CN221597022U - Automatic pin inserting device for module - Google Patents

Abstract

The application provides a module automatic pin inserting device, and belongs to the technical field of automatic pin inserting. Aiming at the problem of higher cost caused by poor compatibility and low efficiency of automatic contact pins, the application provides a module automatic contact pin device, which comprises contact pin equipment, wherein the contact pin equipment comprises: the rotary table and the plurality of mechanical arms are uniformly arranged along the circumferential direction of the rotary table; the rotary path corresponding to the turntable is sequentially provided with a first upper needle position, a contact pin detection position, a second upper needle position, a needle discarding position, a supporting position and a contact pin position which correspond to the plurality of mechanical arms, and the first upper needle position and the second upper needle position are used for providing contact pins with different structures; the contact pin detection position is provided with contact pin detection equipment and is used for detecting contact pins with different structures. The application utilizes the first upper needle position and the second upper needle position to realize providing the contact pins with different structures, improves the compatibility and the contact pin efficiency of the automatic contact pin and reduces the contact pin cost.

Description

Automatic pin inserting device for module

Technical Field

The application relates to the technical field of automatic pin inserting, in particular to a module automatic pin inserting device.

Background

Many pins, also called Pin pins, are typically inserted into the electronic device module, and the pins have various structures, such as round pins and flat pins. The round needle is provided with a cylindrical insertion end, the insertion end is only required to be vertical during insertion, the flat needle is provided with a non-cylindrical insertion end, the insertion end is required to be vertical during insertion, and the circumferential gesture of the insertion end is required to be accurate.

Particularly, the IGBT (Insulate-Gate Bipolar Transistor, insulated gate bipolar Transistor) module integrates the advantages of a Power Transistor (Giant Transistor-GTR) and a Power field effect Transistor (Power MOSFET), has good characteristics and is wide in application field. The IGBT module is very suitable for being applied to the fields of a variable current system with the direct current voltage of 600V and above, such as an alternating current motor, a frequency converter, a switching power supply, a lighting circuit, traction transmission and the like. The IGBT module has a high demand for pins.

Because the pin-on modes of the pins with different structures are different, the current module automatic pin-on device can only adapt to the pins with one structure, has poor compatibility, needs to set a plurality of automatic pin-on modules aiming at the pins with different structures, leads to lower pin-on efficiency, and has large pin-on operation occupation area and higher cost.

Disclosure of utility model

The application aims to solve the problems of high cost caused by poor compatibility and low efficiency of automatic pins in the prior art. Therefore, the application provides the automatic pin inserting device for the module, pins with different structures are provided by utilizing the first upper pin position and the second upper pin position, the compatibility and the pin inserting efficiency of the automatic pin are improved, and the pin inserting cost is reduced.

The embodiment of the application provides a module automatic pin inserting device, which comprises pin inserting equipment, wherein the pin inserting equipment comprises:

The rotary table and the plurality of mechanical arms are uniformly arranged along the circumferential direction of the rotary table;

The rotary path corresponding to the turntable is sequentially provided with a first upper needle position, a contact pin detection position, a second upper needle position, a needle discarding position, a supporting position and a contact pin position which correspond to the plurality of mechanical arms, and the first upper needle position and the second upper needle position are used for providing contact pins with different structures;

The contact pin detection position is provided with contact pin detection equipment and is used for detecting contact pins with different structures.

By adopting the technical scheme, the first upper needle position and the second upper needle position are utilized to provide the pins with different structures for the pin positions, so that the compatibility and the pin efficiency of the pin device are improved, the pin cost is reduced, the first upper needle position, the pin detection position, the second upper needle position, the pin discarding position, the supporting position and the pin position are sequentially arranged and the rotating path of the turntable is utilized, on one hand, the pin operation smoothness is ensured, the pin efficiency is improved, on the other hand, the pin equipment is compact in structure, the occupied area of the device is effectively controlled, and the pin cost is further reduced; meanwhile, the pin detection equipment is utilized to realize pin detection of different structures, so that the pin operation reliability is improved, and the pin cost is further reduced.

