CN205906707U - Module adsorption apparatus constructs and presss from both sides automatic plug -in components device of assembly line of getting mechanism - Google Patents

Abstract

The utility model discloses a module adsorption apparatus constructs and presss from both sides automatic plug -in components device of assembly line of getting mechanism, including at least one adsorbing the unit, at least one pressing from both sides and get the unit, to adsorb the unit and get that the unit feeds through each other and the two respectively has a general part with pressing from both sides, general part is including location module, transportation track module, loading attachment, component camera, adsorbing the unit and including still that adsorption apparatus constructs, the clamp is got the unit and is still got the mechanism including pressing from both sides, adsorption apparatus structure / clamp is got the mechanism and is lain in transportation track module top, and by location module adjustment position, transportation track module end below is located to the component camera, loading attachment is located adsorption apparatus structure / clamp and gets the mechanism below. The utility model discloses need not change the plug -in components head and can produce different products, applicability is big, avoid producing different products and customization plug -in components head, greatly reduced manufacturing cost and time cycle.

Description

A kind of modularity adsorbing mechanism and the streamline automatic insertion device of gripping body

Technical field

This utility model is related to pcb electronics manufacture field, more particularly, to a kind of modularity adsorbing mechanism and gripping body Streamline automatic insertion device.

Background technology

In the electronics manufacture field of pcb, in plug-in components attachment automation process, because plug-in components profile is each Formula various kinds, so the plug head similar with plug-in components all customized and briquetting, to strengthen absorption and pressing effect, generally individually must Customize custom plug-in head for each part.

Existing inserter, all using making plug head according to components and parts profile, mounts different components and parts and must change relatively In attachment plug head.Using this plug head device there is problems in that

1st, existing opposite sex inserter all makes attachment plug head using approximate shapes mode, so a kind of attachment kind of plug head Class is significantly limited, and change of product shares difficulty；

2nd, because custom plug-in head is essentially one-to-one, the stroke of plug head optimizes limited, machine material feeding position bullet Property is little, and position is non-interchangeable, and path is difficult to optimize, and mounting time is long；

3rd, custom plug-in head customization high cost, time is long, and fault is difficult to quickly repair；

4th, change product and must change all special plug head, cause downtime long.

Therefore, prior art needs to improve, and technical solutions of the utility model are based on this and propose.

Utility model content

The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of modularity adsorbing mechanism and gripping body Streamline automatic insertion device.

The technical solution of the utility model is as follows:

A kind of streamline automatic insertion device of modularity adsorbing mechanism and gripping body, including at least one absorbing unit, At least one catching unit, absorbing unit and catching unit are interconnected and the two respectively has a common segment, and common segment includes Positioning module, conveying track module, feeding device, element camera；Described absorbing unit also includes adsorbing mechanism, and catching unit is also Including gripping body；Described adsorbing mechanism/gripping body is located above conveying track module, and by positioning module adjustment position； Below conveying track module end, described feeding device is located at below adsorbing mechanism/gripping body described element camera.

For adsorbing mechanism:

It is preferred that described adsorbing mechanism include the first fixed seat and be arranged on absorbent module in the first fixed seat, first Vertical lifting mechanism, first level rotating mechanism, the first vertical lifting mechanism, first level rotating mechanism control absorption group respectively Part is vertically moved up or down and horizontally rotates；Described absorbent module includes Planar adsorbent head and concave surface adsorption head, one first force feedback pressure Set, one first pressed sleeve seat, double adsorption head axis of guide, one first drive sleeve, double adsorption head axis of guides are nested in the first actuating sleeve Pipe, the first force feedback gland and the first pressed sleeve seat mutually fasten located at drive sleeve head end, and double adsorption head axis of guide head ends correspond to Connect two adsorption head one end, stretch in the first force feedback gland with double adsorption head axis of guides motion two adsorption heads；This absorption is inserted Part mechanism also includes two adsorption head drive mechanisms, and two adsorption head drive mechanisms are respectively used to control plane adsorption head and are adsorbed with concave surface Head flexible.

