An automatic insertion mechanism

Abstract

The present invention provides an automatic insertion mechanism, which includes a frame; an XYZ three-axis moving mechanism fixedly connected to the frame; an insertion manipulator connected to the XYZ three-axis moving mechanism; a positioning mechanism arranged within the stroke range of the XYZ three-axis moving mechanism; and a vision mechanism fixedly connected to the frame and located above the positioning mechanism. The coordinates and appearance of each workpiece are determined by taking pictures with the vision mechanism. One workpiece or the fixture loaded with one workpiece is positioned by the positioning mechanism. Another workpiece is grasped by the insertion manipulator, and the XYZ three-axis moving mechanism drives the insertion manipulator to drive the other workpiece for insertion, thereby realizing automatic insertion.

Description

Technical Field

[0001] The present invention relates to the field of lithium battery protection board assembly and testing equipment for smart watches and mobile phones, and particularly to an automatic plugging mechanism.

Background Art

[0002] As a core component of consumer electronics such as smart phones and smart watches, lithium batteries have been developing in the direction of small size, high energy density, and safety and reliability. The protection boards on lithium batteries are also becoming smaller and more precise.

[0003] After the production of the protection board, various performance indicators need to be detected. Since the connectors on the protection board are too small, the test probes cannot directly contact the pins of the connectors on the protection board, and a test adapter board needs to be inserted. The test probes test the protection board by contacting the test adapter board.

[0004] Traditionally, relying on manual operation to plug the protection board and the test adapter board has been difficult to meet the requirements of product quality and production efficiency. The research and development of high-precision fully automated equipment has become particularly important.

Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic plugging mechanism that can accurately complete the automatic plugging of the protection board and the test adapter board.

[0006] The present invention is implemented as follows: An automatic plugging mechanism includes

[0007] A frame;

[0008] An XYZ three-axis moving mechanism fixedly connected to the frame;

[0009] A plugging manipulator connected to the XYZ three-axis moving mechanism;

[0010] A positioning mechanism disposed within the stroke range of the XYZ three-axis moving mechanism;

[0011] A vision mechanism fixedly connected to the frame and located above the positioning mechanism.

[0012] Further, the plugging manipulator includes:

[0013] A fixed seat fixedly connected to the Z-axis output end of the XYZ three-axis moving mechanism;

[0014] A pressure sensor fixedly connected to the fixed seat;

[0015] A support block movably connected to the fixed seat;

[0016] A spring, one end of which abuts against the pressure sensor and the other end abuts against the support block;

[0017] A suction cup, fixedly connected to the support block and arranged downward.

[0018] Further, the plug-in manipulator further includes

[0019] A guide rail, fixedly connected to the fixed seat and arranged along the Y-axis;

[0020] A slider, slidably connected to the guide rail and fixedly connected to the support block.

[0021] Further, there are two Z-axes of the XYZ three-axis moving mechanism;

[0022] There are two of the plug-in manipulators, which are fixedly connected to the Z-axis output ends of the XYZ three-axis moving mechanism in one-to-one correspondence.

[0023] Further, the positioning mechanism includes:

[0024] A positioning plate, provided with a first positioning member at the bottom and fixedly connected to the frame;

[0025] A jacking mechanism, arranged below the positioning plate and forming a receiving cavity with the positioning plate.

[0026] Further, the positioning mechanism further includes

[0027] A pressing mechanism, fixedly connected to the positioning plate and used for pressing the workpiece.

[0028] Further, the pressing mechanism includes:

[0029] A pressing cylinder, fixedly connected to the positioning plate;

[0030] A pressing plate, fixedly connected to the piston rod of the pressing cylinder;

[0031] Wherein, the positioning plate has an avoidance opening; the pressing plate is located within the avoidance opening.

[0032] Further, the jacking mechanism includes:

[0033] A jacking cylinder, fixedly connected to the frame and with the piston rod arranged vertically upward;

[0034] A bracket, provided with a linear bearing and fixedly connected to the piston rod of the jacking cylinder;

[0035] A jacking rod, provided with limit blocks at both the upper and lower ends, embedded in the linear bearing and arranged vertically upward;

[0036] The jacking springs, equal in number to the jacking rods, are sleeved on the jacking rods, with their bottom ends abutting against the linear bearings or brackets and their top ends abutting against the upper limit blocks.

