CN117412580A - Plug-in device - Google Patents

Abstract

The invention discloses plug-in equipment, which comprises a limit module and a side plug-in module, wherein the limit module is used for controlling the position of a printed circuit board; the side plug module is used for receiving the in-place signal sent by the limit module and clamping the element to be laterally plugged on the printed circuit board. In the embodiment of the invention, the side plug module can be triggered to start working to perform side plug after the printed circuit board is in place, namely, the side plug can be automatically performed on the printed circuit board through the plug equipment, so that the operation efficiency is improved.

Description

Plug-in device

Technical Field

The invention relates to the technical field of printed circuit board plugging, in particular to plug-in equipment.

Background

The components integrated on the PCB (Printed Circuit Board ) are usually located on the upper and lower surfaces of the PCB, but some products are designed with components such as connectors at the side of the PCB.

At present, the plug-in device can only complete the surface mounting and plug-in operation of the upper surface and the lower surface of the PCB. When the component is laterally inserted on the PCB, the action of laterally inserting the component is completed by manually utilizing the carrier.

However, the manner of manually using the carrier to implement the PCB side plug element is inefficient.

Disclosure of Invention

The invention provides plug-in equipment, which aims at least solving the technical problem of lower operation efficiency when a carrier is manually used for realizing the side plug-in of a PCB in the prior art.

The invention provides plug-in equipment which comprises a limit module and a side plug-in module, wherein the limit module is used for controlling the position of a printed circuit board; the side plug module is used for receiving the in-place signal sent by the limit module and clamping the element to be laterally plugged on the printed circuit board.

Optionally, the side-plug module comprises a carrying assembly and a primary-plug assembly; the handling assembly comprises a mechanical arm and a controller for controlling the mechanical arm to move, the primary inserting assembly is connected to the mechanical arm and is electrically connected with the controller, and the primary inserting assembly is used for clamping the element and laterally inserting the element on the printed circuit board under the control of the controller.

Optionally, the device further comprises a propping module, wherein the propping module comprises a motion assembly and a final insert block, and the final insert block is used for pushing the element under the drive of the motion assembly.

Optionally, the device further comprises two conveying mechanisms arranged at intervals, the conveying mechanisms are used for conveying the printed circuit boards, the propping module further comprises a propping assembly connected with the moving assembly, and the propping assembly is used for propping the lower surface of the printed circuit boards.

Optionally, the device further comprises a pressing module, the pressing module comprises a pressing driving member and a pressing rod connected with the pressing driving member, the pressing driving member is used for driving the pressing rod to move towards or away from the conveying mechanism, and the pressing rod is used for pressing the upper surface of the printed circuit board.

Optionally, the motion assembly includes first motion mechanism and triaxial linear mechanism, first motion mechanism with final cartridge links to each other, triaxial linear mechanism with first motion mechanism with the top support subassembly links to each other, the direction of motion of first motion mechanism is unanimous with the flow direction of printed circuit board is parallel.

Optionally, the triaxial linear mechanism includes first moving member, the direction of motion of first moving member with the flow direction of printed circuit board is perpendicular, and with the thickness direction of printed circuit board is perpendicular, the top support module still include with triaxial linear mechanism links to each other's first straight line slide rail, sliding connection has the slider on the first straight line slide rail, the top support subassembly is connected on the slider, the extending direction of first straight line slide rail with the direction of motion of first moving member is parallel.

Optionally, two spring probes are respectively arranged at two ends of the first linear slide rail, each spring probe comprises a needle body and a needle head connected to the needle body through a spring, and the needle heads of the two spring probes respectively prop against two ends of the sliding block.

Optionally, the mechanical arm is further connected with a pressing mechanism, and the pressing mechanism is used for pressing the upper surface of the printed circuit board.

Optionally, the device further comprises a shaping platform, wherein the primary inserting assembly is used for clamping the element from the shaping platform, and the shaping platform is used for shaping the element.

Optionally, the side-insertion module further comprises a clamping component, wherein the clamping component is connected to the mechanical arm and is electrically connected with the controller, and the clamping component is used for clamping the element from a material taking position.

Optionally, still include the feed bin and get the material module, the feed bin includes the storehouse body and stacks up a plurality of trays in the storehouse body, the tray is used for placing the charging tray, be provided with a plurality of being used for on the storehouse body the charging tray inductor of charging tray, the charging tray is last to be placed a plurality of the component, get the material module and be used for will placing the tray of charging tray follow in the storehouse body take out and transport to get the material position.

Optionally, be provided with back blend stop and with back blend stop actuating mechanism that back blend stop links to each other on the storehouse body, back blend stop is last to be provided with a plurality of flanges at intervals, two adjacent enclose into the tray opening between the flange, back blend stop actuating mechanism is used for driving back blend stop is moved to open position or is moved to spacing position by open position by spacing position, back blend stop is in spacing position, the flange is used for the spacing of tray, back blend stop is in when open position, the tray opening with the position of tray corresponds.

Optionally, get material the module include lifting unit, with lifting unit link to each other push-pull subassembly and with push-pull subassembly that push-pull subassembly links to each other is put the subassembly, be provided with the pull piece on the tray, the card put the subassembly include elevating system and with the pull rod that elevating system links to each other, push-pull subassembly is used for driving elevating system is towards or keep away from the storehouse body motion, elevating system is used for driving the pull rod motion, so that the pull rod breaks away from or blocks on the pull piece, elevating unit is used for driving push-pull subassembly the card is put the subassembly with the tray that the pull rod blocked in the card is put the subassembly goes up and down.

Optionally, the shaping platform comprises a shaping table top for placing the element, a pushing block slidingly connected to the shaping table top, and a shaping guide block arranged on the shaping table top, wherein the pushing block is used for pushing the element to move towards the shaping guide block, and the shaping guide block is used for horizontally shaping the element.

Optionally, an element inductor for inducing the element and a shaping driving mechanism electrically connected with the element inductor are further arranged on the shaping table top, the shaping driving mechanism is connected with the pushing block, and the shaping driving mechanism is used for driving the pushing block to move.

Optionally, the mechanical arm is further connected with a visual detection unit, the visual detection unit is electrically connected with the controller, the visual detection unit is used for feeding back the position of the element after shaping on the shaping platform to the controller, and the visual detection unit is further used for feeding back the position of the side plug interface matched with the element on the printed circuit board to the controller.

Optionally, the device further comprises a pin detection unit, wherein the pin detection unit is used for detecting the position of a pin of the element clamped by the primary inserting assembly.

