WO2021258730A1 - 插件装置和插件机 - Google Patents

插件装置和插件机 Download PDF

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Publication number
WO2021258730A1
WO2021258730A1 PCT/CN2021/074107 CN2021074107W WO2021258730A1 WO 2021258730 A1 WO2021258730 A1 WO 2021258730A1 CN 2021074107 W CN2021074107 W CN 2021074107W WO 2021258730 A1 WO2021258730 A1 WO 2021258730A1
Authority
WO
WIPO (PCT)
Prior art keywords
plug
mounting plate
clamping head
air supply
clamping
Prior art date
Application number
PCT/CN2021/074107
Other languages
English (en)
French (fr)
Inventor
翟保利
Original Assignee
东莞市冠佳电子设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞市冠佳电子设备有限公司 filed Critical 东莞市冠佳电子设备有限公司
Publication of WO2021258730A1 publication Critical patent/WO2021258730A1/zh

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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0406—Drive mechanisms for pick-and-place heads, e.g. details relating to power transmission, motors or vibration damping
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/0015—Orientation; Alignment; Positioning
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0813—Controlling of single components prior to mounting, e.g. orientation, component geometry

Definitions

  • the invention relates to the technical field of automation equipment, in particular to a plug-in device and a plug-in machine.
  • the plug-in machine is an automated production equipment commonly used in electronics companies.
  • the plug-in machine includes a plug-in device, a translation device and a transmission device.
  • the plug-in device is installed on the translation device so that the clamping head of the plug-in device can accurately grasp the feeding device Or feed the electronic components on the fixed position, and insert the electronic components into the conductive through holes of the printed circuit board on the conveying device to realize automatic plug-in.
  • a plug-in device and a plug-in machine are provided.
  • the purpose of the present invention is to provide a plug-in device, which can reduce the error rate of the plug-in operation, increase the yield of the product, and at the same time increase the plug-in efficiency.
  • a plug-in device including: a mounting board; a clamping head for clamping electronic components; a lifting mechanism mounted on the mounting board for driving the The clamping head is raised and lowered; a rotating mechanism, installed on the mounting plate, is used to drive the clamping head to rotate in a vertical direction; and an illuminating mechanism, installed on the mounting plate, can illuminate the clamped The pins of the electronic components clamped by the head.
  • the plug-in device provided by the invention is used for grabbing electronic components and inserting the electronic components in the conductive through holes of the printed circuit board.
  • the lifting mechanism and the rotating mechanism act to drive the clamping head to lift and rotate respectively, and the mounting board
  • the lighting mechanism illuminates the pins of the electronic components clamped by the clamping head, so that the external pin detection device can detect multiple pins on the electronic components
  • the rotating mechanism drives the clamping head to rotate, so that the electronic component is in the set position , And then perform the plug-in action, which reduces the error rate of the plug-in operation and improves the yield of the product.
  • the plug-in device provided by the present invention does not require electronic components. Then descend to the lighting mechanism to illuminate, the overall movement stroke is shortened, and the efficiency of insertion is improved.
  • Fig. 1 is a schematic structural diagram of a plug-in device provided by the present invention.
  • Figure 2 is a side view of the plug-in device provided by the present invention.
  • Fig. 3 is a partial structural diagram 1 of the plug-in device provided by the present invention.
  • Figure 4 is a second partial structural diagram of the plug-in device provided by the present invention.
  • Figure 5 is a partial cross-sectional view of the plug-in device provided by the present invention.
  • Fig. 6 is a schematic structural diagram of a quick-release connector provided by the present invention.
  • Figure 7 is a front view of the quick-release connector provided in this practical information.
  • Fig. 8 is a cross-sectional view of the quick-release connector provided by the present invention.
  • Fig. 9 is a schematic diagram of the structure of the clamping head provided by the present invention.
  • Fig. 10 is a cross-sectional view of the clamping head provided by the present invention.
  • Fig. 11 is a schematic diagram of the structure of the pushing head provided by the present invention.
  • Fig. 12 is a schematic diagram of the structure of the clamping jaw provided by the present invention.
  • Fig. 13 is a schematic diagram of the structure of the air supply pipe provided by the present invention.
  • Fig. 14 is a schematic diagram of the structure of the lighting mechanism provided by the present invention.
  • Clamping head 21, shell tube; 211, movable hole; 22, pushing column; 221, air cavity; 222, pushing part; 223, first inclined surface; 224, clamping and sealing groove; 23, clamping jaw 231.
  • this embodiment provides a plug-in device for grabbing electronic components and inserting the electronic components in the conductive through holes of the printed circuit board, including a mounting board 8, a clamp
  • the holding head 2 the air supply pipe 3, the lifting mechanism and the rotating mechanism.
  • the holding head 2 is used to hold electronic components.
  • the air supply pipe 3 is arranged in a vertical direction.
  • the holding head 2 is installed at the bottom end of the air supply pipe 3.
  • the air supply pipe 3 is provided with a ventilation hole 301, the air supply mechanism supplies air to the clamping head 2 through the ventilation hole 301 to drive the clamping head 2 to move, the lifting mechanism is installed on the mounting plate 8, and the clamping head 2 is driven through the air supply pipe 3 The lifting and rotating mechanism is installed on the mounting plate 8 and the clamping head 2 is driven to rotate in the vertical direction through the air supply pipe 3.
  • the plug-in device also includes an illuminating mechanism 6 mounted on the mounting board 8 for illuminating the pins of the electronic components clamped by the clamping head 2. Specifically, when the clamping head 2 clamps the electronic components and is ready to be inserted, the lighting mechanism 6 illuminates the pins of the electronic components clamped by the clamping head 2, and at the same time the plug-in device moves to the external pins Above the detection device, the pin detection device detects the relative position of multiple pins on the electronic component to determine whether the electronic component is in the set posture, if it is, the electronic component can be inserted into the printed circuit board; if not , The rotating mechanism drives the clamping head 2 to rotate, so that the electronic components are in the set posture, and then the inserting action is carried out, which reduces the error rate of the inserting operation and improves the yield rate of the product. In an arrangement other than the plug-in device, the plug-in device provided in this embodiment does not need to lower the electronic components to the lighting mechanism 6 to illuminate, the overall movement stroke is
  • the air supply pipe 3 and the clamping head 2 are connected by a quick-release connector 1, one end of the quick-release connector 1 is connected with the air supply pipe 3, and the other end is detachably connected with the clamping head 2.