It is preferred that two adsorption head drive mechanism correspondences include the first electric cylinder and the second electric cylinder, two electric cylinder output shafts Guide shaft tail end with two adsorption heads respectively to be connected.

It is preferred that described first vertical lifting mechanism include the first servo motor, the first drivewheel, the first driven pulley, One belt, described first belt is connected with absorbent module by one first slide mechanism, drives the first force feedback gland vertically to transport Dynamic.

It is preferred that described first slide mechanism includes a first straight line slide rail being vertically arranged in the first fixed seat, a cunning Move the first contiguous block in first straight line slide rail, described first contiguous block is connected with the first belt, the first drive sleeve respectively.

It is preferred that described first level rotating mechanism include the second servo motor, the second drivewheel, the second driven pulley, Two belts, described second driven pulley is connected with the first drive sleeve.

For gripping body:

Described gripping body includes the second fixed seat and the gripper assembly being arranged in the second fixed seat, second vertically rises Descending mechanism, the second horizontal rotary mechanism, the second vertical lifting mechanism, the second horizontal rotary mechanism control gripper assembly vertical respectively Lift and horizontally rotate；Described gripper assembly includes jaw, the jaw axis of guide, the second drive sleeve, jaw axis of guide head end with Jaw one end axle connects, the folding with the motion of the jaw axis of guide, and jaw guiding shaft tail end is nested in the second drive sleeve, this folder Plug-in mechanism is taken also to include a jaw drive mechanism, this jaw drive mechanism is used for adjusting the folding of jaw.

It is preferred that described jaw is made up of with right holding dog left holding dog, described jaw drive mechanism include the 3rd electric cylinder with 4th electric cylinder, two holding dogs respectively by the 3rd electric cylinder and the 4th motorized motions come folding.

It is preferred that described gripper assembly also includes one second force feedback gland and one second pressed sleeve seat, the second force feedback pressure Set and the second pressed sleeve seat mutually fasten located at jaw axis of guide head end, and jaw is located at the second force feedback gland bottom, the second gland Seat is located above the second force feedback gland, and the second pressed sleeve seat top is fixedly connected with second drive sleeve one end.

It is preferred that described second vertical lifting mechanism include the 3rd servo motor, the 3rd drivewheel, the 3rd driven pulley, Three belts, described 3rd belt is connected with gripper assembly by one second slide mechanism, drives jaw vertical movement.

It is preferred that described second slide mechanism includes a second straight line slide rail being vertically arranged in the second fixed seat, a cunning Move the second contiguous block in second straight line slide rail, described second contiguous block is connected with the 3rd belt, the second drive sleeve respectively.

It is preferred that described second horizontal rotary mechanism include the 4th servo motor, the 4th drivewheel, the 4th driven pulley, Four belts, described 4th driven pulley is connected with the second drive sleeve.

For the two common ground:

It is preferred that described positioning module is included along parallel arrangement of two y-axis modules and the connection two end to end of conveying track module The x-axis module of y-axis module；Described adsorbing mechanism is flexibly connected with x-axis module.

It is preferred that described feeding device flies up to feeder selected from vibrating disk feed mechanism, tubulose material feed mechanism, winding material One or more of structure, tray disk feed mechanism.

It is preferred that mark camera is further fixed on described adsorbing mechanism.

Using such scheme, this utility model has the advantages that

1st, different product can be produced without replacing plug head, wide usage is big, returns of investment are high；

2nd, avoid producing different product and customize plug head, substantially reduce production cost and time cycle；

3rd, the general plug head of board 4 can achieve and adsorb simultaneously or grip two to more plug-in units, attachment two simultaneously is extremely Multiple products, therefore shorten attachment journey time, greatly improve speed and production efficiency；

4th, two suction nozzles of each mounting head or jaw independent control, reaches the higher wide usage producing different product；

5th, it is really achieved the linear convenience producing of automatization；

6th, independent-lifting plane is pressed using calibration with current signal torque mode during plug-in unit again, can effective protection pcb during attachment；