In the embodiment of the invention, the plug-in device works, and after the printed circuit board is in place, the limit module sends a locating signal to the side plug-in module so that the side plug-in module starts working, clamps the element and laterally plugs the element on the printed circuit board. In the embodiment of the invention, the side plug module can be triggered to start working to plug after the printed circuit board is in place, namely, the side plug on the printed circuit board can be automatically realized through the plug-in equipment, the mode of manually utilizing the carrier to realize the side plug element of the PCB is replaced, the operation efficiency is improved, and the technical problem of lower operation efficiency when the component is plugged by the side plug element is solved. In addition, in the embodiment of the invention, the operation is not needed to be carried out manually, and the labor intensity of operators is reduced. In addition, since the work efficiency is improved, it is possible to satisfy increasing order demands.

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.

FIG. 1 is a schematic diagram of the overall structure of a card device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a bin and a material taking module in a plug-in device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram II of a material bin and a material taking module in the plug-in device provided in the embodiment of the invention;

fig. 4 is a schematic structural diagram of a side plug module in a plug-in device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a shaping platform in a plug-in device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a belt track, a blocking mechanism, a pressing module and a width adjusting module in the plug-in device according to the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a jack module in a plug-in device according to an embodiment of the present invention;

FIG. 8 is an enlarged schematic view of FIG. 7 at A;

fig. 9 is a schematic view of a part of a structure of a card device according to an embodiment of the present invention.

Reference numerals:

1-equipment frame, 11-upper frame, 12-lower frame, 13-warehouse-in frame, 2-limit module, 21-blocking mechanism, 3-side plug module, 31-mechanical arm, 311-connecting rod, 32-arm base, 33-initial plug assembly, 34-visual detection unit, 35-clamping assembly, 351-upper and lower cylinder, 352-clamping cylinder, 36-pressing mechanism, 37-light source, 4-top support module, 41-final plug block, 42-top support assembly, 421-top support cylinder, 422-top support pillar, 43-first motion mechanism, 44-three-axis linear mechanism, 441-first motion member, 442-second motion member, 443-third motion member, 45-first linear slide rail, 46-spring probe, 47-second linear slide rail, 48-connection fixed column, 49-bottom plate, 5-width adjusting module, 51-width adjusting motor, 52-ball screw, 521-screw shaft, 522-screw nut, 53-width adjusting slide block, 54-slide rail, 6-pressing module, 61-pressing driving member, 62-pressing rod, 7-shaping platform, 71-shaping table top, 72-pushing block, 73-shaping guide block, 74-element sensor, 75-shaping driving mechanism, 76-supporting column, 77-shaping bottom plate, 8-bin, 81-bin body, 82-tray, 821-pulling block, 822-fixed block, 823-pulley, 83-tray, 831-tray fool-proof block, 84-tray sensor, 85-material loading button, 86-front baffle, 87-back baffle strip, 88-back baffle strip driving mechanism, 9-material taking module, 91-lifting assembly, 92-push-pull assembly, 93-clamping assembly, 931-lifting mechanism, 932-pull rod, 10-conveying mechanism, 20-pin detection unit, 30-face recognition system, 40-display screen, 50-operation panel, 60-permission indicator lamp and 70-element.

Detailed Description

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

The examples of the present invention are only for explaining the present invention and are not intended to limit the scope of the present invention. The invention is more particularly described by way of example in the following paragraphs with reference to the drawings. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.

SMT (Surface Mount Technology ) and DIP (Dual In-line Package) are both ways to integrate components on a PCB. In SMT, the PCB optical board starts to undergo the processes of solder paste printing, AOI (Automatic Optic Inspection, automatic optical inspection), SMT chip mounting, reflow soldering, and the like. DIP includes component insertion, wave soldering, visual inspection maintenance, assembly, and the like. For SMT and PCBs, whether automatic chip attach, automatic interposer, and manual interposer, the components are typically disposed on the upper and lower surfaces of the PCB, generally perpendicular to the PCB. But some products are designed to design components such as connectors at the side of the PCB.

At present, the plug-in device can only complete the surface mounting and plug-in operation of the upper surface and the lower surface of the PCB. When the component is laterally inserted on the PCB, the action of laterally inserting the component is completed by manually utilizing the carrier. However, the manner of manually using the carrier to implement the side-plugging element of the PCB has low working efficiency and cannot guarantee quality. Based on the above problems, it is known that the device capable of realizing the automatic side component insertion is used to replace manual operation, but because the device capable of realizing the automatic side component insertion has complex structure and complicated action procedures, the difficulty of mechanical and electrical design is high, and thus the existing automatic component insertion device needs to be redesigned, optimized and reformed.

In order to solve the problems, the embodiment of the invention provides the plug-in equipment, which can automatically complete the side plug-in elements of the PCB, can realize the functions of automatic feeding, incoming material detection, side plug-in element, quality detection and the like, greatly improves the operation efficiency and quality, easily realizes the replacement of manual operation by automatic equipment, improves the practicability of the equipment, and is suitable for being used and popularized by a factory end. The above-mentioned card device will be described in detail below.

Referring to fig. 1 and 6, the card device provided by the embodiment of the invention includes a limit module 2 and a side plug module 3, wherein the limit module 2 is used for controlling the position of a printed circuit board; the side plug module 3 is used for receiving the in-place signal sent by the limit module 2, and the clamping element 70 is laterally plugged on the printed circuit board.

Specifically, the limiting module 2 includes a blocking mechanism 21 and an in-place detecting component, the blocking mechanism 21 is used for limiting the position of the printed circuit board, the in-place detecting component is electrically connected with the side plug module 3, and the in-place detecting component is arranged on the blocking mechanism 21. The in-place detecting means is used for sending an in-place signal to the side plug module 3 when the printed circuit board is in contact with the blocking mechanism 21, and the side plug module 3 is used for receiving the in-place signal sent by the in-place detecting means, clamping the element 70 and laterally inserting the element 70 on the printed circuit board.

The PCB may be transported by the transport mechanism 10, the position of the PCB being limited by the blocking mechanism 21 during the PCB transport, and the PCB being transported into contact with the blocking mechanism 21 indicating that the PCB is in place. The blocking mechanism 21 may include a blocking cylinder for driving the blocking plate to move up and down, and a blocking plate connected to the blocking cylinder for contacting the PCB to limit the position of the PCB. When the plug-in equipment works, the blocking cylinder stretches out to enable the baffle to ascend, so that the baffle can block the PCB. After the side insertion of the component 70 is completed, the blocking cylinder is retracted and the shutter is lowered so that the PCB conveyed on the conveyor 10 can flow out to the next station. The number of the blocking mechanisms 21 may be set according to actual needs, such as two.