  • the quick release connector 1 includes a connecting sleeve 11, a limiting ball 12 and a limiting sleeve 13.
  • the connecting sleeve 11 is provided with a connecting mounting hole 111 along its axial direction, and the connecting sleeve
  • the cylinder 11 is also provided with a ball hole 112 communicating with the connection mounting hole 111, the limit ball 12 is arranged in the ball hole 112, the limit sleeve 13 is slidably sleeved on the connection sleeve 11 in the axial direction, and the limit sleeve
  • the inner wall of 13 is provided with a ball relief groove 131, the ball relief groove 131 can communicate with the ball hole 112, and the radial depth of the ball relief groove 131 is partially unequal in the axial direction.
  • the clamping head 2 when the clamping head 2 needs to be installed, it is only necessary to insert the clamping head 2 into the connection mounting hole 111, and push the limit sleeve 13 to slide relative to the connection sleeve 11 to the first connection position, and the limit The sleeve 13 pushes the limiting ball 12 to extend from the inner opening of the ball hole 112 into the connection mounting hole 111 to clamp the clamping head 2; when the clamping head 2 needs to be removed, only the clamping head 2 needs to be removed. Inserted in the connecting mounting hole 111, pushing the limit sleeve 13 to slide relative to the connecting sleeve 11 to the second connection position.
  • the limit ball 12 can be in the ball relief groove 131, so that the limit ball 12 can Completely withdraw from the connection mounting hole 111 to loosen the clamping head 2.
  • the arrangement of the quick-release connector 1 enables the clamping device to easily and quickly replace the suitable clamping head 2 according to the types of electronic components, which increases the scope of application of the clamping device.
  • the maximum point of the radial depth of the ball relief groove 131 is set between the two ends of the ball relief groove 131 in the axial direction, and the minimum point of the radial depth of the ball relief groove 131 It is arranged at both ends of the ball relief groove 131 in the axial direction.
  • the clamping head 2 is clamped to the connection by the limit ball 12 In the mounting hole 111; when the limit sleeve 13 moves to the maximum radial depth of the ball relief groove 131 to face the ball hole 112, the limit sleeve 13 is in the second connection position in the axial direction, and the ball There is sufficient space in the relief groove 131 to allow the limiting ball 12 to withdraw from the connecting mounting hole 111, at this time the clamping head 2 can be detached from the connecting mounting hole 111.
  • this setting can ensure that the limit ball 12 is in the state of clamping the clamping head 2 and avoiding the clamping head 2. It has accidentally fallen off from the quick-release connector 1.
  • the quick release connector 1 further includes a connecting elastic member 14.
  • the connecting elastic member 14 is a compression spring
  • the connecting elastic member 14 is sleeved on the connecting sleeve 11 and the limiting sleeve 13, and the connecting elastic One end of the member 14 abuts or connects with the connecting sleeve 11, and the other end abuts or connects with the limiting sleeve 13 for keeping the limiting sleeve 13 in the first connecting position in the axial direction.
  • a limiting step 113 is provided on the first end of the connecting sleeve 11
  • a connecting limiting ring 15 is provided on the second end of the connecting sleeve 11
  • the limiting sleeve 13 is slidably arranged on the limiting step 113 and connecting
  • the connection limit ring 15 and the connection sleeve 11 are detachably connected.
  • the limit sleeve 13 When the clamping head 2 needs to be installed or removed, the limit sleeve 13 is moved to the second connection position, the connecting elastic member 14 is compressed, and the clamping head 2 can be installed or removed at this time. After the above actions are completed, The limiting sleeve 13 is loosened, the connecting elastic member 14 is extended, the limiting sleeve 13 is driven to move to the end close to the connecting limiting ring 15, and the limiting sleeve 13 returns to the first connecting position.
  • the diameter of the inner opening of the ball hole 112 is smaller than the diameter of the outer opening, and the outer diameter of the limiting ball 12 is larger than the diameter of the inner opening of the ball hole 112, so as to prevent the ball hole 112 from moving from the inner side of the ball hole 112.
  • the opening falls into the connection mounting hole 111.
  • the four ball holes 112 and the limit ball 12 are provided on the same circular surface of the connecting sleeve 11, and the ball relief groove 131 can be set as an integral annular groove, It can also be set to four separately set tanks.
  • clamping head 2 is inserted into the connecting mounting hole 111 from the second end of the connecting sleeve 11, and the first end of the connecting sleeve 11 is provided with a connecting pin hole 115 for connecting with the air supply pipe 3 through a connecting pin shaft.
  • a connecting sealing ring 16 is also provided in the connecting mounting hole 111, and the inner side of the connecting sealing ring 16 abuts against the clamping head 2 for blocking gas from the connecting mounting hole 111 and the connection Leak between the heads.
  • the clamping head 2 includes a shell tube 21, a pushing column 22, a clamping elastic member 24 and two clamping jaws 23 arranged oppositely.
  • the shell 21 is provided with a movable hole 211, and the pushing column 22 is tightly slidably arranged in the movable hole 211 along the axial direction.
  • the first end is provided with an air cavity 221, and the second end is provided with two symmetrically arranged pushing parts.
  • the first end of the pushing portion 222 is provided with a first inclined surface 223
  • the clamping jaw 23 is slidably arranged in the movable hole 211 along the radial direction
  • the first end of the clamping jaw 23 is provided with a second inclined surface 232, the second inclined surface 232 and The first inclined surfaces 223 abut each other in one-to-one correspondence, and the two ends of the clamping elastic member 24 abut or connect with the two clamping jaws 23 respectively.
  • one end of the shell tube 21 is inserted into the connection mounting hole 111, and the air supply mechanism supplies air to the clamping head 2 through the air supply pipe 3, and pushes the pushing column 22 to be provided with clamping jaws along the axis of the shell tube 21.
