20 so that the clamping cylinder 5 is arranged on the L-shaped slider 4; one end of the spline shaft 10 passes through the other side of the L-shaped slider 4 Extend into the inner ring of the radial bearing one 18 and cooperate with the radial bearing one 18 so that one end of the spline shaft 10 is rotatably connected to the L-shaped slider 4 . In this embodiment, the support frame 20 is L-shaped.

As shown in Fig. 2 and Fig. 4, a bearing mounting hole 2 is provided on the other end of the plug support 1, and a radial bearing 2 21 and a radial bearing 3 22 are arranged in the bearing mounting hole 2, and the spline bushing An upper ring body 23 and a lower ring body 24 are fixedly connected to the outer peripheral surface of the first 11, and the upper ring body 23 and the lower ring body 24 are respectively fixed on the inner rings of the radial bearing two 21 and the radial bearing three 22 so that the spline The shaft sleeve 11 is rotatably connected to the inside of the other end of the plug support 1; one end of the lower ring body 24 is exposed to the bearing installation hole 2, and the driven wheel 2 611 is sleeved on one end of the lower ring body 24 exposed to the bearing installation hole 2 Thus, the driven wheel 2 611 is fixedly connected to the outer peripheral surface of the spline sleeve 11. Control motor two 7 is affixed on the other end of sticking plug support 1, driving wheel two is affixed on the rotating shaft of control motor two 7, and driving wheel two and driven wheel two 611 are connected by synchronous belt two cooperation transmission. When the control motor two 7 rotates, the lower ring body 24 is driven to rotate by the driving wheel two, the synchronous belt two and the driven wheel two 611 successively, and the lower ring body 24 rotates to drive the key shaft sleeve one 11, the spline shaft 10, the spline in turn The shaft sleeve 2 12 and the parallel clamping chuck 9 rotate, thereby controlling the rotation angle of the parallel clamping chuck.

As shown in Figures 5 to 7, the parallel clamping chuck 9 includes a chuck support 25, a left V-shaped clamping block 26, a right V-shaped clamping block 27, a left connecting rod 28, and a right connecting rod 29 , the left plate type jaw 30 and the right plate type jaw 31; Also be provided with jaw moving guide bar 32 on chuck support 25, left plate type jaw 30 passes through an end of jaw moving guide bar 32 and can Move back and forth along the jaw moving guide bar 32, and the right plate type jaw 31 passes through the other end of the jaw moving guide bar 32 and can also move back and forth along the jaw moving guide bar 32. 30 and the jaw movement guide rod 32 between the right plate type jaw 31 is sleeved with a return compression spring 1 33;

The second spline shaft sleeve 12 is affixed to the inside of the chuck support 25, and the other end of the spline shaft 10 passing through the second spline shaft sleeve 12 is affixed with a lower limit ring 34, and the lower limit ring 34 is connected with the clip The head support 25 is in contact so that the other end of the spline shaft 10 is connected with the parallel clamping chuck 9;

