WO2023060966A9 - 一种载具自动插针设备 - Google Patents

一种载具自动插针设备 Download PDF

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Publication number
WO2023060966A9
WO2023060966A9 PCT/CN2022/106144 CN2022106144W WO2023060966A9 WO 2023060966 A9 WO2023060966 A9 WO 2023060966A9 CN 2022106144 W CN2022106144 W CN 2022106144W WO 2023060966 A9 WO2023060966 A9 WO 2023060966A9
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WIPO (PCT)
Prior art keywords
pin
carrier
needle
turntable
present
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PCT/CN2022/106144
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English (en)
French (fr)
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WO2023060966A1 (zh
Inventor
石磊
杨小军
庄章龙
张金龙
姜威
Original Assignee
上海轩田工业设备有限公司
智汇轩田智能系统(杭州)有限公司
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Application filed by 上海轩田工业设备有限公司, 智汇轩田智能系统(杭州)有限公司 filed Critical 上海轩田工业设备有限公司
Publication of WO2023060966A1 publication Critical patent/WO2023060966A1/zh
Publication of WO2023060966A9 publication Critical patent/WO2023060966A9/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/02—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for soldered or welded connections

Definitions

  • the invention relates to the technical field of carrier pin insertion, in particular to an automatic carrier pin insertion device.
  • pin insertion machine PIN insertion machine, pin insertion machine equipment, automatic pin insertion machine, PIN insertion machine, etc., which are collectively referred to as pin insertion equipment.
  • Pin insertion machines are widely used in various electronic chips, power semiconductor chips, coil bobbins, various electronic connectors, automotive connectors and motherboard chip industries.
  • the main advantages are: compact structure, saving space; the main disadvantages are: (1) poor flexibility, complicated cam design, and no room for changing the pin type after the design is completed, (2) the device Before pin insertion, the pin cap must be welded on the chip in advance, and then the pin pin is inserted into the pin cap, and the size of the pin pin is strictly required; (3) The cam mechanism is prone to wear and tear after long-term operation, which will lead to poor pin insertion Therefore, there is an urgent need to design an automatic pin insertion device for a carrier to solve the above problems.
  • the purpose of the present invention is to solve the defects in the prior art, and propose an automatic pin insertion device for a carrier.
  • An automatic pin insertion device for a carrier including a main body of the device, the main body of the device includes a frame, a visual hood, a human-computer interaction interface, a total power supply interface and a compressed air processing element, the outer wall of the frame is provided with a large plate, And the four corners of the outer wall at the bottom of the rack are provided with adjustable feet, including:
  • the Pin needle material belt feeding and cutting mechanism is arranged on the large plate, and is used to cut the Pin needle material belt into a single Pin shape;
  • Pin needle transport mechanism the Pin needle transport mechanism is set on the large plate for picking up the Pin needle fetching and handling;
  • Pin needle transfer mechanism the pin needle transfer mechanism is used for the pin needle handling mechanism to place the pin needle and the pin supply of the turntable station;
  • a turntable mechanism the turntable mechanism is used to pick up the Pin needle on the Pin needle transfer mechanism, and transfer the Pin needle;
  • the Pin needle detection mechanism is used to detect the size of the three angles of X, Y, and Z of the pin needle;
  • a pin insertion mechanism which is used to apply pressure to the pins on the turntable mechanism to complete the pin insertion action
  • the carrier moving mechanism is used to install the carrier and drive the carrier to move;
  • the carrier transport mechanism is used to transport the empty carrier to the carrier moving mechanism and remove the full carrier from the carrier moving mechanism.
  • the Pin needle material feeding and cutting mechanism includes a Pin needle material tray, a control panel, a feeding mechanism and a cutting mold, and a pressure plate mechanism is arranged on the Pin needle material tray , used to provide pressure to the Pin needle connecting material on the Pin material tape tray, the feeding mechanism is used to send the material tape into the cutting mold, the cutting mold is provided with a servo press one, and the servo press The output end of machine one is provided with an upper die, and the Pin material belt feeding and cutting mechanism also includes a waste material receiving box for collecting cutting waste materials.
  • the Pin needle handling mechanism includes a support base, a mobile module is arranged on the support base, and a downward cylinder is arranged on the mobile module, and a moving module is also provided on the mobile module.
  • a guide rail There is a guide rail, and a slide assembly is arranged on the guide rail, the telescoping end of the descending air cylinder is connected with the slide assembly, and the slide assembly includes a rotary cylinder, and a clamping air claw is arranged on the rotary cylinder.
  • the Pin needle transfer mechanism includes a support base plate, a mounting assembly is movably arranged on the support base plate, and a precision guide rail 1 is provided on the mounting assembly, and the number of the precision guide rail 1 is two groups, so A transfer fixture is slidably arranged on the precision guide rail, a servo motor is also provided on the installation assembly, and a synchronous belt is connected to the drive of the servo motor, the synchronous belt is connected to the transfer fixture, and the support substrate is set There is a conversion cylinder, and the output end of the conversion cylinder is connected with the installation component.
