CN115179038A - PCB (printed Circuit Board) automatic assembly process for base of direct-drive motor - Google Patents
PCB (printed Circuit Board) automatic assembly process for base of direct-drive motor Download PDFInfo
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- CN115179038A CN115179038A CN202210949888.8A CN202210949888A CN115179038A CN 115179038 A CN115179038 A CN 115179038A CN 202210949888 A CN202210949888 A CN 202210949888A CN 115179038 A CN115179038 A CN 115179038A
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- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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Abstract
The invention relates to the technical field of motor assembly, in particular to a process for automatically assembling a PCB (printed circuit board) by a base of a direct drive motor, wherein the base is automatically fed through a base feeding mechanism, grabbed and placed on an assembly jig, and the assembly jig provided with the base is rotated to the next station; clamping and rotating the base on the assembly jig by the rotary positioning mechanism to adjust the base to a specified assembly angle, rotating the turntable mechanism after the rotary positioning, and rotating the assembly jig provided with the base to the next station; the PCB loading mechanism grabs and places the PCB on an assembly groove on the base, the turntable mechanism rotates after the PCB is placed, and the base with the PCB is rotated to the next station; the hole sites of the PCB and the base are calibrated through a calibration mechanism, and the PCB and the base are rotated to the next station through a turntable mechanism after being calibrated; and locking the screw. The invention realizes automatic assembly by a turntable mode and matching with a plurality of stations, the whole process is completed automatically, labor is saved, the assembly is convenient, and the assembly precision is high.
Description
Technical Field
The invention relates to the technical field of motor assembly, in particular to a process for automatically assembling a PCB (printed circuit board) on a base of a direct drive motor.
Background
The direct drive motor is short for direct drive motor, and mainly means that the motor does not need to pass through a transmission device (such as a transmission belt, a gear and the like) when driving a load, so that the structural drive output is realized. Various existing intelligent robots, intelligent cleaning equipment and the like are driven by direct drive motors. When the control panel is applied to a direct-drive motor, the control panel is required to be arranged inside the direct-drive motor, the control panel is required to be fixedly arranged on a base of the direct-drive motor when the direct-drive motor is produced, the control panel is assembled manually at present, and the manual assembly efficiency is low when mass production is required, so that the production efficiency is influenced.
Disclosure of Invention
In order to solve the problems, the invention provides the automatic PCB assembling process for the base of the direct drive motor, which realizes automatic assembly by a turntable mode and matching with a plurality of stations, sequentially performs base feeding, rotary positioning, PCB feeding, assembly calibration, screw locking and automatic blanking, and has the advantages of automatic completion of the whole process, labor saving, convenient assembly and high assembly precision.
The technical scheme adopted by the invention is as follows: a technology for automatically assembling a PCB (printed circuit board) on a base of a direct drive motor comprises assembling equipment, the base and the PCB, wherein the base is provided with an assembling groove, the assembling groove is provided with an identification position, the PCB is assembled in the assembling groove and is provided with a matching position, and the matching position is used for matching the identification position; the assembling equipment comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembling jigs are circumferentially and uniformly distributed on the turntable mechanism and are used for fixing and assembling the base; the base feeding mechanism is used for feeding the base to the assembling jig; the rotary positioning mechanism is used for feeding the base on the assembling jig to perform rotary positioning; the PCB feeding mechanism is used for feeding a PCB and grabbing and placing the PCB on an assembly groove of the base; the calibration mechanism is used for calibrating and matching the matching position and the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembling groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB.
The process comprises the following steps:
s1, loading a base, wherein the base is automatically loaded through a base loading mechanism, picked up and placed on an assembly jig, and a turntable mechanism rotates to rotate the assembly jig provided with the base to a next station; s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating the turntable mechanism after the rotary positioning, and rotating the assembly jig provided with the base to a next station; s3, feeding the PCB, grabbing the PCB on an assembly groove on the base by the PCB feeding mechanism, placing the PCB, rotating the turntable mechanism, and rotating the base with the PCB to the next station; s4, calibrating the PCB, calibrating the hole positions of the PCB and the base through a calibration mechanism, and rotating to the next station through a turntable mechanism after calibration; s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating to the next station through a turntable mechanism after the locking is finished; and S6, blanking, wherein the blanking mechanism grabs and blanks the assembled base to complete automatic assembly.
The further improvement to the above scheme is that the base comprises a lower end part and an upper end part, the upper surface of the upper end part is arranged in the assembly groove, the lower end part and the upper end part are integrally processed to form, the outer peripheral surface of the upper end part is arranged in the identification position, the upper end part is arranged on the lower side of the assembly groove and provided with an avoidance position, the upper end part is arranged between two sides of the assembly groove, the PCB corresponds to the positioning column and is provided with a positioning hole, during assembly, the positioning hole is sleeved on the positioning column, and the matching position is arranged on the outer periphery of the PCB.
The further improvement of the scheme is that the turntable mechanism comprises a disc for mounting the assembling jig and a turntable driving device for driving the disc to rotate.
The further improvement of the scheme is that the assembly jig comprises a jig seat arranged on the disc, an assembly fixing device arranged on the jig seat, and a clamping driving device which is positioned below the disc and used for driving the assembly fixing device.