7th, resilient engagement multiple pan feeding mode (vibrating disk material-uploading style, material-uploading style, tubulose material feed appliance feeding can be flown up to Mode and tray disk loader mode)；

8th, bilateral feed increases benefit；

9th, hundreds of completely general use can be can expand to by zero insertion part kind number；

10th, the components database of standard can be pre-build, realize quickly and easily programming, reduce thread-changing programming time；

11st, part adopts camera identification positioning, and pcb adopts mark camera to position, and second positioning precisely mounts；

12nd, manpower is replaced with Standardization Station form, elasticity allotment produces；For example: have a product will insert 18 kinds and insert Part components and parts, such as artificial attachment needs deploying 9 people, and everyone inserts 2 kinds of materials.As replaced manpower with modularity inserter, then only need 4 16 kinds of material plug-in units, the wherein one adsorbable 4 kinds of plug-in units of attachment, 12 kinds of plug-in units that another 3 attachments can grip just can be mounted, remain 2 kinds of materials of remaininging can also use artificial attachment as considered cost control problem.

Brief description

Fig. 1 is structural representation of the present utility model；

Fig. 2, Fig. 3 are the structural representation of adsorbing mechanism in this utility model；

Fig. 4, Fig. 5 are absorbent module structural representation in this utility model；

Fig. 6 adsorbs first embodiment for this utility model midplane；

Fig. 7 is concave surface adsorption head one embodiment in this utility model；

Fig. 8 is that being applied in this utility model adsorbs the structural representation that plug-in unit has planar end；

Fig. 9 is that being applied in this utility model adsorbs the structural representation that plug-in unit has groove plane；

Figure 10 is the enlarged drawing at a in Fig. 1；

What wherein Figure 10 represented is two adsorbing mechanisms attraction grooves planar inserts and planar end plug-in unit respectively；

Figure 11, Figure 12 are the structural representation of clip claw mechanism in this utility model；

Figure 13 is applied to outer face plug-in unit partial schematic diagram for this utility model gripping body；

Figure 14 is applied to inner face plug-in unit partial schematic diagram for this utility model gripping body；

Figure 15 is enlarged drawing at b in Fig. 1.

Specific embodiment

Below in conjunction with the drawings and specific embodiments, this utility model is described in detail.

With reference to Fig. 1, in this utility model embodiment, comprise an an absorbing unit s and catching unit g, absorbing unit s's is defeated Go out end to connect with the input of catching unit g.Certainly can also be the input with absorbing unit s for the outfan of catching unit g Connection, can also be multiple units such as sgsg ..., sggg ..., gsss ... etc. combination, for the present embodiment only taking sg as a example Bright.

With reference to Fig. 1, this utility model provides the streamline automatic insertion dress of a kind of modularity adsorbing mechanism and gripping body Put, including an absorbing unit s, a catching unit g, absorbing unit s and catching unit g is interconnected and the two respectively has one and leads to With part, common segment includes positioning module 10, conveying track module 20, feeding device 40, element camera 50；Described absorption is single First s also includes adsorbing mechanism 30, and catching unit also includes gripping body 30 '；Described adsorbing mechanism 30/ gripping body 30 ' is located at Above conveying track module 20, and by positioning module 10 adjustment position；Described element camera 50 is located at conveying track module 20 end Below end, described feeding device 40 is located at below adsorbing mechanism 30/ gripping body 30 '.

For adsorbing mechanism 30:

With reference to Fig. 2 to Figure 10, described adsorbing mechanism 30 includes the first fixed seat 31 and is arranged in the first fixed seat 31 Absorbent module 32, the first vertical lifting mechanism 33, first level rotating mechanism 34, the first vertical lifting mechanism 33, first level Rotating mechanism 34 controls absorbent module 32 to be vertically moved up or down and horizontally rotate respectively；Described absorbent module 32 includes Planar adsorbent head 321a and concave surface adsorption head 321b, one first force feedback gland 322, one first pressed sleeve seat 323, double adsorption head axis of guide 324, First drive sleeve 325, double adsorption head axis of guides 324 are nested in the first drive sleeve 325, the first force feedback gland 322 and One pressed sleeve seat 323 mutually fastens located at the first drive sleeve 325 head end, and the double adsorption head axis of guide 324 head ends are corresponding to connect two suctions Attached head 321a, 321b one end, stretches in the first force feedback with double adsorption head axis of guides 324 motion two adsorption head 321a, 321b Gland 322；This absorption plug-in mechanism also includes two adsorption head drive mechanisms 35, and two adsorption head drive mechanisms 35 are respectively used to control Planar adsorbent head 321a and concave surface adsorption head 321b's is flexible.

Wherein, two adsorption head drive mechanism 35 correspondence includes the first electric cylinder 351 and the second electric cylinder 352, two electric cylinders 351st, 352 output shafts are connected with the two adsorption head axis of guide 324 tail end respectively.

Wherein, to include the first servo motor 331, the first drivewheel 332, first driven for described first vertical lifting mechanism 33 Wheel the 333, first belt 334, described first belt 334 is connected with absorbent module 32 by one first slide mechanism 36, drive First feedback gland 322 moves vertically.

Wherein, described first slide mechanism 36 include a first straight line slide rail 361 being vertically arranged in the first fixed seat 31, One slides in the first contiguous block 362 of first straight line slide rail 361, described first contiguous block 362 respectively with the first belt 334, the One drive sleeve 325 connects.

Wherein, to include the second servo motor 341, the second drivewheel 342, second driven for described first level rotating mechanism 34 Wheel the 343, second belt 344, described second driven pulley 343 is connected with the first drive sleeve 325.

For gripping body 30 ':

With reference to Figure 11 to Figure 15, described gripping body 30 ' includes the second fixed seat 31 ' and is arranged on the second fixed seat 31 ' On gripper assembly 32 ', the second vertical lifting mechanism 33 ', the second horizontal rotary mechanism 34 ', the second vertical lifting mechanism 33 ', second horizontal rotary mechanism 34 ' controls gripper assembly 32 ' vertical lift respectively and horizontally rotates；Described gripper assembly 32 ' include jaw 321 ', the jaw axis of guide 324 ', drive sleeve 325 ', the jaw axis of guide 324 ' head end and jaw 321 ' one end Axle connects, the folding with the jaw axis of guide 324 ' motion, and the jaw axis of guide 324 ' tail end is nested in the second drive sleeve 325 ', This gripping plug-in mechanism also includes a jaw drive mechanism 35 ', and this jaw drive mechanism 35 ' is used for adjusting opening of jaw 321 ' Close.

Wherein, described gripper assembly 32 ' also includes one second force feedback gland 322 ' and one second pressed sleeve seat 323 ', the Two force feedback glands 322 ' and the second pressed sleeve seat 323 ' mutually fasten located at the jaw axis of guide 324 ' head end, and jaw 321 ' is located at the Two force feedback gland 322 ' bottom, the second pressed sleeve seat 323 ' is located above the second force feedback gland 322 ', the second pressed sleeve seat 323 ' Top is fixedly connected with the second drive sleeve 325 ' one end.

Wherein, described second vertical lifting mechanism 33 ' include the 3rd servo motor 331 ', the 3rd drivewheel 332 ', the 3rd Driven pulley 333 ', the 3rd belt 334 ', described 3rd belt 334 ' passes through one second slide mechanism 36 ' with gripper assembly 32 ' even Connect, drive jaw 321 ' vertical movement.

Wherein, described second slide mechanism 36 ' inclusion one is vertically arranged the second straight line slide rail in the second fixed seat 31 ' 361 ', one slide second straight line slide rail 361 ' the second contiguous block 362 ', described second contiguous block 362 ' respectively with the first skin Band 334 ', the second drive sleeve 325 ' connect.

Wherein, described second horizontal rotary mechanism 34 ' include the 3rd servo motor 341 ', the 3rd drivewheel 342 ', the 3rd Driven pulley 343 ', the 3rd belt 344 ', described 3rd driven pulley 343 ' is connected with the second drive sleeve 325 '.