  • the turntable mechanism includes a support fixed plate, an indexing plate is arranged on the support and fixed plate, and a turntable is arranged at the end of the index plate, and a rotating plate is also arranged on the support and fixed plate.
  • the joint is used to provide an air path for each station during rotation, and the pinch mechanism is arranged on the turntable, and the
  • the clamping mechanism includes an installation base, and the installation base is provided with a precision guide rail two, and the precision guide rail two is provided with a jaw sliding plate, and an air claw is arranged on the jaw sliding plate, and the air claw and the rotary joint
  • the provided air path is connected, and the sliding plate of the jaws is connected with the installation base through a tension spring, and a limit block is also arranged on the installation base to limit the moving position of the sliding plate of the jaws.
  • the Pin detection mechanism includes a camera in the Z-axis direction, a camera in the X-axis direction, and a camera in the Y-axis direction.
  • a ring light source is arranged at the relative position of the camera in the Z-axis direction.
  • a prism and an X-axis backlight source are respectively arranged at positions relative to the cameras, and a Y-axis backlight source is arranged at positions relative to the camera in the Y-axis direction.
  • the needle insertion mechanism includes a supporting support, and the second servo press is provided on the supporting support, and the output end of the second servo press is provided with a floating joint, and the floating joint is provided with There is a pressure sensor and the floating joint is aligned with the pinch mechanism.
  • the carrier moving mechanism includes an X-axis module and a precision guide rail 3, and a Y-axis module is slid on the X-axis module and the precision guide rail 3, and a Y-axis module is provided on the Y-axis module
  • a carrier placement position and a pressing cylinder is arranged on one side of the carrier placement position, and a through-beam sensor is also arranged on the Y-axis module.
  • the carrier handling mechanism includes an empty carrier loading assembly, a full carrier unloading assembly, and a traverse module, and the empty carrier loading assembly and full carrier unloading Jacking electric cylinders are arranged below the components, and up and down moving cylinders are arranged on the upper side of the traverse module, and grippers are arranged on the moving ends of the up and down moving cylinders.
  • the invention provides an automatic pin insertion device for a carrier.
  • the pin material belt can be sent to the cutting position to be cut into pin pins through the pin material belt feeding and cutting mechanism.
  • the pin detection mechanism can be used to visually detect and judge the size of the pin.
  • the pin With the further rotation of the turntable mechanism, the pin moves between the carrier moving mechanism and the pin insertion mechanism. Under the action of the pin insertion mechanism, the pin can be inserted into the carrier. When the carrier is full, it can pass through the carrier.
  • the handling mechanism removes the full carrier and refills the empty carrier to complete the pin insertion operation in a cycle.
  • This pin insertion equipment does not need to solder the pin cap on the chip in advance. It uses the carrier for transfer, and the Pin pin is first Insert it into the carrier, put the chip on the carrier for unified welding after completion, pull out the carrier after welding, the carrier can be reused, And it is more accurate and reliable than the welding needle cap type.
  • the pin or chip changes you only need to replace the corresponding carrier to complete the switch and continue production.
  • the flexible production capacity is greatly improved. In terms of production efficiency and maintenance It can also meet the requirements of use.
  • Fig. 1 is a schematic diagram of the internal structure of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 2 is a schematic diagram of the overall structure of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of a pin feeding and cutting mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 4 is a schematic structural diagram of a pin handling mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 5 is a schematic structural diagram of a pin transfer mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 6 is a structural schematic diagram of a turntable mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention
  • Fig. 7 is a schematic structural diagram of a pin clamping mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a pin detection mechanism of a carrier automatic pin insertion device provided by an embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of a pin insertion mechanism of an automatic pin insertion device provided by an embodiment of the present invention.
  • an automatic pin insertion device for a carrier provided in an embodiment of the present invention includes a device main body 1, and the device main body 1 includes a frame, a visual hood 101, a human-computer interaction interface 102, The main power interface 103 and the compressed air processing element 104, the outer wall of the rack is provided with a large plate, and the four corners of the outer wall of the bottom of the rack are provided with adjustable feet, and also includes:
  • Pin needle material belt feeding and cutting mechanism 2 Pin needle material belt feeding and cutting mechanism 2 is arranged on the large plate, and is used to cut the Pin needle material belt into a single Pin shape;
  • Pin handling mechanism 3 the Pin handling mechanism 3 is arranged on the large plate for picking up and handling the Pin;
  • Pin transfer mechanism 4 pin transfer mechanism 4 is used for pin transfer mechanism 3 to place pins and turntable station for pin feeding;
  • the turntable mechanism 5, the turntable mechanism 5 is used to pick up the Pin needle on the Pin needle transfer mechanism 4, and transfer the Pin needle;
  • the Pin detection mechanism 6 is used for size detection of the X, Y, Z angles of the Pin;
  • the pin insertion mechanism 7 is used to apply pressure to the pin on the turntable mechanism 5 to complete the pin insertion action;
  • the carrier moving mechanism 8 is used to install the carrier and drive the carrier to move;
  • the carrier transport mechanism 9 is used to transport the empty carrier to the carrier moving mechanism 8 and remove the full carrier on the carrier moving mechanism 8 .