The jig seat is further improved to be provided with a jig groove, the jig groove comprises an upper groove body and a lower groove body communicated with the upper groove body, the lower end portion of the lower groove body is arranged in the lower groove body, and the upper end portion of the upper groove body is arranged in the upper groove body and exposes the assembling groove.
The assembly fixing device comprises an assembly clamping jaw, an assembly fixing plate and a clamping elastic element, wherein the assembly clamping jaw can be movably arranged on the periphery of the lower groove body and used for clamping and fixing the lower end part, the assembly fixing plate is used for fixing the assembly clamping jaw to move, and the clamping elastic element is arranged on the assembly fixing plate and used for clamping the assembly clamping jaw.
The further improvement of the scheme is that the clamping driving device comprises a clamping jacking cylinder and a jacking driving shaft connected to the clamping jacking cylinder, the assembling clamping jaw is provided with a driving lug, and the jacking driving shaft is used for jacking the driving lug so as to clamp the lower end part of the assembling clamping jaw.
The further improvement of the scheme is that in the step S1, the base feeding mechanism clamps the upper end part of the base, the lower end part of the clamped base is placed into the lower groove body, in the placing process, the clamping jacking cylinder drives the jacking driving shaft to drive the assembly clamping jaw to be in an open state, and when the clamping jacking cylinder is placed in place, the clamping jacking cylinder descends, and the assembly clamping jaw clamps the lower end part.
The base feeding mechanism comprises a first feeding conveying device used for conveying the base and a first feeding grabbing device used for taking materials from the first feeding conveying device and placing the materials onto the assembling jig.
The further improvement of the above scheme is that the first feeding gripping device comprises a first feeding transfer module and a first feeding lifting module arranged on the first feeding transfer module, and the first feeding gripping device is arranged on the first feeding lifting module.
The further improvement of the above scheme is that in the step S1, the base feeding mechanism conveys the base through the first feeding conveying device, and when the base is conveyed to a designated position, the first feeding conveying device and the first feeding lifting module are matched to drive the first feeding taking device to clamp and fix the upper end of the base for feeding.
The further improvement of the scheme is that the rotary positioning mechanism comprises a positioning driving device, a detection device which is arranged on the positioning driving device and used for detecting that the base is placed in the direction of the assembly jig, and a rotary adjusting device which is used for clamping and adjusting the direction of the base.
The scheme is further improved in that the positioning driving device comprises an upright post, a transverse moving module arranged on the upright post and a positioning lifting module arranged on the transverse moving module, and the detection device and the rotation adjusting device are arranged on the positioning lifting module.
The further improvement of the above scheme is that the detection device is a CCD detection lens and faces the assembly jig, and is used for shooting the direction of the base identification position on the assembly jig.
The further improvement to the above scheme is that the rotation adjusting device comprises an adjusting servo motor arranged on the positioning lifting module and an adjusting clamping jaw connected to the adjusting servo motor, and the adjusting clamping jaw is used for clamping the base and adjusting the direction of the base through rotation of the adjusting servo motor.
The further improvement of the scheme is that in the step S2, when the assembly jig is located at the CCD detection lens, the CCD detection lens shoots the base, the CCD detection lens is connected with a comparison system, the comparison system compares the shot picture with the stored illumination and gives an instruction to the adjustment servo motor, the base is clamped by the adjustment servo motor matched with the adjustment clamping jaw, the assembly fixing device loosens the lower end part of the base after clamping, and the adjustment servo motor drives the adjustment clamping jaw to rotate and adjust the clamped base to a specified angle.
The PCB feeding mechanism comprises a second feeding and conveying device and a second feeding and grabbing device, wherein the second feeding and conveying device is used for conveying a PCB, and the second feeding and grabbing device is used for taking materials on the second feeding and conveying device and placing the materials on the assembling groove.
The further improvement of the scheme is that the second feeding gripping device comprises a second feeding transfer module and a second feeding lifting module arranged on the second feeding transfer module, and the second feeding gripping device is arranged on the second feeding lifting module.
The further improvement of the scheme is that in the step S3, the second feeding and conveying device conveys the PCB to a designated position, and then the PCB is grabbed by the second feeding and grabbing device and then placed on the assembly groove of the base.
The further improvement of the scheme is that the assembly groove is provided with a plurality of mounting holes, the PCB is provided with through holes corresponding to the mounting holes, and the calibration mechanism comprises a calibration driving device, a shooting camera which is arranged on the calibration driving device and used for shooting the position of the PCB in the assembly groove, and a calibration device which is used for grabbing and adjusting the position of the PCB.
The further improvement to the above scheme is that the calibration driving device comprises a calibration moving module and a calibration lifting module arranged on the calibration moving module, and the shooting camera is arranged on the calibration lifting module.
The further improvement to above-mentioned scheme does, calibrating device is including installing the calibration servo motor who calibrates lift module and installing the calibration sucking disc at calibration servo motor, the calibration sucking disc is used for adsorbing and snatchs the PCB board.