In some embodiments, the first upper needle position is provided with a first upper needle device, the second upper needle position is provided with a second upper needle device, the discarding needle position is provided with a discarding needle collecting device, the supporting position is provided with an L-shaped supporting frame, and the inserting needle position is used for placing a module;

The first pin loading device is used for providing a first pin for the mechanical arm, the second pin loading device is used for providing a second pin for the mechanical arm, and the mechanical arm is used for clamping the first pin or the second pin and inserting the first pin or the second pin into the module on the pin position;

The L-shaped supporting frame is connected with the turntable; and

The rotary table is provided with the pin inserting position along a first direction in a plane of the rotary path, the first upper pin position is arranged in a second direction, the second upper pin position is arranged in a third direction, and the supporting position is arranged in a fourth direction;

The first direction, the second direction, the third direction and the fourth direction are perpendicular in order.

By adopting the technical scheme, the L-shaped supporting frame is arranged on the supporting position at the side edge of the turntable to support the turntable, so that the space below the turntable can be prevented from being occupied, the installation of other equipment is facilitated, and the installation flexibility of the other equipment is improved; and through with contact pin position, first needle position, second go up needle position and support the side at the revolving stage of position equipartition for four positions all have great installation space, thereby be convenient for other equipment's installation, improve other equipment installation flexibility ratio, and other equipment's end can be close to the revolving stage as far as possible, shortens the butt joint stroke, thereby improves contact pin equipment and other equipment butt joint's reliability.

In some embodiments, the turntable comprises a rotating shaft and a mounting plate sleeved on the rotating shaft, and the plurality of mechanical arms are arranged along the circumferential direction of the mounting plate;

The mechanical arm comprises a mounting mechanism and a movable mechanism movably connected with the mounting mechanism, the movable mechanism is detachably arranged on the mounting plate through the mounting mechanism, and the movable mechanism is used for clamping the contact pin.

By adopting the technical scheme, the movable mechanism of the mechanical arm is detachably connected with the mounting plate through the mounting mechanism, so that the movable mechanism for clamping the contact pins can be replaced conveniently aiming at the contact pins with different structures, and the compatibility and the contact pin efficiency of the device are further improved.

In some embodiments, the movable mechanism comprises a mounting frame and a reset piece arranged on the mounting frame, one end of the mounting frame is connected with a displacement assembly for adjusting the position of the mounting frame and is connected with the mounting mechanism through the displacement assembly, the other end of the mounting frame is provided with a clamping jaw in a sliding manner, and the clamping jaw is connected with the reset piece; and

The sliding direction of the clamping jaw is parallel to the resetting direction of the resetting piece.

By adopting the technical scheme, the clamping jaw can move downwards at the first upper needle position and the second upper needle position to clamp and reset the contact pin by utilizing the matching of the clamping jaw and the reset piece which are arranged in a sliding way; and then the pin is moved downwards at the pin position to realize the pin, and the operation reliability is high, so that the operation reliability of the pin is ensured.

In some embodiments, the displacement assembly includes a first mount having a mounting surface, a second mount slidably disposed on the mounting surface, and a first adjustment member disposed between and coupled to both the first mount and the second mount and configured to drive the second mount to slide relative to the first mount in a first direction within the mounting surface;

The first positioning component comprises a first positioning piece and a first locking piece, the first positioning piece is arranged at the sliding connection part of the first installation seat and the second installation seat, the first locking piece is movably connected with the side edge of the first installation seat, and the first positioning piece can be driven to slide along the second direction in the installation surface and be abutted to the second installation seat; wherein,

The first direction is perpendicular to the second direction.

In some embodiments, the pin device further comprises a fixed table arranged above the turntable and a plurality of driving mechanisms arranged around the circumference of the fixed table, the driving mechanisms are respectively arranged corresponding to the pin position, the first upper pin position and the second upper pin position, and the driving mechanisms are used for driving the clamping jaws positioned on the pin position, the first upper pin position and the second upper pin position to move downwards.

In some embodiments, the pin detection apparatus includes a vertical detection mechanism for detecting a lengthwise attitude of the pin on the mechanical arm and an end detection mechanism for detecting an insertion end face attitude of the pin on the mechanical arm.

By adopting the technical scheme, the length direction gesture of the pins with different structures can be detected through the vertical detection mechanism, and the pins with the end face gesture of the insertion end to be detected can be correspondingly detected through the end detection mechanism, so that the detection of the pins with different structures is adapted.

In some embodiments, the vertical detection mechanism includes a first background plate and a mirror disposed opposite to each other, and a first image acquisition device disposed below the mirror, between the first background plate and the mirror, for accommodating the pin on the mechanical arm, the first image acquisition device acquiring a longitudinal pose of the pin through the mirror.