Described parallel clamping collet 9 also comprises collet slide block 35, and collet slide block 35 is arranged on the inside of lower limit ring 34 and collet slide block 35 can move up and down along lower limit ring 34, and left connecting rod One end of 28 is hinged on the collet slider 35, and one end of the right connecting rod 29 is also hinged on the collet slider 35, and the middle part (i.e. corner) of the left V-shaped clamping block 26 is hinged on the clamp by pin one 36. On the head support 25, one end of the left V-shaped clamping block 26 is in contact with the outer side of the left flat plate jaw 30, and the other end of the left V-shaped clamping block 26 is hinged with the other end of the left connecting rod 28; The middle part (that is, the corner) of the type clamping block 27 is hinged on the chuck support 25 through the pin shaft 2 37, and one end of the right V-shaped clamping block 27 is in contact with the outer side of the right flat plate jaw 31, and the right V The other end of the type clamping block 27 is hinged with the other end of the right connecting rod 29; In this embodiment, there are two jaw moving guide rods 32, the two jaw moving guide rods 32 are parallel to each other and the two jaw moving guide rods 32 are arranged horizontally, and the first pin 36 and the second pin 37 are connected to each other. Parallel and pin one 36 and pin two 37 are also horizontally arranged, and pin one 36 and pin two 37 are in vertical state with two jaws moving guide rods 32. When the piston rod of the clamping cylinder 5 shrinks, when the chuck slider 35 is driven upward by the pull rod connecting sleeve 14, the thrust bearing 15 and the pull rod 13, under the action of the left connecting rod 28 and the right connecting rod 29, the left V Type clamping block 26 and right V-shaped clamping block 27 rotate around pin shaft 1 36 and pin shaft 2 37 respectively, thereby utilize one end of left V-shaped clamping block 26 to push left flat-plate type jaw 30 to move guide rod along jaw 32 moves and utilizes one end of the right V-shaped clamping block 27 to push the right flat-type jaw 31 to move along the jaw movement guide rod 32, so that the left flat-type jaw 30 and the right flat-type jaw 31 gradually move closer, and the large electronic components 8 clamping, at the same time, under the action of the left flat jaw 30 and the right flat jaw 31, the return compression spring 33 between the left flat jaw 30 and the right flat jaw 31 will be compressed , in a compressed state. When the piston rod of the clamping cylinder 5 is stretched out, under the restoring force of the reset compression spring 1 33, the left flat-type jaw 30 and the right flat-type jaw 31 move toward the direction away from each other along the jaw moving guide rod 32 , loosen the large electronic component 8 .

The chuck support 25 includes a support frame body 251 and a support sleeve 252 arranged on the top of the support frame body 251, the second spline shaft sleeve 12 is affixed in the support sleeve 252, and the lower stop ring 34 is affixed On the other end of the spline shaft 10 that passes through the spline shaft sleeve two 12.

The inner cavity of the support sleeve 252 includes an upper mounting hole and a lower mounting hole 38, and a flange 39 is arranged on the inner side wall of the support sleeve 252 between the two mounting holes, and the second spline shaft sleeve 12 is fixed on the In the upper mounting hole, the other end of the spline shaft 10 passes through the spline shaft sleeve 12 and is located in the lower mounting hole 38, and the lower limit ring 34 is fixedly connected to the other end of the spline shaft 10 located in the lower mounting hole 38. There is a cavity inside the lower limit ring 34, the chuck slider 35 is arranged in the inner cavity of the lower limit ring 34 and the chuck slider 35 can move up and down along the inner cavity of the lower limit ring 34.

As shown in FIGS. 4 to 6 , an upper limit ring 40 is affixed to the spline shaft 10 between the driven wheel 2 611 and the seat sleeve 252 . A buffer compression spring 41 in a pre-compressed state is also sleeved on the spline shaft 10 between them. Under the pressure of the buffer spring, when working normally, the parallel clamping chuck is located at the bottom of the spline shaft, but when the plug is bumped from top to bottom due to some mistakes during the insertion process , the impact force will overcome the resistance of the buffer spring to make the parallel clamping chuck rise. At the same time, because the clamping cylinder is used to control the pull rod, the electronic components are in the process of clamping. There is always air pressure in the rod chamber of the clamping cylinder. When parallel When the clamping chuck is lifted by the impact force, the piston in the cylinder will also rise under the action of air pressure, which can ensure that the electronic components clamped on the parallel clamping chuck will not fall automatically, and will not The impact force from bottom to top destroys the sticker plug. In this embodiment, both the upper limit ring 40 and the lower limit ring 34 are fastened together with the spline shaft 10 by set screws.

Preferably, the preload of the buffer spring is 5%-10% larger than the pull force of the pull rod when the largest electronic component is clamped by the parallel clamping chuck, so that the buffer spring will not be further damaged due to the increase in load during normal insertion. Compression raises the parallel clamping chucks.