[0037] Further, the vision mechanism includes:

[0038] A first intelligent camera, fixedly connected to the frame and located above the positioning mechanism, with its lens facing downward;

[0039] A second intelligent camera, fixedly connected to the frame, with its lens facing upward;

[0040] A first light source, fixedly connected to the frame, providing illumination for the first intelligent camera;

[0041] A second light source, fixedly connected to the frame, providing illumination for the second intelligent camera.

[0042] Further, it further includes

[0043] An NG material box, placed on the frame and within the stroke range of the XYZ three-axis moving mechanism.

[0044] The advantages of the present invention are as follows: An automatic plugging mechanism includes a frame; an XYZ three-axis moving mechanism fixedly connected to the frame; a plugging manipulator connected to the XYZ three-axis moving mechanism; a positioning mechanism provided within the stroke range of the XYZ three-axis moving mechanism; and a vision mechanism fixedly connected to the frame and located above the positioning mechanism. By taking pictures with the vision mechanism, the coordinates and appearance qualification of each workpiece are determined. The positioning mechanism positions one of the workpieces or the fixture loaded with one of the workpieces. The plugging manipulator grabs another workpiece, and the XYZ three-axis moving mechanism drives the plugging manipulator to drive the other workpiece for plugging, thereby realizing automatic plugging.

Description of the Drawings

[0045] The following further describes the present invention with reference to the drawings in conjunction with embodiments.

[0046] Figure 1 is a three-dimensional view of an automatic plugging mechanism of the present invention Figure 1 .

[0047] Figure 2 is a three-dimensional view of an automatic plugging mechanism of the present invention Figure 2 .

[0048] Figure 3 is a three-dimensional view of an automatic plugging mechanism of the present invention Figure 3 .

[0049] Figure 4 is a top view of an automatic plugging mechanism of the present invention.

[0050] Figure 5 It is the front view of an automatic insertion mechanism of the present invention.

[0051] Figure 6 It is the left view of an automatic insertion mechanism of the present invention.

[0052] Figure 7 It is the three-dimensional view of the XYZ three-axis moving mechanism of the present invention.

[0053] Figure 8 It is the three-dimensional Figure 1 .

[0054] Figure 9 It is the three-dimensional Figure 2 .

[0055] Figure 10 It is the side view of the insertion manipulator of the present invention.

[0056] Figure 11 It is Figure 10 the sectional view taken along line A-A in

[0057] Figure 12 It is the schematic diagram of the positional relationship between the positioning mechanism and the fixture of the present invention Figure 1 .

[0058] Figure 13 It is the schematic diagram of the positional relationship between the positioning mechanism and the fixture of the present invention Figure 2 .

[0059] Figure 14 It is the schematic diagram of the positional relationship between the positioning mechanism and the fixture of the present invention Figure 3 .

[0060] Figure 15 It is Figure 14 the partial enlarged schematic diagram at position B in

[0061] Figure 16 It is Figure 14 the partial enlarged schematic diagram at position C in

[0062] Figure 17 It is the schematic diagram of the positional relationship between the positioning mechanism and the fixture of the present invention Figure 4 .

[0063] Figure 18 It is the schematic diagram of the fixture of the present invention.

[0064] Explanation of reference numerals:

[0065] Frame 1;

[0066] XYZ three-axis moving mechanism 2, Z-axis 21;

[0067] Insertion manipulator 3, fixed seat 31, pressure sensor 32, support block 33, spring 34, suction cup 35, suction hole 351, second positioning pin 352, guide rail 36, slider 37,

[0068] Positioning mechanism 4, positioning plate 41, first positioning member 411, lifting mechanism 42, lifting cylinder 421, bracket 422, linear bearing 4221, lifting rod 423, limit block 4231, lifting spring 424, receiving cavity 43, pressing mechanism 44, pressing cylinder 441, adapter block 4411, pressing plate 442;

[0069] Vision mechanism 5, first intelligent camera 51, second intelligent camera 52, first light source 53, second light source 54;

[0070] NG material box 6;

[0071] Test adapter plate 100, positioning through hole 1001;

[0072] Protection plate 200, connector 2001;

[0073] Turntable 300, lifting avoidance opening 301, vertical through hole 302;

[0074] Guide post 4001, positioning hole 4002.

Detailed implementation manners

[0075] In the description of the present invention, it should be understood that the description of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the protection scope of the present invention.