By adopting the technical scheme, the first image acquisition equipment with larger volume can be vertically arranged, namely, the space in the height direction is occupied, the occupation of the space in the horizontal direction is reduced, the structural compactness of the contact pin detection equipment is improved, the structural compactness of the device is further improved, the occupied area is reduced, and the contact pin cost is controlled.

In some embodiments, the first pin is a flat pin and the second pin is a round pin;

The first needle feeding device comprises a feeding track, a punching mechanism and an output track which are sequentially connected, and the tail end of the output track is positioned at the first needle feeding position;

The second needle feeding device comprises a limiting rotary table, a plurality of limiting grooves matched with the round needle are formed in the limiting rotary table along the circumferential direction of the limiting rotary table, and the limiting rotary table drives the limiting grooves to rotate and are located in the second needle feeding position in sequence.

In some embodiments, the device further comprises a round pin detection device, the round pin detection device comprises a second background plate and a second image acquisition device which are respectively arranged at two sides of the second needle feeding device, the second contact pin positioned on the mechanical arm is accommodated between the second background plate and the second image acquisition device, and the second image acquisition device acquires the length direction gesture of the second contact pin.

By adopting the technical scheme, the round needle detection equipment is utilized to realize direct detection of the round needle, so that the reliability of the contact needle is improved, the contact needle efficiency is ensured, and the reliability of a contact needle control flow is ensured.

Additional features and corresponding advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the application.

Drawings

FIG. 1 is a schematic diagram of a modular automatic pin apparatus of the present application;

FIG. 2 is a schematic top view of FIG. 1;

FIG. 3 is a schematic view of the structure of the pin device in the automatic pin device of the module of the present application;

FIG. 4 is a schematic view of a mechanical arm of the automatic pin inserting device of the module of the present application;

FIG. 5 is a schematic view of a displacement assembly in a mechanical arm of the modular automatic pin apparatus of the present application;

FIG. 6 is a schematic view of a pin detection device of the automatic pin device of the present application;

FIG. 7 is a schematic structural view of a round pin detecting device of the automatic pin inserting device of the module of the present application;

Fig. 8 is a schematic structural view of a second needle loading device of the automatic pin inserting device of the module of the present application.

Reference numerals illustrate: 3. a flat needle belt; 4. a round needle;

300. A pin device; 310. a turntable; 311. a rotating shaft; 312. a mounting plate; 320. an L-shaped supporting frame; 330. a fixed table; 340. a mechanical arm; 341. a mounting mechanism; 3411. a base; 3412. a connecting seat; 3413. a locking member; 342. a mounting frame; 343. a displacement assembly; 10. a first mount; 20. a second mounting base; 30. a first adjustment member; 40. a first positioning member; 50. a third mount; 60. a second adjusting member; 70. a second positioning member; 344. a guide post; 345. a clamping jaw; 3451. a clamping jaw body; 3452. a bracket; 350. a driving mechanism; 351. a driving member; 352. a driving end;

400. a first needle feeding device; 410. a feeding rail; 420. a punching mechanism; 430. an output track;

500. A second needle feeding device; 510. a limit turntable; 511. a limit groove;

600. A pin detection device; 610. a vertical detection mechanism; 611. a first background plate; 612. a reflecting mirror; 613. a first image acquisition device; 620. an end detection mechanism; 621. a third image acquisition device;

700. Round needle detection equipment; 710. a second image acquisition device; 720. a second background plate;

800. a needle discard collection device; 810. and (5) collecting a bin.

Detailed Description

Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present application with specific examples. While the description of the application will be presented in connection with a preferred embodiment, it is not intended that the application be limited to this embodiment. Rather, the purpose of the present application is to cover other alternatives or modifications, which may be extended by the claims based on the application. The following description contains many specific details for the purpose of providing a thorough understanding of the present application. The application may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may include one or more of the feature, either explicitly or implicitly. In the description of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Referring to fig. 1-3, fig. 1 is a schematic structural diagram of an automatic pin inserting device according to the present application; FIG. 2 is a schematic top view of FIG. 1; fig. 3 is a schematic structural diagram of a pin device 300 in the automatic pin device of the module of the present application.

The embodiment of the application provides an automatic pin inserting device for a module, which comprises pin inserting equipment 300, wherein the pin inserting equipment 300 comprises a rotary table 310 and a plurality of mechanical arms 340 arranged along the circumferential direction of the rotary table 310, and a first upper pin position, a pin inserting detecting position, a second upper pin position, a pin discarding position, a supporting position and a pin inserting position which correspond to the plurality of mechanical arms 340 are sequentially arranged on a rotating path of the pin inserting equipment 300 corresponding to the rotary table 310, so that the pin inserting operation smoothness is ensured, the pin inserting efficiency is improved, the pin inserting equipment 300 is compact in structure, the occupied area of the device is effectively controlled, and the pin inserting cost is reduced.