  • One end of 23 moves.
  • the two clamping jaws 23 are driven to move toward each other to clamp the electronic components.
  • the two clamping jaws 23 After stopping or reducing the air supply, the two clamping jaws 23 Driven by the clamping elastic member 24, move away from each other to loosen the electronic components; or drive the two clamping jaws 23 to move away from each other, so that the width between the two clamping jaws 23 can accommodate the electronic components, and stop or After reducing the air supply, the two clamping jaws 23 are driven by the clamping elastic member 24 to move toward each other to clamp the electronic components. Since the clamping head 2 does not need to be directly mechanically connected with the air supply mechanism, and it is not necessary to install driving parts such as air cylinders, the overall structure of the clamping head 2 is more compact and can be adapted to work in a small space.
  • the two first inclined surfaces 223 are arranged opposite to each other, and the two second inclined surfaces 232 are arranged opposite to each other.
  • the ends are respectively abutted or connected with the two clamping jaws 23.
  • the clamping head 2 also includes a spring shaft 25.
  • the spring shaft 25 is inserted into the spring shaft hole 233 of the casing 21 and the clamping jaw 23, and the clamping elastic member 24 is sleeved. On the spring shaft 25.
  • the pushing column 22 moves toward the end with the clamping jaws 23, pushing the two clamping jaws 23 closer to each other to clamp the electronic components, and at the same time, the clamping elastic member 24 is compressed; when the air supply mechanism stops supplying air , The clamping elastic member 24 is extended, and the two clamping jaws 23 are driven to move away from each other to loosen the electronic components.
  • the two first inclined surfaces 223 can also be arranged opposite to each other, and the two second inclined surfaces 232 are arranged opposite to each other, the clamping elastic member 24 is a tension spring, and the two ends of the clamping elastic member 24 are respectively connected to the two clamping jaws 23 .
  • the pushing column 22 moves toward the end with the clamping jaw 23
  • the two clamping jaws 23 are pushed to move away from each other, and the tension spring is stretched at the same time.
  • the air supply is reduced or stopped.
  • the extension spring is shortened and drives the two clamping jaws 23 to move toward each other to clamp the electronic components.
  • two clamping elastic members 24 and spring shafts 25 are provided, and the two clamping elastic members 24 and spring shafts 25 are arranged side by side to improve the stability of the movement of the clamping jaw 23.
  • the outer periphery of the shell tube 21 inserted into the connecting hole 111 is provided with an annular limiting groove 27, and the limiting groove 27 limits the extension of the ball 12 to restrict the shell tube 21 from moving in its axial direction.
  • the cross-sectional shape of the limiting groove 27 is a trumpet shape or a trapezoid with a large end facing outward.
  • the end of the shell tube 21 inserted into the connection mounting hole 111 is provided with a chamfered portion to facilitate the shell tube 21 to be inserted into the connection mounting hole 111.
  • the clamping jaw 23 is provided with a pushing groove 231, the pushing portion 222 extends into the pushing groove 231, and the second inclined surface 232 is provided in the pushing groove 231.
  • the cooperation of the pushing groove 231 and the pushing portion 222 restricts the relative position of the pushing column 22 and the clamping jaw 23 in the circumferential direction, which is convenient for installation.
  • a ring-shaped clamping and sealing groove 224 is provided on the periphery of the pushing column 22, and a clamping sealing ring 26 is provided in the clamping and sealing groove 224 to prevent gas from flowing between the pushing column 22 and the movable hole 211. Leaking through the gap.
  • two clamping and sealing grooves 224 are arranged side by side on the circumference of the pushing column 22, and each clamping and sealing groove 224 is provided with a clamping sealing ring 26.
  • the second end of the connecting sleeve 11 is provided with a positioning groove 114
  • the casing 21 is also provided with a positioning post 28, and the positioning post 28 penetrates the casing 21 in the radial direction to locate Both ends of the column 28 pass through the casing 21 and can extend into the positioning groove 114 to limit the installation position of the clamping head 2.
  • the positioning column 28 may pass through the shell 21, which can also achieve the effect of installation and positioning.
  • the clamping jaw 23 is provided with a clamping threaded hole 234, which is used to install the auxiliary clamp 201. According to the size and type of electronic components, different installation auxiliary can be selected.
  • the clamp 201 further expands the scope of application of the clamping device.
  • the mounting plate 8 is provided with an air valve 32.
  • One end of the air valve 32 is connected to the air supply pipe 3 through a flexible air tube 31, and the other end is connected to an external air supply device.
  • the air valve 32 is used to control the air supply to the clamping head. Control the clamping action of the clamping head.
  • the lifting mechanism includes a lifting drive motor 401, a lifting screw 402, a lifting nut 403, and a C-shaped seat 404.
  • the main body of the lifting drive motor 401 is connected to the mounting plate 8 through an auxiliary mounting bracket 4011, and the lifting screw 402 is in the vertical direction.
  • the lifting nut 403 is threadedly connected with the lifting screw 402, the C-shaped seat 404 is slidably connected with the mounting plate 8 in the vertical direction, and the lifting nut 403 is installed on the C-shaped seat 404 for transmission.
  • the air pipe 3 is connected to the C-shaped seat 404.
  • a thrust bearing is embedded and installed on the C-shaped seat 404, and the air supply pipe 3 is fixedly connected to the inner ring of the thrust bearing.
  • the lifting drive motor 401 drives the lifting screw 402 to rotate
  • the lifting nut 403 drives the C-shaped seat 404 to rise or fall along the lifting screw 402, and the thrust bearing acts on the air supply pipe 3 to push the air supply pipe 3 to rise and fall together, thereby driving the clamping Head 2 is raised and lowered.
  • the lifting mechanism further includes a lifting slide 407 and a lifting slide 408, wherein the lifting slide 407 is fixedly connected to the C-shaped base 404, the lifting slide 408 is arranged on the mounting plate 8 in the vertical direction, and the lifting slide 407 It is slidably connected with the lifting slide 408.
  • the lifting drive motor 401 drives the lowering seat to lift in the vertical direction
  • the lifting slider 407 slides on the lifting slide 408 to provide a guiding effect for the movement of the C-shaped seat 404.