As shown in Fig. 1 and Fig. 2, the present invention also discloses a method for attaching and inserting the above-mentioned parallel clamping type large-scale electronic component inserting operation head, including the following steps:

1) After the placement and insertion machine determines the precise position of each component on the PCB board at the insertion station, the feeder or tray sends the large electronic components 8 to be inserted and inserted to the position of the plug and clamping components , the sticking and inserting machine drives the parallel clamping type large-scale electronic component sticking and inserting operation head to the top of the large electronic component to be inserted, and controls the action of the motor 2 7 to make the driven wheel 2 611 rotate, thereby driving the spline shaft sleeve 1 11 in turn , the spline shaft 10, the spline shaft sleeve 2 12, the upper ring of the parallel clamping chuck 9, the pull rod 13 and the thrust bearing 15 rotate in the horizontal direction around the axis of the spline shaft 10, and the parallel clamping chuck Rotate to the reasonable clamping direction of large electronic components, and then control the motor one 3 to move, so that the timing belt one 211 of the timing belt device one drives the L-shaped slider 4 to move down, thereby driving the clamping cylinder 5, the tie rod connecting sleeve 14, Pull rod 13, spline shaft 10, spline shaft sleeve 2 12 and parallel clamping chuck 9 move down together;

2) Control the action of the piston rod of the clamping cylinder 5, and control the parallel clamping chuck 9 to be in the clamping state through the pull rod 13, so that the parallel clamping chuck 9 is used to clamp the large electronic component 8;

3) By controlling the motor one 3 to move again, the synchronous belt one 211 of the synchronous belt device one drives the L-shaped slider 4 to move upward, thereby driving the parallel clamping chuck 9 to move upward, and the parallel clamping chuck 9 is used to move upward. Clamp the large electronic component 8 from the feeder or tray, and when it moves up to a certain height, the placement machine drives the parallel clamping type large electronic component placement head to move past the camera and the machine mounted on the placement machine table The light source assembly is to take pictures of the large electronic component 8 from below the large electronic component 8 clamped by the parallel clamping chuck. After calculating the displacement value of each Cartesian coordinate movement axis and the angle value that the large electronic component needs to rotate, the deviation between the foot and the direction and the position and direction required by the insertion position is controlled by controlling the motor 27 to move again to control the parallel clamping clamp. The head 9 rotates again to adjust the angle of the parallel clamping chuck. When the angle of the large electronic component in the parallel clamping chuck is consistent with the angle of the electronic component required on the PCB, the parallel clamping large The electronic component placement and insertion operation head moves so that the electronic components in the parallel clamping chuck are located above the station to be pasted;

4) By controlling the action of the motor 1 3, the parallel clamping chuck 9 drives the large electronic component 8 to move down together. The piston rod action of the cylinder 5 controls the parallel clamping chuck 9 to be in an open state through the pull rod 13, so that the parallel clamping chuck 9 loosens the clamping of the large electronic component 8, and then controls the motor-3 action, so that the parallel clamping chuck 9 moves up to complete the insertion of a large electronic component 8;

After step 4) is completed, go to step 1) to attach and insert the next large electronic component 8 until all large electronic components 8 are attached and inserted.

The parallel clamping type large-scale electronic component placement and insertion operation head is the terminal actuator of the placement and insertion machine. The placement and insertion machine uses the camera to find the mark point on the PCB board, so as to determine the position of each component on the PCB board at the position to be placed and inserted. precise location.

In the first) step and the third) step, the rotation of the parallel clamping chuck is controlled by the action of the motor two 7, which sequentially drives the driven wheel two 611 of the synchronous belt device two, the lower ring body 24, and the spline shaft sleeve one 11 , Splined shaft 10, splined shaft sleeve two 12, parallel clamping chuck 9, pull rod 13 and the upper ring of thrust bearing 15 rotate together to realize.

In the second) step, controlling the parallel clamping chuck to be in the clamping state is controlled by controlling the contraction of the piston rod of the clamping cylinder 5, driving the pull rod connecting sleeve 14, the thrust bearing 15, the pull rod 13 and the chuck slider 35 to move upward. , when the chuck slider 35 moves upwards, the left V-shaped clamping block 26 is driven to rotate around the hinge point of the left V-shaped clamping block 26 and the chuck support 25 through the left connecting rod 28 and the right connecting rod 29 is used to drive the right The V-shaped clamping block 27 rotates around the hinge point of the right V-shaped clamping block 27 and the chuck support 25, so that one end of the left V-shaped clamping block 26 is used to push the left flat-type clamping jaw 30 to move the guide rod 32 along the clamping jaw Moving and utilizing one end of the right V-shaped clamping block 27 to push the right flat jaw 31 to move along the jaw moving guide bar 32, so that the left flat jaw 30 and the right flat jaw 31 gradually move closer to each other, and in parallel When the clamping collet 9 is in the clamped state, the return compression spring 1 33 located between the left flat jaw 30 and the right flat jaw 31 will be compressed and be in a compressed state;

In the 4th step, controlling the parallel clamping chuck to be in the open state is achieved by controlling the piston rod of the clamping cylinder 5 to extend out, and under the restoring force of the reset compression spring 1 33, the left flat clamping jaw 30 and This is achieved by moving the right flat jaw 31 along the jaw moving guide rod 32 in a direction away from each other.