In one embodiment, the first upper pin position and the second upper pin position are used for providing pins with different structures, so that the compatibility and the pin efficiency of the pin device are improved, and the pin cost is reduced.

In one embodiment, a first upper needle station is provided with a first upper needle device 400 and a second upper needle station is provided with a second upper needle device 500, the needle stations being for placement of modules.

The first pin loading device 400 is used for providing a first pin for the mechanical arm 340, the second pin loading device 500 is used for providing a second pin for the mechanical arm 340, and the mechanical arm 340 is used for clamping the first pin or the second pin and inserting the first pin or the second pin into a module on a pin position to realize the pin.

In one embodiment, the pin detection position is provided with the pin detection device 600 and is used for detecting pins with different structures, so that the pin operation reliability is improved, and the pin cost is further reduced.

In one embodiment, the discard needle station is provided with discard needle collection apparatus 800, guaranteeing the efficiency of the pins while achieving discard needle collection. The discard needle collection apparatus 800 may include a collection bin 810 to receive and collect the discarded pins from the robotic arm 340 that rotates above the discard needle collection apparatus 800.

In one embodiment, the support position is provided with an L-shaped support frame 320, the L-shaped support frame 320 is connected with the turntable 310, so that the turntable 310 is supported, the space below the turntable 310 can be prevented from being occupied in the mode, the installation of other equipment is facilitated, and the installation flexibility of the other equipment is improved.

For example, the module is typically carried to the pin location of the pin apparatus 300 by a module carrying apparatus that includes a longitudinal rail (extending in a first direction) and a carriage slidably disposed on the longitudinal rail for carrying the module. In order to make the carrying platform as close to the pin device 300 as possible, that is, close to the mechanical arm 340 on the turntable 310, the end of the longitudinal guide rail needs to be located on the pin position, meanwhile, a driving module is disposed on the longitudinal guide rail to enable the carrying platform to slide along the longitudinal guide rail, and the driving module is generally disposed on the end of the longitudinal guide rail, so as to improve the flexibility of installing the module carrying device, reduce the longitudinal length as far as possible to improve the compactness of the structure, reduce the occupied area, and may be disposed below the turntable 310.

In one embodiment, the turntable 310 is provided with the pin position along the first direction in the plane of the rotation path, the second direction is provided with the first upper pin position, the third direction is provided with the second upper pin position, the fourth direction is provided with the support position, and the first direction, the second direction, the third direction and the fourth direction are sequentially vertical, namely, the included angles are sequentially 90 degrees, so that the pin position, the first upper pin position, the second upper pin position and the support position are uniformly distributed on the side edge of the turntable 310, and the four positions are provided with larger installation spaces, thereby facilitating the installation of other equipment, improving the installation flexibility of other equipment, enabling the tail ends of the other equipment to be as close to the turntable 310 as possible, shortening the docking stroke, and improving the docking reliability of the pin equipment 300 and other equipment.

In one embodiment, the plurality of mechanical arms 340 are uniformly arranged along the circumferential direction of the turntable 310, and further, the plurality of mechanical arms 340 is eight, thereby improving the pin efficiency.

In one embodiment, the turntable 310 includes a rotating shaft 311 and a mounting plate 312 sleeved on the rotating shaft 311, and the plurality of mechanical arms 340 are disposed along a circumferential direction of the mounting plate 312.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a mechanical arm 340 of the automatic pin inserting device of the module according to the present application.

The mechanical arm 340 comprises a mounting mechanism 341 and a movable mechanism movably connected with the mounting mechanism 341, the movable mechanism is used for clamping pins, and the movable mechanism is detachably arranged on the rotary table 310 through the mounting mechanism 341, for example, on a mounting plate 312 of the rotary table 310, so that the movable mechanism for clamping pins can be conveniently replaced for pins with different structures, and the compatibility and the pin efficiency of the device are further improved; meanwhile, since the movable mechanism for continuously clamping the pins in the pin apparatus 300 is more fragile, maintenance is facilitated and maintenance cost is reduced by only replacing the movable mechanism.