The further improvement of the scheme is that in the step S4, the PCB is shot through the shooting camera, the positions of the matching position and the recognition position are recognized in shooting, the calibration sucker is driven by the calibration servo motor to capture the PCB and then rotate and calibrate the PCB, the shooting camera shoots pictures again after calibration, and the matching of the through hole and the mounting hole is determined.
The further improvement to above-mentioned scheme does, lock screw mechanism includes manipulator, screw feedway and installs the electronic screwdriver at the manipulator, the manipulator is used for getting on screw feedway and getting the material and lock the screw into to the mounting hole for the PCB board is fixed at the assembly groove.
The further improvement of the scheme is that the blanking mechanism comprises a blanking gripping device and a blanking conveying device, wherein the blanking gripping device is used for gripping the base which is assembled on the assembling jig to take materials, and the blanking conveying device is used for placing and conveying the base which is gripped by the blanking gripping device.
In a further improvement of the above scheme, in the step S5, the robot grips screws from the screw feeding device and then locks the PCB on the assembly groove of the base.
The invention has the beneficial effects that:
compared with the existing assembly of the PCB of the direct drive motor, the assembly groove is formed in the base of the direct drive motor and used for being matched with the installation of the PCB, the automatic assembly is realized by matching a plurality of stations in a turntable mode in the specific assembly process, the base is sequentially subjected to feeding, rotary positioning, feeding of the PCB, assembly calibration, screw locking fixation and automatic blanking, the whole process is automatically completed, the labor is saved, the assembly is convenient, and the assembly precision is high. Specifically, the PCB comprises a base and a PCB board, wherein the base is provided with an assembly groove, the assembly groove is provided with an identification position, the PCB board is assembled in the assembly groove and is provided with a matching position, and the matching position is used for matching the identification position; the assembling apparatus includes: the device comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembling jigs are circumferentially and uniformly distributed on the turntable mechanism and are used for fixing and assembling a base; the base feeding mechanism is used for feeding the base to the assembling jig; the rotary positioning mechanism is used for feeding the base on the assembling jig to perform rotary positioning; the PCB feeding mechanism is used for feeding a PCB and grabbing and placing the PCB on an assembly groove of the base, and the calibration mechanism is used for calibrating and matching the matching position and the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembling groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB. The process comprises the following steps: s1, loading a base, wherein the base is automatically loaded through a base loading mechanism, picked up and placed on an assembly jig, and a turntable mechanism rotates to rotate the assembly jig provided with the base to a next station; s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating the turntable mechanism after the rotary positioning, and rotating the assembly jig provided with the base to a next station; s3, feeding the PCB, grabbing the PCB on an assembly groove on the base by the PCB feeding mechanism, placing the PCB, rotating the turntable mechanism, and rotating the base with the PCB to the next station; s4, calibrating the PCB, calibrating the hole positions of the PCB and the base through a calibration mechanism, and rotating to the next station through a turntable mechanism after calibration; s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating to the next station through a turntable mechanism after the locking is finished; and S6, blanking, wherein the blanking mechanism grabs and blanks the assembled base to complete automatic assembly. The whole assembling process is automatically completed, the assembling efficiency is high, the labor is saved, and the assembling precision is high.
Drawings
FIG. 1 is a schematic flow chart of an assembly process of the present invention;
FIG. 2 is a schematic structural view of a base and a PCB of the direct drive motor of the present invention;
FIG. 3 is a schematic perspective view of a base of the direct drive motor of FIG. 2;
FIG. 4 is a perspective view of the assembly apparatus of the present invention;
FIG. 5 is a perspective view of the assembly apparatus of FIG. 4 from another perspective;
FIG. 6 is a schematic top view of the assembly apparatus of FIG. 4;
FIG. 7 is a schematic structural diagram of an assembly jig of the assembly apparatus shown in FIG. 4;
FIG. 8 is a schematic diagram of a base feed mechanism of the assembly apparatus of FIG. 4;
FIG. 9 is a schematic view of the rotary positioning mechanism of the assembly apparatus of FIG. 4;
FIG. 10 is a schematic structural diagram of a PCB loading mechanism of the assembly apparatus of FIG. 4;
fig. 11 is a schematic structural view of a calibration mechanism of the assembly apparatus of fig. 4.