To sum up, the present invention can quickly and accurately paste and insert large electronic components on the PCB, and improve the insertion speed, insertion accuracy and work efficiency of the placement machine. Through structural design, the invention can accurately control the lifting process, rotating process and clamping process of the parallel clamping chuck, and further improves the insertion accuracy of large electronic components. By setting the thrust bearing, pull rod, pull rod connecting sleeve and clamping cylinder piston rod to cooperate with each other, the parallel clamping chuck will not change the clamping due to the angular rotation of the parallel clamping chuck when clamping electronic components. status. By arranging collet sliders, connecting rods, V-shaped clamping blocks to cooperate with flat clamping jaws, the clamping state and loosening state of the parallel clamping collets can be controlled conveniently and quickly. By setting the upper and lower limit rings on the spline shaft and by setting the buffer spring to cooperate with the parallel clamping chuck, it is possible to make the plug bump from top to bottom due to some mistakes during the insertion process. , to ensure that the electronic components clamped on the parallel clamping chuck will not automatically fall, and the plug will not be damaged due to the impact force from bottom to top.

The above embodiments are only for the purpose of illustrating the present invention, rather than limiting the present invention. Those skilled in the relevant technical fields can also make various changes or transformations without departing from the spirit and scope of the present invention. Therefore, all equivalent The technical solutions should also belong to the protection scope of the present invention, and the protection scope of the present invention should be defined by each claim.

Claims (10)