In one embodiment, mounting mechanism 341 includes a base 3411, a connector base 3412, and a retaining member 3413. Base 3411 and connector 3412 are detachably connected by a locking member 3413, and locking member 3413 may be provided on base 3411 or on connector 3412. The base 3411 is fixedly connected with the turntable 310, for example, the mounting plate 312 of the turntable 310, the connecting base 3412 is fixedly connected with the movable mechanism, for example, the mounting frame 342 of the movable mechanism, and when the movable mechanism needs to be disassembled, the base 3411 and the connecting base 3412 can be separated conveniently and rapidly through the locking piece 3413 to realize the disassembly of the movable mechanism.

In one embodiment, locking member 3413 is coupled to base 3411, and locking member 3413, when locked, clamps connector block 3412 to couple base 3411 to connector block 3412; when the locking member 3413 is opened, the connector holder 3412 is released, so that the base 3411 and the connector holder 3412 can be separated.

In other alternative embodiments, the mounting mechanism 341 may be configured to detachably connect the moving mechanism to the turntable 310, for example, the mounting mechanism 341 may be configured to detachably connect the moving mechanism to the turntable 310 using a snap-fit structure or the like.

In one embodiment, the movable mechanism includes a mounting frame 342 and a reset member (not shown) disposed on the mounting frame 342.

One end of the mounting frame 342 is connected with a displacement assembly 343, and is connected with the mounting mechanism 341 through the displacement assembly 343, the displacement assembly 343 is used for adjusting the position of the mounting frame 342, and then the position of the clamping jaw 345 arranged on the mounting frame 342 is adjusted, so that the position accuracy of the clamping jaw 345 is ensured, the reliability of the contact pin is improved, and especially after the movable mechanism is replaced, the position of the clamping jaw 345 on the movable mechanism is required to be adjusted, so that the adverse effect of mounting errors on the contact pin operation is reduced.

The other end of the mounting frame 342 is slidably provided with a clamping jaw 345, and the clamping jaw 345 is connected with a reset piece; the sliding direction of the jaw 345 is parallel to the resetting direction of the resetting member. In this way, by using the cooperation of the slidably arranged clamping jaw 345 and the reset member, the clamping jaw 345 can move downwards in the first upper needle position and the second upper needle position to clamp and reset the contact pin; and then the pin is moved downwards at the pin position to realize the pin, and the operation reliability is high, so that the operation reliability of the pin is ensured.

The return member may be, but is not limited to, a spring, a leaf spring, etc.

In one embodiment, the jaw 345 includes a jaw body 3451 and a bracket 3452, the jaw body 3451 being disposed on the bracket 3452, the bracket 3452 being slidably coupled to the mount 342.

In one embodiment, the reset member is disposed between the mounting frame 342 and the support 3452, and preferably, the mounting frame 342 and the support 3452 are further provided with guide posts 344 along the reset direction thereof, so as to improve the accuracy of downward sliding and resetting of the clamping jaw 345, and thus improve the reliability of the pins.

In one embodiment, the return member is a spring, and the return member is sleeved on the guide post 344, and two ends of the return member respectively abut against the mounting frame 342 and the bracket 3452.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a displacement assembly 343 in a mechanical arm 340 of the automatic pin inserting apparatus of the present application.

In one embodiment, the displacement assembly 343 includes a first mount 10, a second mount 20, and a first adjuster 30.

The first mount 10 has a mounting surface, and the second mount 20 is slidably disposed on the mounting surface. The first adjusting member 30 is disposed between the first mounting seat 10 and the second mounting seat 20, and is connected to both the first mounting seat 10 and the second mounting seat 20, and can drive the second mounting seat 20 to slide along the first direction in the mounting surface relative to the first mounting seat 10. That is, the present assembly improves the structural compactness of the displacement device on the basis of realizing the displacement of the x-axis (first direction) by stacking the first mount 10 and the second mount 20 and arranging the first adjusting member 30 between the first mount 10 and the second mount 20, thereby realizing a smaller volume.

In one embodiment, the assembly further includes a first positioning assembly including a first positioning member 40 and a first locking member (not shown).

The first positioning member 40 is disposed at a sliding connection portion of the first mount 10 and the second mount 20. The first locking piece is movably connected with the side edge of the first installation seat 10 and can drive the first positioning piece 40 to slide along the second direction in the installation surface and be abutted with the second installation seat 20; wherein the first direction is perpendicular to the second direction. That is, after the displacement adjustment of the assembly is completed, the first locking member connected with the first mounting seat 10 drives the first positioning member 40 to abut against the second mounting seat 20, so that the relative positions of the first mounting seat 10 and the second mounting seat 20 are fixed independently of the first adjusting member 30, and the positioning reliability of the displacement device is improved.