[0076] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0077] The overall concept of the implementation of the present invention is as follows:

[0078] The position coordinates are determined through vision detection, and the appearance of the workpiece can be detected, preventing defective appearances from flowing into the next process;

[0079] The positioning mechanism 4 positions one of the workpieces or the fixture loaded with one of the workpieces to ensure that the position of one of the workpieces is unified during each insertion;

[0080] The insertion manipulator 3 grabs the other workpiece, and the XYZ three-axis moving mechanism 2 drives the insertion manipulator 3 to drive the other workpiece for insertion, thereby realizing automatic insertion.

[0081] Please refer to Figures 1 to 18 as shown in

[0082] An automatic insertion mechanism, comprising

[0083] a frame 1;

[0084] an XYZ three-axis moving mechanism 2, fixedly connected to the frame 1; the XYZ three-axis moving mechanism 2 can adopt an existing XYZ three-axis linear slide;

[0085] an insertion manipulator 3, connected to the XYZ three-axis moving mechanism 2;

[0086] a positioning mechanism 4, arranged within the stroke range of the XYZ three-axis moving mechanism 2;

[0087] a vision mechanism 5, fixedly connected to the frame 1 and located above the positioning mechanism 4.

[0088] The insertion manipulator 3 includes:

[0089] a fixed seat 31, fixedly connected to the Z-axis 21 output end of the XYZ three-axis moving mechanism 2;

[0090] a pressure sensor 32, fixedly connected to the fixed seat 31;

[0091] a support block 33, movably connected to the fixed seat 31, such that the support block 33 can move during insertion, and is used in combination with the spring 34 for buffering to avoid hard contact.

[0092] a spring 34, with one end abutted against the pressure sensor 32 and the other end abutted against the support block 33; in a specific embodiment, the support block 33 is provided with a shaft rod, the spring 34 is sleeved on the shaft rod, the pressure sensor 32 adopts an annular pressure sensor, the shaft rod is inserted into the center of the annular pressure sensor, and the spring 34 is abutted against the pressure sensor 32 and the support block 33.

[0093] The suction cup 35 is fixedly connected to the support block 33 and is arranged downward. In a specific embodiment, the suction cup 35 is used to suck the test adapter board 100; the suction cup 35 is provided with a suction hole 351, and the suction hole 351 is connected to a suction device to suck the test adapter board 100; a second positioning pin 352 is further provided on the bottom surface of the suction cup 35, and the second positioning pin 352 is inserted into the positioning through hole 1001 of the test adapter board 100 for positioning, so that after each suction of the test adapter board 100, the relative positions of the test adapter board 100 and the suction cup 35 remain consistent, improving the insertion accuracy and avoiding damage to the test adapter board 100 or the protection board 200 due to the error in the relative positions of the test adapter board 100 and the suction cup 35 during insertion.

[0094] The working principle of the insertion manipulator 3: The XYZ three-axis moving mechanism 2 adjusts the X / Y / Z coordinates of the insertion manipulator 3 to reach the storage position of the test adapter board 100. The suction cup 35 sucks the test adapter board 100, and then the XYZ three-axis moving mechanism 2 adjusts the X / Y / Z coordinates of the insertion manipulator 3 to move to a predetermined position and perform insertion with the protection board 200; during the insertion process, the spring 34 plays a buffering role to avoid hard contact and can protect in case of insertion deviation to prevent damage to the test adapter board 100 or the protection board 200; while the pressure sensor 32 can play a monitoring role during the insertion process. When the insertion is smooth, the pressure detected by the pressure sensor 32 is within the preset pressure range; when the insertion deviates and gets stuck and cannot be inserted, the pressure detected by the pressure sensor 32 will be greater than the preset pressure range. At this time, the pressure sensor 32 feeds back a signal to the control system, and the control system can control the XYZ three-axis moving mechanism 2 to stop working, thereby stopping the insertion and sending an alarm prompt; or control the XYZ three-axis moving mechanism 2 to drive the insertion manipulator 3 to retreat, discard the test adapter board 100 to a predetermined collection position, re-suck a test adapter board 100, and re-perform the insertion.

[0095] The insertion manipulator 3 further includes

[0096] a guide rail 36, fixedly connected to the fixed seat 31 and arranged along the Y axis;

[0097] a slider 37, slidably connected to the guide rail 36 and fixedly connected to the support block 33. The movement of the support block 33 is guided by the guide rail 36 and the slider 37 to improve the movement accuracy.