1. A parallel clamping type large-scale electronic component placement and insertion operation head, large electronic components, the maximum size is length × width × height = 50mm × 50mm × 45mm, the maximum weight is 200g, the minimum size is 50mm × 25mm × 15mm, the minimum The weight is 30g, and it is characterized in that: it includes a plug support, a synchronous belt device 1 arranged on one end of the plug pedestal, a control motor 1 for driving the synchronous belt device 1, and a timing belt fixed on the synchronous belt device 1. The L-shaped slider on the first, the clamping cylinder arranged on the L-shaped slider, the timing belt device 2 arranged on the other end of the plug support, and the control motor 2 for driving the timing belt device 2; The parallel clamping type large-scale electronic component insertion operation head also includes a ball spline assembly and a parallel clamping chuck for clamping large electronic components. The ball spline assembly includes a hollow spline shaft, a spline sleeve One and two spline shaft sleeves, the first spline shaft sleeve is connected to the inside of the other end of the plug support, the second spline shaft sleeve is fixedly connected to the inside of the parallel clamping chuck, and one end of the spline shaft is rotatably connected to the On the L-shaped slider, the other end of the spline shaft passes through the first spline sleeve and the second spline sleeve and extends into the parallel clamping chuck to connect with the parallel clamping chuck; The parallel clamping type large-scale electronic component sticking and inserting operation head also includes a pull rod and a pull rod connecting sleeve. The lower ring is fixedly connected to the tie rod connecting sleeve, and there is a gap between the upper ring of the thrust bearing and the tie rod connecting sleeve. One end of the tie rod passes through the thrust bearing and is fixedly connected to the upper ring of the thrust bearing, so that the pull rod is connected to the clamp through the tie rod connecting sleeve. The other end of the pull rod passes through the inner cavity of the spline shaft and connects with the parallel clamping chuck. Under the action of the piston rod clamping the cylinder, the parallel clamping clamp can be controlled by the pull rod. The head is clamped or unclamped to clamp or loosen large electronic components with parallel clamping chucks; Under the control of the rotation of the motor one, the synchronous belt one can drive the L-shaped slider to move vertically up and down, thereby driving the clamping cylinder, the tie rod connection sleeve, the thrust bearing, the pull rod, the spline shaft, the spline shaft sleeve two and the parallel The clamping chucks move vertically up and down together; The driven wheel 2 of the synchronous belt device 2 is fixedly connected to the outer peripheral surface of the spline shaft sleeve 1. By controlling the rotation of the motor 2, the driven wheel 2 can be driven to rotate, thereby sequentially driving the spline shaft sleeve 1, the spline shaft, and the spline shaft Sleeve 2. The upper ring of the parallel clamping chuck, the pull rod and the thrust bearing rotates in the horizontal direction around the axis of the spline shaft, so as to realize the control of the rotation angle of the parallel clamping chuck. 2. The parallel clamping type large-scale electronic component sticking and inserting operation head according to claim 1, characterized in that: a guide rail slider assembly is arranged between one side of the L-shaped slider and the plug support, and the L-shaped slider One side of the block is connected with the plug support through the guide rail slider assembly; the other side of the L-shaped slider is provided with a bearing installation hole 1, and a radial bearing 1 is arranged inside the bearing installation hole 1, and the upper part of the bearing installation hole 1 The bearing hole cover plate is provided, and the bearing hole cover plate is provided with a support frame, and the clamping cylinder is fixed on the support frame so that the clamping cylinder is set on the L-shaped slider; one end of the spline shaft passes through the L-shaped slider The other side extends into the inner ring of the radial bearing one and cooperates with the radial bearing one, so that one end of the spline shaft is rotatably connected to the L-shaped slider. 3. The parallel clamping type large-scale electronic component attachment and insertion operation head according to claim 1, characterized in that: a bearing installation hole 2 is provided on the other end of the plug attachment support, and a direction is provided in the bearing installation hole 2. The second radial bearing and the third radial bearing, the outer peripheral surface of the spline bushing one is fixed with an upper ring body and a lower ring body, and the upper ring body and the lower ring body are respectively fixed in the inner ring of the second radial bearing and the third radial bearing so that the spline shaft sleeve 1 is connected to the inside of the other end of the plug support; one end of the lower ring body is exposed to the bearing installation hole 2, and the driven wheel 2 is sleeved on the lower ring body exposed to the bearing installation hole 2 On one end, the outer peripheral surface of the driven wheel 2 is fixedly connected with the spline shaft sleeve 1. 