CN110267518B

CN110267518B - Tube-loading feeder and corresponding automatic insertion machine

Info

Publication number: CN110267518B
Application number: CN201910544664.7A
Authority: CN
Inventors: 李绍东; 李锐; 周强
Original assignee: SHENZHEN TECHWIN PRECISION MACHINERY CO Ltd
Current assignee: SHENZHEN TECHWIN PRECISION MACHINERY CO Ltd
Priority date: 2017-03-13
Filing date: 2017-03-13
Publication date: 2021-02-09
Anticipated expiration: 2037-03-13
Also published as: CN110267517A; CN106879248A; CN106879248B; CN110267519A; CN110139550B; CN110267517B; CN110267519B; CN110139550A; CN110267518A

Abstract

The invention discloses a 201710146180.8 divisional application, belongs to the field of component inserter machines, and discloses a tube loading feeder and a corresponding component inserter machine. The invention provides a pipe loading feeder and a corresponding automatic component inserter, wherein the automatic component inserter comprises a feeding device, a material conveying device, a PCB conveying device and a component inserting manipulator device, wherein the material conveying device is connected with the tail end of the feeding device; the PCB conveying device is provided with an operation area for inserting materials, is arranged on one side of the grabbing position back to the feeding device and comprises a PCB conveying mechanism and a PCB fixing and driving mechanism; the plug-in mechanical arm device is used for inserting materials into the PCB; the automatic component inserter simplifies the structure, saves the cost and improves the working efficiency through the arrangement of the feeding device, the material conveying device, the component inserting manipulator device and the PCB conveying device.

Description

Tube-loading feeder and corresponding automatic insertion machine

The application is a divisional application of patent applications with the patent application number of '201710146180.8', the application date of '2017.03.13' and the name of 'automatic component inserter'.

Technical Field

The invention relates to the field of component inserter, in particular to a pipe loading feeder and a corresponding automatic component inserter.

Background

With the development of electronic technology, connectors have become an indispensable component of many electronic components, and in the process of connectors, mass productivity of a connector inserter, quick replacement of failed components, and flexibility of connectors are favored, so the connector inserter has become an indispensable tool for the production of PCB boards in connectors.

However, in the existing automatic component inserter, the structure is complex, the automation degree is not high, the stability is insufficient, and the working efficiency is relatively low, so that the requirement of production cannot be met in the modern high-end automatic manufacturing industry obviously.

Disclosure of Invention

The embodiment of the invention provides an automatic component inserter with simple structure, high stability, high automation and high production efficiency; the automatic component inserter solves the technical problems that an existing automatic component inserter is complex in structure, low in automation degree, insufficient in stability and low in production efficiency.

The embodiment of the invention provides an automatic component inserter, which comprises:

a supply device for supplying material, comprising a tube-fed feeder;

the material conveying device is provided with a grabbing position used for grabbing materials by the plug-in manipulator device and used for conveying the materials from the feeding device to the grabbing position, and the material conveying device is connected to the tail end of the feeding device and comprises a vibration conveying mechanism and a material stopping mechanism;

the PCB conveying device is provided with an operation area for inserting materials by the plug-in manipulator device and is used for conveying PCBs, the PCB conveying device is arranged on one side of the grabbing position, which is back to the feeding device, and comprises a PCB conveying mechanism and a PCB fixing and driving mechanism; and

the plug-in manipulator device is used for carrying out material insertion on a PCB, and the plug-in manipulator device is arranged above the PCB conveying device and comprises at least one manipulator mechanism, a manipulator mounting structure and a lifting driving mechanism.

Compared with the automatic component inserter in the prior art, the automatic component inserter has the advantages that the structure is simplified, the cost is saved, and the working efficiency is improved through the arrangement of the feeding device, the material conveying device, the component inserting mechanical arm device and the PCB conveying device; the operation conveying module of the PCB conveying device improves the stability of inserting materials of the PCB, and on the other hand, the automation degree of the PCB conveying device is improved through the layout and the collocation of the four parts of devices; the automatic component inserter solves the technical problems that the existing automatic component inserter is complex in structure, low in automation degree and low in production efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments are briefly described below. The drawings in the following description are only some embodiments of the invention, and it will be clear to a person skilled in the art that other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic structural view of a preferred embodiment of an automatic component inserter of the present invention;

FIG. 2 is a schematic partially exploded view of the tube feeder of FIG. 1;

FIG. 3 is an exploded view of the vibratory mechanism of FIG. 2;

figure 4 is a schematic view of the vibrating mechanism of the tube feeder in an initial state;

figure 5 is a schematic diagram of the vibrating mechanism of the tube feeder in a raised condition;

FIG. 6 is a schematic structural view of a rotation section of the rotation block and the hollow portion in FIG. 4;

FIG. 7 is a schematic structural view of a rotation section of the rotation block and the hollow portion in FIG. 5;

FIG. 8 is a schematic diagram of the material conveying apparatus and bulk feeder of FIG. 1;

FIG. 9 is a schematic partially exploded view of the material transfer device of FIG. 8;

FIG. 10 is an enlarged view of B in FIG. 8;

FIG. 11 is an enlarged view of C in FIG. 9;

fig. 12 is a schematic front view of the component robot apparatus of fig. 1;

figure 13 is a partially exploded schematic view of the component robot apparatus of figure 1;

FIG. 14 is an enlarged view of D in FIG. 13;

FIG. 15 is a cross-sectional structural view of the fixing member of FIG. 13;

fig. 16 is a schematic structural view of the PCB transferring apparatus of fig. 1;

FIG. 17 is a partially exploded schematic view of FIG. 16;

FIG. 18 is a schematic view of the work delivery module of FIG. 17;

FIG. 19 is an enlarged view of G of FIG. 17;

FIG. 20 is a schematic structural view of a PCB fixing driving mechanism of FIG. 17;

fig. 21 is a schematic structural view of the PCB fixing driving mechanism and the work transferring module when the top plate of the PCB transferring mechanism is in an initial state;

fig. 22 is a schematic structural view of the PCB fixing driving mechanism and the work transferring module when the top plate of the PCB transferring mechanism is in a jacking state;

FIG. 23 is a schematic diagram of the incoming transport module of FIG. 17;

fig. 24 is an enlarged view of H in fig. 17.

Detailed Description

Refer to the drawings wherein like reference numbers refer to like elements throughout. The following description is based on illustrated embodiments of the invention and should not be taken as limiting the invention with regard to other embodiments that are not detailed herein.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic component inserter according to a preferred embodiment of the present invention; the automatic card inserter 100 of the present invention includes a feeding device including a tube loading feeder 10 and a bulk feeder, a material transfer device 20, a card inserting robot device 30, and a PCB board transfer device 40.

The feeding device is used for providing materials and comprises a pipe loading feeder 10 used for providing pipe loading and a bulk material feeder used for providing bulk materials; the material conveying device 20 is provided with a grabbing position for grabbing the material by the plug-in manipulator device 30 and is used for conveying the material from the feeding device to the grabbing position, and the material conveying device 20 is connected to the tail end of the feeding device and comprises a vibration conveying mechanism 21 and a material stopping mechanism 22; the PCB conveying device 40 is provided with an operation area 40B for inserting materials by the plug-in manipulator device 30 and is used for conveying PCBs, the PCB conveying device 40 is arranged on one side of the grabbing position, which is back to the feeding device, and comprises a PCB conveying mechanism 41 and a PCB fixing and driving mechanism 42; and the plug-in manipulator device 30 is used for inserting the PCB, and the plug-in manipulator device 30 is arranged above the PCB conveying device 40 and comprises at least one manipulator mechanism 31, a manipulator mounting structure and a lifting driving mechanism.

The automatic component inserter 100 further comprises a mounting platform for mounting the PCB board conveying device 40, Y-direction guide rails arranged at two sides of the mounting platform, and X-direction guide rails sliding on the Y-direction guide rails, wherein the component inserter manipulator device 30 is connected to the X-direction guide rails in a sliding manner; the end of the feeder is connected to the material transfer device 20 by a channel, which may be a chute or a pipe.

The number of material conveying means 20 is equal to the sum of the number of bulk feeders and the number of tube charge placement mechanisms 11 in the tube charge feeder 10.

In the preferred embodiment, the layout of the feeding device, the material conveying device 20, the card manipulator device 30 and the PCB conveying device 40 is reasonable and relatively simple, so that the working efficiency is improved and the cost of the invention is reduced.

In the preferred embodiment of the automatic inserter 100 of the present invention, the feeder apparatus comprises a bulk feeder and a tube loading feeder 10, and referring to fig. 2 to 7, the tube loading feeder 10 comprises a tube loading placing mechanism 11, a striker mechanism 12, a vibrating mechanism 13, a loading tube 14, and a bottom plate 15.