  • the pin material tape can be sent to the cutting position through the pin material tape feeding and cutting mechanism 2 to be cut into pin needles, and the broken pin needles are moved to the pin needle transfer mechanism 4 under the conveyance of the pin needle conveying mechanism 3,
  • the Pin needle on the Pin needle transfer mechanism 4 can be picked up and driven to rotate.
  • the Pin needle can be visually detected and sized by the Pin needle detection mechanism 6.
  • the Pin needle moves between the carrier moving mechanism 8 and the pin insertion mechanism 7, and the pin insertion mechanism 7 Under the action, the pin can be inserted into the carrier.
  • the full carrier can be removed through the carrier handling mechanism 9, and the empty carrier can be replenished, and the pin insertion operation is completed in a cycle.
  • the pin insertion equipment does not need to weld the pin cap on the chip in advance. It uses the carrier for transfer. First insert the pin into the carrier. After completion, put the chip on the carrier for unified welding.
  • the carrier can be used repeatedly, and it is more accurate and reliable than the welding needle cap type. When the pin or chip changes, you only need to replace the corresponding carrier to complete the switch and continue production.
  • the flexible production capacity is greatly improved. , It can also meet the requirements of use in terms of production efficiency and maintenance.
  • the Pin needle strip feeding and cutting mechanism 2 includes a Pin needle strip material tray 201, a control panel 204, a feeding mechanism 203 and a cutting mold 206, and the Pin needle strip material
  • the plate 201 is provided with a pressure plate mechanism 202, which is used to provide pressure to the Pin needle material on the Pin material tape material plate 201, and the feeding mechanism 203 is used to send the material tape into the cutting die 206, and the cutting die 206 is provided with There is a servo press one 205, and the output end of the servo press one 205 is provided with an upper mold, and the Pin needle material belt feeding and cutting mechanism 2 also includes a waste material receiving box 207 for collecting cutting waste materials, and the Pin needle material belt
  • the material tray 201 is the pin material, which is provided with pressure by the pressure plate mechanism 202, and cooperates with the motor to rotate, so that the material tape is sent out more smoothly.
  • the control panel 204 can adjust the feeding speed of the material plate, and the sent Pin needle material belt wears Through the feeding mechanism 203, the feeding mechanism 203 sequentially feeds the material belt into the cutting mold 206 according to the unique characteristics of the material belt, and can realize accurate feeding by using the unique characteristics of the material belt, and cooperates with the guide in the cutting mold 206 , the upper mold of the mold is driven by the servo press 1 205 to press down, and the Pin needle strip is cut into a single Pin needle shape, and the remaining waste materials are dropped into the waste material receiving box 207.
  • the Pin needle transport mechanism 3 includes a support base 301, a moving module 302 is arranged on the support base 301, and a down cylinder 303 is arranged on the moving module 302,
  • the mobile module 302 is also provided with a guide rail 304, and the guide rail 304 is provided with a slide assembly, the telescopic end of the down cylinder 303 is connected with the slide assembly, and the slide assembly includes a rotary cylinder 305, and the rotary cylinder 305 is provided with a gripper 306, the mobile module 302 drives the clamping air claw 306 to pinch and release the pin.
  • the downward cylinder 303 acts as a lifting function.
  • Rotating the cylinder 305 can make the clamping air claw 306 realize 90 degrees Rotate to facilitate the insertion into the mold to clamp the material, and the material clamping air claw 306 clamps the pin to realize the handling.
  • the Pin needle relay mechanism 4 includes a support base plate 401, a mounting assembly is movably arranged on the support base plate 401, and a precision guide rail 1 403 is provided on the mounting assembly, and
  • the number of the precision guide rail 1 403 is two groups, the precision guide rail 1 403 is slidingly provided with a transfer jig 404, the installation component is also provided with a servo motor 402, and the servo motor 402 is driven and connected with a timing belt, the timing belt and the transfer jig 404
  • the supporting base 401 is provided with a conversion cylinder 405, and the output end of the conversion cylinder 405 is connected to the installation assembly, the servo motor 402 provides power to drive the timing belt, and the precision guide rail 1 403 drives the transfer fixture 404 to realize linear movement at both ends , used for pin handling mechanism 3 to place pin pins and turntable mechanism 5 to pick up pin pins.
  • the conversion cylinder 405 can drive the installation components to move back and forth, thereby realizing the conversion of the two jigs, so that one When the pin handling mechanism 3 places the pin, the other can carry out the turntable mechanism 5 to pick up the pin, the two do not affect each other, there is no waiting time, and the production efficiency can be accelerated.
