CN110708947A

CN110708947A - PIN placing equipment

Info

Publication number: CN110708947A
Application number: CN201911114014.5A
Authority: CN
Inventors: 邱国良; 宋先玖; 刘云川
Original assignee: Dongguan Kaige Precision Machinery Co Ltd
Current assignee: Dongguan Kaige Precision Machinery Co Ltd
Priority date: 2019-11-14
Filing date: 2019-11-14
Publication date: 2020-01-17

Abstract

The invention discloses PIN placing equipment which comprises a feeding device for supplying PIN, a material conveying device arranged between the feeding device and a working platform, a recognition device for recognizing the placing position of the PIN on the working platform and a control device.

Description

PIN placing equipment

Technical Field

The invention relates to the technical field of circuit board production, in particular to a PIN placing device.

Background

The PCB (printed circuit board) is an important supporting piece for various electronic components, and in the process of printing the PCB by using a full-automatic solder paste printer, the key ring for manufacturing the PCB is to sequentially swing a plurality of PIN (PINs) to a working platform.

In view of the fact that the required PIN quantity of different PCBs is different, and the order of putting of PIN on the PCB of different specifications also has the difference, in order to satisfy the preparation demand of PCB board, the manual work is put PIN to work platform in proper order usually, and repeated intensity of labour is too big, and production efficiency is lower.

Therefore, how to improve the production efficiency is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of this, the invention aims to provide a PIN placing device, which can automatically place PINs in sequence, and has the advantages of low labor intensity, high automation degree and higher production efficiency.

The specific scheme is as follows:

the invention provides a PIN placing device, which comprises:

a feeding device for supplying the PIN;

the material conveying device is arranged between the feeding device and the working platform and used for conveying the PIN from the feeding device to the working platform;

the identification device is used for identifying the PIN placing position on the working platform;

and the control device is connected with the material conveying device and the identification device and used for controlling the material conveying device to transfer the clamped PIN to the corresponding target position according to the position signal sent by the identification device.

Preferably, loading attachment is including the loading board that is used for bearing PIN and locate the loading board bottom in order to promote the loading board for the gliding drive assembly that pushes away of material handling device, push away material drive assembly and link to each other with controlling means, still include:

the position detection piece is connected with the control device and is used for detecting the position of the bearing plate relative to the material conveying device; the control device is used for starting the material pushing driving assembly to push the bearing plate until the bearing plate is located at the preset position according to the signal sent by the position detection piece when the bearing plate is not located at the preset position.

Preferably, loading attachment still pushes away material drive assembly one side including locating and pushes away material drive assembly and drive the jacking drive assembly that the loading board goes up and down for fortune material device in order to support, and jacking drive assembly links to each other with controlling means, still includes:

the height detection piece is connected with the control device and is used for detecting the height between the bearing plate and the material conveying device; the control device is used for starting the jacking driving assembly to push the bearing plate to ascend until the height between the bearing plate and the material conveying device is equal to the preset height when the height between the bearing plate and the material conveying device is larger than the preset height according to the signal sent by the height detecting piece.

Preferably, the material transporting device comprises a material transporting driving assembly and at least one group of mechanical arms, wherein the material transporting driving assembly is used for sliding between the feeding device and the working platform, the mechanical arms are connected with the material transporting driving assembly, the material transporting driving assembly is connected with the control device, and the control device controls the material transporting driving assembly to transfer the PIN supplied by the feeding device to the target position set by the working platform through the mechanical arms according to the position signal sent by the identification device.

Preferably, the material handling drive assembly comprises:

the supporting beam is fixedly connected with the manipulator;

the longitudinal driving piece is fixedly connected with the supporting beam and is used for driving the supporting beam to move longitudinally;

and the transverse driving piece is fixedly connected with the supporting beam and is used for driving the supporting beam to transversely move.

Preferably, the material transporting device also comprises a lifting driving component which is fixedly arranged on the material transporting driving component, connected with the manipulator and used for driving the manipulator to lift relative to the material transporting driving component, and the lifting driving component also comprises:

the control device is used for starting the lifting driving assembly to drive the manipulator to lift relative to the material conveying driving assembly until the vertical distance between the manipulator and the target position is equal to the preset distance according to a signal sent by the distance detection piece when the vertical distance between the manipulator and the target position is greater than the preset distance.

Preferably, the robot arm includes:

the first clamping jaw and the second clamping jaw are oppositely arranged;

and a clamping driving member connected with the first jaw and the second jaw and used for driving the first jaw and the second jaw to move close to or separate from each other so as to clamp or release the PIN correspondingly.