Description of reference numerals: the device comprises a base 1, an assembly groove 11, a mounting hole 111, an identification position 12, a lower end part 13, an upper end part 14, an avoidance position 141 and a positioning column 142;
the PCB 2, a matching position 21, a positioning hole 22 and a through hole 23;
the rotary table mechanism 3, an assembly jig 31, a jig seat 311, an assembly fixing device 312, an assembly clamping jaw 312a, an assembly fixing plate 312b, an elastic element 312c, a driving lug 312d, a clamping driving device 313, a clamping jacking cylinder 313a, a jacking driving shaft 313b, a jig groove 314, an upper groove body 314a, a lower groove body 314b, a disc 32 and a rotary table driving device 33;
the automatic feeding device comprises a base feeding mechanism 4, a first feeding conveying device 41, a first feeding grabbing device 42, a first feeding transfer module 421 and a first feeding lifting module 422;
a rotary positioning mechanism 5, a positioning driving device 51, an upright column 511, a transverse moving module 512, a positioning lifting module 513, a detection device 52, a rotary adjusting device 53, an adjusting servo motor 531 and an adjusting clamping jaw 532;
the PCB feeding mechanism 6, the second feeding conveying device 61, the second feeding grabbing device 62, the second feeding transfer module 621 and the second feeding lifting module 622;
the calibration mechanism 7, the calibration driving device 71, the calibration moving module 711, the calibration lifting module 712, the shooting camera 72, the calibration device 73, the calibration servo motor 731 and the calibration sucker 732;
the screw locking mechanism 8, the manipulator 81, the screw feeding device 82 and the electric screwdriver 83;
a blanking mechanism 9, a blanking grabbing device 91 and a blanking conveying device 92.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 11, a process for automatically assembling a PCB on a base of a direct drive motor is provided with a base 1 and a PCB 2, wherein the base 1 is provided with an assembly groove 11, the assembly groove 11 is provided with an identification position 12, the PCB 2 is assembled in the assembly groove 11 and is provided with a matching position 21, and the matching position 21 is used for matching the identification position 12; the assembling apparatus includes: the device comprises a turntable mechanism 3, a base feeding mechanism 4, a rotary positioning mechanism 5, a PCB feeding mechanism 6, a calibration mechanism 7, a screw locking mechanism 8 and a blanking mechanism 9, wherein a plurality of assembling jigs 31 are circumferentially and uniformly distributed on the turntable mechanism 3, and the assembling jigs 31 are used for fixing and assembling the base 1; the base feeding mechanism 4 is used for feeding the base 1 to the assembling jig 31; the rotary positioning mechanism 5 is used for rotationally positioning the base 1 fed to the assembly jig 31; the PCB feeding mechanism 6 is used for feeding the PCB 2 and grabbing and placing the PCB on the assembly groove 11 of the base 1, and the calibration mechanism 7 is used for calibrating and matching the matching position 21 with the identification position 12; the screw locking mechanism 8 is used for locking screws on the PCB 2 and the assembling groove 11; the blanking mechanism 9 is used for grabbing and blanking the base 1 assembled with the PCB 2.
The process comprises the following steps:
s1, loading a base 1, automatically loading the base 1 through a base loading mechanism 4, picking up and placing the base 1 on an assembly jig 31, rotating a turntable mechanism 3, and rotating the assembly jig 31 provided with the base 1 to a next station;
s2, positioning the base 1, clamping and rotating the base 1 on the assembly jig 31 through the rotary positioning mechanism 5 to adjust to a specified assembly angle, rotating the turntable mechanism 3 after the rotary positioning, and rotating the assembly jig 31 with the base 1 to the next station;
s3, feeding the PCB 2, grabbing and placing the PCB 2 on an assembly groove 11 on the base 1 by the PCB feeding mechanism, placing the PCB 2, rotating the turntable mechanism 3, and rotating the base 1 provided with the PCB 2 to the next station;
s4, calibrating the PCB 2, calibrating the hole positions of the PCB 2 and the base 1 through a calibrating mechanism 7, and rotating to the next station through a turntable mechanism 3 after calibration;
s5, locking screws, namely locking and fixing the PCB 2 and the base 1 through a screw locking mechanism 8, and rotating to the next station through a turntable mechanism 3 after the locking is finished;
and S6, blanking, wherein the blanking mechanism 9 grabs and blanks the assembled base 1 to complete automatic assembly.
Referring to fig. 2, the base 1 includes a lower end portion 13 and an upper end portion 14, the assembly groove 11 is formed on the upper surface of the upper end portion 14, the lower end portion 13 and the upper end portion 14 are integrally formed, the identification portion 12 is disposed on the outer peripheral surface of the upper end portion 14, the upper end portion 14 is disposed on the lower side of the assembly groove 11 and is provided with the avoidance portion 141, the upper end portion 14 is disposed in the center and is provided with a positioning column 142, the PCB 2 is provided with a positioning hole 22 corresponding to the positioning column 142, during assembly, the positioning hole 22 is sleeved on the positioning column 142, and the matching portion 21 is disposed on the periphery of the PCB 2.
The turntable mechanism 3 comprises a disc 32 for mounting the assembly jig 31 and a turntable driving device 33 for driving the disc 32 to rotate; in the working of this embodiment, the rotation driving device is used for driving the disc 32 to rotate in cooperation with the disc 32, and the turntable driving device 33 may be a DD motor or a divider as a drive, and is suitable for multi-station processing of the turntable.
Further preferably, in the above embodiment, the assembly jig 31 includes a jig base 311 installed on the disc 32, an assembly fixture 312 disposed on the jig base 311, and a clamping driving device 313 located below the disc 32 for driving the assembly fixture 312; the jig base 311 is provided with a jig groove 314, the jig groove 314 comprises an upper groove body 314a and a lower groove body 314b communicated with the upper groove body 314a, the lower end part 13 is arranged in the lower end part 13, the upper end part 14 is arranged in the upper groove body 314a and exposes the assembling groove 11, the jig groove 314 is used for installing and fixing the base 1, meanwhile, an assembling and fixing device 312 and a clamping and driving device 313 are arranged, the base 1 is clamped and fixed on the jig groove 314 through the assembling and fixing device 312, and the clamping and driving device 313 is used for driving the assembling and fixing device 312 to be opened and closed and fixed.