  • the air supply pipe 3 passes through the C-shaped seat 404, and the air supply pipe 3 is sheathed with a cushioning elastic member 405.
  • the cushioning elastic member 405 is limited between the upper and lower ends of the C-shaped seat 404. The upper end is fixedly connected with the mounting plate 8.
  • the lower end of the C-shaped seat 404 squeezes the cushioning elastic member 405 upward, and the cushioning elastic member 405 provides elastic force to cushion the reverse force during the insertion process.
  • the buffer elastic member 405 adopts a compression spring.
  • the rotating mechanism includes a rotating drive motor 501, a first gear 502, a second gear 503, and a toothed belt 504.
  • the main body of the rotating drive motor 501 is mounted on the mounting plate 8.
  • the first gear 502 and the output of the rotating drive motor 501 The second gear 503 is sleeved on the air supply pipe 3, and the second gear 503 rotates synchronously with the air supply pipe 3.
  • the toothed belt 504 is simultaneously connected to the first gear 502 and the second gear 503 in transmission.
  • the first gear 502 passes through the teeth.
  • the belt 504 transmits power to the second gear 503. Specifically, as shown in FIG.
  • a limiting groove 302 is provided on the outer side wall of the air supply pipe 3 along the axial direction thereof, and the second gear 503 is connected to the limiting groove 302 through a connecting key.
  • the rotary drive motor 501 drives the first gear 502 to rotate
  • the first gear 502 drives the second gear 503 to rotate around the vertical axis through the toothed belt 504, and the air supply pipe 3 and the clamping head 2 on it follow one of them and go around the vertical axis.
  • the axis rotates.
  • the plug-in device further includes a limiting elastic member 406, one end of the limiting elastic member 406 is connected to the C-shaped seat 404, and the other end is connected to the mounting board 8.
  • the limiting elastic member 406 adopts a tension spring, and both ends of the tension spring are respectively connected to the mounting plate 8 and the C-shaped seat 404 through fastening pins.
  • the function of the position-limiting elastic member 406 is to limit the height of the lowest point that the clamping head 2 can reach, to prevent the clamping head 2 from falling too high to hit the work surface or the printed circuit board, and to further improve the fault tolerance rate.
  • each clamping head 2 is connected to an air supply pipe 3, and each air supply pipe 3 is drivingly connected to a lifting mechanism.
  • each rotating mechanism includes two second gears 503, and each second gear 503 is respectively drivingly connected to an air supply pipe 3.
  • the two second gears 503 in the same rotating mechanism play a role in the same toothed belt 504. Synchronous rotation.
  • the number of clamping heads 2 and the corresponding air supply pipes 3 can be adjusted according to actual work requirements, and the number of corresponding lifting mechanisms and rotating mechanisms can be adjusted according to the number of clamping heads 2 Determined by the needs of synchronous or separate actions.
  • the lighting mechanism 6 includes a light source support 601 and two first light-emitting parts 602, wherein the light source support 601 is connected to the mounting board 8, and the two first light-emitting parts 602 are respectively arranged in the horizontal direction of the light source support 601 At both ends of the upper part, the clamping head 2 can pass between the two first light-emitting elements 602 when the clamping head 2 is raised and lowered.
  • the first light emitting element 602 may be a light emitting diode.
  • the mounting plate 8 is provided with a light source waist-shaped hole extending in the vertical direction
  • the light source bracket 601 is provided with a light source mounting hole.
  • the mounting plate 8 and the light source bracket 601 are inserted through the light source waist-shaped hole and the light source mounting hole.
  • the bolt-nut structure connection Specifically, the configuration of the waist-shaped hole of the light source enables the installation height of the light source bracket 601 and the mounting board 8 to be adjusted according to the height size of the electronic components and the length of the pins, and the overall structure is more flexible and compact.
  • the plug-in device further includes a visual recognition mechanism for identifying the electronic components and the printed circuit board under the plug-in device.
  • the visual recognition mechanism includes a recognition camera 701 and a second light-emitting part 702.
  • the recognition camera 701 and the second light-emitting part 702 are both installed on the mounting board 8.
  • the second light-emitting part 702 is arranged under the recognition camera 701.
  • the second light-emitting part 702 emits The light irradiates the lower area of the plug-in device to provide a light source for the recognition camera 701.
  • the second light-emitting element 702 is configured as a ring structure, and the recognition camera 701 passes through the central hole of the second light-emitting element 702 to take pictures.
  • the mounting plate 8 is provided with a recognition mechanism mounting frame
  • the visual recognition mechanism is mounted on the recognition mechanism mounting frame
  • the recognition mechanism mounting frame is provided with a recognition mounting waist-shaped hole arranged in a vertical direction, and the visual recognition mechanism is installed by The waist-shaped hole is connected with the identification mechanism mounting frame.
  • the plug-in device also includes a control component.
  • the control component is electrically connected to the air valve 32, the lifting mechanism, the rotating mechanism, the lighting mechanism 6 and the visual recognition mechanism.
  • the control component can be a centralized or distributed controller, for example, it can be a single
  • the single-chip microcomputer such as the STM32 single-chip microcomputer, can also be composed of multiple distributed single-chip microcomputers.
  • the single-chip microcomputer can run a control program to control the air valve 32, the lifting mechanism, the rotating mechanism, the lighting mechanism 6, and the visual recognition mechanism that are electrically connected to it.
  • the upper end of the mounting plate 8 is provided with a first protective cover
  • the lifting drive motor 401, the rotary drive motor 501 and the air valve 32 are provided in the first protective cover
  • the lower end of the mounting plate 8 is provided with a second protective cover
  • the visual recognition mechanism Set in the second protective cover.