It should be noted that, the first locking member is movably connected with the side edge of the first mounting seat 10, which means that the first locking member can at least slide along the second direction relative to the first mounting seat 10, so as to abut against the first positioning member 40 located in the first mounting seat 10, and drive the first positioning member 40 to abut against the second mounting seat 20.

In one embodiment, the present assembly further includes a third mount 50, a second adjuster 60, and a second positioner 70 to effect y-axis (second direction) displacement and positioning. In this manner, the second mount 20 is slidably connected to the third mount 50 in the y-axis direction on a side opposite to the first mount 10, and those skilled in the art will appreciate that the third mount 50, the second adjusting member 60, and the second positioning member 70 can achieve the y-axis displacement by using similar structures as the first mount 10, the first adjusting member 30, and the first positioning member 40.

In one embodiment, the pin apparatus 300 further includes a fixed stage 330 disposed above the turntable 310 and a plurality of driving mechanisms 350 disposed around a circumference of the fixed stage 330, the plurality of driving mechanisms 350 are disposed corresponding to the pin position, the first upper pin position, and the second upper pin position, respectively, and the driving mechanisms 350 are configured to drive the clamping jaw 345 disposed on the pin position, the first upper pin position, and the second upper pin position to move downward, thereby achieving the pin taking and the pin inserting.

In one embodiment, the driving mechanism 350 includes a driving member 351 and a driving end 352 connected to the driving member 351 and disposed near the clamping jaw 345, and the driving end 352 is driven by the driving member 351 to move up and down, so that the driving end 352 drives the clamping jaw 345 to move down.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a pin detection apparatus 600 of the automatic pin device of the module of the present application.

In one embodiment, the pin detection device 600 includes a vertical detection mechanism 610 and an end detection mechanism 620 that can accommodate pin detection of different configurations. The vertical detection mechanism 610 is used for detecting the length direction gesture of the pins on the mechanical arm 340, i.e. detecting the verticality of the pins, for example, the flat pins and the round pins 4 need to be ensured to be vertical to the insertion holes on the module when being inserted. The end detection mechanism 620 is configured to detect an end face gesture of an insertion end of a pin located on the mechanical arm 340, that is, detect an insertion end circumferential gesture of the pin, for example, the flat pin needs to ensure that the insertion end circumferential gesture is consistent with a jack circumferential gesture on the module when the flat pin is inserted.

It will be appreciated that the pins obtained from the first pin feeding device 400 and the second pin feeding device 500 may be detected by the pin detecting device 600 by controlling the turntable 310 to bidirectionally rotate. By providing a single pin detection apparatus 600, the apparatus cost and control device footprint can also be controlled on the basis of improved pin reliability.

In one embodiment, the vertical detection mechanism 610 includes a first background plate 611 and a mirror 612 that are disposed opposite to each other, and a first image capturing device 613 disposed below the mirror 612, the first image capturing device 613 capturing a longitudinal pose of a pin on the mechanical arm 340 through the mirror 612, between the first background plate 611 and the mirror 612. In this way, the first image capturing device 613 with a larger volume may be vertically disposed, and the length direction gesture of the pin is captured by the mirror 612, that is, the space in the height direction is occupied, so that the space occupied in the horizontal direction is reduced, the structural compactness of the pin detecting device 600 is improved, the structural compactness of the device is further improved, the occupied area is reduced, and the pin cost is controlled.

In one embodiment, the end detection mechanism 620 includes a third image capturing device 621, where the third image capturing device 621 is disposed vertically above the detection location and directly below the mechanical arm 340 located above the detection location, so that an image of the end face of the pin gripped by the mechanical arm 340 can be captured directly.

In one embodiment, the first pin is a flat pin and the second pin is a round pin 4. At this time, the pin detecting apparatus 600 may detect only flat pins or may be used to detect round pins 4 when a small number of round pins 4 are inserted.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a round pin detecting device 700 of the automatic pin inserting apparatus of the present application.

In one embodiment, the apparatus further includes a round pin detecting device 700, where the round pin detecting device 700 includes a second background plate 720 and a second image acquiring device 710 that are separately disposed on two sides of the second needle mounting device 500, and the second background plate 720 and the second image acquiring device 710 are used to accommodate a second pin located on the mechanical arm 340, and the second image acquiring device 710 acquires a longitudinal gesture of the second pin.