The in-place detecting means is specifically provided on the shutter, and the in-place detecting means may employ a sensor such as a force sensor, a displacement sensor, or the like. The in-place signal may be a high level signal. The side-plug module 3 may include a mechanical arm 31 and a primary-plug assembly 32 connected to the mechanical arm 31, where the primary-plug assembly 32 is used to clamp the element 70, and the mechanical arm 31 is used to drive the primary-plug assembly 32 to move so as to make the primary-plug assembly 32 move to a desired position. The component 70 is specifically inserted on the side plug interface of the PCB, after the component 70 is clamped by the primary plug assembly 32, the mechanical arm 31 can drive the primary plug assembly 32 and the clamped component 70 to move to the side plug interface, and then the mechanical arm 31 continues to move to drive the component 70 clamped by the primary plug assembly 32 to be laterally inserted on the side plug interface. The side-plug module 3 may be configured such that the component 70 is fully plugged onto the PCB. The side-plug module 3 may also be configured to initially plug the component 70 onto the PCB.

In the embodiment of the invention, when the plug-in device works and the printed circuit board flows into the plug-in device and contacts with the blocking mechanism 21, that is, after the printed circuit board is in place, the in-place detection component sends an in-place signal to the side plug-in module 3, so that the side plug-in module 3 starts to work, the component 70 is clamped, and the component 70 is laterally plugged on the printed circuit board. In the embodiment of the invention, the side plug module 3 can be triggered to start working to perform side plug after the printed circuit board is in place, namely, the side plug on the printed circuit board can be automatically realized through the plug-in equipment, the mode of manually utilizing the carrier to realize the side plug element of the PCB is replaced, the operation efficiency is improved, and the technical problem of lower operation efficiency when the component is manually inserted on the side is solved. In addition, in the embodiment of the invention, the operation is not needed to be carried out manually, and the labor intensity of operators is reduced. In addition, since the work efficiency is improved, it is possible to satisfy increasing order demands.

Referring to fig. 4, the side plug module 3 includes a carrying assembly and a preliminary plug assembly 33; the handling assembly comprises a mechanical arm 31 and a controller for controlling the mechanical arm 31 to move, the primary inserting assembly 33 is connected to the mechanical arm 31 and electrically connected with the controller, and the primary inserting assembly 33 is used for clamping the element 70 and laterally inserting the element on the printed circuit board under the control of the controller.

Specifically, the in-place detection component is electrically connected with the controller, the mechanical arm 31 includes a connecting rod 311, the primary inserting assembly 32 is connected to the connecting rod 311 and electrically connected with the controller, the primary inserting assembly 32 is used for clamping the element 70 under the control of the controller, and the mechanical arm 31 moves under the control of the controller, so that the element 70 clamped by the primary inserting assembly 32 is laterally inserted on the printed circuit board.

The side plug module 3 is used for initially inserting the component 70 on the printed circuit board. The side plug module 3 further comprises an arm base 32, and the mechanical arm 31 is arranged on the arm base 32. The movement performed by the robot arm 31 includes a rotational movement, a telescopic movement, and the like. The controller is used for controlling the movement of the mechanical arm 31, and the controller is also used for controlling the primary inserting assembly 32 to clamp the element 70 or release the element 70. In the embodiment of the invention, the mechanical arm 31 is arranged, so that the element 70 clamped by the primary inserting assembly 32 can accurately move to a required position.

Referring to fig. 7 and 8, the card device provided by the embodiment of the present invention further includes a jack module 4, where the jack module 4 includes a moving component and a final insert 41, and the final insert 41 is used to push the element 70 under the drive of the moving component.

Specifically, the termination block 41 is connected to the motion assembly, and the termination block 41 is used to implement termination of the component. After the mechanical arm 31 moves to enable the element 70 clamped by the primary inserting assembly 32 to be primarily inserted on the printed circuit board, the moving assembly moves to drive the final inserting block 41 to push the primarily inserted element 70, and the final inserting action is completed. The moving assembly at least comprises a first moving mechanism 43, and the moving direction of the first moving mechanism 43 is consistent with the flow direction of the printed circuit board. In the embodiment of the invention, the element 70 can be plugged in place through the arrangement of the final plug block 41, so that the plugging quality is ensured.

In other embodiments, the termination plug 41 may not be integrated on the jack module 4, but on the side plug module 3, in which case the jack module 4 only has a jack function.

Referring to fig. 6 to 8, the card apparatus according to the embodiment of the present invention further includes two conveying mechanisms 10 disposed at intervals, the conveying mechanisms 10 being used for conveying the printed circuit boards, and the jacking module 4 further includes a jacking assembly 42 connected to the moving assembly, the jacking assembly 42 being used for jacking the lower surface of the printed circuit boards.

In particular, the conveyor 10 may employ a belt track that transports printed circuit boards in a direction indicated by the arrow B in fig. 6. The jacking component 42 may include a jacking cylinder 421 and a jacking strut 422 connected to the jacking cylinder 421, where the jacking cylinder 421 is configured to drive the jacking strut 422 to perform a lifting motion. After the printed circuit board is transferred in place by the belt track, the top support assembly 42 is moved to the lower side of the printed circuit board through the moving assembly, and then the top support air cylinder 421 extends out to drive the top support posts 422 to move upwards until the top support posts 422 support the lower surface of the printed circuit board.

The jacking assembly 42 may be controlled to jack the lower surface of the printed circuit board before the side-insertion module 3 initially inserts the component 70 onto the printed circuit board. The control jack assembly 42 jacks the lower surface of the printed circuit board after the side-plug module 3 initially plugs the component 70 onto the printed circuit board. Because the printed circuit board is transmitted by the two conveying mechanisms 10 which are arranged at intervals, the middle part of the printed circuit board has no supporting structure and can be concave, in the embodiment of the invention, the lower surface of the printed circuit board is propped by the propping component 42, so that the planeness of the printed circuit board is ensured.

Referring to fig. 6, the card apparatus provided by the embodiment of the present invention further includes a pressing die set 6, the pressing die set 6 includes a pressing driving member 61 and a pressing bar 62 connected to the pressing driving member 61, the pressing driving member 61 is configured to drive the pressing bar 62 to move toward or away from the conveying mechanism 11, and the pressing bar 62 is configured to press an upper surface of the printed circuit board.