[0098] There are two Z axes 21 of the XYZ three-axis moving mechanism 2;

[0099] There are two insertion manipulators 3, which are fixedly connected to the output ends of the Z axes 21 of the XYZ three-axis moving mechanism 2 in a one-to-one correspondence.

[0100] The positioning mechanism 4 includes:

[0101] A positioning plate 41, with a first positioning member 411 provided at the bottom and fixedly connected to the frame 1; the positioning plate 41 is used for positioning and cooperating with a jig 400 loaded with a protection plate 200 to ensure that the position of the protection plate 200 is unified each time of insertion. In a specific implementation, the first positioning member 411 can be a positioning pin, which is inserted into a positioning hole 4002 of the jig 400 for positioning and cooperation. Of course, in other embodiments, the first positioning member 411 can also be a positioning hole, and a positioning pin can be provided on the jig 400, which can be preset according to actual requirements.

[0102] A lifting mechanism 42 is provided below the positioning plate 41, and a receiving cavity 43 is formed between the lifting mechanism 42 and the positioning plate 41. A jig 400 pre-loaded with a protection plate 200 is placed in the receiving cavity 43, and the jig 400 is lifted by the lifting mechanism 42 to perform positioning and cooperation with the first positioning member 411.

[0103] The positioning mechanism 4 further includes

[0104] A pressing mechanism 44, fixedly connected to the positioning plate 41 and used for pressing the workpiece. In a specific embodiment, for example, if the protection plate 200 is pre-loaded on a jig 400, the protection plate 200 can be pressed by the pressing mechanism 44 to prevent the protection plate 200 from warping during insertion, interfering with the insertion, or even damaging the test adapter plate 100 or the protection plate 200.

[0105] The pressing mechanism 44 includes:

[0106] A pressing cylinder 441, fixedly connected to the positioning plate 41;

[0107] A pressing plate 442, fixedly connected to the piston rod of the pressing cylinder 441;

[0108] Wherein, the positioning plate 41 has an avoidance opening 412; the pressing plate 442 is located in the avoidance opening 412 to prevent the positioning plate 41 from interfering with the movement of the pressing plate 442 when the pressing plate 442 presses the protection plate 200.

[0109] In a specific embodiment, such as Figure 14As shown, the piston rod of the pressing cylinder 441 is horizontally arranged. The piston rod is fixedly connected to an adapter block 4411, and the pressing plate 442 is fixedly connected to the adapter block 4411. There are two pressing plates 442, which perform insertion simultaneously corresponding to two workstations, improving production efficiency. It can be preset that during operation, the pressing cylinder 441 drives the adapter block 4411 to move rightward, and then drives the pressing plate 442 to move rightward to press the protection plate 200 on the jig 400 one by one. After the insertion is completed, the pressing cylinder 441 drives the adapter block 4411 to move leftward, and then drives the pressing plate 442 to move leftward to leave the protection plate 200. In other embodiments, the piston rod of the pressing cylinder 441 can also be vertically arranged, and the pressing plate 442 presses the protection plate 200 from top to bottom.

[0110] The lifting mechanism 42 includes:

[0111] A lifting cylinder 421, fixedly connected to the frame 1, and the piston rod is vertically upwardly arranged;

[0112] A bracket 422, which is provided with a linear bearing 4221 and is fixedly connected to the piston rod of the lifting cylinder 421;

[0113] A lifting rod 423, with limit blocks 4231 respectively arranged at the upper and lower ends, is fitted in the linear bearing 4221 and is vertically upwardly arranged; In a specific embodiment, the lifting rod 423 corresponds to the guide posts 4001 of the jig 400 one by one.

[0114] Lifting springs 424, having the same number as the lifting rods 423, are sleeved on the lifting rods 423, and the bottom ends abut against the linear bearing 4221 or the bracket 422, and the top ends abut against the upper limit blocks 4231.

[0115] The working principle of the lifting mechanism 42: The piston rod of the lifting cylinder 421 extends upward to drive the bracket 422 to move upward, drives the lifting rod 423 to move upward, and the lifting rods 423 lift the guide posts 4001 of the jig 400 at a predetermined upper position one by one, and then lift the jig 400, so that the positioning holes 4002 of the jig 400 are positioned with the first positioning members 411. Among them, the lifting springs 424 play a buffering role.