In this utility model, an embodiment is the double fastener pawl axis of guide 324 ', and wherein, described jaw 321 ' is by left holding dog 321a ' and right holding dog 321b ' constitute, described jaw drive mechanism 35 ' includes the 3rd electric cylinder 351 ' and the 3rd electric cylinder 352 ', The double fastener pawl axis of guide 324 ' one end respectively correspond to an electric cylinder 351 '/352 ' output shaft axle connect, two holding dogs 321a ', 321b ' Pass through two electric cylinder 351 ', 352 ' respectively and drive folding.

In this utility model embodiment:

Positioning module 10 is included along conveying track module 20 parallel arrangement of two y-axis modules 11 and connection two y-axis moulds end to end The x-axis module 12 of group 11；Described adsorbing mechanism 30 is flexibly connected with x-axis module 12.

Feeding device 40 includes vibrating disk feed mechanism 41, tubulose material feed mechanism 42, winding material fly up to feed mechanism 43, Tray disk feed mechanism 44, is arranged on conveying track module 20 both sides.

It is further fixed on mark camera 60 on adsorbing mechanism 30/ gripping body 30 '.

In this utility model, the various corresponding assembly that adsorbing mechanism 30 is comprised with gripping body 30 ', such as the first fixed plate 31 and second fixed plate 31 ', the first vertical lifting mechanism 33 and the second vertical lifting mechanism 33 ' etc., if its subject name is identical, Then preferably, the two belongs to identical part, and therefore, hereinafter the first fixed plate, the second fixed plate, fixed plate all represent same Implication, and be not added with distinguish, also will not cause ambiguity.

Referring to figs. 1 to Figure 15, operation principle of the present utility model:

As shown in figure 1, modularity can set up flow production line, and simply distinguish absorbing unit s, catching unit g, set up Stylized parts library, improves wide usage, the multi-functional inserter limited by purposes is improved the automatic streamline that can elastic recombinate and produces Line, except improving wide usage during replacement of products, more can make the various of upstream and downstream further up to the linear velocity of production line balance Scheduling of production can be more smooth without hindrance.

For absorbing unit g:

This technology replaces the special shape plug head of customization with the automatic adsorption mechanism of plug-in unit, then to be independently controlled lifting Force feedback and plug-in unit pressed again by briquetting, so that the fully-inserted pin hole of stitch of plug-in unit is put in place.The bilateral feed of this device adapts to multiple Supplied materials mode, such as balk cargo, winding material, tubulose material and tray biscuit respectively with vibrating disk material-uploading style, fly up to material-uploading style, pipe Shape material feed appliance material-uploading style and tray disk loader mode are reaching pan feeding feeding.

1st, device workflow

With reference to Fig. 1 and Figure 10, pcb 1 is positioned on carrier 2, enters device, induction apparatuss sense by conveying track module 20 Supplied materials positioning carrier 2 should be arrived, the mobile suction nozzle 321 of this automatic insertion device on pcb 1, take pictures fixed to pcb 1 by mark camera 60 Position, 4 groups of adsorbing mechanisms of procedure auto-control take absorption part, and after absorption, part is identified and positioned by element camera 50, device Mobile suction nozzle 321 mounts on a little accordingly to pcb, and plug-in unit 3 is mounted, corresponding pcb 1 other plug-in units 3 also to be loaded, Then export catching unit g by conveying track module 20 to continue to load.

2nd, the workflow of adsorbing mechanism

(1) it is vertically moved up or down

In first vertical lifting mechanism 33, by driving the reciprocating rotation of the first belt 334, driven by the first belt 334 The first force feedback gland 322 in absorbent module 32 moves up and down, thus adjusting the operation height of two adsorption head 321a, 322b.

(2) horizontally rotate

In first level rotating mechanism 34, the second driven pulley 343 is enclosed within outside drive sleeve 325, and the second driven pulley 343 is in water Square to the first drive sleeve 325 synchronous axial system, in vertical direction, the first drive sleeve 325 can relatively the second driven pulley 343 up and down motions.