Specifically, the pressing driving member 61 may employ an air cylinder, and the pressing lever 62 is specifically used to press the upper surface of the printed circuit board after the printed circuit board contacts the blocking mechanism 21. After the printed circuit board is transferred in place by the conveying mechanism 10, that is, after the printed circuit board contacts the blocking mechanism 21, the pressing driving member 61 is controlled to drive the pressing rod 62 to move towards the belt track 11 until the pressing rod 62 presses the upper surface of the printed circuit board. After the component 70 is inserted laterally, the pressing driving member 61 drives the pressing bar 62 to move away from the belt track 11, so that the PCB conveyed on the conveying mechanism 10 can flow out to the next station. In the embodiment of the invention, the printed circuit board can be pressed by the arrangement of the lower pressing die set 6, so that the printed circuit board can not shift during initial insertion and final insertion.

Referring to fig. 6, the card apparatus according to the embodiment of the present invention further includes a width adjusting module 5, where the width adjusting module 5 is configured to adjust a distance between two conveying mechanisms 10 according to a size of a PCB. The width adjusting module 5 comprises a width adjusting motor 51, a ball screw 52, a width adjusting slide block 53 and a slide rail 54, the ball screw 52 comprises a screw shaft 521 and a screw nut 522 connected to the screw shaft 521, the width adjusting motor 51 is connected with the screw shaft 521, the width adjusting motor 51 is used for driving the screw shaft 521 to rotate, the screw nut 522 is connected with the width adjusting slide block 53, the width adjusting slide block 53 is connected with one of the conveying mechanisms 10, and the width adjusting slide block 53 is slidably connected to the slide rail 54. When the width adjusting motor 51 works, the screw shaft 521 rotates, and the screw nut 522 moves along the extending direction of the screw shaft 521, so that the width adjusting slide block 53 connected with the screw nut 522 is driven to move, and one of the conveying mechanisms 10 is driven to move, so that the distance between the two conveying mechanisms 10 is adjusted.

Referring to fig. 1, the moving assembly includes a first moving mechanism 43 and a triaxial linear mechanism 44, the first moving mechanism 43 is connected with the final insert 41, the triaxial linear mechanism 44 is connected with the first moving mechanism 43 and the top support assembly 42, and a moving direction of the first moving mechanism 43 is consistent and parallel to a flow direction of the printed circuit board.

Specifically, the triaxial linear mechanism 44 specifically includes a first moving member 441, a second moving member 442, and a third moving member 443, and the moving direction of the first moving member 441, the moving direction of the second moving member 442, and the moving direction of the third moving member 443 are perpendicular to each other. The movement direction of the third movement member 443 is an up-down direction, and can be expressed as a Z direction. The movement direction of the first moving member 441 is perpendicular to the movement direction of the first moving mechanism 43, and the movement direction of the first moving member 441 may be denoted by the Y direction. The movement direction of the second movement member 442 is parallel to the movement direction of the first movement mechanism 43, and both the movement direction of the second movement member 442 and the movement direction of the first movement mechanism 43 may be represented by X-direction.

The triaxial linear mechanism 44 is used for driving the first movement mechanism 43 and the top support assembly 42 to move along three perpendicular directions, and the first movement mechanism 43 is used for driving the final insert 41 to move along a direction parallel to the flow direction of the printed circuit board. There are generally three directions in which the component 70 is laterally inserted on the PCB: PCB flow direction, inward perpendicular to PCB flow direction and outward perpendicular to PCB flow direction. The inward direction is perpendicular to the PCB flow direction, i.e., the side-insertion direction of the element 70 is perpendicular to the PCB flow direction and inward. The outward direction is perpendicular to the PCB flow direction, i.e., the sideways direction of the element 70 is perpendicular to the PCB flow direction and faces outward.

When the PCB flows to the final plugging element 70, before the side plugging module 3 performs the side plugging action on the element 70, the first moving member 441, the second moving member 442 and the third moving member 443 move cooperatively to move the top supporting column 422 to a proper position below the PCB, and the top supporting cylinder 421 extends to drive the top supporting column 422 to move upwards to perform the lower top supporting action on the PCB, at this time, the final plugging block 41 is located at the side of the side plugging port to perform the final plugging operation. The side-inserting module 3 initially inserts the component 70 on the PCB, then the pressing mechanism 36 presses the component, and then the first moving mechanism 43 drives the final-inserting block 41 to move and push the initially inserted component, so as to complete the final-inserting action of the component. Then, the first moving mechanism 43 drives the final inserting block 41 to reversely move to the initial position, the mechanical arm 31 moves to drive the pressing mechanism 36 to move away, the propping cylinder 421 resets to drive the propping post 422 to move far downwards, the third moving member 443 drives the first moving mechanism 43 and the propping assembly 42 to descend to the safe position, and the PCB after the component final inserting action flows into the next station along the conveying mechanism 10.

In the embodiment of the invention, the first movement mechanism 43 and the top support assembly 42 can be driven to move to the required position by the triaxial linear mechanism 44, and the final plug block 41 can be driven to move by the first movement mechanism 43, so that the final plug element 70 can be realized according to the PCB flow direction.

Referring to fig. 7 and 8, the triaxial linear mechanism 44 includes a first moving member 441, a moving direction of the first moving member 441 is perpendicular to a flowing direction of the printed circuit board and perpendicular to a thickness direction of the printed circuit board, the jacking module 4 further includes a first linear rail 45 connected to the triaxial linear mechanism 44, a slider is slidably connected to the first linear rail 45, the jacking assembly 42 is connected to the slider, and an extending direction of the first linear rail 45 is parallel to the moving direction of the first moving member 441. Two spring probes 46 are respectively arranged at two ends of the first linear slide rail 45, each spring probe 46 comprises a needle body and a needle head connected to the needle body through a spring, and the needle heads of the two spring probes respectively support two ends of the slide block.

Specifically, the third moving member 443 is connected to a mounting plate, and the first moving mechanism 43 and the first linear rail 45 are both connected to the mounting plate. The top support cylinder 421 is connected to the slider. When the direction of the top support cylinder 421 is perpendicular to the direction of the PCB flowing to the final inserting element 70, before the side inserting module 3 performs the side inserting action on the element 70, the top support post 422 is moved to a proper position below the PCB by the cooperation of the first moving member 441, the second moving member 442 and the third moving member 443, and the top support cylinder 421 extends to drive the top support post 422 to move upwards to perform the bottom supporting action on the PCB. Since the propping cylinder 421 is locked on the sliding block of the first linear sliding rail 45, the spring probes 46 are symmetrically propped against both sides of the sliding block, so that the sliding block and the propping cylinder 421 are always located at the middle position of the first linear sliding rail 45.