Specifically, the charging pipe 14 is used for containing the material, and is provided on the pipe charge placing mechanism 11; the tube loading and placing mechanism 11 comprises a tube loading platform 111, a supporting piece 1111 is arranged on the tube loading platform 111, a containing groove for placing and supporting the loading tube 14 is formed in the upper end of the supporting piece 1111, and the loading tube 14 penetrates through the containing groove; the material blocking mechanism 12 comprises a material blocking plate 121, and a material outlet 1211 for allowing the material in the charging pipe 14 to pass through is arranged on the material blocking plate 121; the vibrating mechanism 13 is used for vibrating the materials out of the charging pipe 14, and the vibrating mechanism 13 is arranged on one side of the material baffle plate 121 facing the charging pipe 14 and below the discharge port 1211;

wherein, the two ends of the charging pipe 14 are respectively a feeding end far away from the vibrating mechanism 13 and a discharging end near the vibrating mechanism 13, and the vibrating mechanism 13 comprises a pipe jacking surface 1312a arranged on the top surface of the vibrating mechanism 13 and used for jacking up the discharging end;

when the vibrating mechanism 13 is in the initial state, the height of the top land 1312a is lower than that of the bottom land of the feed end.

It will be apparent that when the tube loading feeder 10 requires feeding, the loading tube 14 must be moved to the top tube surface 1312a with the outlet port facing the discharge port 1211. to facilitate the exit of material from the loading tube 14, the height of the top tube surface 1312a should be lower than the height of the bottom surface of the feeding end, i.e., so that the loading tube 14 on the top tube surface 1312a is inclined downwardly toward the discharge port 1211, so that the material exits from the loading tube 14 and enters the material delivery device through the discharge port 1211 under the action of gravity and the vibration of the vibration mechanism 13.

When the vibration mechanism 13 is in the initial state, the height of the ceiling surface 1312a is the lowest.

In the conventional vibration mechanism, the vibrator is more common, but the vibrator with high working efficiency has a relatively high price, and the vibrator with relatively low price has a relatively low working efficiency, so that in view of the cost and working efficiency, in the preferred embodiment, as shown in fig. 2 to 3, the vibration mechanism 13 includes a top tube member 131, a limiting member 132, a vibration member 133 and a fixing member 134.

Specifically, the top pipe piece 131 comprises a top pipe body 1311, top pipe parts 1312 which are provided with top ends of the top pipe body 1311 and protrude out of two sides of the top pipe body 1311, limiting parts 1313 which are arranged at bottom ends of two sides of the top pipe body 1311, recessed parts 1314 which are arranged at middle ends of two sides of the top pipe body 1311 and are enclosed by the top pipe parts 1312, the top pipe body 1311 and the limiting parts 1313, and hollow parts 1315 which are arranged on the top pipe body 1311;

the limiting member 132 includes a first accommodating portion 1321 disposed in a middle region of an end of the limiting member 132 facing the top tube 131, side portions 1322 disposed at both sides of the first accommodating portion 1321, and a second accommodating portion 1323 disposed at a lower portion of an end of the limiting member 132 facing away from the top tube 131 and communicating with the first accommodating portion 1321;

the top tube body 1311 passes through the first accommodating portion 1321 and extends out of the first accommodating portion 1321, and the side portion 1322 passes through the recessed portion 1314 and is fixedly connected with the striker plate 121; the length of recess 1314 is greater than the length of side 1322 so that top tube 131 has some room for movement;

the vibrating piece 133 includes a rotating block 1331 extending into the hollow portion 1315 and rotating in the hollow portion 1315, and a vibrating motor 1332 driving the rotating block 1331 to rotate, wherein the rotating block 1331 is connected with the vibrating motor 1332 through a rotating shaft 1333; the vibration motor 1332 is fixedly disposed on the fixing member 134, and the fixing member 134 is fixedly connected to the limiting member 132;

specifically, the fixing member 134 includes a base portion 1341, a protruding portion 1342 disposed at a middle area of a top end of the base portion 1341, and a fixing hole 1343 disposed on the protruding portion 1342; the protruding portion 1342 extends into the second accommodating portion 1323, the vibration motor 1332 passes through the fixing hole 1343 and is fixedly connected to the inner wall of the fixing hole 1343, and both sides of the base portion 1341 are connected to the limiting member 132 through threads.

As shown in fig. 6 and 7, the rotating block 1331 includes a first rotating radius R1 and a second rotating radius R2, the first rotating radius R1 is the distance from the rotating axis O to the farthest point C on the outer circumference side of the rotating block 1331, and the second rotating radius R2 is the distance from the rotating axis O to the closest point D on the outer circumference side of the rotating block 1331; and the first radius of rotation R1 is greater than the second radius of rotation R2.

In addition, in order to ensure that the rotating block 1331 can lift the top tube 131, in the preferred embodiment, the inner wall of the hollow portion 1315 includes a vertex E, the vertex E is the highest point of the inner wall of the hollow portion 1315, and the shortest distance L from the rotation axis O to the vertex E is smaller than the first rotation radius R1.

It is apparent that the shortest distance L is a distance when the vibration mechanism 13 is in the initial state.

As shown in fig. 4 to 7, when the vibration mechanism 13 is in the initial state, the bottom surface of the top pipe portion 1312 abuts against the top surface of the limiting member 132, the lower portion of the top pipe body 1311 extends out of the first accommodating portion 1321, the limiting portion 1313 is away from the limiting member 132, and the rotation axis O of the rotating block 1331 is close to the vertex E; when the vibration mechanism 13 is in the lifted state, the top pipe portion 1312 is away from the top surface of the stopper 132, the upper portion of the top pipe body 1311 extends out of the first accommodating portion 1321, the stopper portion 1313 is close to the stopper 132, the rotation axis O of the rotating block 1331 is away from the vertex E, and the farthest point C coincides with the vertex E.

In addition, when the present preferred embodiment requires feeding, the charging pipe 14 is located on the top pipe portion 1312, and therefore when the vibrating mechanism 13 is in the lifted state, the discharging end of the charging pipe 14 is lifted; when the vibrating mechanism 13 is in the initial state, the discharge end of the charging pipe 14 is lowered, so that the material is released from the charging pipe 14 with continuous rising and lowering.

In the preferred embodiment, the rotating block 1331 is cylindrical, the end surface of the rotating block 1331 is fixedly connected to the rotating shaft 1333 of the vibrating motor 1332, and the hollow part 1315 is also cylindrical, wherein the cross-sectional radius R3 of the hollow part 1315 is greater than or equal to the first rotating radius R1.

Due to the arrangement, the rotating block 1331 cannot contact the left side and the right side of the hollow part 1315, the situation that the top pipe fitting 131 moves left and right to drive the charging pipe 14 to move left and right is avoided, and therefore the stability of the charging pipe 14 is improved; on the other hand, since the outer side surface of the rotating block 1331 and the inner side surface of the hollow portion 1315 are circumferential surfaces, the relative friction strength between the rotating block 1331 and the inner wall of the hollow portion 1315 is reduced, and the service lives of the rotating block 1331 and the hollow portion 1315 are prolonged.

In the present preferred embodiment, the tube charging placement mechanism 11 further includes a guide rail 112 disposed below the tube charging platform 111 and a driving motor 113 that drives the tube charging platform 111 to move on the guide rail 112, and the extending direction of the guide rail 112 is substantially perpendicular to the extending direction of the charging tube 14;

specifically, two ends of the bottom of the tube charging platform 111 are arranged on a sliding block, and the tube charging platform 111 moves on a guide rail 112 through the sliding block; the middle end of the bottom of the pipe loading platform 111 is fixedly provided with a connecting block, and the driving motor 113 drives the connecting block to move through the ball screw 114, so that the pipe loading platform 111 is driven to slide along the guide rail 112.

The guide rail 112 and the drive motor 113 are provided so that the discharge between the charging pipes 14 can be switched.

The 1312 top tube portion further includes chamfers 1312b disposed on both sides of the top tube surface 1312a to ensure that the discharge end remains movable onto the top tube surface 1312a when the discharge end bottom surface is lower than the top tube surface 1312 a. Wherein the inclined surface 1312b is inclined downward.

In the preferred embodiment, the tube charge feeder 10 further includes a bottom plate 15 disposed at the bottom of the striker plate 121 and the bottom plate 15 is disposed obliquely downward toward an end connected to the striker plate 121; the rails 112 are disposed on the floor 15 and the plane of the tube loading platform 111 is substantially parallel to the plane of the floor 15.

In addition, four support columns, namely, a first support column, a second support column, a third support column and a fourth support column are arranged in four corner areas of the bottom plate 15, wherein the height of the first support column is approximately equal to that of the second support column, the height of the third support column is approximately equal to that of the third support column, and the height of the first support column and the height of the second support column are higher than that of the third support column and the height of the fourth support column. Therefore, if the inclination of the material loading pipe 14 needs to be adjusted, the heights of the first and second supports or the heights of the third and fourth supports only need to be adjusted.