4. The parallel clamping type large-scale electronic component sticking and inserting operation head according to claim 1, characterized in that: the parallel clamping type chuck includes a chuck support, a left V-shaped clamping block, and a right V-shaped clamp Tight block, left connecting rod, right connecting rod, left flat jaw and right flat jaw; there is also a jaw moving guide rod on the chuck support, and the left flat jaw passes through the jaw moving guide rod One end of the jaw can move back and forth along the jaw moving guide rod, the right flat jaw passes through the other end of the jaw moving guide rod and can also move back and forth along the jaw moving guide rod, and the left flat jaw There is a return pressure spring one sleeved on the jaw movement guide rod between the right plate type jaw and the right plate type jaw; The second spline shaft sleeve is fixedly connected to the inside of the chuck support, and the other end of the spline shaft passing through the second spline shaft sleeve is fixedly connected with a lower limit ring, and the lower limit ring is in contact with the chuck support so that The other end of the spline shaft is connected with the parallel clamping chuck; The parallel clamping collet also includes a collet slider, which is arranged inside the lower limit ring and can move up and down along the lower limit ring, and one end of the left connecting rod is hinged on the collet On the slider, one end of the right connecting rod is also hinged on the chuck slider, the middle part of the left V-shaped clamping block is hinged on the chuck support, and one end of the left V-shaped clamping block is connected to the outer side of the left flat jaw. The other end of the left V-shaped clamping block is hinged with the other end of the left connecting rod; the middle part of the right V-shaped clamping block is hinged on the chuck support, and one end of the right V-shaped clamping block is hinged with the right flat plate The outer parts of the jaws are in contact, and the other end of the right V-shaped clamping block is hinged with the other end of the right connecting rod; the other end of the pull rod passing through the inner cavity of the spline shaft is fixedly connected with the chuck slider. 5. The parallel clamping type large-scale electronic component sticking and inserting operation head according to claim 4, characterized in that: the chuck support includes a support frame and a support sleeve arranged on the top of the support frame. The second key shaft sleeve is affixed in the support sleeve, and the lower limit ring is affixed to the other end of the spline shaft passing through the second spline shaft sleeve. 6. The parallel clamping type large-scale electronic component sticking and inserting operation head according to claim 5, characterized in that: the inner cavity of the support sleeve includes an upper installation hole and a lower installation hole, and the two installation holes are located between the two installation holes. The inner side wall of the seat sleeve is provided with a flange, the second spline shaft sleeve is fixed in the upper installation hole, the other end of the spline shaft passes through the second spline shaft sleeve and is located in the lower installation hole, and the lower limit ring is fixedly connected On the other end of the spline shaft located in the lower mounting hole; there is a cavity inside the lower limit ring, the collet slider is arranged in the inner cavity of the lower limit ring and the collet slider can move along the lower limit ring The inner cavity moves up and down. 7. The parallel clamping type large-scale electronic component sticking and inserting operation head according to claim 5, characterized in that: an upper limit ring is fixedly connected to the spline shaft between the driven wheel 2 and the support sleeve, A buffer compression spring in a pre-compressed state is sleeved on the spline shaft located between the upper limit ring and the support sleeve. 8. A method for attaching and inserting a parallel clamping type large-scale electronic component inserting operation head according to any one of claims 1 to 7, characterized in that it includes the following steps: 1) After the placement and insertion machine determines the precise position of each component on the PCB board at the insertion station, the feeder or tray sends the large electronic components to be inserted and inserted to the position of the clamping component of the plug, The placement and insertion machine drives the parallel clamping type large-scale electronic component insertion and insertion operation head to the top of the large electronic components to be inserted. By controlling the action of the second motor, the driven wheel 2 rotates, thereby driving the spline shaft sleeve 1 and the spline shaft in turn. 1. Spline sleeve 2. The upper ring of the parallel clamping chuck, the pull rod and the thrust bearing rotates in the horizontal direction around the axis of the spline shaft, and the parallel clamping chuck is rotated to the reasonable clamping direction of large electronic components , and then by controlling the action of the motor 1, the timing belt 1 of the timing belt device 1 drives the L-shaped slider to move down, thereby driving the clamping cylinder, the tie rod connecting sleeve, the pull rod, the spline shaft, the spline shaft sleeve 2 and the parallel clamping The type chuck moves down together; 2) Control the movement of the piston rod of the clamping cylinder, and control the parallel clamping chuck to be in the clamping state through the pull rod, so that the parallel clamping chuck can be used to clamp large electronic components; 3) By controlling the motor one to move again, the timing belt one of the synchronous belt device one drives the L-shaped slider to move up, thereby driving the parallel clamping chuck to move up, and the parallel clamping chuck is used to move large electronic components from It is picked up from the feeder or tray, and when it moves up to a certain height, the placement and insertion machine drives the parallel clamping type large-scale electronic component placement and insertion operation head to move over the camera and light source components installed on the placement machine table, from the parallel clamp Take pictures of the large electronic components under the large electronic components clamped by the holding chuck, and the placement machine analyzes the pins and directions of the large electronic components and the insertion position requirements according to the acquired bottom surface image of the electronic components and performs graphic image processing After calculating the displacement value of each rectangular coordinate motion axis and the angle value that the large electronic component needs to rotate, by controlling the second action of the motor, the parallel clamping chuck is controlled to rotate again to the parallel