The side inserting module 3 initially inserts the component 70 on the PCB, then the pressing mechanism 36 presses, then the first moving member 441 moves the second moving member 442, the third moving member 443 and the first moving mechanism 43 integrally inwards and moves far, synchronously drives the final inserting block 41 to horizontally push the initially inserted component inwards with the side surface, and completes the final inserting action of the component, at this time, the top supporting strut 422 and the PCB are contacted and do not move, the first linear sliding rail 45 at the bottom of the top supporting strut and the first moving mechanism 43 integrally move far inwards, and the outer spring probe 46 is extruded and moves the same distance as the first moving mechanism 43 integrally inwards. Then, the first moving member 441 moves the second moving member 442, the third moving member 443 and the first moving mechanism 43 in the opposite direction to the initial position, the outer spring probe 46 returns to the initial position, the mechanical arm 31 moves the pressing mechanism 36 away, the top supporting cylinder 421 returns to drive the top supporting column 422 to move far down, at this time, the top supporting column 422 returns to the middle position of the first linear sliding rail 45, the third moving member 443 drives the first moving mechanism 43 and the top supporting assembly 42 to descend to the safe position, and the PCB after the component final insertion operation flows into the next station along the conveying mechanism 10.

The action of pressing outward perpendicularly to the PCB flow direction to the final insertion element is opposite to the action of pressing inward perpendicularly to the PCB flow direction to the final insertion element, and will not be described again here. In the embodiment of the present invention, the first linear slide 45, the slider and the spring probe 46 are arranged to ensure that the position of the top support post 442 is fixed when the PCB flows perpendicular to the PCB.

The jacking module further includes a bottom plate 49 and a plurality of connection fixing columns 48 provided on the bottom plate 49, and the first moving member 441 is provided on the bottom plate 49, the connection fixing columns 48 being connected to the apparatus frame 1. The bottom plate 49 is further provided with a second linear slide rail 47, one end of the second moving member 442 is connected to the first moving member 441, and the other end of the second moving member 442 is slidably connected to the second linear slide rail 47.

Referring to fig. 4, a pressing mechanism 36 is further connected to the mechanical arm 31, and the pressing mechanism 36 is used for pressing the upper surface of the printed circuit board. Specifically, the pressing mechanism 36 is connected to the connecting rod 311. The pressing mechanism 36 may include a pressing cylinder. After the side-insertion module 3 initially inserts the component 70 on the PCB, the mechanical arm 31 moves to position the pressing mechanism 36 above the printed circuit board, and then the pressing cylinder protrudes downward to press the component on the upper surface of the printed circuit board. In an embodiment of the present invention, the pressing mechanism 36 can cooperate with the top support assembly 42 to ensure the planarity of the PCB.

Referring to fig. 1 and 5, the card apparatus provided in the embodiment of the present invention further includes a shaping platform 7, the preliminary insertion assembly 33 is configured to clamp the element 70 from the shaping platform 7, and the shaping platform 7 is configured to shape the element 70.

In particular, the shaping platform 7 is particularly adapted to perform a horizontal shaping of the element 70, i.e. a horizontal angle correction. Before the primary insertion, the element 70 needs to be shaped through the shaping platform 7, after the shaping, the primary insertion assembly 33 clamps the shaped element 70 from the shaping platform 7 for side insertion, so that the element 70 clamped by the primary insertion assembly 33 is prevented from being askew, and the side insertion quality is ensured.

Referring to fig. 4, the side-insertion module 3 further includes a clamping assembly 35, the clamping assembly 35 being connected to the mechanical arm 31 and electrically connected to the controller, the clamping assembly 35 being configured to clamp the component 70 from the material taking position.

Specifically, the clamping assembly 35 is connected to the connecting rod 311, and the controller is configured to receive the position signal and control the mechanical arm 31 to move, so that the clamping assembly 35 moves above the material taking position, and control the clamping assembly 35 to clamp the element 70 from the material taking position, and further is configured to control the mechanical arm 31 to move, so that the connecting rod 311 moves above the shaping platform. The clamping assembly 35 comprises an up-down air cylinder 351 and a clamping air cylinder 352 connected with the up-down air cylinder 351, wherein the up-down air cylinder 351 is used for driving the clamping air cylinder 352 to move up and down, and the clamping air cylinder 352 is used for clamping the element 70. After receiving the position signal, the controller controls the mechanical arm 31 to move so that the clamping assembly 35 moves above the material taking position; then the upper and lower air cylinders 351 do extending action to drive the clamping air cylinders 352 to descend to the position, and the clamping air cylinders 352 do clamping action to clamp the element 70; then the upper and lower air cylinders 351 are reset, the clamping air cylinders 352 and the elements 70 are driven to ascend together, the mechanical arm 31 moves to enable the connecting rod 311 to move above the shaping platform, and then the clamping air cylinders 352 release the elements 70 to place the elements 70 on the shaping platform 7; after the component 70 is shaped, the primary inserting assembly 33 clamps the shaped component 70 from the shaping platform 7 for side insertion.

Referring to fig. 2 and 3, the card device provided by the embodiment of the invention further includes a bin 8 and a material taking module 9, the bin 8 includes a bin body 81 and a plurality of trays 82 stacked in the bin body 81, the trays 82 are used for placing the trays 83, a plurality of tray sensors 84 for sensing the trays 83 are provided on the bin body 81, a plurality of elements 70 are provided on the trays 83, and the material taking module 9 is used for taking the trays 82 with the trays 83 placed in the bin body 81 out and conveying the trays to a material taking position.

Specifically, the tray 82 is provided with a fixing block 822, and the fixing block 822 is used for fixing the position of the tray 83. The tray 83 is further provided with a tray fool-proof block 831. The bin 81 is further provided with a plurality of loading buttons 85, and the plurality of loading buttons 85 respectively correspond to the plurality of trays 82. The loading button 85 is turned on when pressed, and the loading button 85 indicates that the tray 82 with the tray 83 is placed in the bin 81. The bin 81 is rotatably connected with a front baffle 86. When the front flap 86 is opened, the tray 82 can be freely placed in the bin 81. The tray sensor 84 is used for sensing whether the tray 82 placed in the bin 81 is provided with the tray 83, so as to avoid an operator from placing the empty tray 82 into the bin 81 by mistake during feeding.

Referring to fig. 2 and 3, a rear barrier 87 and a rear barrier driving mechanism 88 connected with the rear barrier 87 are disposed on the bin 81, a plurality of ribs are disposed on the rear barrier 87 at intervals, a tray opening is defined between two adjacent ribs, the rear barrier driving mechanism 88 is used for driving the rear barrier 87 to move from a limit position to an open position or from the open position to the limit position, when the rear barrier 87 is in the limit position, the ribs are used for limiting the tray 82, and when the rear barrier 87 is in the open position, the tray opening corresponds to the position of the tray 82.