It will be appreciated that the round pin 4 has a cylindrical insertion end, and the insertion is only required to ensure that the pin is vertical, i.e. the round pin detecting device 700 only needs to detect the verticality of the round pin 4, so that the volume of the round pin detecting device 700 is generally smaller.

By adopting the mode, the independent detection of the round pin 4 is realized, so that the reliability of the round pin 4 is improved; and utilize second to go up needle equipment 500500 peripheral less space arrangement same small round needle check out test set 700, improved this device compact structure degree, and can detect after contact pin equipment 300 takes the second contact pin, need not the contact pin and remove for the operating stroke is reasonable, has improved contact pin operating efficiency, and contact pin control flow's reliability.

In one embodiment, the straight line where the first background plate 611 and the mirror 612 are located is a first straight line, the straight line where the second background plate 720 and the second image acquisition device 710 are located is a second straight line, and the first straight line and the second straight line intersect.

Preferably, the first line runs through the center of the turntable 310 and is located between the second direction and the third direction; the direction in which the second straight line is located is perpendicular to the third direction.

Note that the first image capturing apparatus 613, the second image capturing apparatus 710, and the third image capturing apparatus 621 may be, but are not limited to, cameras, video cameras, and the like.

In one embodiment, the first pin is a flat pin and the second pin is a round pin 4.

At this time, the first upper needle device 400 is used to supply flat needles, and the second upper needle device 500 is used to supply round needles 4.

In general, the flat needle is stored and transported in a belt shape, that is, the flat needle belt 3, and in the actual process production process, the flat needle needs to be cut from a belt-shaped material disc and then used.

Thus, in one embodiment, the first upper needle apparatus 400 includes the feeding rail 410, the punching mechanism 420, and the output rail 430 connected in sequence, and the end of the output rail 430 is located at the first upper needle position, so that the linearly arranged first upper needle apparatus 400 can improve the reliability and efficiency of flat needle production.

In one embodiment, the feed rail 410 includes a feed assembly and at least one pair of feed rollers disposed opposite each other.

The punching mechanism 420 includes a punching stage, a punching head movably provided along a punching direction, and a driving member 351 connected to the punching head via a transmission member. The punching platform comprises a first substrate and a second substrate which are oppositely arranged, wherein the first substrate is provided with a punching groove, and a punching cutter head is arranged on the second substrate and is oppositely arranged with the punching groove. The first base plate and the second base plate are connected through a plurality of sliding rods, so that the first base plate can move relative to the second base plate along the punching direction.

The output rail 430 includes a conveying rail and a vibrator in driving connection with the conveying rail, one end of the conveying rail is connected to an outlet of the punching stage, and the other end is provided as a needle outlet.

In this way, the flat needle belt 3 can be stably and rapidly fed into the punching mechanism 420 through the feeding track 410, and the first substrate and the second substrate of the punching platform can realize stable relative reciprocating motion on a plurality of sliding rods, so that efficient and stable punching action can be realized between the punching cutter head and the punching groove, and the stability and the punching quality of punching can be ensured; finally, the punched flat needles can be directly conveyed to a processing station through the output rail 430, so that the rapid feeding of the flat needles is ensured.

In addition, the round pins 4 are generally manufactured, formed, stored and transported in a scattered manner, and in the actual process production process, the round pins 4 are vertically arranged in sequence for the pin device 300 to clamp.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a second needle loading device 500 of the automatic pin inserting apparatus according to the present application.

Therefore, in one embodiment, the second needle feeding device 500 includes a limiting turntable 510, the limiting turntable 510 is provided with a plurality of limiting grooves 511 matching with the round needle 4 along the circumferential direction of the limiting turntable 510, and the limiting turntable 510 drives the plurality of limiting grooves 511 to rotate and be located at the second needle feeding position in sequence, so that the mechanical arms 340 of the pin feeding device 300 can be clamped one by one.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (10)

1. A modular automatic pin apparatus comprising a pin device, the pin device comprising:

The rotary table and the plurality of mechanical arms are uniformly arranged along the circumferential direction of the rotary table;

The rotary path corresponding to the turntable is sequentially provided with a first upper needle position, a contact pin detection position, a second upper needle position, a needle discarding position, a supporting position and a contact pin position which correspond to the plurality of mechanical arms, and the first upper needle position and the second upper needle position are used for providing contact pins with different structures;

The contact pin detection position is provided with contact pin detection equipment and is used for detecting contact pins with different structures.