It can be understood that when the charging pipe 14 moves to the top land 1312a, since the discharge port 1211 is always opened, the material in the charging pipe 14 is liable to accidentally fall out from the discharge port, thereby affecting the subsequent process.

The material blocking mechanism 12 in the preferred embodiment further includes a material blocking assembly 122, where the material blocking assembly 122 includes a cylinder fixing seat which is provided at the top end of the material outlet 1211 and is fixedly connected with the material blocking plate 121, a material blocking member which is provided below the cylinder fixing seat and is located in the material outlet 1211, and a material blocking cylinder which is provided at the top end of the cylinder fixing seat and is used for lifting and lowering the material blocking member;

the stopper is located at the bottom of the discharge port 1211 when the charging pipe 14 is not moved onto the top floor 1312a or when the discharging of the charging pipe 14 is completed, and is located at the top of the discharge port 1211 when the charging pipe 14 is moved onto the top floor 1312a and the discharging of the charging pipe 14 is started (i.e., the vibrating mechanism 13 is started to lift).

Specifically, the material blocking member is square, and the side of the material blocking member facing the vibration mechanism 13 is slightly lower than the side of the material blocking plate 121 facing the vibration mechanism 13.

In the preferred embodiment, in order to discharge the material from the discharge end through the discharge 1211 quickly and orderly, the end surface of the discharge end is attached to the side of the striker plate 121 facing the charging pipe 14.

Based on the above structure, in the preferred embodiment, the number of the tube charging platforms 111 is at least one, and the number of the discharge ports 1211 corresponds to the number of the tube charging platforms 111; the number of the charging pipes 14 provided on the same pipe charging deck 111 is at least one, the number of the supporting members 1111 on the same pipe charging deck 111 is at least one, and the number of the receiving grooves on each supporting member 1111 is identical to the number of the charging pipes 14.

Specifically, the number of the tube charging platforms 111 is two, the number of the discharge ports 1211 is two, the number of the charging tubes 14 on the same tube charging platform 111 is three, the number of the supporting members 1111 on the same tube charging platform 111 is two, and the two supporting members 1111 are disposed at two ends of the tube charging platform 111 and the accommodating grooves on the two supporting members 1111 are in one-to-one correspondence. Of course the number of tube loading platforms 111, loading tubes 14 and supports 1111 is not limited thereto.

The tube charge feeder 10 of the preferred embodiment operates as follows:

firstly, a driving motor 113 in the tube charging and placing mechanism 11 drives a ball screw 114 to rotate, so as to drive a tube charging platform fixedly connected with a connecting block to move towards a discharge port 1211 along a guide rail 112; until the discharging end of the charging pipe 14 on the supporting member 1111 moves to the top pipe surface 1312a of the top pipe member 131 of the vibrating mechanism 13, so that the port of the discharging end faces the discharging port 1211;

then, the vibrating motor 1332 in the vibrating element 133 starts to rotate and drives the rotating block 1331 to rotate in the hollow portion 1315 of the top pipe element 131 through the rotating shaft 1333, so as to drive the top pipe element 131 to vibrate up and down in the first accommodating portion 1321 of the limiting element 132, and finally, the charging pipe 14 on the top pipe surface 1312a vibrates up and down;

then, the material blocking cylinder in the material blocking mechanism 12 drives the material blocking member to ascend and stabilize at the top of the material outlet 1211, which is that the material in the charging pipe 14 is influenced by gravity and vibration, discharged from the material outlet end of the charging pipe 14 and enters the material conveying device through the material outlet 1211;

finally, when the material in the charging pipe 14 is discharged, the material blocking cylinder drives the material blocking member to descend and be located at the bottom of the discharge port 1211.

This completes the feeding process of the tube charge feeder 10 of the preferred embodiment.

According to the pipe charging feeder, the vibration mechanism and the pipe charging placement mechanism are arranged, so that the working efficiency is improved, the damage rate of materials is reduced, and the reject ratio of products is reduced; in addition, the pipe charging feeder reduces the cost of the pipe charging feeder through the arrangement of the top pipe piece, the limiting piece, the fixing piece and the vibrating piece.

Referring to fig. 8 to 11, the material conveying device 20 of the automatic component inserter 100 of the present invention includes a vibration conveying mechanism 21, a material stopping mechanism 22 and an adjusting mechanism 23.

Specifically, the vibrating conveying mechanism 21 comprises a channel part 211 and a vibrator 212 arranged at the bottom of the channel part 211 and used for vibrating the channel part 211, wherein the channel part 211 comprises a feeding end and a discharging end, and the feeding end is connected to a discharging port of the bulk feeder through a pipeline;

the material stopping mechanism 22 is connected to the discharging end of the channel part 211, and the material stopping mechanism 22 comprises a material stopping platform 221, a material stopping part 222 arranged at one end of the material stopping platform 221 far away from the discharging end of the channel part 211, and sensing parts 223 arranged at one side or two sides of the material stopping platform 221;

the channel part 211 comprises a chute 2111 arranged at the top of the channel part 211 for accommodating and conveying the material 50, and the material stopping platform 221 comprises a limit groove 2211 arranged at the top of the material stopping platform 221; the sliding groove 2111 is inclined and correspondingly arranged towards the limiting groove 2211, and the limiting groove 2211 is horizontally arranged.

Due to the inclined arrangement of the chute 2111 toward the limit groove 2211 and the vibration cooperation of the vibrator 212, the material 50 accommodated in the chute 2111 moves from the feeding end to the discharging end of the channel part 211 under the action of gravity and vibration; in addition, due to the inclined corresponding connection relationship between the chute 2111 and the limit groove 2211, the material 50 enters the limit groove 2211 from the discharge end, and due to the combined action of the downward inertia force and the thrust force of the subsequent material, after the material 50 enters the horizontally arranged limit groove 2211, the material 50 still continues to move forward until the material 50 is stopped by the material stopping component 222 and stays on the grabbing position for the card manipulator device 30 to grab the material.

The grabbing position is arranged at the end of the limit slot 2211 and is located in front of the material stopping part 222 facing the limit slot 2211.

Also, considering the problem that the card manipulator device 30 grabs the material 50 at the grabbing position of the material stopping platform 221, if the limiting groove 2211 has an inclination, before the card manipulator device 30 grabs the material 50 and performs the card inserting operation, the card manipulator device 30 needs to adjust the angle to accurately complete the grabbing and card inserting actions, which wastes a certain time and reduces the work efficiency; therefore, the horizontal arrangement of the limiting groove 2211 improves the working efficiency of subsequent processes.

In addition, the speed of the material 50 moving in the chute 2111 depends on two factors, namely the vibration frequency and amplitude of the vibrator 212 and the inclination of the chute 2111; wherein the frequency and amplitude of the vibration of the vibrator 212 can be achieved by its own adjustment arrangement and the inclination of the chute 2111 can be achieved by the adjustment mechanism 23, the adjustment of the inclination of the chute 2111 by the adjustment mechanism 23 will be described in detail below.

In conclusion, the above structure arrangement of the preferred embodiment not only has simple structure and flexibility, but also reduces the manufacturing cost and improves the working efficiency of the automatic component inserter.

Further, in order to make the docking between the sliding slot 2111 and the limiting slot 2211 more accurate, and make the material 50 enter the limiting slot 2211 more quickly and safely, in the preferred embodiment, the projection of the extension line of the central axis of the sliding slot 2111 and the projection of the extension line of the central axis of the limiting slot 2211 on the horizontal plane are substantially coincident.

Of course, the coincidence here is the coincidence when the vibrator 212 is in a stationary state. When the vibrator 212 is in a vibrating state, the amplitude of the sliding groove 2111 is substantially symmetrical with respect to the extension line of the central axis of the stopper groove 2211.

Furthermore, considering the moving speed of the material 50 in the sliding groove 2111 and the limiting groove 2211, the order of the material and the uniformity of the angle arrangement of the material 50, the width of the limiting groove 2211 is approximately equal to the width of the sliding groove 2111, and the width of the limiting groove 2211 and the width of the sliding groove 2111 are both slightly larger than the width of the material.

In addition, the material 50 in the chute 2111 is in a vibrating state in the working state, so that the depth of the chute 2111 is slightly higher than the height of the material 50 in order to avoid the situation that the material 50 is separated from the chute 2111 or the material 50 is unstable in the chute 2111 in the vibrating process of the material 50.

On the other hand, since the material 50 in the position-limiting groove 2211 is to be grabbed by the card robot apparatus 30, in order to facilitate the card robot apparatus 30 to quickly and stably grab the material, in the preferred embodiment, the depth of the position-limiting groove 2211 is lower than the height of the material 50.

In the preferred embodiment, in order to simplify the processing process of the sliding slot 2111 and the limiting slot 2211, facilitate the butt joint of the sliding slot 2111 and the limiting slot 2211, and improve the stability and the order of the materials in the sliding slot 2111 and the limiting slot 2211, the bottom surface of the sliding slot 2111 is an inclined plane, the bottom surface of the limiting slot 2211 is a horizontal plane, and both have a straight slot. Of course, the bottom surface of the sliding slot 2111 may be a curved surface.