(3) adsorb plug-in unit

This utility model is Planar adsorbent head 321a, the concave surface adsorption head 321b and the first force feedback pressure absorption plug-in unit 3 Cover 322 and separate independent control lifting, that is, draw and pressure 3 two actions of plug-in unit separate independent control again, and two general using are adsorbed Head 321a, 321b are controlled lifting by two independent electric cylinders 351,352 respectively, adsorb accordingly when drawing different plug-in units 3 Head 321a, 321b make automatic lifting, and when pressing plug-in unit 3 again, the first force feedback gland 322 uses calibration with current signal torque mode, Can effective protection pcb plate.

As Fig. 8, it is the schematic diagram that the plug-in unit 3 adsorbing has planar end, such as various column capacitance components, port are inserted Seat, shift knob etc..First force feedback gland 322 is fed back 325 liters of the first drive sleeve by the first servo motor 331 driving moment Go back to normal position, Planar adsorbent head 321a is stretched out in the first force feedback gland 322 by the first drive sleeve 325 driving and goes absorption to insert Part 3, concave surface adsorption head 321b then with the first force feedback gland 322 end face, when plug-in unit 3 mounts the pin hole on pcb plate, First electric cylinder 351 drives one of double adsorption head axis of guides 324 to rise, and makes Planar adsorbent head 321a be retracted into the first force feedback pressure In set 322, the synchronous driving by the first servo motor 331 of this process the first force feedback gland 322 pushes, and so that plug-in unit 3 stitch is injected Pcb plate pin hole, pushes stopping when pushing the calibration with current signal pressure feedback reaching setting, and attachment completes.

As Fig. 9, it is the schematic diagram that the plug-in unit 3 adsorbing has groove plane, such as adapter, big adapter etc..First power is anti- Feed voltage set 322 is fed back 325 liters of the first drive sleeve by the first servo motor 331 driving moment and returns normal position, concave surface adsorption head 321b is stretched out in the first force feedback gland 322 by the first drive sleeve 325 driving and goes to adsorb plug-in unit 3, and Planar adsorbent head 321a is then With the first force feedback gland 322 end face, when plug-in unit 3 mounts the pin hole on pcb plate, the second electric cylinder 352 drives double Another rising of the adsorption head axis of guide 42, makes concave surface adsorption head 321b be retracted in the first force feedback gland 322, this process first The synchronous driving by the first servo motor 331 of force feedback gland 322 pushes, and makes plug-in unit 3 stitch inject pcb plate pin hole, reaches when pushing Stopping is pushed, attachment completes during to the calibration with current signal pressure feedback setting.

In this utility model, two adsorption head 321a, 321b are connected with outside vacuum absorption device, this vacuum absorption device Prior art can be applied, will not be described here.

For catching unit g:

As shown in Fig. 1 and Figure 15, this technology replaces the special shape plug head of customization with general use plug-in unit gripping body automatically, Again to be independently controlled the force feedback of lifting and plug-in unit pressed again by briquetting, the fully-inserted pin hole of stitch of plug-in unit is made to put in place.This device Bilateral feed adapts to multiple supplied materials modes, and such as balk cargo, winding material, tubulose material and tray biscuit are respectively with vibrating disk feeder Structure, winding material fly up to feed mechanism, tubulose material feed mechanism and tray disk feed mechanism to reach pan feeding, feeding.

1st, device workflow

The pcb 1 being loaded with part plug-in unit 3 accepting absorbing unit s conveying and coming, is entered by conveying track module 20 Catching unit g, induction apparatuss sense supplied materials positioning carrier 2, and this automatic insertion device moves gripping body 30 ' on pcb 1, Mark camera 60 is taken pictures to pcb 1 positioning, and 4 gripping bodies 30 ' of procedure auto-control grip parts, and after gripping, part passes through unit Part camera 50 identifies and positions, and the jaw of the mobile gripping body 30 ' of device mounts on a little accordingly to pcb 1, and plug-in unit is carried out Attachment.