Further preferably, in the above embodiment, referring to fig. 6, the assembly fixture 312 includes an assembly clamping jaw 312a movably disposed on the periphery of the lower slot 314b and used for clamping and fixing the lower end portion 13, an assembly fixing plate 312b used for fixing the assembly clamping jaw 312a movably, and a clamping elastic element 312c disposed on the assembly fixing plate 312b and used for providing clamping for the assembly clamping jaw 312 a; in a further modification, the clamping driving device 313 includes a clamping jacking cylinder 313a and a jacking driving shaft 313b for connecting to the clamping jacking cylinder 313a, the assembling jaw 312a is provided with a driving lug 312d, and the jacking driving shaft 313b is used for jacking up the driving lug 312d so that the assembling jaw 312a clamps the lower end portion 13. The driving lug 312d is driven by the jacking driving shaft 313b to cooperate with the assembling jaw 312a to clamp or unclamp the lower end portion 13.
In the step S1, the base feeding mechanism 4 clamps the upper end portion 14 of the base 1, and places the clamped lower end portion of the base 1 into the lower groove 314b, in the process of placing, the clamping and jacking cylinder 313a drives the jacking driving shaft 313b to drive the assembly clamping jaw 312a to be in an open state, and when the clamping and jacking cylinder 313a is lowered after being placed in place, the assembly clamping jaw 312a clamps the lower end portion.
Referring to fig. 7, the base feeding mechanism 4 includes a first feeding conveyor 41 for conveying the base 1, and a first feeding gripping device 42 for taking material from the first feeding conveyor 41 and placing the material on the assembly fixture 31; the further improvement is that the first feeding gripping device 42 comprises a first feeding transfer module 421 and a first feeding lifting module 422 installed on the first feeding transfer module 421, and the first feeding gripping device 42 is installed on the first feeding lifting module 422; the first feeding conveying device 41 is used for feeding the base 1 for conveying, and when the base 1 is conveyed to a designated position, the base 1 is grabbed by the first feeding grabbing device 42, and then placed on the assembling jig 31 for assembling.
In step S1, the base feeding mechanism 4 conveys the base 1 through the first feeding conveyor 41, and when the base 1 is conveyed to a designated position, the first feeding conveyor 41 and the first feeding lifting module 422 cooperate to drive the first feeding and taking device 42 to clamp and fix the upper end 14 of the base 1 for feeding.
Referring to fig. 8, the rotation positioning mechanism 5 includes a positioning driving device 51, a detecting device 52 installed on the positioning driving device 51 and used for detecting the placement of the base 1 in the direction of the assembling jig 31, and a rotation adjusting device 53 used for clamping and adjusting the direction of the base 1; the detection device 52 and the rotation adjustment device 53 are driven by the positioning drive device 51 to adjust the position of the base 1 for subsequent assembly.
The positioning driving device 51 comprises a vertical column 511, a traverse module 512 arranged on the vertical column 511, and a positioning lifting module 513 arranged on the traverse module 512, wherein the detection device 52 and the rotation adjusting device 53 are both arranged on the positioning lifting module 513; the traverse module 512 and the lifting module are linear modules, and are matched with the lifting module for transverse movement and lifting movement of the structure.
The detection device 52 is a CCD detection lens and faces the assembly fixture 31, and is used for shooting the direction of the identification position 12 of the base 1 on the assembly fixture 31; the further improvement is that the rotation adjusting device 53 comprises an adjusting servo motor 531 arranged on the positioning lifting module 513 and an adjusting clamping jaw 532 connected to the adjusting servo motor 531, and the adjusting clamping jaw 532 is used for clamping the base 1 and rotationally adjusting the direction of the base 1 through the adjusting servo motor 531; adopt CCD to detect the camera lens and take the photo of base 1 to discern the direction of discerning position 12, later through servo motor drive adjustment clamping jaw 532 with base 1 centre gripping back rotation adjustment to appointed direction, make things convenient for subsequent equipment.
In step S2, when the assembly fixture 31 is located in the CCD detection lens, the CCD detection lens will photograph the base 1, the CCD detection lens is connected to the comparison system, the comparison system compares the photographed picture with the stored illumination, and gives an instruction to the adjustment servo motor 531, the adjustment servo motor 531 cooperates with the adjustment clamping jaw 532 to clamp the base 1, the assembly fixture loosens the lower end of the base 1 after clamping, and the adjustment servo motor 531 drives the adjustment clamping jaw 532 to rotate and adjust the clamped base 1 to a specified angle.
Referring to fig. 9, the PCB feeding mechanism 6 includes a second feeding conveyor 61 for conveying the PCB 2, and a second feeding gripper 62 for taking the material from the second feeding conveyor 61 and placing the material on the assembly slot 11; in a further improvement, the second feeding grabbing device 62 comprises a second feeding transfer module 621 and a second feeding lifting module 622 installed on the second feeding transfer module 621, the second feeding grabbing device 62 is installed on the second feeding lifting module 622, and the second feeding grabbing device 62 is used for grabbing and placing the PCB 2 conveyed by the second feeding conveying device 61 onto the assembly groove 11 of the base 1.