  • the turntable mechanism 5 includes a support fixed plate 501, an index plate 502 is arranged on the support fixed plate 501, and a turntable 504 is arranged at the end of the index plate 502 , the support fixed plate 501 is also provided with a rotary joint 503, which is used to provide an air path for each station when rotating, and a pinch mechanism 505 is provided on the turntable 504, and the pinch mechanism 505 includes a mounting base 506, and the mounting base 506 is provided with a precision guide rail 2 507, and the precision guide rail 2 507 is provided with a jaw sliding plate 509, and the jaw sliding plate 509 is provided with an air claw 511, and the air claw 511 communicates with the air path provided by the rotary joint 503, and the clamp
  • the claw sliding plate 509 and the installation base 506 are connected by a tension spring 508, and a limit block 510 is also provided on the installation base 506 to limit the moving position of the jaw sliding plate 509
  • the rotary joint 503 can provide a continuous air path for each station during rotation, which is used for the air gripper 511
  • the power is provided by pinching the pin
  • the pinning mechanism 505 is fixed on the turntable 504, and rotates together with the turntable 504
  • the precision guide rail 2 507 in the pinching mechanism 505 can make the jaw sliding plate 509 move up and down precisely, when the jaw sliding plate
  • the tension spring 508 can provide upward pulling force for the jaw sliding plate 509 to make it reset
  • the limit block 510 can limit the upper and lower limits of the jaw sliding plate 509 by using a hard limit position
  • the air gripper 511 can realize the clamping of the Pin needle
  • the use of the turntable mechanism 5 can realize the fast and accurate handling of the Pin needle.
  • the Pin needle detection mechanism 6 includes a Z-axis direction camera 601, an X-axis direction camera 603 and a Y-axis direction camera 606, and an annular ring is arranged at the relative position of the Z-axis direction camera 601.
  • a light source 602, a prism 604 and an X-axis backlight source 605 are arranged at the relative position of the camera 603 in the X-axis direction, and a Y-axis backlight source 607,
  • Z Axis direction camera 601 is mainly used with ring light source 602 to detect the size of the Pin in the Z-axis direction.
  • X-axis direction camera 603 is used in conjunction with prism 604 and X-axis backlight light source 605 to detect the size of the Pin needle in the X-axis direction.
  • the Y-axis direction camera The 606 is used in conjunction with the Y-axis backlight source 607 to detect the size of the Y-axis direction, thereby realizing the size detection of the X, Y, and Z angles of the Pin needle.
  • the pin insertion mechanism 7 includes a support base 702, on which a servo press 2 701 is arranged, and the output end of the servo press 2 701 is provided with a floating joint 703, the floating joint 703 is provided with a pressure sensor 704, and the floating joint 703 is aligned with the pin clamp mechanism 505, the servo press 2 701 provides downward pressure power for the pin, and can be precisely controlled, and the floating joint 703 is used to eliminate the shaft
  • the pressure sensor 704 realizes the real-time monitoring of the pressure, and when the pressure reaches the value of the pin, it is fed back to the system to stop the press immediately, and at the same time feedback the abnormal pressure, the floating joint 703 controls the clamping mechanism 505 Apply force to make it vertically downward to complete the pin insertion action.
  • the carrier moving mechanism 8 includes an X-axis module and a precision guide rail 3, and a Y-axis module is slidably arranged on the X-axis module and the precision guide rail 3, and a load bearing is arranged on the Y-axis module.
  • a pressure cylinder is installed on one side of the place where the carrier is placed, and a shooting sensor is also installed on the Y-axis module.
  • the axis module realizes the precise movement of the Y axis.
  • the combination of the above structures enables the carrier to be placed in any direction in the X and Y directions.
  • the pressing cylinder presses the carrier to ensure that it is placed in place.
  • the radio sensor can detect whether there is a vehicle in the placement position, so as to avoid the phenomenon of empty running without a vehicle.
  • the carrier handling mechanism 9 includes an empty carrier loading assembly, a full carrier unloading assembly and a traverse module, and the empty carrier loading assembly and the full carrier unloading assembly
  • the lifting electric cylinder is lifted up sequentially, and the full material carrier can be placed in the full material carrier unloading assembly, and it is lifted by the jacking electric cylinder, and the traverse module can drive the jaws to move horizontally to achieve different positions.
  • the up and down action cylinder drives the jaws to move up and down to pick and place, the empty carrier can be moved to the carrier placement position, and the full material carrier on the carrier placement position can be moved to the full material carrier unloading component, the operation Very convenient.
  • the pin material tape When in use, the pin material tape can be sent to the cutting position by the pin material tape feeding and cutting mechanism 2 to be cut into pin needles, and the broken pin needles are transported by the pin needle transport mechanism 3 to the pin needle transfer mechanism 4 Above, the Pin needle on the Pin needle transfer mechanism 4 can be picked up by the turntable mechanism 5 and driven to rotate. During the rotation process, the Pin needle can be visually detected and judged by the Pin needle detection mechanism 6.
  • the pin moves to between the carrier moving mechanism 8 and the pin insertion mechanism 7, under the action of the pin insertion mechanism 7, the pin can be inserted into the carrier, and when the carrier is full, it can be transported by the carrier Mechanism 9 removes the full carrier, replenishes the empty carrier, and completes the pin insertion operation in a cycle.