2. The automatic module pin inserting device according to claim 1, wherein the first pin feeding position is provided with first pin feeding equipment, the second pin feeding position is provided with second pin feeding equipment, the pin discarding position is provided with a pin discarding collecting equipment, the supporting position is provided with an L-shaped supporting frame, and the pin inserting position is used for placing a module;

The first pin loading device is used for providing a first pin for the mechanical arm, the second pin loading device is used for providing a second pin for the mechanical arm, and the mechanical arm is used for clamping the first pin or the second pin and inserting the first pin or the second pin into the module on the pin position;

The L-shaped supporting frame is connected with the turntable; and

The rotary table is provided with the pin inserting position along a first direction in a plane of the rotary path, the first upper pin position is arranged in a second direction, the second upper pin position is arranged in a third direction, and the supporting position is arranged in a fourth direction;

The first direction, the second direction, the third direction and the fourth direction are perpendicular in order.

3. The modular automatic pin apparatus of claim 1 or 2, wherein,

The turntable comprises a rotating shaft and a mounting plate sleeved on the rotating shaft, and the plurality of mechanical arms are arranged along the circumferential direction of the mounting plate;

The mechanical arm comprises a mounting mechanism and a movable mechanism movably connected with the mounting mechanism, the movable mechanism is detachably arranged on the mounting plate through the mounting mechanism, and the movable mechanism is used for clamping the contact pin.

4. The automatic module pin inserting device according to claim 3, wherein the movable mechanism comprises a mounting frame and a reset piece arranged on the mounting frame, one end of the mounting frame is connected with a displacement assembly for adjusting the position of the mounting frame and is connected with the mounting mechanism through the displacement assembly, the other end of the mounting frame is provided with a clamping jaw in a sliding manner, and the clamping jaw is connected with the reset piece; and

The sliding direction of the clamping jaw is parallel to the resetting direction of the resetting piece.

5. The modular automatic pin device of claim 4, wherein the displacement assembly comprises a first mount, a second mount and a first adjustment member, the first mount has a mounting surface, the second mount is slidably disposed on the mounting surface, the first adjustment member is disposed between and connected to both the first mount and the second mount and is capable of driving the second mount to slide relative to the first mount in a first direction within the mounting surface;

The first positioning component comprises a first positioning piece and a first locking piece, the first positioning piece is arranged at the sliding connection part of the first installation seat and the second installation seat, the first locking piece is movably connected with the side edge of the first installation seat, and the first positioning piece can be driven to slide along the second direction in the installation surface and be abutted to the second installation seat; wherein,

The first direction is perpendicular to the second direction.

6. The automatic pin inserting device according to claim 4, wherein the pin inserting device further comprises a fixed table arranged above the turntable and a plurality of driving mechanisms arranged around the circumference of the fixed table, the driving mechanisms are respectively arranged corresponding to the pin inserting position, the first upper pin position and the second upper pin position, and the driving mechanisms are used for driving the clamping jaws on the pin inserting position, the first upper pin position and the second upper pin position to move downwards.

7. The modular automatic pin apparatus of claim 1, wherein the pin detection device comprises a vertical detection mechanism for detecting a lengthwise attitude of the pin on the robot arm and an end detection mechanism for detecting an insertion end face attitude of the pin on the robot arm.

8. The modular automatic pin apparatus of claim 7, wherein the vertical detection mechanism comprises a first background plate and a mirror disposed opposite to each other, and a first image acquisition device disposed below the mirror, the first image acquisition device acquiring a lengthwise attitude of the pin through the mirror, between the first background plate and the mirror, for accommodating the pin on the mechanical arm.

9. The modular automatic pin apparatus of claim 2, wherein the first pin is a flat pin and the second pin is a round pin;

The first needle feeding device comprises a feeding track, a punching mechanism and an output track which are sequentially connected, and the tail end of the output track is positioned at the first needle feeding position;

The second needle feeding device comprises a limiting rotary table, a plurality of limiting grooves matched with the round needle are formed in the limiting rotary table along the circumferential direction of the limiting rotary table, and the limiting rotary table drives the limiting grooves to rotate and are located in the second needle feeding position in sequence.

10. The automatic pin inserting device according to claim 9, further comprising a round pin detecting device, wherein the round pin detecting device comprises a second background plate and a second image acquiring device which are respectively arranged at two sides of the second pin feeding device, the second image acquiring device is used for accommodating the second pin on the mechanical arm, and the second image acquiring device acquires the length direction gesture of the second pin.