clamping clamp. Adjust the head rotation angle. When the angle of the large electronic components in the parallel clamping chuck is consistent with the angle of the electronic components required on the PCB, the parallel clamping large electronic component placement and insertion operation head is driven by the placement machine to move so that the parallel clamping type The electronic components in the clamping chuck are located above the station to be pasted; 4) By controlling the action of the motor, the parallel clamping chuck drives the large electronic components to move down together. When the pins below the large electronic components are inserted into the holes on the PCB board, the clamping cylinder is controlled. The piston rod moves, and the parallel clamping chuck is controlled by the pull rod to be in an open state, so that the parallel clamping chuck loosens the clamping of large electronic components, and then by controlling the motor to move, the parallel clamping chuck Move up to complete the placement and insertion of a large electronic component; After step 4) is completed, go to step 1) to place and insert the next large electronic component until all large electronic components are placed. 9. The sticking and inserting method according to claim 8, characterized in that: the other end of the sticking plug support is provided with a bearing mounting hole 2, and a radial bearing 2 and a radial bearing 3 are arranged in the bearing mounting hole 2 , the outer peripheral surface of the spline sleeve 1 is fixed with an upper ring body and a lower ring body, and the upper ring body and the lower ring body are respectively fixed on the inner rings of the radial bearing 2 and the radial bearing 3 so that the spline sleeve One is rotationally connected to the inside of the other end of the plug support; one end of the lower ring body is exposed to the bearing installation hole 2, and the driven wheel 2 is sleeved on one end of the lower ring body exposed to the bearing installation hole 2 so that the driven wheel 2 and the The outer peripheral surface of the spline shaft sleeve 1 is fixedly connected; The parallel clamping chuck includes a chuck support, a left V-shaped clamping block, a right V-shaped clamping block, a left connecting rod, a right connecting rod, a left flat jaw and a right flat jaw; There is also a jaw moving guide rod on the head support, the left flat jaw passes through one end of the jaw moving guide rod and can move back and forth along the jaw moving guide rod, and the right flat jaw moves through the jaw moving guide The other end of the guide rod can also move back and forth along the movable guide rod of the jaws, and a return pressure spring 1 is sleeved on the jaw moving guide rod between the left flat type gripper and the right flat type gripper; the spline The second shaft sleeve is firmly connected to the inside of the chuck support, and the other end of the spline shaft passing through the second spline shaft sleeve is fixedly connected with a lower limit ring, through which the lower limit ring is in contact with the chuck support so that the spline The other end of the shaft is connected with the parallel clamping collet; the parallel clamping collet also includes a collet slider, the collet slider is arranged inside the lower limit ring and the collet slider can move along the lower limit ring. , moving down, one end of the left connecting rod is hinged on the chuck slider, one end of the right connecting rod is also hinged on the chuck slider, the middle part of the left V-shaped clamping block is hinged on the chuck support, and the left V-shaped One end of the clamping block is in contact with the outer part of the left flat jaw, the other end of the left V-shaped clamping block is hinged with the other end of the left connecting rod; the middle part of the right V-shaped clamping block is hinged on the chuck support , one end of the right V-shaped clamping block is in contact with the outer part of the right flat jaw, and the other end of the right V-shaped clamping block is hinged with the other end of the right connecting rod; after passing through the inner cavity of the spline shaft The other end of the pull rod is fixedly connected with the chuck slider; In the first) step and the third) step, the parallel clamping chuck rotates by controlling the action of the motor two, which sequentially drives the driven wheel two, the lower ring body, the spline shaft sleeve one, and the spline shaft of the synchronous belt device two , spline shaft sleeve 2, parallel clamping chuck, pull rod and the upper ring of the thrust bearing rotate together to realize. 10. The sticking and inserting method according to claim 9, characterized in that: in the second) step, controlling the parallel clamping chuck to be in the clamping state is by controlling the contraction of the piston rod of the clamping cylinder to drive the connecting sleeve of the tie rod , the thrust bearing, the pull rod and the chuck slider move up, when the chuck slider moves up, the left V-shaped clamping block is driven by the left connecting rod to rotate around the hinge point of the left V-shaped clamping block and the chuck support and The right V-shaped clamping block is driven to rotate around the hinge point of the right V-shaped clamping block and the chuck support through the right connecting rod, so that one end of the left V-shaped clamping block is used to push the left flat jaw to move the guide rod along the jaw It is realized by moving and using one end of the right V-shaped clamping block to push the right flat jaw to move along the jaw movement guide rod, so that the left flat jaw and the right flat jaw gradually move closer together. In the parallel clamping chuck When in the clamping state, the return compression spring located between the left flat jaw and the right flat jaw is compressed for a while, and is in a compressed state; In the 4th step, controlling the parallel clamping chuck to be in the open state is by controlling the piston rod of the clamping cylinder to extend out. This is achieved by moving the jaws along the jaw moving guides in directions away from each other.