  • This embodiment also provides a plug-in machine, including the above plug-in device.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Automatic Assembly (AREA)

Abstract

提供了一种插件装置和插件机，其中插件装置包括：安装板（8）；夹持头（2），用于夹持电子元器件；升降机构，安装于安装板（8）上，用于驱动夹持头（2）升降；旋转机构，安装于安装板（8）上，用于驱动夹持头（2）绕竖直方向转动；以及照明机构（6），安装于安装板（8）上，能够照亮被夹持头（2）夹取的电子元器件的引脚。本发明提供的插件装置能够降低插装作业的错误率，提高产品的良品率，同时提高插装效率。

Description

插件装置和插件机
相关申请的交叉引用。
本申请要求于2020年06月23日提交中国专利局，申请号为2020105823161，发明名称为“插件装置和插件机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动化设备技术领域，尤其涉及一种插件装置和插件机。
 背景技术
插件机是电子企业常用的自动化生产设备，现有技术中插件机包括插件装置、平移装置和传送装置，插件装置安装于平移装置上，使得插件装置的夹持头可准确地抓取供料装置或供料固定位上的电子元器件，并将电子元器件插装在传送装置上的印制电路板的导电通孔内，实现自动插件。
 技术问题
目前，由于插件装置本身的旋转等动作存在一定的误差，难以保证电子元器件的引脚正确地插入印制电路板的导电通孔内，存在一定的错误率。
如何降低插装作业的错误率，是本领域技术人员需要解决的技术问题。
 技术解决方案
根据本申请的各种实施例，提供一种插件装置和插件机。
本发明的目的在于提供一种插件装置，能够降低插装作业的错误率，提高产品的良品率，同时提高插装效率。
为达上述目的，本发明采用以下技术方案：一种插件装置，包括：安装板；夹持头，用于夹持电子元器件；升降机构，安装于所述安装板上，用于驱动所述夹持头升降；旋转机构，安装于所述安装板上，用于驱动所述夹持头绕竖直方向转动；以及照明机构，安装于所述安装板上，能够照亮被所述夹持头夹取的电子元器件的引脚。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 有益效果
本发明提供的插件装置用于抓取电子元器件，并将电子元器件插装在印制电路板的导电通孔内，升降机构和旋转机构分别作用于驱动夹持头升降和旋转，安装板上还设有能够照亮被夹持头夹取的电子元器件的引脚的位置的照明机构。当夹持头夹取电子元器件并准备插装时，照明机构照亮被夹持头夹取的电子元器件的引脚，以便外置的引脚检测装置检测电子元器件上多个引脚的相对位置，以此判断电子元器件是否处于设定姿态，若是，电子元器件可插装至印制电路板；若否，旋转机构驱动夹持头转动，使电子元器件处于设定姿态后，再进行插装动作，降低了插装作业的错误率，提高产品的良品率，而且相比于将照明机构设于插件装置之外的设置方式，本发明提供的插件装置无需将电子元器件再下降至照明机构处进行照亮，整体运动行程缩短，提高了插装的效率。
 附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
图1是本发明提供的插件装置的结构示意图。
图2是本发明提供的插件装置的侧视图。
图3是本发明提供的插件装置的局部结构示意图一。
图4是本发明提供的插件装置的局部结构示意图二。
图5是本发明提供的插件装置的局部剖视图。
图6是本发明提供的快拆连接头的结构示意图。
图7是本实用信息提供的快拆连接头的正视图。
图8是本发明提供的快拆连接头的剖视图。
图9是本发明提供的夹持头的结构示意图。
图10是本发明提供的夹持头的剖视图。
图11是本发明提供的顶推头的结构示意图。
图12是本发明提供的夹爪的结构示意图。
图13是本发明提供的供气管的结构示意图。
图14是本发明提供的照明机构的结构示意图。
1、快拆连接头；11、连接套筒；111、连接安装孔；112、滚珠孔；113、限位台阶；114、定位槽；115、连接销孔；12、限位滚珠；13、限位套筒；131、滚珠让位槽；14、连接弹性件；15、连接限位环；16、连接密封圈。
2、夹持头；21、壳筒；211、活动孔；22、顶推柱；221、气腔；222、顶推部；223、第一斜面；224、夹持密封槽；23、夹爪；231、顶推槽；232、第二斜面；233、弹簧轴孔；234、夹持螺纹孔；24、夹持弹性件；25、弹簧轴；26、夹持密封圈；27、限位槽；28、定位柱；201、辅助夹具。
3、供气管；301、通气孔；302、限位凹槽；31、软气管32、气阀；401升降驱动电机；4011、辅助安装支架；402、升降丝杆；403、升降螺母；404、C型座；405、缓冲弹性件；406、限位弹性件；407、升降滑块；408、升降滑轨；501、旋转驱动电机；502、第一齿轮；503、第二齿轮；504、齿带；6、照明机构；601、光源支架；602、第一发光件；701、识别摄像头；702、第二发光件；8、安装板。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
如图1-图14所示，本实施例提供一种插件装置，用于抓取电子元器件，并将电子元器件插装在印制电路板的导电通孔内，包括安装板8、夹持头2、供气管3、升降机构和旋转机构，夹持头2用于夹持电子元器件，供气管3沿竖直方向设置,夹持头2安装于供气管3的底端，供气管3中设有通气孔301，供气机构通过通气孔301向夹持头2供气，以驱动夹持头2动作，升降机构安装于安装板8上，并通过供气管3驱动夹持头2升降，旋转机构安装于安装板8上，并通过供气管3驱动夹持头2绕竖直方向转动。