Furthermore, since the limit slot 2211 on the material stopping platform 221 is stationary and the chute 2111 is in a vibrating state during operation, it is likely that the material 50 in the chute 2111 is not easy to enter the limit slot 2211, in order to enable the material 50 in the chute 2111 to enter the limit slot 2211 quickly and smoothly, in the preferred embodiment, one end of the material stopping platform 221 near the channel member 211 is provided with a guide slot 2212 for guiding the material 50 in the chute 2111 to the limit slot 2211, and the guide slot 2212 is arranged right in front of the limit slot 2211 and communicated with the limit slot 2211; the opening area of the guide groove 2212 gradually increases from one end communicating with the stopper groove 2211 to one end facing the sliding groove 2111, and both side surfaces of the guide groove 2212 are guide inclined surfaces 2212a symmetrically arranged.

Preferably, the horizontal section of the guide groove 2212 is shaped like an isosceles trapezoid, and the area of the upper port of the guide groove 2212 is smaller than that of the lower port, wherein the upper port is a port communicating with the stopper groove 2211, and the area and shape of the upper port are the same as those of the port of the stopper groove 2211.

In the preferred embodiment, the material stopping mechanism 22 further includes a material protecting member 224, and the material protecting member 224 is disposed on the top of the end of the material stopping platform 221 near the discharging end and is located right above the guiding slot 2212; wherein, the middle part of the material protection piece 224 is provided with a feed inlet 2241 at one end facing the guide groove 2212, and the width of the feed inlet 2241 is larger than that of the chute 2111.

Further, the width of the discharge hole 2241 is substantially equal to the width of the lower port of the guide groove 2212.

It is obvious that, because the depth of the limit groove 2211 is lower than the height of the material 50, when the material 50 completely enters the guide groove 2212 in the process of transferring the material 50 from the chute 2111 to the limit groove 2211, the material 50 is still in a vibration state, and at this time, if the vibration amplitude and frequency of the material 50 are too high, the material 50 is easily separated from the guide groove 2212 and the limit groove 2211, so the arrangement of the material protection piece 224 avoids the above situation, and the material 50 is smoothly transferred from the chute 2111 to the limit groove 2211.

In the preferred embodiment, the material stopping component 222 includes a fixing portion 2221 disposed on the top of the material stopping platform 221, and a material stopping portion 2222 disposed at one end of the fixing portion 2221 facing the limiting groove 2211 and protruding from the fixing portion 2221, wherein the material stopping portion 2222 is located above the limiting groove 2211; two sides of the fixing portion 2221 are fixedly connected to the material stopping platform 221 through screws, and an end surface of the material stopping portion 2222 facing the material 50 is substantially perpendicular to the bottom surface of the limiting groove 2211.

Due to the arrangement, the materials 50 are in surface-to-surface contact with the end face of the material stopping portion 2222, so that the materials 50 can stay more stably, the stress area of the material stopping portion 2222 is enlarged, the stress of the material stopping portion 2222 is more balanced, and the service life of the material stopping portion 2222 is prolonged.

In the preferred embodiment, the sensing component 223 is a correlation fiber sensor, the correlation fiber sensors are symmetrically disposed on two sides of the material stopping platform 221, and the light emitted from the light emitting port of the correlation fiber sensor is located on the end surface of the material stopping portion 2222 facing the material 50.

That is to say, the light that sends of correlation fiber sensor is located the end of grabbing the position, consequently only when material 50 gets into spacing groove 2211 completely and be in completely on grabbing the position, the correlation light just can be blockked by material 50, and at this moment, the correlation fiber sensor can sense material 50, and the back is signaled for the plug-in components manipulator, lets the plug-in components manipulator snatch material 50 on grabbing the position.

Based on the above structure, in the preferred embodiment, the material conveying device 20 further includes an adjusting mechanism 23 for adjusting the inclination of the chute 2111, the adjusting mechanism 23 includes a seat plate 231 disposed at the bottom of the vibrator 212, a base 232 disposed below the seat plate 231, and adjusting studs 233 disposed between the seat plate 231 and the base 232, the adjusting studs 233 are disposed at four corner regions of the seat plate 231; wherein, the vibrator 212 is fixedly connected with the seat plate 231 through a cushion pad.

The inclination of the sliding groove 2111 can be adjusted by adjusting the heights of the four adjusting studs 233.

In addition, a vibration top 2121 is disposed between the channel member 211 and the vibrator 212, the channel member 211 is fixedly connected to the vibration top 2121, and the vibration top 2121 is fixedly disposed on the top of the vibrator 212.

The material conveying device 20 further includes a full material sensor 213 disposed at one side of the feeding end of the channel member 211, an opening is disposed on a side wall of the feeding end, and a light emitting surface of the full material sensor 213 faces the opening;

wherein, the full level sensor 213 is fixedly connected to the channel member 211 through a fixing plate 214, and the fixing plate 214 is fixedly disposed at the top of the opening.

The material conveying device has the advantages that through the arrangement of the vibration conveying mechanism and the material stopping mechanism, on the premise of meeting the normal working efficiency, the integral structure of the material conveying device is simplified, and the manufacturing cost is saved.

Referring to fig. 12 to 15, the card inserting robot device 30 of the automatic card inserter 100 of the present invention includes at least one robot mechanism 31, a robot mounting mechanism, a lifting driving mechanism, and a corner driving mechanism.

The manipulator mechanism 31 comprises a connecting rod 311, a material taking component 312 arranged at one end of the connecting rod 311, and a fixing component 313 sleeved at one end of the connecting rod 311 close to the material taking component 312; the manipulator mounting mechanism comprises a back plate 321, a fixing plate 322 which is arranged at the top end of one side of the back plate 321 facing the manipulator mechanism 31 and is provided with a first mounting hole 3221, a vertical guide rail 323 which is arranged below the fixing plate 322 and is consistent with the extending direction of the axis of the first mounting hole 3221, and a sliding seat 324 which is connected with the vertical guide rail 323 in a sliding manner and is fixedly connected with a fixing component 313; the lifting driving mechanism is used for driving the manipulator mechanism 31 to move along the vertical guide rail 323;

wherein, the bottom end of the fixing part 313 is provided with a second mounting hole 3131 coaxially arranged with the first mounting hole 3221, the connecting rod 311 passes through the first mounting hole 3221 and the second mounting hole 3131, the connecting rod 311 is connected with the first mounting hole 3221 through the first bearing 3222, and the connecting rod 311 is connected with the fixing part 313 through the second mounting hole 3131.

It is obvious that, since the vertical guide rail 323 is vertically disposed, and the extending directions of the first and second mounting

holes

3221 and 3131 coincide with the extending direction of the vertical guide rail 323, the connecting rod 311 is connected with the first mounting hole 3221 through the first bearing 3222 and movably connected with the fixing part 313 through the second mounting hole 3131; since the first bearing 3222 is fixedly disposed in the first mounting hole 3221 and the radial direction of the first bearing 3222 is perpendicular to the axial direction of the first mounting hole 3221, the axial direction of the second mounting hole 3131 coincides with that of the first mounting hole 3221; therefore, the axial direction of the connecting rod 311 is ensured to be vertical by the restriction of the first bearing 3222, the second mounting hole 3131 and the vertical guide rail 323, thereby ensuring the verticality of the connecting rod 311.

In addition, in consideration of the restriction of only the first bearing 3222, the second mounting hole 3131 and the vertical guide rail 323, once a slight deviation occurs during the installation of the connecting rod 311, which is not detected well, and thus affects the subsequent work efficiency, in order to better ensure the verticality of the connecting rod 311, in the preferred embodiment, the top end of the fixing part 313 is provided with a third mounting hole 3133, the third mounting hole 3133 is coaxially disposed with the second mounting hole 3131, the connecting rod 311 passes through the third mounting hole 3133, and the connecting rod 311 is connected to the fixing part 313 through the third mounting hole 3133. A second bearing 3132 and a third bearing 3134 are fixedly disposed on the connecting rod 311, the second bearing 3132 is disposed in the second mounting hole 3131 and rotatably connected to the second mounting hole 3131, and the third bearing 3134 is disposed in the third mounting hole 3133 and rotatably connected to the third mounting hole 3133.

The second bearing 3132 and the third bearing 3134 are arranged such that the fixed part 313 and the coupling bar 311 achieve a state in which the coupling bar 311 rotates, but the fixed part 313 does not rotate, that is, the coupling bar 311 may rotate with respect to the fixed part 313; the third mounting hole 3133 is arranged such that the connecting rod 311 further ensures the verticality of the connecting rod 311 by the third mounting hole 3133 and the vertical guide rail 323; on the other hand, since the fixing plate 322 is fixed on the back plate 321, and the fixing part 313 slides on the vertical guide rail 323, the first bearing 3222 disposed in the first mounting hole 3221 is fixed, and the second and third mounting holes disposed corresponding to the fixing part 313 slide along the fixing part 313; therefore, once the connecting rod 311 tilts, during the process of the fixed part 313 rising along the vertical guide rail 323, under the action of the second mounting hole 3131 and the third mounting hole 3133, if the fixed part 313 does not reach the preset position and the locking phenomenon occurs, the connecting rod 311 tilts, and correction is needed.