2nd, gripping body workflow

(1) it is vertically moved up or down

In second vertical lifting mechanism 33 ', by driving the reciprocating rotation of the 3rd belt 334 ', carried by three belt 334 ' Jaw 321 ' in dynamic gripper assembly 32 ' moves up and down.

(2) horizontally rotate

In second horizontal rotary mechanism 34 ', the 4th driven pulley 343 ' is enclosed within drive sleeve 325 ' outward, the 4th driven pulley 343 ' In the horizontal direction with drive sleeve 325 ' synchronous axial system, in vertical direction, the second drive sleeve 325 ' can be driven with respect to the 4th Wheel 343 ' up and down motion.

(3) grip plug-in unit

This utility model is left and right holding dog 321a gripping plug-in unit 3 ', 321b ' and the second force feedback gland 322 ' separate Independently use motor control, i.e. gripping separates independent control with pressing 3 two actions of plug-in unit again, and two general are used left and right holding dog 321a ', 321b ' are controlled gripping stroke by two independent electric cylinders respectively.

As Figure 13, it is gripping outer face plug-in unit 3 schematic diagram, such as various relay components and parts, integrated circuit, transformer coil Deng；As Figure 14, it is gripping inner face plug-in unit 3 schematic diagram, such as bus bar connector etc..

When attachment presses plug-in unit 3 again, the second force feedback gland 322 ' uses calibration with current signal torque mode, can effective protection pcb. As shown in Figure 13,14, when attachment part is for outer or inner face gripping class plug-in unit 3, the second force feedback gland 322 ' is watched by the 3rd Take motor 331 ' to drive, drive the second drive sleeve 325 ', two holding dogs 321a ', 321b ' rise back normal position, two holding dogs 321a ', 321b ' is driven to four electric cylinder 352 ' by the 3rd electric cylinder 351 ' respectively and opens corresponding stroke to grip plug-in unit 3, when plug-in unit 3 When moving on the corresponding pin hole of pcb, this gripping plug-in mechanism lifting three servo motor 331 ' drives whole gripper assembly 32 ' declines, the stitch of plug-in unit 3 making gripping is just to injecting pin hole, now two holding dog 321a ', 321b ' is respectively by the 3rd electric cylinder 351 ' drive synchronous with four electric cylinder 352 ' are opened, and this process the second force feedback gland 322 ' synchronization is by the second drive sleeve 205 ' push driving, make plug-in unit 3 stitch inject pin hole, push stopping when pushing the calibration with current signal pressure feedback reaching setting, Attachment completes.

These are only preferred embodiment of the present utility model, be not limited to this utility model, all in this practicality Any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model Within the scope of shield.

Claims (10)

1. a kind of modularity adsorbing mechanism and the streamline automatic insertion device of gripping body are it is characterised in that include at least one Absorbing unit, at least one catching unit, absorbing unit and catching unit are interconnected and the two respectively has a common segment, leads to Include positioning module, conveying track module, feeding device, element camera with part；Described absorbing unit also includes adsorbing mechanism, Catching unit also includes gripping body；Described adsorbing mechanism/gripping body is located above conveying track module, and by positioning module Adjustment position；Below conveying track module end, described feeding device is located at adsorbing mechanism/catching device to described element camera Below structure.

2. streamline automatic insertion device according to claim 1 is it is characterised in that described adsorbing mechanism includes first admittedly Reservation and be arranged on absorbent module in the first fixed seat, the first vertical lifting mechanism, first level rotating mechanism, first hangs down Go straight up to descending mechanism, first level rotating mechanism controls absorbent module vertical lift respectively and horizontally rotates；Described absorbent module bag Include Planar adsorbent head and concave surface adsorption head, one first force feedback gland, one first pressed sleeve seat, double adsorption head axis of guide, one first Drive sleeve, double adsorption head axis of guides are nested in the first drive sleeve, and the first force feedback gland and the first pressed sleeve seat mutually fasten Located at drive sleeve head end, double adsorption head axis of guide head ends are corresponding to connect two adsorption head one end, with double adsorption head axis of guides fortune Dynamic two adsorption heads stretch in the first force feedback gland；This absorption plug-in mechanism also includes two adsorption head drive mechanisms, two adsorption heads Drive mechanism is respectively used to the flexible of control plane adsorption head and concave surface adsorption head.