  • This pin insertion device does not need to solder the pin cap on the chip in advance, and it uses the carrier for transfer.

Abstract

本发明涉及载具插针技术领域，尤其涉及一种载具自动插针设备，包括设备主体，所述设备主体包括机架、可视化机罩、人机交互界面、总电源接口和压缩空气处理元件，所述机架的外壁设置有大板，且机架底部外壁的四个拐角处均设置有调节地脚，还包括：Pin针料带上料裁切机构；Pin针搬运机构；Pin针中转机构；转盘机构；Pin针检测机构；插针机构；载具移动机构；载具搬运机构。本发明利用载具进行中转，先将Pin针插入到载具中，完成后载具上放入芯片统一焊接，载具可重复使用，更为牢靠，Pin针或芯片有变动时，只需更换相对应的载具，即可完成切换继续生产，柔性生产能力大大提高，在生产效率以及维护上也能满足使用要求。

Description

一种载具自动插针设备
本申请请求：2021年10月14日申请的申请号为202111198480.3的中国专利申请的优先权。
技术领域
本发明涉及载具插针技术领域，尤其涉及一种载具自动插针设备。
背景技术
插针机目前有几种叫法：插PIN机、插针机设备、自动插针机、插PIN机等，其统称为插针设备。插针机广泛应用于各类电子芯片、功率半导体芯片、线圈骨架、各类电子连接件、汽车连接器及主板芯片行业。
目前，主流做插针机的厂家主要以凸轮插针为主，使用电机带动凸轮机构，完成对Pin针的插针动作、配合其他自动化机构，完成自动裁料、自动送料的过程。这种设备的优缺点如下，优点主要有：结构紧凑，节省空间；缺点主要有：(1)柔性差，凸轮设计复杂，设计完成后更改pin针类型没有可改动的空间，(2)该设备插针前芯片上必须提前焊好针帽，再将pin针插入到针帽中，且对pin针的尺寸要求较严；(3)凸轮机构长时间运行易产生磨损，会导致插针不畅，因此，亟需设计一种载具自动插针设备来解决上述问题。
发明内容
本发明的目的是为了解决现有技术中存在的缺陷，而提出的一种载具自动插针设备。
为了实现上述目的，本发明采用了如下技术方案：
一种载具自动插针设备，包括设备主体，所述设备主体包括机架、可视化机罩、人机交互界面、总电源接口和压缩空气处理元件，所述机架的外壁设置有大板，且机架底部外壁的四个拐角处均设置有调节地脚，还包括：
Pin针料带上料裁切机构，所述Pin针料带上料裁切机构设置于大板上，用于将Pin针料带裁切成单个Pin针状；
Pin针搬运机构，所述Pin针搬运机构设置于大板上，用于对Pin针进行拾 取和搬运；
Pin针中转机构，所述Pin针中转机构用于Pin针搬运机构放置Pin针以及转盘工站Pin针供料；
转盘机构，所述转盘机构用于拾取Pin针中转机构上的Pin针，并对Pin针进行转运；
Pin针检测机构，所述Pin针检测机构用于对pin针的X、Y、Z三个角度进行尺寸检测；
插针机构，所述插针机构用于对转盘机构上的Pin针施加压力，完成插针动作；
载具移动机构，所述载具移动机构用于安装载具，并带动载具移动；
载具搬运机构，所述载具搬运机构用于将空载具搬运至载具移动机构上，并将载具移动机构上的满料载具移走。
作为本发明再进一步的方案：所述Pin针料带上料裁切机构包括Pin针料带料盘、控制面板、送料机构和裁切模具，所述Pin针料带料盘上设置有压盘机构，用于对Pin针料带料盘上的Pin针连料提供压力，所述送料机构用于将料带送入裁切模具，所述裁切模具上设置有伺服压机一，且伺服压机一的输出端设置有上模，所述Pin针料带上料裁切机构还包括废料收料盒，用于收集裁切废料。
作为本发明再进一步的方案：所述Pin针搬运机构包括支撑基座，所述支撑基座上设置有移动模组，且移动模组上移动设置有下行气缸，所述移动模组上还设置有导轨，且导轨上设置有滑动组件，所述下行气缸的伸缩端和滑动组件相连接，所述滑动组件包括旋转气缸，且旋转气缸上设置有夹料气爪。
作为本发明再进一步的方案：所述Pin针中转机构包括支撑基板，所述支撑基板上活动设置有安装组件，且安装组件上设置有精密导轨一，且精密导轨一的数量为两组，所述精密导轨上滑动设置有中转治具，所述安装组件上还设置有伺服电机，且伺服电机驱动连接有同步带，所述同步带和所述中转治具相连接，所述支撑基板上设置有转换气缸，且转换气缸的输出端和安装组件相连接。
作为本发明再进一步的方案：所述转盘机构包括支撑固定板，所述支撑固定板上设置有分度盘，且分度盘的端部设置有转盘，所述支撑固定板上还设置有旋转接头，用于为旋转时每个工位提供气路，所述转盘上设置有夹Pin机构，所述 夹Pin机构包括安装基座，且安装基座上设置有精密导轨二，所述精密导轨二上设置有夹爪滑动板，且夹爪滑动板上设置有气爪，所述气爪和旋转接头提供的气路相连通，所述夹爪滑动板和安装基座之间通过拉簧相连接，所述安装基座上还设置有限位块，用于限定夹爪滑动板的移动位置。