插件装置还包括照明机构6，照明机构6安装于安装板8上，用于照亮被夹持头2夹取的电子元器件的引脚。具体而言，当夹持头2夹取电子元器件并准备插装时，照明机构6照亮被夹持头2夹取的电子元器件的引脚，同时插件装置移动至外置的引脚检测装置的上方，引脚检测装置检测电子元器件上多个引脚的相对位置，以此判断电子元器件是否处于设定姿态，若是，电子元器件可插装至印制电路板；若否，旋转机构驱动夹持头2转动，使电子元器件处于设定姿态后，再进行插装动作，降低了插装作业的错误率，提高产品的良品率，而且相比于将照明机构6设于插件装置之外的设置方式，本实施例提供的插件装置无需将电子元器件再下降至照明机构6处进行照亮，整体运动行程缩短，提高了插装的效率。
进一步地，供气管3和夹持头2通过快拆连接头1连接，快拆连接头1的一端与供气管3连接，另一端与夹持头2可拆卸连接。
如图5-图8所示，快拆连接头1包括连接套筒11、限位滚珠12和限位套筒13，连接套筒11设有沿其轴向设置的连接安装孔111，连接套筒11上还设有与连接安装孔111连通的滚珠孔112，限位滚珠12设于滚珠孔112中，限位套筒13沿轴向滑动套设于连接套筒11上，限位套筒13的内壁上设有滚珠让位槽131，滚珠让位槽131能够与滚珠孔112连通，滚珠让位槽131的径向深度在轴向上局部不相等。具体而言，当需要装入夹持头2时，只需将夹持头2插设于连接安装孔111中，推动限位套筒13相对连接套筒11滑动至第一连接位置，限位套筒13推动限位滚珠12在从滚珠孔112的内侧开口部分伸入连接安装孔111中，以卡紧夹持头2；当需要拆下夹持头2时，只需将夹持头2插设于连接安装孔111中，推动限位套筒13相对连接套筒11滑动至第二连接位置，此时限位滚珠12的至少部分能够处于滚珠让位槽131中，使限位滚珠12能够完全从连接安装孔111中退出，以使夹持头2松脱。快拆连接头1的设置使得夹持装置能够根据电子元器件的种类，简单快捷地更换适配的夹持头2，增大了夹持装置的适用范围。
进一步地，如图8所示，滚珠让位槽131的径向深度的最大处设于滚珠让位槽131在轴向上的两端之间，滚珠让位槽131的径向深度的最小处设于滚珠让位槽131在轴向上的两端。当限位套筒13相对连接套筒11滑动至任一极限位置时，限位套筒13均在轴向上处于第一连接位置，此时夹持头2被限位滚珠12卡紧于连接安装孔111中；当限位套筒13移动至滚珠让位槽131的径向深度的最大处正对滚珠孔112时，限位套筒13在轴向上处于第二连接位置，此时滚珠让位槽131有充足的空间允许限位滚珠12从连接安装孔111中退出，此时夹持头2能够从连接安装孔111中脱离。当限位套筒13在作业过程中由于碰撞或误触等影响，被推至任一极限位置时，此设置能够保证限位滚珠12处于卡紧夹持头2的状态，避免夹持头2从快拆连接头1上意外脱落。
进一步地，快拆连接头1还包括连接弹性件14，在本实施例中，连接弹性件14为压缩弹簧，连接弹性件14套设于连接套筒11和限位套筒13上，连接弹性件14的一端与连接套筒11抵接或连接，另一端与限位套筒13抵接或连接，用于保持限位套筒13在轴向上处于第一连接位置。
具体而言，连接套筒11的第一端上设有限位台阶113，连接套筒11的第二端上设有连接限位环15，限位套筒13滑动设置于限位台阶113和连接限位环15之间，连接弹性件14的一端与限位台阶113抵接或连接，另一端与限位套筒13抵接或连接。进一步地，连接限位环15与连接套筒11可拆卸连接。
当需要装入或拆除夹持头2时，拨动限位套筒13至第二连接位置，连接弹性件14被压缩，此时便能装入或拆除夹持头2，以上动作完毕后，松开限位套筒13，连接弹性件14伸长，驱动限位套筒13移动至靠近连接限位环15的一端，限位套筒13重新回到第一连接位置。
优选地，如图8所示，滚珠孔112的内侧开口的孔径小于外侧开口的孔径，限位滚珠12的外径大于滚珠孔112的内侧开口的孔径，避免滚珠孔112从滚珠孔112的内侧开口掉入连接安装孔111中。
优选地，滚珠孔112和限位滚珠12均设有四个，四个滚珠孔112设于连接套筒11的同一圆面上，滚珠让位槽131可以设置为连成一体的环状槽，也可以设置为四个单独设置的槽体。
进一步地，夹持头2从连接套筒11的第二端插入连接安装孔111中，连接套筒11的第一端设有连接销孔115，用于与供气管3通过连接销轴连接。
进一步地，如图5和图8所示，连接安装孔111中还设有连接密封圈16，连接密封圈16的内侧与夹持头2抵接，用于阻挡气体从连接安装孔111和连接头之间泄漏。
如图10所示，夹持头2包括壳筒21、顶推柱22、夹持弹性件24和两个相对设置的夹爪23。其中壳筒21内设有活动孔211，顶推柱22沿轴向紧密滑动设置于活动孔211中，其第一端设有气腔221，第二端设有两个对称设置的顶推部222，顶推部222的第一端设有第一斜面223，夹爪23沿径向滑动设置于活动孔211中，夹爪23的第一端设有第二斜面232，第二斜面232与第一斜面223一一对应相互抵接，夹持弹性件24的两端分别与两个夹爪23抵接或连接，当顶推柱22朝远离夹爪23的方向移动时，夹持弹性件24能够驱动夹爪23复位。
具体而言，壳筒21的一端插设于连接安装孔111中，供气机构通过供气管3向夹持头2中供气，推动顶推柱22沿壳筒21的轴线朝设有夹爪23的一端移动，通过第一斜面223和第二斜面232的配合作用，驱动两个夹爪23相向移动以夹持电子元器件，并在停止或减小供气量后，两个夹爪23在夹持弹性件24的驱动下相离移动以松开电子元器件；或者驱动两个夹爪23相背移动，使两个夹爪23之间的宽度能够容纳电子元器件，并在停止或减小供气量后，两个夹爪23在夹持弹性件24的驱动下相向移动以夹持电子元器件。由于夹持头2无需直接与供气机构机械连接，也不必安装气缸等驱动件，因此其整体结构更加紧凑，能够适应狭小空间的作业。