In addition, in order to facilitate the horizontal placement of the first mounting hole 3221, the fixing plate 322 has a plate-shaped structure, and the transverse extending direction of the fixing plate 322 is perpendicular to the extending direction of the vertical guide rail 323; in addition, in order to facilitate accurate installation of the vertical guide rail 323, a guide rail positioning groove is formed in the back plate 321 for installing the vertical guide rail 323.

In the preferred embodiment, the connecting rod 311 is further sleeved with an upper spring cushion 314, a buffer spring 315, a lower spring cushion 316 and a fixing sleeve 317; wherein, the upper part of the upper spring cushion 314 extends into the fixing part 313, the lower spring cushion 316 is fixedly connected with the connecting rod 311, and the buffer spring 315 is arranged between the upper spring cushion 314 and the lower spring cushion 316;

specifically, the fixing sleeve 317 is disposed on the fixing part 313 and fixedly connected to the connecting rod 311, the spring upper cushion 314 is disposed under the fixing part 313, an upper portion of the spring upper cushion 314 extends into a bottom end of the fixing part 313, and the spring lower cushion 316 is fixedly connected to the connecting rod 311.

The arrangement is such that the fixing part 313 is confined between the fixing sleeve 317 and the spring washer 314. And the arrangement of the buffer spring 315 enables the material taking component 312 to play a role of buffering when being plugged into the PCB, so as to prevent the material taking component 312 from damaging the PCB due to excessive plugging.

In the preferred embodiment, the middle end of the fixing part 313 is further provided with an accommodating hole 3135, and the accommodating hole 3135 is internally provided with a ball bush outer cylinder 3136 and a micro ball sliding bush 3137 which are sequentially arranged from outside to inside;

wherein, the micro ball sliding bush 3137 is sleeved on the connecting rod 311, the ball bushing outer cylinder 3136 is sleeved on the micro ball sliding bush 3137, the accommodating hole 3135, the second mounting hole 3131 and the third mounting hole 3133 are coaxially arranged, and the accommodating hole 3135 is communicated with the second mounting hole 3131. In addition, the top of the receiving hole 3135 is fixedly connected to the fixing member 313 through a flap 3138.

The arrangement of the outer cylinder 3136 of the ball bush and the micro ball sliding bush 3137 enables the connecting rod 311 to rotate more smoothly relative to the fixing part 313, further reducing the rotational friction between the connecting rod 311 and the fixing part 313, and thus prolonging the service life of the fixing part 313 and the connecting rod 311.

In the preferred embodiment, the material extracting component 312 is, but not limited to, one of a mechanical clamp and a suction nozzle; in the preferred embodiment, the robot mechanism 31 has four, three of which are provided with mechanical clamps and one of which is provided with suction cups, and correspondingly, four first mounting holes 3221 are formed in the fixing plate 322.

In the manipulator mechanism 31 in which the material taking part 312 is a mechanical clamp, one end of the connecting rod 311 connected with the material taking part 312 is provided with a connecting part 318, the connecting part 318 comprises a connecting main body 3181 and a connecting base 3182 arranged at the bottom end of the connecting main body 3181, and the extending direction of the connecting main body 3181 is vertical to the extending direction of the bottom surface of the connecting base 3182;

the connecting body 3181 is coaxially and fixedly connected to the connecting rod 311 via a connecting block 319, and the bottom surface of the connecting base 3182 is coaxially and fixedly connected to the mechanical clip.

Specifically, the mechanical clamp comprises a chuck connecting seat 3121, a chuck 3122 arranged at the bottom of the chuck connecting seat 3121, and a driving cylinder 3123 arranged at the top of the chuck connecting seat 3121 and used for clamping a material by the driving chuck 3122; wherein, the driving cylinder 3123 is connected with the connection base 3182 by screw thread.

Due to the arrangement of the connecting part 318 and the connecting block 319, the mechanical clamp and the connecting rod 311 keep the same verticality, and the verticality of the mechanical clamp is further refined by the way that the bottom surface of the horizontal connecting base 3182 is in fit connection with the top surface of the driving cylinder 3123.

In the manipulator mechanism 31 in which the material taking component 312 is a suction nozzle, the suction nozzle includes a cylindrical connecting member and a suction member fixedly connected to the connecting member for sucking the material, wherein the connecting rod 311 extends into the connecting member and is fixedly connected to the connecting member by a screw, and the connecting member, the suction member and the connecting rod 311 are coaxially disposed.

In addition, an L-shaped pneumatic joint for connecting the driving cylinder 3123 is provided below the lower spring pad 316 on the connecting rod 311, and the top end of the connecting rod 311 is provided with another pneumatic joint communicated with the L-shaped pneumatic joint.

In the preferred embodiment, the lifting driving mechanism includes a driving gear 331 and a driving motor 332 for driving the driving gear 331 to rotate, and a vertical rack 325 engaged with the driving gear 331 is fixedly disposed on one side of the sliding seat 324 close to the driving gear 331;

wherein, the driving motor 332 is disposed on a side of the back plate 321 opposite to the connecting rod 311, and the driving gear 331 is disposed on a side of the back plate 321 facing the connecting rod 311.

Specifically, the driving gear 331 and the rack 325 are matched, so that the fixing part 313 fixedly connected to the sliding base 324 can drive the connecting rod 311 to move up and down, and the material taking part 312 is driven to move up and down.

Further, the bottom end of one side of the back plate 321 facing the connecting rod 311 is further provided with a limiting seat 326, and the limiting seat 326 is disposed under the rack 325 and is used for limiting the rack 325 to move downwards.

In the preferred embodiment, the inserter robot device 30 further includes a corner driving mechanism, the corner driving mechanism includes a corner synchronizing wheel 341 disposed on the top of the first bearing 3222, a spline shaft sleeve 342 disposed on the top of the corner synchronizing wheel 341, a corner driving wheel 343 disposed on one side of the corner synchronizing wheel 341 and used for driving the corner synchronizing wheel 341 to rotate, and a corner driving motor 344 disposed above the corner driving wheel 343, the connecting rod 311 is a spline shaft;

the corner synchronizing wheel 341, the spline shaft sleeve 342, and the first bearing 3222 are coaxially disposed, and the spline shaft sleeve 342 is fixedly connected to the corner synchronizing wheel 341. The corner driving wheel 343 is connected with the corner synchronizing wheel 341 through a belt.

In addition, in order to adjust the tightness of the belt between the corner driving wheel 343 and the corner synchronizing wheel 341, an idle wheel is disposed between the corner driving wheel 343 and the corner synchronizing wheel 341 or between the corner synchronizing wheel 341 and the corner synchronizing wheel 341.

Specifically, the corner driving wheel 343, the corner synchronizing wheel 341 and the idle wheel are all disposed on the top surface of the fixing plate 322, and the bottom of the first bearing 3222 is further provided with a snap spring and an anti-collision rubber ring.

The anti-collision rubber ring is arranged to prevent the fixing sleeve 317 from colliding with the fixing plate 322 and the first bearing 3222 when the connecting rod 311 ascends excessively.

The rotation process of the connection rod 311 is as follows: first, the corner driving motor 344 drives the corner driving wheel 343 to rotate, then the corner driving wheel 343 drives the corner synchronizing wheel 341 to rotate through a belt, and then the spline shaft sleeve 342 fixedly connected to the corner synchronizing wheel 341 rotates at the same time, and drives the connecting rod 311 (spline shaft) to rotate.

In addition, during the rotation of the connection rod 311, the fixing part 313 is provided with the ball bush housing 3136 and the micro ball bush 3137, so that the connection rod 311 can rotate relative to the fixing part 3113.

According to the plug-in manipulator device 30, the first mounting hole is matched with the first bearing, the second mounting hole is matched with the vertical guide rail, so that the verticality of the connecting rod passing through the first mounting hole and the second mounting hole is more accurate, and the work efficiency of plugging materials is further improved; in addition, the third mounting hole is arranged to correct the verticality of the connecting rod.

Referring to fig. 16 to 17, the PCB transferring apparatus 40 of the automatic card inserter 100 of the present invention includes a PCB transferring mechanism 41, a PCB fixing driving mechanism 42 and a width adjusting mechanism 43, wherein the PCB transferring mechanism 41 includes an incoming conveying module 411, an operation conveying module 412 and an outgoing conveying module 413.