作为本发明再进一步的方案：所述Pin针检测机构包括Z轴方向相机、X轴方向相机和Y轴方向相机，所述Z轴方向相机的相对位置处设置有环形光源，所述X轴方向相机的相对位置处分别设置有棱镜和X轴背光光源，所述Y轴方向相机的相对位置处设置有Y轴背光光源。
作为本发明再进一步的方案：所述插针机构包括支撑支座，所述支撑支座上设置有伺服压机二，且伺服压机二的输出端设置有浮动接头，所述浮动接头上设置有压力传感器，且浮动接头对准所述夹Pin机构。
作为本发明再进一步的方案：所述载具移动机构包括X轴模组和精密导轨三，所述X轴模组和精密导轨三上滑动设置有Y轴模组，且Y轴模组上设置有载具放置位，且载具放置位一侧设置有压料气缸，所述Y轴模组上还设置有对射传感器。
作为本发明再进一步的方案：所述载具搬运机构包括空载具上料组件、满料载具下料组件和横移模组，所述空载具上料组件和满料载具下料组件的下方均设置有顶升电缸，所述横移模组上移动设置有上下动作气缸，且上下动作气缸的动作端设置有夹爪。
与现有技术相比，本发明的有益效果是：
本发明提供的一种载具自动插针设备，通过Pin针料带上料裁切机构可以将Pin料带送至裁切位置裁切成Pin针，断落的Pin针在Pin针搬运机构的搬运下移动至Pin针中转机构上，通过转盘机构可以拾取Pin针中转机构上的Pin针并带动其转动，转动过程中，可以通过Pin针检测机构对Pin针进行视觉检测和尺寸判断，随着转盘机构的进一步转动，Pin针移动至载具移动机构和插针机构之间，在插针机构的作用下便可以将Pin针插入载具中，当载具满料后，便可以通过载具搬运机构将满料的载具移走，并重新补充空载具，循环完成插针操作，该插针设备不需要提前将针帽焊在芯片上，其利用载具进行中转，先将Pin针插入到载具中，完成后载具上放入芯片统一焊接，焊好后抽离载具，载具可重复使用， 且比焊接针帽式的精度更高，更为牢靠，Pin针或芯片有变动时，只需更换相对应的载具，即可完成切换继续生产，柔性生产能力大大提高，在生产效率以及维护上也能满足使用要求。
附图说明
图1为本发明实施例提供的一种载具自动插针设备的内部结构示意图；
图2为本发明实施例提供的一种载具自动插针设备的整体结构示意图；
图3为本发明实施例提供的一种载具自动插针设备的Pin针料带上料裁切机构结构示意图；
图4为本发明实施例提供的一种载具自动插针设备的Pin针搬运机构结构示意图；
图5为本发明实施例提供的一种载具自动插针设备的Pin针中转机构结构示意图；
图6为本发明实施例提供的一种载具自动插针设备的转盘机构结构示意图；
图7为本发明实施例提供的一种载具自动插针设备的夹Pin机构结构示意图；
图8为本发明实施例提供的一种载具自动插针设备的Pin针检测机构结构示意图；
图9为本发明实施例提供的一种载具自动插针设备的插针机构结构示意图。
图中：1-设备主体、2-Pin针料带上料裁切机构、3-Pin针搬运机构、4-Pin针中转机构、5-转盘机构、6-Pin针检测机构、7-插针机构、8-载具移动机构、9-载具搬运机构、101-可视化机罩、102-人机交互界面、103-总电源接口、104-压缩空气处理元件、201-Pin针料带料盘、202-压盘机构、203-送料机构、204-控制面板、205-伺服压机一、206-裁切模具、207-废料收料盒、301-支撑基座、302-移动模组、303-下行气缸、304-导轨、305-旋转气缸、306-夹料气爪、401-支撑基板、402-伺服电机、403-精密导轨一、404-中转治具、405-转换气缸、501-支撑固定板、502-分度盘、503-旋转接头、504-转盘、505-夹Pin机构、506-安装基座、507-精密导轨二、508-拉簧、509-夹爪滑动板、510-限位块、511-气爪、601-Z轴方向相机、602-环形光源、603-X轴方向相机、604-棱镜、605-X轴背光光源、606-Y轴方向相机、607-Y轴背光光源、701-伺服压机二、702- 支撑支座、703-浮动接头、704-压力传感器。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1和图2所示，为本发明的一个实施例提供的一种载具自动插针设备，包括设备主体1，设备主体1包括机架、可视化机罩101、人机交互界面102、总电源接口103和压缩空气处理元件104，机架的外壁设置有大板，且机架底部外壁的四个拐角处均设置有调节地脚，还包括：
Pin针料带上料裁切机构2，Pin针料带上料裁切机构2设置于大板上，用于将Pin针料带裁切成单个Pin针状；