3. streamline automatic insertion device according to claim 2 is it is characterised in that two adsorption head drive mechanisms correspond to bag Include the first electric cylinder and the second electric cylinder, two electric cylinder output shafts guide shaft tail end with two adsorption heads respectively and are connected；Described first Vertical lifting mechanism includes the first servo motor, the first drivewheel, the first driven pulley, the first belt, and described first belt passes through One first slide mechanism is connected with absorbent module, drives the first force feedback gland vertical movement.

4. streamline automatic insertion device according to claim 3 is it is characterised in that described first slide mechanism includes one It is vertically arranged first straight line slide rail in the first fixed seat, one slide in the first contiguous block of first straight line slide rail, described first Contiguous block is connected with the first belt, the first drive sleeve respectively.

5. streamline automatic insertion device according to claim 3 is it is characterised in that described first level rotating mechanism bag Include the second servo motor, the second drivewheel, the second driven pulley, the second belt, described second driven pulley and the first drive sleeve are even Connect.

6. streamline automatic insertion device according to claim 1 is it is characterised in that described gripping body includes second admittedly Reservation and be arranged on gripper assembly in the second fixed seat, the second vertical lifting mechanism, the second horizontal rotary mechanism, second hangs down Go straight up to descending mechanism, the second horizontal rotary mechanism controls gripper assembly vertical lift respectively and horizontally rotates；Described gripper assembly bag Include jaw, the jaw axis of guide, the second drive sleeve, jaw axis of guide head end is connected with jaw one end axle, with the jaw axis of guide Move and folding, jaw guiding shaft tail end is nested in the second drive sleeve, and this gripping plug-in mechanism also includes a jaw driving machine Structure, this jaw drive mechanism is used for adjusting the folding of jaw.

7. streamline automatic insertion device according to claim 6 is it is characterised in that described jaw is propped up with right by left holding dog Pawl is constituted, and described jaw drive mechanism includes the 3rd electric cylinder and the 4th electric cylinder, two holding dogs pass through respectively the 3rd electric cylinder and 4th motorized motions carry out folding.

8. streamline automatic insertion device according to claim 6 is it is characterised in that described gripper assembly also includes one Two force feedback glands and one second pressed sleeve seat, the second force feedback gland and the second pressed sleeve seat mutually fasten and guide spindle nose located at jaw End, located at the second force feedback gland bottom, the second pressed sleeve seat is located above the second force feedback gland jaw, the second pressed sleeve seat top It is fixedly connected with second drive sleeve one end.

9. streamline automatic insertion device according to claim 6 is it is characterised in that described second vertical lifting mechanism bag Include the 3rd servo motor, the 3rd drivewheel, the 3rd driven pulley, the 3rd belt, described 3rd belt passes through one second slide mechanism It is connected with gripper assembly, drive jaw vertical movement；Described second slide mechanism includes one and is vertically arranged in the second fixed seat Second straight line slide rail, one slide in the second contiguous block of second straight line slide rail, described second contiguous block respectively with the 3rd belt, the Two drive sleeve connect；Described second horizontal rotary mechanism include the 4th servo motor, the 4th drivewheel, the 4th driven pulley, Four belts, described 4th driven pulley is connected with the second drive sleeve.

10. streamline automatic insertion device according to claim 1 is it is characterised in that described positioning module is included along fortune Defeated track module parallel arrangement of two y-axis modules and the x-axis module connecting two y-axis modules end to end；Described adsorbing mechanism and x-axis Module is flexibly connected；Described feeding device flies up to feeder selected from vibrating disk feed mechanism, tubulose material feed mechanism, winding material One or more of structure, tray disk feed mechanism；Mark camera is further fixed on described adsorbing mechanism.