The PCB conveying device 40 comprises a feeding-in area 40A for feeding in the PCB 60 without inserting materials, an operation area 40B for inserting materials into the PCB 60 and a discharging-out area 40C for discharging out the PCB 60 with inserted materials;

the PCB transferring mechanism 41 includes an incoming conveying module 411 disposed at both sides of the incoming area 40A, an operation conveying module 412 disposed at both sides of the operation area 40B, and an outgoing conveying module 413 disposed at both sides of the outgoing area 40C; wherein, the incoming conveying module 411, the operation conveying module 412 and the outgoing conveying module 413 are sequentially connected, and the PCB 60 is disposed between the PCB conveying mechanisms 41; the PCB fixing and driving mechanism 42 is used for driving the work conveying module 412 to fix the PCB 60, and is disposed below the work area 40B;

the work conveying module 412 includes a first side plate 511, a blocking plate 512 disposed on top of the first side plate 511 and extending toward the working area 40B, and a supporting plate rail 513 disposed on a side of the first side plate 511 facing the working area 40B and capable of moving up and down, wherein the supporting plate rail 513 is engaged with the blocking plate 512 for fixing the PCB 60 located in the working area 40B.

In the preferred embodiment, the PCB 60 is placed on the supporting board track 513, and the supporting board track 513 is lifted to cooperate with the blocking piece 512 fixed on the first side plate 511, so as to clamp two sides of the PCB 60 placed between the supporting board track 513 and the blocking piece 512, thereby fixing the PCB 60; thereby playing a role of stability; on the other hand, the transmission of the PCB 60 is more convenient and simpler due to the connection of the incoming conveying module 411, the operation conveying module 412 and the outgoing conveying module 413; and the PCB 60 is placed between the PCB conveying mechanisms 41, which limits the left and right movement of the PCB 60, so that the PCB 60 is more stably and accurately conveyed in the PCB conveying mechanisms 41.

Specifically, referring to fig. 18 and 19, the upper half of the pallet track 513 is provided with a conveying trough body, the conveying trough body comprises a side groove plate 5131 close to the first side plate 511, convex plates 5132 arranged at the top of the side groove plate 5131 and arranged at intervals, a bottom groove plate 5133 arranged at the bottom of the side groove plate 5131, and a first conveying groove 5134 enclosed by the side groove plate 5131, the convex plates 5132 and the bottom groove plate 5133 and used for placing the PCB 60, the notch of the first conveying groove 5134 faces the working area 40B, and a gap 5135 is arranged between the convex plates 5132; the flap 512 comprises a flap body 5121 fixedly connected to the first side plate 511, a protruding piece 5122 arranged on one side of the flap body 5121 and protruding towards the operation area 40B, and an opening 5123 enclosed by the protruding piece 5122 and the flap body 5121;

wherein, the notch 5135 is correspondingly matched with the lug 5122, the lug 5122 extends into the notch 5135, the convex plate 5132 is correspondingly matched with the opening 5123, and the convex plate 5132 extends into the opening 5123.

The notches 5135 are correspondingly matched with the protruding pieces 5122, and the protruding plates 5132 are correspondingly matched with the openings 5123, so that the clamping stability of the supporting plate track 513 and the blocking pieces 512 on the PCB 60 is higher, the two matching parts have vertical guiding functions, under the action of double guiding, the clamping matching between the conveying groove body and the blocking pieces 512 is stable and accurate, and the stability of clamping the PCB 60 in the first conveying groove 5134 is further improved; the arrangement of the protruding plate 5132 limits the upward deviation of the PCB 60 when the PCB 60 is transferred in the first transfer groove 5134, and the arrangement of the side groove 5131 limits the leftward and rightward deviation of the PCB 60 when the PCB 60 is transferred in the first transfer groove 5134, thereby improving the stability and accuracy of the transfer of the PCB 60 in the first transfer groove 5134.

In order to enable the PCB 60 in the first conveying groove 5134 to be clamped and follow up and avoid the tab 5122 of the blocking piece 512 from damaging the surface of the PCB 60, in the preferred embodiment, a soft gasket, such as rubber, a flexible film, etc., is disposed at the bottom of the tab 5122, and a surface of the soft gasket facing the PCB 60 is a rough surface, such as a frosted surface, a serrated surface, etc., so as to better stabilize the PCB 60.

In addition, a base plate 5136 fixedly connected to one side of the bottom groove plate 5133 close to the groove opening is arranged at the lower half part of the supporting plate track 513, first through holes 5138 are arranged at two end regions of the base plate 5136, first fixing blocks 516 are arranged in the first through holes 5138, and two sides of the first fixing blocks 516 are fixedly connected with the first side plate 511 through screws; and the base plate 5136 is slidably connected to a vertical guide pillar 517 passing through the first fixing block 516. Further, the bottom of the first through hole 5138 is further provided with a first positioning hole, and the vertical guide pillar 517 passes through the first positioning hole.

The sectional area of the first through hole 5138 is greater than that of the first fixing block 516, and specifically, a certain distance is formed between the bottom surface of the first fixing block 516 and the bottom surface of the first through hole 5138, so that the base plate 5136 can conveniently rise and fall along the vertical guide pillar 517.

A second through hole 5139 is formed in the middle area of the base plate 5136, a second fixing block 518 is arranged in the second through hole 5139, and two sides of the second fixing block 518 are fixedly connected with the first side plate 511 through screws; and the bottom of the second through hole 5139 is elastically connected to the second fixing block 518 through an elastic member. Further, a vertical guide pillar is disposed at the bottom of the second fixing block 518, a second positioning hole penetrating through the base plate 5136 is further disposed at the bottom of the second through hole 5139, the vertical guide pillar is fixedly connected to the second fixing block 518 and penetrates through the second positioning hole, and an elastic member is sleeved on the vertical guide pillar, preferably, the elastic member is a spring.

When the base plate 5136 in the pallet track 513 is lifted, the spring is deformed by the upward pressing force of the base plate 5136, so that a downward deformation force is generated; therefore, when the pallet track 513 is to be lowered and reset, the pallet track 513 is lowered and reset by its own weight, and is lowered and reset by the downward deformation force of the spring. Therefore, the elastic member (spring) has a buffering function of ascending to prevent the PCB 60 from being damaged and a function of accelerating descending.

In order to improve the stability and integrity of the pallet track 513, the transfer trough body and the base plate 5136 are integrally formed.

The work transferring module 412 further includes a first belt conveyor (not shown) for transferring the PCB 60, the first belt conveyor passing through the first transfer groove 5134 and rotating around a first synchronizing wheel 514 disposed at both ends of the pallet track 513 and a first driving wheel 515 disposed at a side of the first synchronizing wheel 514 away from the pallet track 513; the first capstan 515 is driven by a first transport motor.

Specifically, the first synchronizing wheels 514 are disposed at two ends of the base plate 5136, two first synchronizing wheels 514 are disposed at each end, the two first synchronizing wheels 514 are disposed in parallel, an idle wheel is disposed between the first driving wheel 515 and the first synchronizing wheels 514 for tensioning the first driving belt, and the first synchronizing wheels 514 are fixedly disposed on the first side plate 511.

The reason why the two first synchronizing wheels 514 are arranged at one end of the base plate 5136 is that the height of the base plate 5136 is relatively high, so that the two first synchronizing wheels 514 correspond to the upper and lower corners of the base plate 5136, and the first conveyor belt can smoothly rotate; if one first sync wheel 514 is provided, it may cause friction between the first conveyor belt and the corners of the substrate 5136, thereby damaging the first conveyor belt; of course, if only one first synchronizing wheel 514 is required at one end of the base plate 5136, four corners of the base plate 5136 may be provided in the form of inclined edges or chamfers to achieve the effect of enabling the first conveyor belt to smoothly rotate.

In the preferred embodiment, referring to fig. 18 and 20, two ends of the base plate 5136 facing to one side of the first side plate 511 are provided with a top pillar 5137, the top pillar 5137 is fixedly connected to the base plate 5136 through a screw, the PCB fixing driving mechanism 42 includes a top plate 421 for jacking the top pillar 5137, a pushing assembly 422 for pushing the top plate 421 to ascend, and a top plate cylinder 423 for driving the pushing assembly 422 to move;

wherein, the pushing assembly 422 is arranged below the top plate 421 and comprises a pushing shaft 4221, rollers 4222 arranged at two ends of the pushing shaft 4221 and a connecting rod 4223 fixedly connected between the pushing shafts 4221; the four corners of the bottom of the top plate 421 are fixedly provided with sliders 4211 engaged with the rollers 4222, and the bottom surface of the slider 4211 facing the rollers 4222 comprises an inclined surface 4211c engaged with the rollers 4222 to support the top plate 421.

Specifically, when the top plate 421 rises to contact the top post 5137, the top post 5137 contacts the four corner regions of the top plate 421.