在本实施例中，如图10和11所示，两个第一斜面223相向设置，而两个第二斜面232相背设置，夹持弹性件24为压缩弹簧，夹持弹性件24的两端分别与两个夹爪23抵接或连接，夹持头2还包括弹簧轴25，弹簧轴25穿设于壳筒21和夹爪23的弹簧轴孔233中，夹持弹性件24套设于弹簧轴25上。具体而言，顶推柱22朝设有夹爪23的一端移动，推动两个夹爪23相互靠拢以夹紧电子元器件，同时夹持弹性件24被压缩；当供气机构停止供气后，夹持弹性件24伸长，驱动两个夹爪23相互远离以松开电子元器件。
当然，两个第一斜面223也可以相背设置，而两个第二斜面232相向设置，夹持弹性件24为拉伸弹簧，夹持弹性件24的两端分别与两个夹爪23连接。当顶推柱22朝设有夹爪23的一端移动，推动两个夹爪23相互远离，同时拉伸弹簧被拉伸，在夹爪23移动至电子元器件位置后，减少或停止供气，拉伸弹簧缩短，驱动两个夹爪23相向运动以夹紧电子元器件。
优选地，如图9所示，夹持弹性件24和弹簧轴25均设有两个，两个夹持弹性件24和弹簧轴25并排设置，提高夹爪23移动的稳定性。
进一步地，壳筒21插入连接安装孔111一端的外周部设有环状的限位槽27，限位槽27限位滚珠12伸入以限制所述壳筒21沿其轴向移动。优选地，限位槽27的截面形状为喇叭状或大端朝外的梯形，当限位套筒13在轴向上处于第二连接位置，只需向外拉动夹持头2，限位槽27的侧壁便能将限位滚珠12从限位槽27中推出，夹持头2便可松脱。当然，也可以通过向限位槽27中伸入限位螺栓等限位件实现限位功能。
优选地，壳筒21插入连接安装孔111的端部设有倒角部，便于壳筒21插入连接安装孔111。
进一步地，如图10所示，夹爪23上设有顶推槽231，顶推部222伸入顶推槽231中，第二斜面232设于顶推槽231中。顶推槽231与顶推部222的配合限制了顶推柱22和夹爪23在周向上的相对位置，便于安装。
进一步地，顶推柱22的周部设有环状的夹持密封槽224，夹持密封槽224中设有夹持密封圈26，以阻挡气体从顶推柱22和活动孔211之间的间隙漏出。优选地，顶推柱22的周部上并排设置有两个夹持密封槽224，每个夹持密封槽224均设有夹持密封圈26。
进一步地，如图7-10所示，连接套筒11的第二端设有定位槽114，壳筒21上还设有定位柱28，定位柱28沿径向穿设于壳筒21，定位柱28的两端均穿出壳筒21并能够伸入定位槽114中，以限制夹持头2的安装位置。当然，定位柱28也可以仅有一端穿出壳筒21，同样能够实现安装定位的效果。
进一步地，如图10和12所示，夹爪23上设有夹持螺纹孔234，夹持螺纹孔234用于安装辅助夹具201，根据电子元器件的尺寸和类型，可以选用不同的安装辅助夹具201，进一步扩大夹持装置的适用范围。
安装板8上设有气阀32，气阀32的一端通过软气管31与供气管3连接，另一端与外部的供气装置连接，气阀32用于控制对夹持头的供气，从而控制夹持头的夹持动作。
进一步地，升降机构包括升降驱动电机401、升降丝杆402、升降螺母403和C型座404，升降驱动电机401的主体通过辅助安装支架4011与安装板8连接，升降丝杆402沿竖直方向设置，与升降驱动电机的输出端传动连接，升降螺母403与升降丝杆402螺纹连接，C型座404与安装板8沿竖直方向滑动连接，升降螺母403安装于C型座404上，供气管3与C型座404连接。具体而言，C型座404上嵌入安装有推力轴承，供气管3与推力轴承的内环固定连接。当升降驱动电机401驱动升降丝杆402转动时，升降螺母403带动C型座404沿升降丝杆402上升或下降，推力轴承作用于供气管3，推动供气管3一并升降，从而带动夹持头2升降。
更进一步地，升降机构还包括升降滑块407和升降滑轨408，其中升降滑块407与C型座404固定连接，升降滑轨408沿竖直方向设于安装板8上，升降滑块407与升降滑轨408滑动连接，当升降驱动电机401驱动降座沿竖直方向升降时，升降滑块407在升降滑轨408上滑动，为C型座404的移动提供导向作用。
可选地，供气管3穿设于C型座404，供气管3上套设有缓冲弹性件405，缓冲弹性件405被限位于C型座404的上下两端之间，缓冲弹性件405的上端与安装板8固定连接。当C型座404相对安装板8上升至临近极限位置时，C型座404的下端向上挤压缓冲弹性件405，缓冲弹性件405提供弹性力，以缓冲插装过程中的反向作用力，实现柔性插装，提高插装的质量。优选地，缓冲弹性件405采用压缩弹簧。
进一步地，旋转机构包括旋转驱动电机501、第一齿轮502、第二齿轮503和齿带504，其中旋转驱动电机501的主体安装于安装板8上，第一齿轮502与旋转驱动电机501的输出端传动连接，第二齿轮503套设于供气管3上，第二齿轮503与供气管3同步转动，齿带504同时与第一齿轮502和第二齿轮503传动连接，第一齿轮502通过齿带504向第二齿轮503传递动力。具体而言，如图13所示，供气管3的外侧壁上沿其轴线方向设置有限位凹槽302，第二齿轮503通过连接键与限位凹槽302连接。当旋转驱动电机501驱动第一齿轮502转动时，第一齿轮502通过齿带504带动第二齿轮503绕竖直轴线转动，供气管3及其上的夹持头2随之一并绕竖直轴线转动。
进一步地，插件装置还包括限位弹性件406，限位弹性件406的一端与C型座404连接，另一端与安装板8连接。具体而言，限位弹性件406采用拉簧，拉簧的两端分别通过紧固销轴与安装板8和C型座404连接。限位弹性件406的作用在于限制夹持头2所能到达的最低点高度，避免夹持头2下降的高度过大而撞击工作台面或者印制电路板，进一步提高容错率。
优选地，夹持头2设有四个，四个夹持头2并排设置，每个夹持头2分别与一个供气管3连接，每个供气管3与一个升降机构传动连接。旋转机构设有两个，每个旋转机构分别与两个供气管3传动连接。具体而言，每个旋转机构包括两个第二齿轮503，每个第二齿轮503分别与一个供气管3传动连接，同一旋转机构中的两个第二齿轮503在同一个齿带504的作用下同步转动。