In step S3, the second feeding conveyor conveys the PCB 2 to a designated position, and then the PCB 2 is placed on the assembly groove 11 of the base 1 after being grabbed by the second feeding grabbing device.
Referring to fig. 10, the assembly slot 11 is provided with a plurality of mounting holes 111, the PCB 2 is provided with through holes 23 corresponding to the mounting holes 111, and the calibration mechanism 7 includes a calibration driving device 71, a camera 72 installed on the calibration driving device 71 and used for shooting the position of the PCB 2 in the assembly slot 11, and a calibration device 73 used for grabbing and adjusting the position of the PCB 2; in this embodiment, through the cooperation of mounting hole 111 and through-hole 23, convenient subsequent equipment, and then, when PCB board 2 fed to assembly tray 11, whether match through shooting camera 72 shooting mounting hole 111 and through-hole 23, and then accessible calibrating device 73 calibrates, makes things convenient for subsequent equipment.
Preferably, the calibration driving device 71 includes a calibration moving module 711 and a calibration lifting module 712 installed on the calibration moving module 711, and the photographing camera 72 is installed on the calibration lifting module 712; in a further improvement, the calibration device 73 includes a calibration servo motor 731 installed on the calibration lifting module 712, and a calibration suction cup 732 installed on the calibration servo motor 731, the calibration suction cup 732 is used for sucking and grabbing the PCB 2, the lateral movement and the lifting are driven by the calibration driving device 71, the PCB 2 is sucked by the suction cup during calibration, and then the micro-adjustment is performed by the calibration servo motor 731, so as to match the installation hole 111 with the through hole 23.
In the step S4, the PCB 2 is shot through the shooting camera, the positions of the matching position and the identification position are identified in the shooting process, the calibration sucker is driven by the calibration servo motor 731 to grab the PCB 2 and then rotate for calibration, the shooting camera shoots pictures again after the calibration, and the through hole is determined to be matched with the mounting hole in position.
The screw locking mechanism 8 comprises a mechanical arm 81, a screw feeding device 82 and an electric screwdriver 83 installed on the mechanical arm 81, wherein the mechanical arm 81 is used for taking materials from the screw feeding device 82 and locking screws into the mounting holes 111, so that the PCB 2 is fixed on the assembly groove 11, the mechanical arm 81 drives the electric screwdriver 83 to take materials from the screw feeding device 82, and then the screws are locked into the mounting holes 111 under the action of the mechanical arm 81.
In step S5, the robot 81 picks up screws from the screw feeder 82 and locks the PCB 2 on the assembly groove 11 of the base 1.
The blanking mechanism 9 comprises a blanking gripping device 91 used for gripping the assembled base 1 on the assembling jig to take materials and a blanking conveying device 92 used for placing and conveying the base 1 gripped by the blanking gripping device 91, and the base 1 is gripped by the blanking gripping device 91 and then placed into the blanking conveying device 92 to be conveyed and blanked, so that the automatic assembly of the PCB 2 is completed.
According to the invention, the assembly groove 11 is formed in the base 1 of the direct drive motor, the assembly groove 11 is used for being matched with the installation of the PCB 2, the specific assembly process is that automatic assembly is realized by matching a plurality of stations in a turntable mode, the base 1 is sequentially subjected to feeding, rotary positioning, PCB 2 feeding, assembly calibration, screw locking fixation and automatic blanking, the whole process is automatically completed, the labor is saved, the assembly is convenient, and the assembly precision is high. Specifically, the PCB comprises a base 1 and a PCB 2, wherein the base 1 is provided with an assembly groove 11, the assembly groove 11 is provided with an identification position, the PCB 2 is assembled in the assembly groove 11 and is provided with a matching position, and the matching position is used for matching the identification position; the assembling apparatus includes: the device comprises a turntable mechanism 3, a base feeding mechanism 4, a rotary positioning mechanism 5, a PCB feeding mechanism, a calibration mechanism 7, a screw locking mechanism 8 and a blanking mechanism 9, wherein a plurality of assembling jigs 31 are circumferentially and uniformly distributed on the turntable mechanism 3, and the assembling jigs 31 are used for fixing and assembling the base 1; the base feeding mechanism 4 is used for feeding the base 1 to the assembling jig 31; the rotary positioning mechanism 5 is used for rotationally positioning the base 1 fed to the assembly jig 31; the PCB feeding mechanism is used for feeding the PCB 2 and grabbing and placing the PCB on the assembly groove 11 of the base 1, and the calibration mechanism 7 is used for calibrating and matching the matching position and the identification position; the screw locking mechanism 8 is used for locking screws on the PCB 2 and the assembling groove 11; the blanking mechanism 9 is used for grabbing and blanking the base 1 assembled with the PCB 2. The process comprises the following steps: s1, a base 1 is loaded, the base 1 is automatically loaded through a base loading mechanism 4 and is grabbed and placed on an assembly jig 31, a turntable mechanism 3 rotates, and the assembly jig 31 with the base 1 is rotated to the next station; s2, positioning the base 1, clamping and rotating the base 1 on the assembly jig 31 through the rotary positioning mechanism 5 to adjust to a specified assembly angle, rotating the turntable mechanism 3 after the rotary positioning, and rotating the assembly jig 