In addition, the bottom surface of the slider 4211 further comprises a horizontal surface 4211b, and the horizontal surface 4211b is connected with the inclined surface 4211 c. And the roller 4222 is contacted with the horizontal surface 4211b or the inclined surface 4211c through the cooperation of the horizontal surface 4211b and the inclined surface 4211c with the roller 4222, and when the top plate 421 is in the initial state, the roller 4222 is contacted with the horizontal surface 4211 b; when the top plate 421 is in the lifted state, the roller 4222 contacts the inclined surface 4211 c. During the process of raising the top plate 421, the roller 4222 moves from the boundary between the inclined surface 4211c and the horizontal surface 4211b to the lower end of the inclined surface 4211 c.

The top plate guide sleeve 4231 is fixedly arranged at the edge of each of two ends of the bottom of the top plate 421, the top plate guide base 4232 is arranged right below the top plate guide sleeve 4231, a top plate guide column 4233 is arranged between the top plate guide base 4232 and the top plate guide sleeve 4231, one end of the top plate guide column 4233 extends into the top plate guide sleeve 4231 and is fixedly connected with the top plate 421, and the other end of the top plate guide column 4233 penetrates through the top plate guide base 4232.

The top plate guide column 4233 plays a role in guiding and limiting because the top plate 421 can only move up and down due to the arrangement of the top plate guide column 4233; because the roller 4222 has a forward thrust and an upward thrust on the slider 4211 during the process of moving the roller 4222 from the high end of the inclined plane 4211c to the low end of the inclined plane 4211c, the forward thrust is blocked due to the arrangement of the top plate guide column 4233, and therefore, the top plate 421 can only move upwards without moving forwards; in addition, since one of the top plate guide posts 4233 is disposed in the forward direction of the push shaft 4221 and the other is disposed in the backward direction, the top plate guide post 4233 also functions to restrict the push shaft 4221 from moving forward or backward.

In the preferred embodiment, when the PCB 60 is located in the first conveying groove 5134 and in the clamped state, the two sides of the PCB 60 are clamped, and the middle part is suspended, if the material is inserted at this time, the suspended PCB 60 is pressed down by the inserting manipulator device, so that the PCB 60 is deformed and the PCB 60 is damaged, in order to solve the above technical problem, in the preferred embodiment, the top plate 421 is further provided with a supporting block for supporting the PCB 60, and when the top plate 421 is in the jacked state, the supporting block is in contact with the bottom surface of the PCB 60; when the top plate 421 is in the initial state, the supporting block is away from the PCB board 60.

Further, referring to fig. 21 and 22, when the top plate 421 is in the initial state, the roller 4222 contacts the horizontal surface 4221b, the top plate 421 is away from the top pillar 5137, the protruding plate 5132 protrudes from the opening 5123 in the direction of the PCB 60, the tab 5122 is located at the top of the notch 5135 and protrudes upward from the notch 5135, and the PCB 60 has a gap with the tab 5122; when the top plate 421 is in the lifted state, the roller 4222 contacts with the lower end of the inclined surface 4211c, the top plate guide column 4233 ascends, the top plate 421 abuts against the top column 5137, the convex plate 5132 protrudes out of the opening 5123 in the direction back to the PCB plate 60, the protruding piece 5122 is positioned at the bottom of the notch 5135, and the PCB plate 60 abuts against the protruding piece 5122.

The PCB board fixing driving mechanism 42 is configured to jack up the supporting board track 513 to clamp two side edges of the PCB board 60 between the retaining sheet 512 and the supporting board track 513, and contact the bottom of the PCB board 60 through the supporting block, so that the PCB board 60 is more stable when being plugged with materials.

In the preferred embodiment, referring to fig. 23 and fig. 24, the PCB conveying mechanism 41 further includes an incoming conveying module 411 disposed on two sides of the incoming area 40A and an outgoing conveying module 413 disposed on two sides of the outgoing area 40C, and the structures of the incoming conveying module 411 and the outgoing conveying module 413 are the same or similar; the structure of the outgoing transport module 413 will not be described in detail below.

The incoming conveying module 411 includes a second side plate 4111, a supporting plate 4112 fixedly connected to one side of the second side plate 4111 facing the incoming area 40A, and a blocking plate 4113 fixedly connected to the top of the second side plate 4111, wherein a second conveying groove 4114 for conveying the PCB 60 is defined between the second side plate 4111, the supporting plate 4112 and the blocking plate 4113, and the second conveying groove 4114 is correspondingly connected to the first conveying groove 5134. Specifically, the bottom surface of the second groove 4114 is flush with the bottom surface of the first groove 5134.

Further, the tray 4112 includes a restriction plate 41121 disposed at a side facing the second side plate 4111 for restricting the PCB board 60, and inclined surfaces 4112a disposed at both sides of the tray 4112.

In addition, the both ends of layer board 4112 are provided with second synchronizing wheel 4115, and the below of layer board 4112 is provided with second action wheel 4116, connects through the second conveyer belt between second synchronizing wheel 4115 and the second action wheel 4116, and the second conveyer belt passes second conveyer trough 4114, and second action wheel 4116 is driven by the second conveying motor.

Specifically, one end of each of the support plates 4112 is provided with a second synchronizing wheel 4115, so that the two sides of the support plate 4112 are provided with inclined surfaces 4112a to prevent the second conveyor belt wound around the second synchronizing wheel 4115 from rubbing the corners of the support plate 4112 and damaging the second conveyor belt.

Based on the above structure, referring to fig. 17, the PCB conveying mechanism 41 includes a mobile PCB conveying mechanism and a fixed PCB conveying mechanism, and the two PCB conveying mechanisms have the same structure; the width adjustment mechanism 43 of the PCB conveyor 40 is used to adjust the width between the two PCB conveyors to accommodate different widths of PCBs 60.

The width adjusting mechanism 43 includes a slide rail 431 with an extending direction substantially perpendicular to the extending direction of the PCB board conveying mechanism 41, a moving block 432 slidably connected to the slide rail 431 and fixedly connected to one PCB board conveying mechanism 41, a fixed base 433 fixedly connected to the other PCB board conveying mechanism 41, and a width adjusting motor 434 driving the moving block 432 to move, wherein the width adjusting motor 434 is connected with the moving block 432 through a lead screw 435.

Specifically, the slide rail 431 has two, one is disposed below the incoming area 40A, and the other is disposed below the outgoing area 40C; the moving block 432 has two moving blocks, one of which is fixedly connected to the bottom of the incoming conveying module 411 of the mobile PCB board conveying mechanism, and the other of which is fixedly connected to the bottom of the outgoing conveying module 413 of the mobile PCB board conveying mechanism, so that the mobile PCB board conveying mechanism can move; the two fixing bases 433 are respectively and fixedly connected to the incoming conveying module 411 and the outgoing conveying module 413 of the fixed PCB conveying mechanism, so that the fixed PCB conveying mechanism is fixed.

In order to realize synchronous sliding of the two moving blocks 432, a third driving wheel 436 is arranged on a screw 435 connected to the width adjusting motor 434, a third synchronous wheel 437 is arranged on the other screw 435, and the third driving wheel 436 and the third synchronous wheel 437 are connected through a belt.

Based on the above mechanism, in the preferred embodiment, a limiting component 44 for stopping the PCB 60 is disposed at the end of the working area 40B, the limiting component 44 includes a limiting block 441 facing the PCB 60 and a cylinder 442 for driving the limiting block 441 to move up and down, and the limiting block 441 is disposed on the cylinder 442. The position limiting component 44 is arranged to enable the PCB board 60 to precisely stay on the working area 40B.

The operation process of the PCB transferring apparatus 40 is as follows:

first, the width between the PCB transferring mechanisms 41 is adjusted to fit the width of the PCB 60; the method comprises the following specific steps: starting the width adjusting motor 434, driving the lead screw 435 and the third driving wheel 436 to rotate by the width adjusting motor 434, driving the third driving wheel 436 to rotate synchronously with the other lead screw 435 by the belt, and driving the moving block 432 to slide on the sliding rail 431 by the rotation of the lead screw 435, so as to realize the synchronous transfer of the moving PCB board conveying mechanism and achieve the purpose of adjusting the width;

then, the PCB board 60 is introduced from the introduction area 40A; the method comprises the following specific steps: starting a second conveying motor, driving a second driving wheel 4116 to rotate by the second conveying motor, driving a second synchronizing wheel 4115 to rotate synchronously by the second driving wheel 4116 through a second conveyor belt, then placing the PCB 60 in a second conveying groove 4114 of the conveying module 411, and conveying the PCB to the operation area 40B through the second conveyor belt;

secondly, the PCB board 60 is transported in the working area 40B; the method comprises the following specific steps: starting a first conveying motor, wherein the first conveying motor drives a first driving wheel 515 to rotate, the first driving wheel 515 drives a first synchronizing wheel 514 to synchronously rotate through a first conveyor belt, then the PCB 60 is conveyed into a first conveying groove 5134 from a second conveying groove 4114 and conveyed to a delivery-out area 40C through the first conveyor belt, meanwhile, a cylinder 442 of a limiting component 44 drives a limiting block 441 to ascend until the PCB 60 is stopped by the limiting block 441 at the tail end of an operation area 40B and cannot move forwards, and the first conveying motor stops operating, and then the PCB stays on the operation area 40B;