Preferably, the manipulator further comprises a first position detection piece and a second position detection piece which are connected with the control device respectively, the first position detection piece is arranged on the feeding device to detect whether the manipulator moves to the feeding device, the second position detection piece is arranged on the target position to detect whether the manipulator moves to the target position, the control device is used for starting the manipulator to clamp the PIN when the manipulator moves to the feeding device according to a position signal sent by the first position detection piece, and the control device is used for starting the manipulator to release the PIN to enable the PIN to fall on the corresponding target position when the manipulator moves to the target position according to a position signal sent by the second position detection piece.

Preferably, the method further comprises the following steps:

the toppling detection piece is connected with the control device and is used for detecting whether the PIN arranged on the working platform topples over or not;

and the control device is used for starting the alarm device when any PIN topples according to the signal sent by the toppling detection piece.

Compared with the background art, the PIN placing equipment provided by the invention comprises a feeding device, a material conveying device, a recognition device and a control device, wherein when the PIN is placed, the recognition device firstly scans a working platform, a position signal of the working platform, where the PIN needs to be placed, is sent to the control device, the control device controls the material conveying device to act, the material conveying device sequentially transfers the PIN placed on the feeding device to the working platform and places the PIN on a corresponding target position, so that the PIN is placed automatically and sequentially, repeated PIN placing is avoided, the labor intensity is low, the automation degree is high, and the production efficiency is further improved.

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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a structural diagram of a PIN placing device according to an embodiment of the present invention;

FIG. 2 is a block diagram of the loading device of FIG. 1;

FIG. 3 is a block diagram of the material handling device of FIG. 1;

fig. 4 is a structural view of the robot hand of fig. 3.

The reference numbers are as follows:

a working platform 01;

the device comprises a feeding device 1, a conveying device 2 and a recognition device 3;

the device comprises a bearing plate 11, a pushing driving assembly 12 and a jacking driving assembly 13;

a material conveying driving assembly 21, a manipulator 22 and a lifting driving assembly 23;

a first jaw 221, a second jaw 222 and a clamp driver 223.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.

Referring to fig. 1 to 4, fig. 1 is a structural diagram of a PIN placing device according to an embodiment of the present invention; FIG. 2 is a block diagram of the loading device of FIG. 1; FIG. 3 is a block diagram of the material handling device of FIG. 1; fig. 4 is a structural view of the robot hand of fig. 3.

The embodiment of the invention discloses PIN placing equipment which comprises a feeding device 1, a conveying device 2, an identification device 3 and a control device, wherein the feeding device 1 is used for supplying PIN, the conveying device 2 is arranged between the feeding device 1 and a working platform 01 so as to transfer the PIN to the working platform 01 from the feeding device 1, and the working platform 01 is generally provided with a mounting groove for placing the PIN. The recognition device 3 is used to recognize the placement position of the PIN on the work platform 01, and in this particular embodiment, the recognition device 3 is provided on the material handling device 2, and the recognition device 3 is preferably a CCD camera (charge coupled device camera), but the type of the recognition device 3 is not limited thereto.

The control device is respectively electrically connected with the material conveying device 2 and the recognition device 3, when the PIN is placed, the recognition device 3 firstly scans the working platform 01, position signals of the working platform 01, where the PIN needs to be placed, are sent to the control device, the control device controls the material conveying device 2 to act, the material conveying device 2 sequentially transfers the PIN placed on the material conveying device 1 to the working platform 01, and the PIN is placed on the corresponding target position, so that the PIN is placed automatically and sequentially, repeated PIN placing is avoided, the labor intensity is low, and the automation degree is high.

In this embodiment, the feeding device 1 includes a bearing plate 11 and a pushing driving assembly 12, wherein the bearing plate 11 is parallel to the workbench and is used for bearing the PIN. The material pushing driving component 12 is arranged at the bottom of the bearing plate 11 so as to push the bearing plate 11 to slide relative to the material transporting device 2, and the material transporting device 2 can conveniently clamp the PIN from the feeding device 1. The pushing driving assembly 12 comprises a pushing driving member and a pushing plate, a pushing slideway and a pushing chute are respectively arranged between the pushing plate and the bearing plate 11 for guiding the bearing plate 11 to slide, and the pushing slideway and the pushing chute are matched with each other to enable the bearing plate 11 to stably slide and prevent the bearing plate 11 from side turning. The push-pull driving piece is preferably a material pushing hydraulic cylinder, and a piston rod of the material pushing hydraulic cylinder is fixedly connected with the bearing plate 11 and provides power for the bearing plate 11 to slide.