31 with the base 1 to the next station; s3, feeding the PCB 2, grabbing and placing the PCB 2 on an assembly groove 11 on the base 1 by the PCB feeding mechanism, placing the PCB 2, rotating the turntable mechanism 3, and rotating the base 1 provided with the PCB 2 to the next station; s4, calibrating the PCB 2, calibrating the hole positions of the PCB 2 and the base 1 through the calibrating mechanism 7, and rotating to the next station through the turntable mechanism 3 after calibration; s5, locking screws, namely locking and fixing the PCB 2 and the base 1 through a screw locking mechanism 8, and rotating to the next station through a turntable mechanism 3 after the locking is finished; and S6, blanking, wherein the blanking mechanism 9 grabs and blanks the assembled base 1 to complete automatic assembly. The whole assembling process is completed automatically, the assembling efficiency is high, the labor is saved, and the assembling precision is high.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The technology for automatically assembling the PCB on the base of the direct drive motor is characterized in that:
the PCB assembling device comprises assembling equipment, a base and a PCB, wherein the base is provided with an assembling groove, the assembling groove is provided with an identification position, the PCB is assembled in the assembling groove and is provided with a matching position, and the matching position is used for matching the identification position;
the assembling equipment comprises a turntable mechanism, a base feeding mechanism, a rotary positioning mechanism, a PCB feeding mechanism, a calibration mechanism, a screw locking mechanism and a blanking mechanism, wherein a plurality of assembling jigs are circumferentially and uniformly distributed on the turntable mechanism and are used for fixing and assembling the base; the base feeding mechanism is used for feeding the base to the assembling jig; the rotary positioning mechanism is used for feeding the base on the assembling jig to perform rotary positioning; the PCB feeding mechanism is used for feeding a PCB and grabbing and placing the PCB on an assembly groove of the base; the calibration mechanism is used for calibrating and matching the matching position and the identification position; the screw locking mechanism is used for locking screws on the PCB and the assembling groove; the blanking mechanism is used for grabbing and blanking the base assembled with the PCB;
the process comprises the following steps:
s1, loading a base, wherein the base is automatically loaded through a base loading mechanism, picked up and placed on an assembly jig, and a turntable mechanism rotates to rotate the assembly jig provided with the base to a next station;
s2, positioning the base, clamping and rotating the base on the assembly jig to a specified assembly angle through a rotary positioning mechanism, rotating the turntable mechanism after the rotary positioning, and rotating the assembly jig provided with the base to a next station;
s3, feeding the PCB, grabbing the PCB on an assembly groove on the base by the PCB feeding mechanism, placing the PCB, rotating the turntable mechanism, and rotating the base with the PCB to the next station;
s4, calibrating the PCB, calibrating the hole positions of the PCB and the base through a calibration mechanism, and rotating to the next station through a turntable mechanism after calibration;
s5, locking screws, namely locking and fixing the PCB and the base through a screw locking mechanism, and rotating to the next station through a turntable mechanism after the locking is finished;
and S6, blanking, wherein the blanking mechanism grabs and blanks the assembled base to complete automatic assembly.
2. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the base includes lower tip and upper end, the upper surface at the upper end is seted up to the assembly groove, lower tip and upper end integrated into one piece form, the outer peripheral face of upper end is located to the discernment position, the upper end is located the downside of assembly groove and is equipped with and dodge the position, the reference column has been seted up between two parties to the upper end, the locating hole has been seted up to the corresponding reference column of PCB board, during the equipment, the reference column is located to the locating hole cover, the cooperation position is located the periphery of PCB board.
3. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 2, wherein: the turntable mechanism comprises a disc for mounting the assembly jig and a turntable driving device for driving the disc to rotate;
the assembling jig comprises a jig seat arranged on the disc, an assembling and fixing device arranged on the jig seat, and a clamping driving device which is positioned below the disc and used for driving the assembling and fixing device;
the jig seat is provided with a jig groove, the jig groove comprises an upper groove body and a lower groove body communicated with the upper groove body, the lower end part is arranged in the lower groove body, and the upper end part is arranged in the upper groove body and exposes the assembling groove;
the assembling and fixing device comprises an assembling clamping jaw, an assembling fixing plate and a clamping elastic element, wherein the assembling clamping jaw can be movably arranged on the periphery of the lower groove body and used for clamping and fixing the lower end part, the assembling fixing plate is used for fixing the assembling clamping jaw to move, and the clamping elastic element is arranged on the assembling fixing plate and used for clamping the assembling clamping jaw;
the clamping driving device comprises a clamping jacking cylinder and a jacking driving shaft connected to the clamping jacking cylinder, the assembling clamping jaw is provided with a driving lug, and the jacking driving shaft is used for jacking the driving lug so as to enable the assembling clamping jaw to clamp the lower end part.
4. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 3, wherein the process comprises the following steps: in the step S1, the upper end of the base is clamped by the base feeding mechanism, the lower end of the clamped base is placed into the lower groove body, the clamping jacking cylinder drives the jacking driving shaft to drive the assembling clamping jaw to be in an open state in the placing process, and the clamping jacking cylinder descends after the clamping jacking cylinder is placed in place, and the assembling clamping jaw clamps the lower end.
5. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the base feeding mechanism comprises a first feeding conveying device used for conveying the base and a first feeding grabbing device used for taking materials from the first feeding conveying device and placing the materials on the assembling jig;
the first feeding grabbing device comprises a first feeding transferring module and a first feeding lifting module arranged on the first feeding transferring module, and is arranged on the first feeding lifting module;
in the step S1, the base feeding mechanism conveys the base through the first feeding and conveying device, and when the base is conveyed to a designated position, the first feeding and taking device is driven by the cooperation of the first feeding and conveying device and the first feeding lifting module to clamp and fix the upper end of the base for feeding.
6. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the rotary positioning mechanism comprises a positioning driving device, a detection device and a rotary adjusting device, wherein the detection device is installed on the positioning driving device and used for detecting that the base is placed in the direction of the assembling jig, and the rotary adjusting device is used for clamping and adjusting the direction of the base;
the positioning driving device comprises an upright post, a transverse moving module arranged on the upright post and a positioning lifting module arranged on the transverse moving module, and the detection device and the rotation adjusting device are arranged on the positioning lifting module;
the detection device is a CCD detection lens, faces the assembly jig and is used for shooting the direction of the base identification position on the assembly jig;
the rotary adjusting device comprises an adjusting servo motor arranged on the positioning lifting module and an adjusting clamping jaw connected to the adjusting servo motor, and the adjusting clamping jaw is used for clamping the base and adjusting the direction of the base through rotation of the adjusting servo motor.
7. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 6, wherein the process comprises the following steps: in the step S2, when the assembly jig is located at the CCD detection lens, the CCD detection lens will photograph the base, the CCD detection lens is connected to a contrast system, the contrast system will compare the photographed picture with the stored illumination and give an instruction to the adjustment servo motor, the base is clamped by the adjustment servo motor in cooperation with the adjustment clamping jaw, the assembly fixing device loosens the lower end portion of the base after clamping, and the adjustment servo motor drives the adjustment clamping jaw to rotate and adjust the clamped base to a specified angle.
8. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the PCB feeding mechanism comprises a second feeding conveying device for conveying the PCB and a second feeding grabbing device for taking materials from the second feeding conveying device and placing the materials on the assembling groove;
the second feeding gripping device comprises a second feeding transferring module and a second feeding lifting module arranged on the second feeding transferring module, and the second feeding gripping device is arranged on the second feeding lifting module;
in the step S3, the PCB is conveyed to the designated position by the second feeding conveying device, and then the PCB is placed on the assembly groove of the base after being grabbed by the second feeding grabbing device.
9. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the assembly groove is provided with a plurality of mounting holes, the PCB is provided with through holes corresponding to the mounting holes, and the calibration mechanism comprises a calibration driving device, a shooting camera which is arranged on the calibration driving device and is used for shooting the position of the PCB in the assembly groove, and a calibration device which is used for grabbing and adjusting the position of the PCB;
the calibration driving device comprises a calibration moving module and a calibration lifting module arranged on the calibration moving module, and the shooting camera is arranged on the calibration lifting module;
the calibration device comprises a calibration servo motor arranged on the calibration lifting module and a calibration sucker arranged on the calibration servo motor, and the calibration sucker is used for sucking and grabbing the PCB;
and in the step S4, the PCB is shot through the shooting camera, the positions of the matching position and the recognition position are recognized through shooting, the calibration sucker is driven by the calibration servo motor to capture the PCB and then rotate for calibration, the shooting camera shoots pictures again after calibration, and the through hole is determined to be matched with the mounting hole in position.
10. The process for automatically assembling the PCB on the base of the direct drive motor as claimed in claim 1, wherein the process comprises the following steps: the screw locking mechanism comprises a mechanical arm, a screw feeding device and an electric screwdriver arranged on the mechanical arm, wherein the mechanical arm is used for taking materials from the screw feeding device and locking screws into the mounting holes, so that the PCB is fixed in the assembling groove;
the blanking mechanism comprises a blanking grabbing device and a blanking conveying device, wherein the blanking grabbing device is used for grabbing the assembled base on the assembling jig to take materials, and the blanking conveying device is used for placing and conveying the base grabbed by the blanking grabbing device;
and in the step S5, the PCB is locked on the assembly groove of the base after the manipulator grabs the screws from the screw feeding device.
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| CN202210949888.8A CN115179038B (en) | 2022-08-09 | 2022-08-09 | Automatic PCB board assembling process for base of direct-drive motor |
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| CN202210949888.8A CN115179038B (en) | 2022-08-09 | 2022-08-09 | Automatic PCB board assembling process for base of direct-drive motor |
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| CN115179038B (en) | 2023-10-24 |
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