then, the PCB 60 is clamped and the materials are inserted; the method comprises the following specific steps: the top plate cylinder 423 in the PCB fixing driving mechanism 42 pushes the pushing shaft 4221 in the pushing assembly 422, and at the same time, the rollers 4222 disposed at both ends of the pushing shaft 4221 roll forward and push the slider 4211, the top plate 421 and the supporting block to move upward under the action of the top plate guide column 4233 until the top plate 421 jacks the top post 5137, so that the supporting plate track 513 rises along the vertical guide column 517 until the PCB 60 is clamped between the blocking plate 512 and the bottom groove plate 5133, at this time, the protruding plate 5132 protrudes from the opening 5123 of the blocking plate 512, the protruding plate 5122 is located at the bottom of the gap 5135, and the supporting block contacts the bottom surface of the PCB, and then the inserting operation of the material is performed, and at the same time, the limiting block 441 descends and resets;

finally, the inserted PCB 60 is transported out of the outgoing area 40C; the method comprises the following specific steps: after the material of the PCB 60 is inserted, the top plate cylinder 423 resets, the supporting plate track 513 descends and resets, the first conveying motor is started, the PCB 60 is conveyed from the first conveying groove 5134 of the operation conveying module 412 to the outgoing conveying module 413 of the outgoing area 40C, and is conveyed out of the outgoing conveying module 413.

This completes the operation of the PCB transferring apparatus 40.

The PCB conveying device 40 is matched with the baffle through the supporting plate rail to stably clamp two side edges of the PCB, so that the stability of the PCB during material inserting is improved; in addition, the PCB conveying device provided by the invention has the advantages that the transmission of the PCB is more convenient and faster through the connection arrangement of the incoming conveying module, the operation conveying module and the outgoing conveying module, so that the transmission efficiency is improved.

In the present invention, the automatic component inserter 100 further includes a CCD camera for acquiring the position and angle information of the material 50 when the manipulator device 30 grabs the material 50, so that the manipulator device 30 can adjust the angle of the material 50, thereby performing accurate insertion of the material 50.

In addition, when the top surface of the material 50 is a flat surface, the gripping may be performed by the robot mechanism 31 having a suction nozzle, and when the top surface of the material 50 is a non-flat surface, the gripping may be performed by the robot mechanism 31 having a mechanical gripper.

In actual operation, PCB board 60 typically needs to be plugged with different materials 50, thus requiring multiple feed ports, where one bulk feeder has one feed port and one tube charge feeder 10 has at least one feed port (outlet 1211); a corresponding plurality of material transfer devices 20 is therefore provided to match each feed port, and a corresponding number of manipulator mechanisms 31 are provided in the corresponding bayonet manipulator device 30.

The operation of the automatic component inserter 100 of the present invention is as follows:

firstly, the PCB transferring device 40 transfers the PCB 60 from the incoming area 40A to the working area 40B, and fixes the PCB 60; (please refer to the operation of the PCB transferring apparatus 40 for specific operation steps.)

Then, the pipe feeder 10 and bulk feeder in the feeder apparatus start discharging, and the material 50 is conveyed to the material conveying apparatus 20; (details of the procedure for feeding the tube-in-tube feeder 10, please refer to the operation of the tube-in-tube feeder 10.)

Secondly, the material 50 enters the chute 2111 of the material conveying device 20, and under the vibration of the vibrator 212, the material 50 slides to the limit groove 2211 on the material stopping platform 221 until the material 50 is stopped at the grabbing position by the material stopping part 2222 in the material stopping part 222; meanwhile, the correlation optical fiber sensor senses the material 50 at the grabbing position;

then, the card inserting manipulator device 30 moves along the X-direction guide rail and the Y-direction guide rail and moves up and down along the lifting driving mechanism, grabs the material 50 on the grabbing position, and inserts the material 50 on the corresponding position of the PCB board 60 on the working area 40B, during the insertion process, if the CCD camera finds that the angle of the material 50 has deflection, the angle is adjusted by the corner driving mechanism;

finally, after the insertion of the material 50 of the PCB 60 is completed, the pallet track 513 in the PCB conveyor 40 is reset, and the PCB 60 is transported from the working area 40B to the outgoing area 40C.

This completes the operation of the present invention.

In summary, the feeding device, the material conveying device 20, the plug-in manipulator device 30 and the PCB conveying device 40 are arranged, so that the structure of the invention is simplified, the cost is saved, and the working efficiency is improved; on the other hand, the degree of automation of the invention is improved by the layout and collocation of the four parts of devices.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A tube-fed feeder, comprising:

the charging pipe is used for containing materials and arranged on the pipe loading and placing mechanism;

the pipe loading and placing mechanism comprises a pipe loading platform, wherein a supporting piece is arranged on the pipe loading platform, a containing groove is formed in the upper end of the supporting piece, and the loading pipe penetrates through the containing groove;

the material blocking mechanism comprises a material blocking plate, and a material outlet for the material in the charging pipe to pass through is formed in the material blocking plate;

the vibrating mechanism is used for vibrating the charging pipe, and is arranged on one side, facing the charging pipe, of the material baffle plate and below the discharging hole;

the two ends of the charging pipe are respectively a feeding end far away from the vibrating mechanism and a discharging end close to the vibrating mechanism, and the vibrating mechanism comprises a pipe jacking surface which is arranged on the top surface of the vibrating mechanism and used for jacking up the discharging end;

when the vibrating mechanism is in an initial state, the height of the pipe jacking surface is lower than that of the bottom surface of the feeding end;

the vibration mechanism includes:

the top pipe fitting comprises a top pipe body, top pipe parts, limiting parts, sunken parts and hollow parts, wherein the top pipe parts are arranged at the top end of the top pipe body and protrude out of two sides of the top pipe body;

the limiting part comprises a first accommodating part arranged in the middle area of one end, facing the top pipe part, of the limiting part and side parts arranged on two sides of the first accommodating part, the top pipe body penetrates through the first accommodating part and extends out of the first accommodating part, and the side parts penetrate through the sunken parts and are fixedly connected with the striker plate;

the vibrating piece comprises a rotating block extending into the hollow part and rotating in the hollow part and a vibrating motor driving the rotating block to rotate; and

the vibration motor is fixedly arranged on the fixed piece, and the fixed piece is fixedly connected to the limiting piece;

the rotating block comprises a first rotating radius and a second rotating radius, wherein the first rotating radius is the distance from a rotating shaft center to the farthest point on the outer periphery side of the rotating block, and the second rotating radius is the distance from the rotating shaft center to the closest point on the outer periphery side of the rotating block; and the first radius of rotation is greater than the second radius of rotation.

2. The tube charge feeder of claim 1, wherein the retainer further comprises a second receiving portion disposed at a lower portion of an end of the retainer facing away from the top tubular member and communicating with the first receiving portion, and the fixing member comprises a base, a projection disposed at a middle region of a top end of the base, and a fixing hole disposed on the projection; the protruding portion extends into the second accommodating portion, the vibration motor penetrates through the fixing hole and is fixedly connected with the inner wall of the fixing hole, and two sides of the base are connected with the limiting piece through threads.

3. The tube loading feeder of claim 1, wherein the rotor includes a first radius of rotation and a second radius of rotation, the first radius of rotation being a distance from a center of rotation to a farthest point on an outer peripheral side of the rotor, the second radius of rotation being a distance from the center of rotation to a nearest point on the peripheral side of the rotor, the first radius of rotation being greater than the second radius of rotation.

4. The tube charge feeder of claim 3, wherein the rotating block is cylindrical, an end surface of the rotating block is fixedly connected to a rotating shaft of the vibration motor, the hollow portion is cylindrical, and a cross-sectional radius of the hollow portion is greater than or equal to the first radius of rotation.

5. An automatic inserter using the tube filling feeder of any one of claims 1 to 4, further comprising:

a feeder device including the tube feeder and bulk feeder;

the PCB conveying device is provided with an operation area for inserting materials by the plug-in manipulator device and used for conveying PCBs, the PCB conveying device is arranged on one side of the grabbing position, which is opposite to the feeding device, and comprises a PCB conveying mechanism and a PCB fixing and driving mechanism, the PCB conveying mechanism comprises operation conveying modules arranged on two sides of the operation area, and the PCB fixing and driving mechanism is used for driving the operation conveying modules to fix the PCBs; the operation conveying module comprises a first side plate, a blocking piece arranged at the top of the first side plate and extending towards the operation area, a supporting plate track which is arranged on one side of the first side plate facing the operation area and can move up and down, and a first conveying belt for conveying a PCB, wherein a first conveying groove is formed in the upper part of the supporting plate track, and the first conveying belt penetrates through the first conveying groove and rotates around a first synchronizing wheel arranged at one end of the supporting plate track and a first driving wheel arranged at the other end of the supporting plate track; the first driving wheel is driven by a first conveying motor; and