In order to realize automatic feeding, the pushing driving assembly 12 and the control device, in addition, the invention also comprises a position detection piece connected with the control device, and the position detection piece can be used for detecting the position of the bearing plate 11 relative to the material conveying device 2 so that the bearing plate 11 is positioned in the stroke of the material conveying device 2. The position detecting member may be a travel switch, a position detecting sensor, a CCD camera, or the like, and is not particularly limited herein. When the position detection piece detects that the bearing plate 11 is not located at the preset position, the position detection piece sends a signal to the control device, the control device starts the material pushing driving assembly 12, the material pushing driving assembly 12 automatically pushes the bearing plate 11 to slide until the bearing plate 11 is located at the preset position, the automation degree is high, the material loading efficiency is favorably improved, and the production efficiency of the PCB is improved. It should be noted that the preset position is the best position of the carrier plate 11 when the material transporting device 2 can clamp all PINs.

The feeding device 1 further comprises a jacking driving assembly 13 arranged on one side of the pushing driving assembly 12, so that the jacking driving assembly 13 supports the pushing driving assembly 12 to drive the bearing plate 11 to lift relative to the material conveying device 2. In this embodiment, the jacking driving assembly 13 includes a jacking column, a jacking driving member and a jacking sliding block, and a jacking sliding rail and a jacking sliding groove are provided between the jacking sliding block and the jacking column, so that the jacking sliding block can be lifted along the jacking column. The jacking sliding block is fixedly connected with one side of the bearing plate 11, so that the jacking sliding block drives the bearing plate 11 to lift along the jacking upright post. The jacking driving piece is connected with the jacking sliding block and drives the jacking sliding block to lift. The jacking drives may be, but are not limited to, jacking hydraulic cylinders.

In order to further realize automatic feeding, the jacking driving assembly 13 is connected with the control device, and correspondingly, the automatic feeding device also comprises a height detection piece connected with the control device so as to detect the height between the bearing plate 11 and the material conveying device 2. The height detecting member may be a distance sensor or an obstacle sensor, and is not particularly limited thereto. When the height detection piece detects that the height between loading board 11 and material transporting device 2 is greater than the preset height, height detection piece sends a signal to controlling means, controlling means starts jacking drive assembly 13, jacking drive assembly 13 promotes loading board 11 and rises, it is equal to preset height to highly between loading board 11 and material transporting device 2, thereby make loading board 11 realize automatic rising, and then make loading board 11 realize automatic translation and automatic rising dual function, degree of automation further promotes to some extent again, production efficiency promotes to some extent thereupon. The preset height here refers to the optimum height of the material handling device 2 between the carrier plate 11 and the material handling device 2 when the PIN is clamped.

The material transporting device 2 comprises a material transporting driving component 21 and at least one group of mechanical arms 22, all the mechanical arms 22 are connected with the material transporting driving component 21, and the material transporting driving component 21 drives the mechanical arms 22 to slide between the material loading device 1 and the working platform 01, so that PIN transportation is achieved.

In this embodiment, the material handling drive assembly 21 includes a support beam, a longitudinal drive member and a transverse drive member, wherein the support beam is fixedly connected to all of the robots 22 for supporting all of the robots 22 to move in synchronization. The longitudinal driving member and the transverse driving member are connected to the support beam, the longitudinal driving member is used for driving the support beam to move longitudinally, the transverse driving member is used for driving the support beam to move transversely, so that the support beam can move in a plane parallel to the workbench, and the longitudinal driving member and the transverse driving member can be hydraulic cylinders, but the invention is not limited to the longitudinal driving member and the transverse driving member.

The manipulator 22 comprises a first claw 221 and a second claw 222 which are oppositely arranged and a clamping driving piece 223 which is simultaneously connected with the first claw 221 and the second claw 222, when the clamping driving piece 223 drives the first claw 221 and the second claw 222 to move close to each other, the manipulator 22 clamps the PIN, when the clamping driving piece 223 drives the first claw 221 and the second claw 222 to move apart from each other, the manipulator 22 releases the PIN, and therefore the PIN is transferred. The clamp drive 223 may be a dual rod hydraulic cylinder, but is not so limited.

It should be noted that the present invention employs two sets of manipulators 22 to supplement the shortage of the length of the support beam, and of course, the number of manipulators 22 may be set according to the implementation, and is not limited herein.