Pin针搬运机构3，Pin针搬运机构3设置于大板上，用于对Pin针进行拾取和搬运；
Pin针中转机构4，Pin针中转机构4用于Pin针搬运机构3放置Pin针以及转盘工站Pin针供料；
转盘机构5，转盘机构5用于拾取Pin针中转机构4上的Pin针，并对Pin针进行转运；
Pin针检测机构6，Pin针检测机构6用于对Pin针的X、Y、Z三个角度进行尺寸检测；
插针机构7，插针机构7用于对转盘机构5上的Pin针施加压力，完成插针动作；
载具移动机构8，载具移动机构8用于安装载具，并带动载具移动；
载具搬运机构9，载具搬运机构9用于将空载具搬运至载具移动机构8上，并将载具移动机构8上的满料载具移走。
通过Pin针料带上料裁切机构2可以将Pin料带送至裁切位置裁切成Pin针，断落的Pin针在Pin针搬运机构3的搬运下移动至Pin针中转机构4上，通过转盘机构5可以拾取Pin针中转机构4上的Pin针并带动其转动，转动过程中，可以通过Pin针检测机构6对Pin针进行视觉检测和尺寸判断，随着转盘机构5的进一步转动，Pin针移动至载具移动机构8和插针机构7之间，在插针机构7的 作用下便可以将Pin针插入载具中，当载具满料后，便可以通过载具搬运机构9将满料的载具移走，并重新补充空载具，循环完成插针操作，该插针设备不需要提前将针帽焊在芯片上，其利用载具进行中转，先将Pin针插入到载具中，完成后载具上放入芯片统一焊接，焊好后抽离载具，载具可重复使用，且比焊接针帽式的精度更高，更为牢靠，Pin针或芯片有变动时，只需更换相对应的载具，即可完成切换继续生产，柔性生产能力大大提高，在生产效率以及维护上也能满足使用要求。
作为本发明的一种实施例，请参阅图3，Pin针料带上料裁切机构2包括Pin针料带料盘201、控制面板204、送料机构203和裁切模具206，Pin针料带料盘201上设置有压盘机构202，用于对Pin针料带料盘201上的Pin针连料提供压力，送料机构203用于将料带送入裁切模具206，裁切模具206上设置有伺服压机一205，且伺服压机一205的输出端设置有上模，Pin针料带上料裁切机构2还包括废料收料盒207，用于收集裁切废料，Pin针料带料盘201为Pin针连料，其由压盘机构202对其提供压力，配合电机旋转，使料带较平缓送出，控制面板204可对料盘送料速度进行调整，送出的Pin针料带穿过送料机构203，送料机构203根据料带特有的特征，依次递进将料带送入裁切模具206中，利用料带上特有的特征可实现精准送料，配合裁切模具206内的导正，由伺服压机一205带动模具上模下压，将Pin针料带裁切成单个Pin针状，其余废料，掉落入废料收料盒207中。
作为本发明的一种实施例，请参阅图4，Pin针搬运机构3包括支撑基座301，支撑基座301上设置有移动模组302，且移动模组302上移动设置有下行气缸303，移动模组302上还设置有导轨304，且导轨304上设置有滑动组件，下行气缸303的伸缩端和滑动组件相连接，滑动组件包括旋转气缸305，且旋转气缸305上设置有夹料气爪306，移动模组302带动夹料气爪306进行夹Pin针放Pin针动作，下行气缸303起升降作用，其配合导轨304实现精准上下滑动，旋转气缸305可使夹料气爪306实现90度旋转，便于伸入模具内夹料，夹料气爪306夹取Pin针实现搬运。
作为本发明的一种实施例，请参阅图5，Pin针中转机构4包括支撑基板401，支撑基板401上活动设置有安装组件，且安装组件上设置有精密导轨一403，且 精密导轨一403的数量为两组，精密导轨一403上滑动设置有中转治具404，安装组件上还设置有伺服电机402，且伺服电机402驱动连接有同步带，同步带和中转治具404相连接，支撑基板401上设置有转换气缸405，且转换气缸405的输出端和安装组件相连接，伺服电机402提供动力驱动同步带，配合精密导轨一403带动中转治具404实现两端直线移动，用于Pin针搬运机构3放置Pin针以及转盘机构5拾取Pin针，中转治具404共有两组，利用转换气缸405可以带动安装组件来回移动，进而实现两个治具的转换，使之一个在Pin针搬运机构3放置Pin针时，另一个可以进行转盘机构5拾取Pin针，二者互不影响，没有等待时间，可加快生产效率。