Specifically, the rear barrier driving mechanism 88 may adopt an air cylinder, and the rear barrier driving mechanism 88 is used for driving the rear barrier 87 to perform lifting motion. When the rear barrier 87 is in the open position, the tray opening corresponds to the position of the tray 82, and the tray 82 can slide out of the bin 81. When the rear stop bar 87 is positioned at the limiting position, the rear stop bar can limit the tray 82 during feeding, and can prevent the tray 82 from sliding out of the bin body 81 by mistake after the feeding is completed.

The feeding mode of the bin has two modes:

first, the operator manually feeds. The operator directly puts the whole tray of charging tray 83 into tray 82, will put the tray 82 of charging tray 83 into the storehouse body 81 after fixed block 822 fixes the charging tray 83, from the top down puts into the tray 82 of charging tray 83 layer by layer, accomplishes the material loading action, and back blend stop 87 is in spacing position during the material loading, and back blend stop 87 is spacing effect to the tray 82 of every layer. After loading, the loading button 85 is turned on, and the front shutter 86 is closed.

Second, AGV (Automated Guided Vehicle, automatic guided vehicle) dolly automatic handling feed bin material loading. In the warehouse, utilize automatic feeding equipment to feed bin automatic feeding back, AGV dolly automatic handling feed bin is carried to and is come storehouse frame 13 positions, and automatic feeding equipment carries out the material loading to the second feed bin in the warehouse simultaneously, and after first feed bin material was used up, the automatic empty feed bin of AGV dolly automatic handling was carried to the warehouse and is waited automatic feeding equipment material loading, and the AGV dolly carries the second full feed bin to come storehouse frame 13 positions simultaneously, cyclic feeding in proper order.

Referring to fig. 3, the material taking module 9 includes a lifting assembly 91, a push-pull assembly 92 connected to the lifting assembly 91, and a clamping assembly 93 connected to the push-pull assembly 92, wherein a pull block 821 is disposed on the tray 82, the clamping assembly 93 includes a lifting mechanism 931 and a pull rod 932 connected to the lifting mechanism 931, the push-pull assembly 92 is used for driving the lifting mechanism 931 to move towards or away from the bin 81, the lifting mechanism 931 is used for driving the pull rod 932 to move, so that the pull rod 932 is separated from or clamped on the pull block 821, and the lifting assembly 91 is used for driving the push-pull assembly 92, the clamping assembly 93 and the tray 82 clamped by the pull rod 932 in the clamping assembly 93 to lift.

Specifically, the tray 82 is slidably connected to the bin 81 through a pulley 823, and the tray 82 can completely slide out of the bin 81. The sliding direction of the tray 82 may refer to the direction indicated by the arrow C in fig. 3. The tray 82 is provided with two pull blocks 821, the two pull blocks 821 are distributed at intervals, and the pull rod 932 can be clamped on the two pull blocks 821. The direction of movement of the push-pull assembly 92 is parallel to the direction of sliding of the tray 82. The elevating mechanism 931 may employ a pneumatic cylinder and the push-pull assembly 92 may employ a linear module driven by the pneumatic cylinder.

After the feeding of the storage bin 8 is completed, the material taking module 9 sequentially removes the corresponding positions of the storage bin 8 from top to bottom to wait for material taking. Firstly, the rear barrier strip driving mechanism 88 acts to extend out to drive the rear barrier strips 87 on two sides to rise at the same time so as to enable the rear barrier strips 87 to rise to an open position; then, the push-pull assembly 92 starts to act towards the stock bin 8 to drive the clamping assembly 93 to synchronously act, and when the pull rod 932 in the clamping assembly 93 reaches the position right below the pull blocks 821, the lifting mechanism 931 starts to extend out to drive the pull rod 932 to rise together so that the pull rod 932 is just clamped in the two pull blocks 821; then, the push-pull assembly 92 starts to perform a reset action, and simultaneously the tray 82 is pulled out along the pulleys 823 at the two sides, at this time, the rear barrier strip driving mechanism 88 resets to drive the rear barrier strips 87 at the two sides to simultaneously descend, so that the rear barrier strips 87 descend to a limit position to block the tray 82 at other layers from being pushed out by mistake; the lifting assembly 91 then lifts the tray 82 with the tray 83 thereon to a pick-up position. When the components 70 in the tray 83 are used up, the material taking module 9 will firstly replace the empty tray 82, and then sequentially go to the corresponding layer positions of the bin 8 from top to bottom to repeat the above material taking actions for recycling material.

Referring to fig. 5, the shaping platform 7 includes a shaping table 71 for placing the component 70, a pushing block 72 slidably connected to the shaping table 71, and a shaping guide block 73 provided on the shaping table 71, the pushing block 72 for pushing the component 70 to move toward the shaping guide block 73, and the shaping guide block 73 for horizontally shaping the component 70. The shaping table 71 is further provided with an element sensor 74 for sensing the element 70 and a shaping driving mechanism 75 electrically connected with the element sensor 74, the shaping driving mechanism 75 is connected with the push block 72, and the shaping driving mechanism 75 is used for driving the push block 72 to move.

Specifically, the shaping table 71 is connected to a shaping floor 77 by a plurality of support posts 76. When the clamping assembly 35 places the component 70 on the shaping table 71, the component sensor 74 detects a signal with the component and sends the signal to the shaping driving mechanism 75, the shaping driving mechanism 75 receives the signal and then performs a contraction motion to drive the pushing block 72 to move together, and the pushing block 72 pushes the component 70 into the shaping guide block 73 to complete the horizontal shaping motion of the component 70. Then, the upper camera in the visual inspection unit 34 photographs to determine the position of the reshaped element and feeds back to the controller, after which the reshaped element is gripped by the initial insertion assembly 33.

The mechanical arm 31 is further connected with a visual detection unit 34, the visual detection unit 34 is electrically connected with the controller, the visual detection unit 34 is used for feeding back the position of the shaped element on the shaping platform 7 to the controller, and the visual detection unit 34 is also used for feeding back the position of a side plug interface matched with the element on the printed circuit board to the controller.

Specifically, the visual detection unit 34 is connected to the connection rod 311, and the connection rod 311 is also connected to the light source 37. The vision detecting unit 34 includes an upper camera and an upper detecting module electrically connected to the upper camera, the upper detecting module is electrically connected to the controller, the upper camera is used for photographing, and the upper detecting module is used for determining the position of the shaped element and the position of the upper side plug-in interface of the printed circuit board according to the photographed photograph and feeding back to the controller.