Further, the structure of the robot 22 is not limited to this mechanical holding of the PIN, and the PIN may be sucked by a vacuum suction cup, or other types of robots, and is not particularly limited herein.

For realizing automatic fortune material, fortune material drive assembly 21 links to each other with controlling means, during the fortune material, recognition device 3 sends the position signal who is used for placing PIN on work platform 01 to controlling means, controlling means plans the analysis to fortune material drive assembly 21's route, make controlling means control longitudinal driving piece and transverse driving piece execution corresponding action respectively, thereby make fortune material drive assembly 21 drive manipulator 22 and carry out corresponding action, manipulator 22 transports the target position that work platform 01 set up with the PIN that loading attachment 1 supplied, realize automatic transportation PIN from this, degree of automation promotes again, production efficiency promotes to some extent naturally.

In order to smoothly place the PINs, the material transporting device 2 further includes a lifting driving assembly 23 fixedly arranged on the material transporting driving assembly 21 and connected to the manipulator 22, and the lifting driving assembly 23 is configured to drive the manipulator 22 to lift relative to the material transporting driving assembly 21. In this embodiment, the lift driving assembly 23 includes a lift driving member, preferably a hydraulic cylinder, a piston rod of which is connected to the robot 22, and a lift slide and a lift chute provided between the robot 22 and the support beam.

The invention also includes a distance detector connected to the control device to detect the vertical distance between the manipulator 22 and the target position. The distance detecting member may be a distance sensor or an obstacle sensor, and is not particularly limited herein. When the distance detection piece detects that the vertical distance between the manipulator 22 and the target position is greater than the preset distance, the distance detection piece sends a signal to the control device, the control device starts the lifting driving assembly 23, the lifting driving assembly 23 drives the manipulator 22 to lift relative to the material conveying driving assembly 21 until the vertical distance between the manipulator 22 and the target position is equal to the preset distance, the preset distance refers to the optimal vertical distance between the manipulator 22 and the target position when the manipulator 22 can stably place the PIN in the target position, and therefore the height of the manipulator 22 relative to the working platform 01 can be automatically adjusted.

Further, the present invention further includes a first position detection element and a second position detection element, which are respectively connected to the control device, the first position detection element is disposed on the feeding device 1 to detect whether the manipulator 22 moves to the feeding device 1, the second position detection element is disposed on the target position to detect whether the manipulator 22 moves to the target position, and both the first position detection element and the second position detection element may be a position sensor or a travel switch, which is not specifically limited herein.

When the first position detection piece detects that the manipulator 22 moves to the feeding device 1, the first position detection piece sends a signal to the control device, and the control device starts the manipulator 22 to automatically clamp the PIN; when the second position detection piece detects that the manipulator 22 moves to the target position, the second position detection piece sends a signal to the control device, the control device starts the manipulator 22 to automatically loosen the PIN so that the PIN falls on the corresponding target position, the manipulator 22 is automatically clamped or loosened, and the automation degree is improved. It should be added that all target positions in this text refer to the positions of the working platform 01 for placing the PIN.

In order to realize error prevention, the invention also comprises a dumping detection piece and an alarm device which are connected with the control device, wherein the dumping detection piece is used for detecting whether the PIN arranged on the working platform 01 is dumped or not, and the dumping detection piece can be a CCD camera, but is not limited to the CCD camera. When toppling over the detection piece and detecting arbitrary PIN and take place to topple over, topple over detection piece and send signal to controlling means, controlling means starts alarm device, reminds the PIN on operating personnel work platform 01 to take place to topple over, prevents that follow-up mistake from placing PIN, and the reliability is higher.

It should be noted that the control device includes a signal receiving unit, a signal determining unit, and a signal transmitting unit, the signal receiving unit is configured to receive an electrical signal transmitted by a detecting element such as the recognition device 3, the position detecting element, or the height detecting element, the signal determining unit is electrically connected to the receiving unit so that the signal determining unit is configured to determine whether the signal received by the receiving unit is a trigger signal, and the signal transmitting unit is electrically connected to the signal determining unit so that the signal transmitting unit transmits a determination signal generated by the signal determining unit to an executing component such as the loading device 1 or the conveying device 2. The specific arrangement mode of the signal receiving part, the signal judging part and the signal sending part can refer to the prior art; in the invention, the application scenes of the three are only changed, and the three are not substantially improved. The control device with the structure is widely applied to the existing automatic control equipment, such as MCU, DSP or singlechip. The key point of the invention is that the control device correspondingly combines each detecting element and each executing element.