当然，在本发明的其它实施例中，夹持头2和与之对应的供气管3的数量可以根据实际工作需求进行调整，对应的升降机构和旋转机构的数量可以根据夹持头2之间同步或单独动作的需求而确定。
进一步地，如图14所示，照明机构6包括光源支架601和两个第一发光件602，其中光源支架601与安装板8连接，两个第一发光件602分别设于光源支架601水平方向上的两端，夹持头2升降时能够从两个第一发光件602之间穿过。可选地，第一发光件602可以是发光二极管。
更进一步地，安装板8上设有沿竖直方向延伸的光源腰形孔，光源支架601上设有光源安装孔，安装板8和光源支架601通过穿设于光源腰形孔和光源安装孔的螺栓螺母结构连接。具体而言，光源腰形孔的设置使得光源支架601与安装板8的安装高度可以根据电子元器件的高度尺寸和引脚长度进行相适应的调整，整体结构更加灵活和紧凑。
进一步地，插件装置还包括视觉识别机构，用于识别插件装置下方的电子元器件和印制电路板。视觉识别机构包括识别摄像头701和第二发光件702，识别摄像头701和第二发光件702均安装于安装板8上，第二发光件702设于识别摄像头701下方，第二发光件702发出的光照射至插件装置的下方区域，为识别摄像头701提供光源。优选地，第二发光件702设为环状结构，识别摄像头701穿过第二发光件702的中心孔进行拍摄。
更进一步地，安装板8上设有识别机构安装架，视觉识别机构安装于识别机构安装架上，识别机构安装架上设有沿竖直方向设置的识别安装腰形孔，视觉识别机构通过安装腰形孔与识别机构安装架连接。当需要调整视觉识别机构的高度时，可以通过调整视觉识别机构与安装腰形孔的连接位置实现。
插件装置还包括控制组件，控制组件与气阀32、升降机构、旋转机构、照明机构6和视觉识别机构均电连接，控制组件可以是集中式或分布式的控制器，比如，可以是一个单独的单片机，如STM32单片机，也可以是分布的多块单片机构成，单片机中可以运行控制程序，进而控制与其电连接的气阀32、升降机构、旋转机构、照明机构6、和视觉识别机构实现其功能。
优选地，安装板8的上端设有第一保护罩，升降驱动电机401、旋转驱动电机501和气阀32设于第一保护罩中，安装板8的下端设有第二保护罩，视觉识别机构设于第二保护罩中。
本实施例还提供一种插件机，包括以上的插件装置。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种插件装置，包括：安装板（8）；夹持头（2），用于夹持电子元器件；升降机构，安装于所述安装板（8）上，用于驱动所述夹持头（2）升降；旋转机构，安装于所述安装板（8）上，用于驱动所述夹持头（2）绕竖直方向转动；以及照明机构（6），安装于所述安装板（8）上，能够照亮被所述夹持头（2）夹取的电子元器件的引脚。
  2. 根据权利要求1所述的插件装置，其特征在于，所述照明机构（6）包括：光源支架（601），与所述安装板（8）连接；以及两个第一发光件（602），分别设于所述光源支架（601）水平方向上的两端，所述夹持头（2）升降时能够从两个所述第一发光件（602）之间穿过。
  3. 根据权利要求2所述的插件装置，其特征在于，所述安装板（8）和所述光源支架（601）中的一个上设有沿竖直方向延伸的光源腰形孔，另一个上设有光源安装孔，所述安装板（8）和所述光源支架（601）通过穿设于所述光源腰形孔和所述光源安装孔的螺栓螺母结构连接。
  4. 根据权利要求1所述的插件装置，其特征在于，所述插件装置还包括：供气管（3），沿竖直方向设置,所述夹持头（2）安装于所述供气管（3）的底端，供气机构通过所述供气管（3）向所述夹持头（2）供气，以驱动所述夹持头（2）动作。
  5. 根据权利要求4所述的插件装置，其特征在于，所述升降机构包括：升降驱动电机（401），其主体安装于所述安装板（8）；升降丝杆（402），沿竖直方向设置，与所述升降驱动电机（401）的输出端传动连接；升降螺母（403），与所述升降丝杆（402）螺纹连接；以及C型座（404），与所述安装板（8）沿竖直方向滑动连接，所述升降螺母（403）安装于所述C型座（404）上，所述供气管（3）与所述C型座（404）连接。
  6. 根据权利要求5所述的插件装置，其特征在于，所述插件装置还包括：限位弹性件（406），所述限位弹性件（406）的一端与所述C型座（404）连接，另一端与所述安装板（8）连接，用于限制所述夹持头（2）所能到达的最低点高度。
  7. 根据权利要求4所述的插件装置，其特征在于，所述旋转机构包括：旋转驱动电机（501），其主体安装于所述安装板（8）；第一齿轮（502），与所述旋转驱动电机（501）的输出端传动连接；第二齿轮（503），套设于所述供气管（3）上，所述第二齿轮（503）与所述供气管（3）同步转动；以及齿带（504），同时与所述第一齿轮（502）和所述第二齿轮（503）传动连接，所述第一齿轮（502）通过所述齿带（504）向所述第二齿轮（503）传递动力。
  8. 根据权利要求7所述的插件装置，其特征在于，所述供气管（3）的外侧壁上沿其轴线方向设置有限位凹槽（302），所述第二齿轮（503）通过连接键与所述限位凹槽（302）连接。
  9. 根据权利要求1-8任一项所述的插件装置，其特征在于，还包括视觉识别机构，所述视觉识别机构包括：识别摄像头（701），安装于所述安装板（8）上，竖直朝下设置，用于拍摄所述插件装置下方区域中的工件；以及第二发光件（702），安装于所述安装板（8）上，设于所述识别摄像头（701）的下方，用于照射所述插件装置的下方区域。
  10. 一种插件机，其特征在于，包括如权利要求1-9任一项所述的插件装置。
PCT/CN2021/074107 2020-06-23 2021-01-28 插件装置和插件机 WO2021258730A1 (zh)

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