作为本发明的一种实施例，请参阅图6和图7，转盘机构5包括支撑固定板501，支撑固定板501上设置有分度盘502，且分度盘502的端部设置有转盘504，支撑固定板501上还设置有旋转接头503，用于为旋转时每个工位提供气路，转盘504上设置有夹Pin机构505，夹Pin机构505包括安装基座506，且安装基座506上设置有精密导轨二507，精密导轨二507上设置有夹爪滑动板509，且夹爪滑动板509上设置有气爪511，气爪511和旋转接头503提供的气路相连通，夹爪滑动板509和安装基座506之间通过拉簧508相连接，安装基座506上还设置有限位块510，用于限定夹爪滑动板509的移动位置，分度盘502提供旋转动力，可以使转盘504进行等角度旋转，且精准地停在固定位置，实现连续多工站可同时动作，旋转接头503可以为旋转时每个工位提供持续不断的气路，用于为气爪511夹取Pin针提供动力，夹Pin机构505固定于转盘504上，随转盘504一起旋转，夹Pin机构505中的精密导轨二507可使夹爪滑动板509实现上下精确移动，当夹爪滑动板509在插针机构7的作用下移动后，拉簧508可以为夹爪滑动板509提供向上的拉力，使其复位，限位块510利用硬性限位，可以限制夹爪滑动板509上下的极限位置，气爪511可以实现对Pin针的夹取，利用该转盘机构5，可实现对Pin针的快速精准搬运。
作为本发明的一种实施例，请参阅图8，Pin针检测机构6包括Z轴方向相机601、X轴方向相机603和Y轴方向相机606，Z轴方向相机601的相对位置处设置有环形光源602，X轴方向相机603的相对位置处分别设置有棱镜604和X轴背光光源605，Y轴方向相机606的相对位置处设置有Y轴背光光源607,Z 轴方向相机601主要搭配环形光源602，对Pin针Z轴方向进行尺寸检测，X轴方向相机603配合棱镜604与X轴背光光源605使用，对Pin针X轴方向进行尺寸检测，Y轴方向相机606与Y轴背光光源607配合使用，用于检测Y轴方向的尺寸，从而实现Pin针的X、Y、Z三个角度的尺寸检测。
作为本发明的一种实施例，请参阅图9，插针机构7包括支撑支座702，支撑支座702上设置有伺服压机二701，且伺服压机二701的输出端设置有浮动接头703，浮动接头703上设置有压力传感器704，且浮动接头703对准夹Pin机构505，伺服压机二701为插针提供向下的压力动力，且可精准控制，浮动接头703用于消除轴向方向零件间的误差，压力传感器704实现压力的实时监测，当压力达到插针数值时反馈给系统使压机立即停止施压，同时对压力异常进行反馈，浮动接头703对夹Pin机构505进行施力，使其垂直向下，进而完成插针动作。
作为本发明的一种实施例，载具移动机构8包括X轴模组和精密导轨三，X轴模组和精密导轨三上滑动设置有Y轴模组，且Y轴模组上设置有载具放置位，且载具放置位一侧设置有压料气缸，Y轴模组上还设置有对射传感器，X轴模组与精密导轨三配合使用，使其可以实现X轴精准移动，Y轴模组实现Y轴精准移动，以上结构搭配使用，使载具放置位可实现在X、Y方向上任意移动，当放置载具后，压料气缸压住载具，确保其放置到位，对射传感器可检测放置位有无载具，避免无载具空跑的现象。
作为本发明的一种实施例，载具搬运机构9包括空载具上料组件、满料载具下料组件和横移模组，空载具上料组件和满料载具下料组件的下方均设置有顶升电缸，横移模组上移动设置有上下动作气缸，且上下动作气缸的动作端设置有夹爪，空载具可以人工放置在空载具上料组件中，通过顶升电缸依次顶起，而满料载具则可以放置于满料载具下料组件中，并通过顶升电缸顶起，横移模组可带动夹爪左右横移，实现不同位置取放，上下动作气缸带动夹爪上下移动取放，将可以将空载具移动至载具放置位，以及将载具放置位上的满料载具移动至满料载具下料组件中，操作十分方便。
使用时，通过Pin针料带上料裁切机构2可以将Pin料带送至裁切位置裁切成Pin针，断落的Pin针在Pin针搬运机构3的搬运下移动至Pin针中转机构4 上，通过转盘机构5可以拾取Pin针中转机构4上的Pin针并带动其转动，转动过程中，可以通过Pin针检测机构6对Pin针进行视觉检测和尺寸判断，随着转盘机构5的进一步转动，Pin针移动至载具移动机构8和插针机构7之间，在插针机构7的作用下便可以将Pin针插入载具中，当载具满料后，便可以通过载具搬运机构9将满料的载具移走，并重新补充空载具，循环完成插针操作，该插针设备不需要提前将针帽焊在芯片上，其利用载具进行中转，先将Pin针插入到载具中，完成后载具上放入芯片统一焊接，焊好后抽离载具，载具可重复使用，且比焊接针帽式的精度更高，更为牢靠，Pin针或芯片有变动时，只需更换相对应的载具，即可完成切换继续生产，柔性生产能力大大提高，在生产效率以及维护上也能满足使用要求。
需要特别说明的是，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式，以上所述实施例仅表达了本技术方案的优选实施方式，其描述较为具体和详细，但并不能因此而理解为对本技术方案专利范围的限制。



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