The PIN placing device provided by the invention is described in detail above, and a specific example is applied in the text to explain the principle and the implementation of the invention, and the description of the above example is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A PIN placing device, comprising:

-a feeding device (1) for supplying PINs;

the material conveying device (2) is arranged between the feeding device (1) and the working platform (01) and used for conveying the PIN from the feeding device (1) to the working platform (01);

the identification device (3) is used for identifying the PIN placing position on the working platform (01);

and the control device is connected with the material transporting device (2) and the identification device (3), and is used for controlling the material transporting device (2) to transfer the clamped PIN to a corresponding target position according to the position signal sent by the identification device (3).

2. The PIN placing device according to claim 1, wherein the feeding device (1) comprises a bearing plate (11) for bearing the PIN, and a pushing driving assembly (12) arranged at the bottom of the bearing plate (11) for pushing the bearing plate (11) to slide relative to the material transporting device (2), the pushing driving assembly (12) is connected to the control device, and further comprising:

the position detection piece is connected with the control device and is used for detecting the position of the bearing plate (11) relative to the material conveying device (2); the control device is used for starting the material pushing driving assembly (12) to push the bearing plate (11) until the bearing plate (11) is located at the preset position according to the signal sent by the position detection piece when the bearing plate (11) is not located at the preset position.

3. The PIN placing device according to claim 2, wherein the feeding device (1) further comprises a jacking driving component (13) disposed on one side of the pushing driving component (12) for supporting the pushing driving component (12) to drive the bearing plate (11) to lift relative to the material transporting device (2), the jacking driving component (13) is connected to the control device, and the PIN placing device further comprises:

the height detection piece is connected with the control device and is used for detecting the height between the bearing plate (11) and the material conveying device (2); the control device is used for starting the jacking driving assembly (13) to push the bearing plate (11) to ascend until the height between the bearing plate (11) and the material conveying device (2) is equal to the preset height when the height between the bearing plate (11) and the material conveying device (2) is larger than the preset height according to the signal sent by the height detecting piece.

4. The PIN placing device according to claim 2, wherein the material conveying device (2) comprises a material conveying driving assembly (21) and at least one group of mechanical arms (22), wherein the material conveying driving assembly (21) is used for sliding between the feeding device (1) and the working platform (01), the mechanical arms (22) are connected with the material conveying driving assembly (21), the material conveying driving assembly (21) is connected with the control device, and the control device is used for controlling the material conveying driving assembly (21) to transfer the PIN supplied by the feeding device (1) to the target position set by the working platform (01) through the mechanical arms (22) according to the position signal sent by the identification device (3).

5. PIN placement device according to claim 4, wherein the material handling drive assembly (21) comprises:

the supporting beam is fixedly connected with the manipulator (22);

6. The PIN placing device according to claim 4, wherein the material transporting device (2) further comprises a lifting driving component (23) fixedly arranged on the material transporting driving component (21) and connected with the manipulator (22) for driving the manipulator (22) to lift relative to the material transporting driving component (21), and further comprises:

the distance detection piece is connected with the control device and used for detecting the vertical distance between the manipulator (22) and the target position, and the control device is used for starting the lifting driving assembly (23) to drive the manipulator (22) to lift relative to the material conveying driving assembly (21) when the vertical distance between the manipulator (22) and the target position is larger than a preset distance according to a signal sent by the distance detection piece until the vertical distance between the manipulator (22) and the target position is equal to the preset distance.

7. PIN placement device according to any of the claims 4 to 6, characterized in that the manipulator (22) comprises:

a first claw (221) and a second claw (222) which are arranged oppositely;

and a clamping driving member (223) which is connected with the first jaw (221) and the second jaw (222) and is used for driving the first jaw (221) and the second jaw (222) to move close to each other or move away from each other so as to clamp or release the PIN correspondingly.

8. The PIN placing device according to claim 7, further comprising a first position detecting member and a second position detecting member respectively connected to the control means, the first position detection piece is arranged on the feeding device (1) to detect whether the manipulator (22) moves to the feeding device (1), the second position detection member is provided at the target position to detect whether the robot arm (22) moves to the target position, the control device is used for starting the manipulator (22) to clamp the PIN when the manipulator (22) moves to the feeding device (1) according to the position signal sent by the first position detection piece, and the manipulator (22) is started to release the PIN according to the position signal sent by the second position detection piece when the manipulator (22) moves to the target position so that the PIN falls on the corresponding target position.