The current position of the shaped element may not be identical to the position of the element after the previous shaping, and in this case, if the shaped element is clamped from the shaping platform 7 according to the previous clamping position, the clamping may not be in place. After the vision detecting unit 34 determines the position of the element after current shaping, the position of the element after current shaping is fed back to the controller, and the controller compares the position of the element after the last shaping with the position of the element after last shaping, and corrects the movement of the mechanical arm 31 according to the deviation of the position of the element after current shaping and the position of the element after last shaping, so as to ensure that the primary inserting assembly 33 can accurately clamp the element after shaping, and further ensure the side inserting quality.

The current position of the upper side plug-in port of the printed circuit board may not be consistent with the position of the upper side plug-in port of the last printed circuit board, and at this time, if the side plug-in is performed according to the last position, the side plug-in may not be in place. After the vision detection unit 34 determines the position of the current upper side plug-in interface of the printed circuit board, the position of the current upper side plug-in interface of the printed circuit board is fed back to the controller, the controller is compared with the position of the upper side plug-in interface of the last printed circuit board, and the movement of the mechanical arm 31 is corrected according to the deviation of the controller and the position of the upper side plug-in interface of the last printed circuit board, so that the components clamped by the primary plug-in assembly 33 can be accurately plugged on the side plug-in interface, and the side plug-in quality is ensured.

The vision inspection unit 34 is also used for judging whether the component 70 is qualified for final insertion. The upper detection module is further configured to determine a position of the finally inserted element according to the photographed picture, and compare the position of the finally inserted element with a preset qualified position of the finally inserted element to determine whether the finally inserted element 70 is qualified.

Referring to fig. 1, the card device provided in the embodiment of the present invention further includes a pin detection unit 20, where the pin detection unit 20 is configured to detect a position of a pin of the component clamped by the preliminary insertion component.

Specifically, the pin detection unit 20 may be disposed at one side of the shaping stage 7. The pin detection unit 20 includes a lower camera and a lower detection module connected to the lower camera, the lower camera is used for taking a picture, the lower detection module is used for detecting a pin offset distance of the element 70 according to the taken picture, and if the pin offset distance of the element 70 is within an error range, the pin detection unit 20 is qualified for detecting the element 70.

After the shaping platform 7 shapes the element 70, the upper camera in the visual detection unit 34 photographs to determine the position of the shaped element and feeds back the position to the controller, and then the shaped element is clamped by the initial insertion assembly 33; after the primary inserting assembly 33 clamps the shaped element, the mechanical arm 31 moves to enable the element 70 clamped by the primary inserting assembly 33 to move to the pin detection unit 20, and the pin detection unit 20 detects the pin offset distance of the element 70; after the detection is qualified, the mechanical arm 31 moves, the qualified component is carried to the side plug interface of the PCB, the visual detection unit 34 shoots to feed back the position of the side plug interface to the controller, and the mechanical arm 31 moves to complete the side plug action of the component 70; after the initial insertion, the mechanical arm 31 moves to enable the pressing mechanism 36 to move to the position to be pressed by the PCB.

Referring to fig. 9, the plug-in device provided in the embodiment of the present invention further includes a face recognition system 30, where the face recognition system 30 is configured to capture a face image and recognize the face image.

Specifically, the plug-in device provided by the embodiment of the invention further includes a display screen 40, an operation panel 50 and a permission indicator 60. The face recognition system 30, the display screen 40, the operation panel 50, and the authority indicating lamps 60 are all provided on the apparatus frame 1.

When an operator needs to perform key operations such as switching models, model optimization, copying models, etc. on the plug-in device, the face recognition system 30 may be used to perform face recognition instead of conventional password input. The face recognition system 30 has the advantages of no need of memorizing passwords, quick operation, improvement of safety, convenience for operation of operators and capability of effectively enhancing management of field operators.

The display screen 40 is used to display the trace back record and the background record. The trace back record is used to trace back who and where what was operated. The background record is used for recording user information, unlocking time/leaving time, operation authority, operation content, images, and the like. The rights indicator light 60 is used to indicate the rights level of the currently logged-in operator. When the currently logged-in operator leaves, the operation panel 50 is automatically locked. The network of the plug-in equipment provided by the embodiment of the invention can be directly integrated with the network of a factory by using the 5G network.

The whole work flow of the plug-in equipment provided by the embodiment of the invention is as follows:

the first step: the operator directly puts the whole tray of charging tray 83 into tray 82, fixes the tray 82 of putting the charging tray 83 into the storehouse body 81 after fixing the charging tray 83 through fixed block 822, puts the tray 82 of putting the charging tray 83 from top to bottom layer by layer, accomplishes the material loading action.

And a second step of: after the material taking module 9 takes out the tray 82 with the tray 83 from the bin 81, it rises to the material taking position to wait.

And a third step of: after the PCB conveyed on the conveying mechanism 10 is in place, the component 70 is sequentially taken out from the tray 83 by the clamping assembly 35 in the side-insertion module 3, then the mechanical arm 31 moves to move the clamping assembly 35 above the shaping platform 7, and then the component 70 is placed on the shaping platform 7.

Fourth step: the shaping platform 7 shapes the element 70, i.e. performs a horizontal angle correcting action of the element 70.

Fifth step: the primary inserting assembly 33 clamps the shaped element 70 from the shaping platform 7, the mechanical arm 31 moves, the element 70 clamped by the primary inserting assembly 33 moves to the pin detection unit 20, and the pin detection unit 20 detects the pin offset distance of the element 70. If the pin detection unit 20 fails to detect the component 70, the mechanical arm 31 moves to throw the component that fails to detect onto the failed platform.

Sixth step: if the pin detection unit 20 detects that the component 70 is qualified, the mechanical arm 31 moves, the detected qualified component is carried to the side socket of the PCB, the visual detection unit 34 performs photographing to feed back the position of the side socket to the controller, and the mechanical arm 31 moves to complete the side socket of the component 70.

Seventh step: the propping assembly 42 props the lower surface of the PCB, the pressing mechanism 36 presses the upper surface of the PCB, and the moving assembly drives the final plug 41 to move, so that the final plug 41 pushes the element 70 to complete the final plug action of the element 70.

Eighth step: after final insertion, the visual detection unit judges whether the component 70 is qualified for final insertion, and after the component 70 is qualified for final insertion, the blocking mechanism 21 acts so that the PCB conveyed on the conveying mechanism 10 can flow out to the next station.

The plug-in device provided by the embodiment of the invention can automatically complete the action of the side plug-in element of the PCB and can realize the functions of automatic feeding, incoming material detection, side element plug-in, quality detection and the like. The plug-in equipment specifically comprises a stock bin 8, a material taking module 9, a shaping platform 7, a side plug-in module 3, a visual detection unit 34, a conveying mechanism 10, a propping module 4, a propping assembly 42, a face recognition system 30, a pressing mechanism 36 and the like. In summary, the operation of the card device provided by the embodiment of the invention can automatically complete the action of inserting the component on the side of the PCB, thereby being capable of replacing manual operation and solving the problems of low operation efficiency and unable quality assurance during manual operation. The plug-in device provided by the embodiment of the invention can realize the side plug-in action on the PCB in three directions including the PCB flow direction, the inward direction perpendicular to the PCB flow direction and the outward direction perpendicular to the PCB flow direction, thereby improving the practicability and timeliness of the device and being suitable for being used and popularized at a factory end. In addition, in the embodiment of the invention, the manual operation is not needed, the labor intensity of operators can be reduced, and the work satisfaction of the operators is improved. In addition, by the arrangement of the shaping platform 7, the visual detection unit 34 and the pin detection unit 20, the side plug quality is ensured.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, the description is relatively simple as it is substantially similar to the apparatus embodiments, as relevant points are found in the partial description of the apparatus embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

The plug-in device provided by the invention has been described in detail, and specific examples are applied to illustrate the principles and embodiments of the invention, and the description of the above examples is only used to help understand the structure and core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (18)

1. The plug-in equipment is characterized by comprising a limiting module and a side plug-in module, wherein the limiting module is used for controlling the position of a printed circuit board; the side plug module is used for receiving the in-place signal sent by the limit module and clamping the element to be laterally plugged on the printed circuit board.

2. The card apparatus of claim 1, wherein the side-insertion module comprises a handling assembly and a preliminary insertion assembly; the handling assembly comprises a mechanical arm and a controller for controlling the mechanical arm to move, the primary inserting assembly is connected to the mechanical arm and is electrically connected with the controller, and the primary inserting assembly is used for clamping the element and laterally inserting the element on the printed circuit board under the control of the controller.

3. The card apparatus of claim 2, further comprising a jacking module including a moving assembly and a final insert for pushing the component under the drive of the moving assembly.

4. The card apparatus of claim 3, further comprising two spaced apart transport mechanisms for transporting the printed circuit board, the jacking module further comprising a jacking assembly coupled to the moving assembly, the jacking assembly for jacking a lower surface of the printed circuit board.

5. The card apparatus of claim 4, further comprising a pressing down module including a pressing down driving member for driving the pressing down lever toward or away from the conveying mechanism and a pressing down lever connected to the pressing down driving member for pressing down an upper surface of the printed circuit board.

6. The card apparatus of claim 4, wherein the movement assembly includes a first movement mechanism coupled to the final card and a tri-axial linear mechanism coupled to the first movement mechanism and the top support assembly, the movement direction of the first movement mechanism being aligned parallel to the flow direction of the printed circuit board.

7. The card apparatus of claim 6, wherein the triaxial linear mechanism includes a first moving member having a moving direction perpendicular to a flow direction of the printed circuit board and perpendicular to a thickness direction of the printed circuit board, the jack module further includes a first linear rail connected to the triaxial linear mechanism, a slider is slidably connected to the first linear rail, and the jack assembly is connected to the slider, and an extending direction of the first linear rail is parallel to the moving direction of the first moving member.

8. The card apparatus of claim 7, wherein two spring probes are respectively disposed at two ends of the first linear slide rail, the spring probes comprise a needle body and a needle head connected to the needle body through a spring, and the needle heads of the two spring probes respectively prop against two ends of the slider.

9. The card apparatus according to any one of claims 4 to 8, wherein a pressing mechanism for pressing an upper surface of the printed circuit board is further connected to the robot arm.

10. The card apparatus of claim 2, further comprising a reshaping platform, wherein the preliminary insertion assembly is configured to clamp the component from the reshaping platform, and wherein the reshaping platform is configured to reshape the component.

11. The card apparatus of claim 10, wherein the side-insertion module further comprises a clamping assembly coupled to the robotic arm and electrically coupled to the controller, the clamping assembly configured to clamp the component from a pick-out position.

12. The card apparatus of claim 11, further comprising a bin and a take out module, the bin comprising a bin body and a plurality of trays stacked in the bin body, the trays being for holding trays, the bin body being provided with a plurality of tray sensors for sensing the trays, the trays being provided with a plurality of the elements, the take out module being for taking out the trays with the trays from the bin body and transporting the trays to the take out position.

13. The card device of claim 12, wherein a rear barrier and a rear barrier driving mechanism connected with the rear barrier are arranged on the bin body, a plurality of barriers are arranged on the rear barrier at intervals, a tray opening is formed between two adjacent barriers in a surrounding mode, the rear barrier driving mechanism is used for driving the rear barrier to move from a limiting position to an open position or from the open position to the limiting position, when the rear barrier is in the limiting position, the barriers are used for limiting the tray, and when the rear barrier is in the open position, the tray opening corresponds to the position of the tray.

14. The card device of claim 12, wherein the material taking module comprises a lifting assembly, a push-pull assembly connected with the lifting assembly and a clamping assembly connected with the push-pull assembly, a pull block is arranged on the tray, the clamping assembly comprises a lifting mechanism and a pull rod connected with the lifting mechanism, the push-pull assembly is used for driving the lifting mechanism to move towards or away from the bin body, the lifting mechanism is used for driving the pull rod to move so as to enable the pull rod to be separated from or clamped on the pull block, and the lifting assembly is used for driving the push-pull assembly, the clamping assembly and the tray clamped by the pull rod in the clamping assembly to lift.

15. The card apparatus of any one of claims 10 to 14, wherein the shaping platform comprises a shaping table top for placing the component, a pushing block slidably connected to the shaping table top and a shaping guide block provided on the shaping table top, the pushing block being for pushing the component to the shaping guide block, the shaping guide block being for said horizontally shaping the component.

16. The card apparatus of claim 15, wherein the shaping table top is further provided with a component sensor for sensing the component and a shaping driving mechanism electrically connected to the component sensor, the shaping driving mechanism being connected to the pushing block, and the shaping driving mechanism being configured to drive the pushing block to move.

17. The card apparatus according to any one of claims 10 to 14, wherein a visual detection unit is further connected to the mechanical arm, and the visual detection unit is electrically connected to the controller, and the visual detection unit is configured to feed back a position of the shaped element on the shaping platform to the controller, and the visual detection unit is further configured to feed back a position of a side socket on the printed circuit board, which is matched with the element, to the controller.

18. The card apparatus according to any one of claims 2 to 8, further comprising a pin detection unit for detecting a position of a pin of a component gripped by the preliminary insertion assembly.