[0116] The vision mechanism 5 includes:

[0117] A first intelligent camera 51, fixedly connected to the frame 1 and located above the positioning mechanism 4, with the lens facing downward; The first intelligent camera 51 takes pictures from top to bottom, and can identify whether the switch on the connector 2001 of the protection plate 200 is open, identify the coordinates of the connector 2001 of the protection plate 200, and identify whether the appearance of the connector 2001 of the protection plate 200 is qualified;

[0118] The second intelligent camera 52 is fixedly connected to the frame 1 with its lens facing upward. The second intelligent camera 52 takes pictures from bottom to top, can take pictures of the test adapter board 100, and identify the coordinates of the test adapter board 100 and whether the appearance of the test adapter board 100 is qualified.

[0119] The first light source 53 is fixedly connected to the frame 1 and provides illumination for the first intelligent camera 51.

[0120] The second light source 54 is fixedly connected to the frame 1 and provides illumination for the second intelligent camera 52.

[0121] It further includes

[0122] The NG cartridge 6 is placed on the frame 1 and within the stroke range of the XYZ three-axis moving mechanism 2. The NG cartridge 6 is used to collect unqualified test adapter boards 100. The unqualified test adapter boards 100 include those with unqualified appearance and those that cannot be inserted due to excessive pressure during insertion.

[0123] A specific usage method:

[0124] The fixture 400 can be placed on a fixed bracket and move vertically on the fixed bracket, or can be placed on a movable bracket and move vertically on the movable bracket. In a specific embodiment, the movable bracket can adopt a turntable 300. The turntable 300 can be driven to rotate by a servo motor (not shown). The servo motor is connected to a reducer (not shown), and the output shaft of the reducer is connected to the center of the turntable 300.

[0125] As Figure 14 shown, the turntable 300 is provided with four lifting and avoiding openings 301 evenly distributed in a circle, and each lifting and avoiding opening 301 is provided with a vertical through hole 302 around it. By adopting the turntable 300, multiple processes can be carried out simultaneously. For example, the fixture 400 placed on one of the lifting and avoiding openings 301 can be used for the previous process of insertion, such as pre-placing the protection plate 200 in advance, and another lifting and avoiding opening 301 adjacent at 90° can be used as the insertion station, and another lifting and avoiding opening 301 opposite at 180° can be used as the station for the next process, and the last lifting and avoiding opening 301 is used for cyclic turnover. During use, when the protection plate 200 is pre-placed, the turntable 300 rotates and rotates it to the insertion station, while the last lifting and avoiding opening 301 rotates to the station where the protection plate 200 was pre-placed. At this time, the insertion process and the process of pre-placing the protection plate 200 can be carried out simultaneously without interference, improving production efficiency. After the insertion is completed, the turntable 300 continues to rotate, and the next process can also be carried out synchronously.

[0126] The protection board 200 is pre-placed on the jig 400 for position unification. The structure of the jig is not limited. In other embodiments, other structures can also be adopted. The purpose is to unify the position of the protection board 200 to ensure the position accuracy during subsequent insertion.

[0127] The bottom surface of the jig 400 is provided with guide posts 4001, and the top surface is provided with positioning holes 4002. The lifting rods 423 correspond to the guide posts 4001 one by one. The guide posts 4001 are lifted, thereby lifting the jig 400. The positioning holes 4002 and the first positioning members 411 are in positioning cooperation one by one. The first positioning members 411 adopt positioning pins. The guide posts 4001 are inserted into the vertical through holes 302 one by one, and the two are in clearance fit.

[0128] The XYZ three-axis moving mechanism 2, the pressure sensor 32, the first intelligent camera 51, the second intelligent camera 52, the first light source 53, the second light source 54, the lifting cylinder 421, the pressing cylinder 441, and the servo motor for driving the turntable 300 to rotate are respectively communicatively connected to a control system, such as a PLC, for unified control.

[0129] An alarm device (not shown) is provided, which is communicatively connected to the PLC for alarm prompting.

[0130] The suction holes 351 of the suction cup 35 are connected to a solenoid valve, and the solenoid valve is respectively connected to a vacuum pump and an air compressor; the vacuum pump is used to suck the test adapter plate 100 by vacuum, and the air compressor is used to blow air to break the vacuum, so that the suction cup 35 releases the test adapter plate 100. The solenoid valve is also communicatively connected to the PLC.

[0131] The position is preset so that when the turntable 300 rotates to a predetermined position, the jig 400 is located in the accommodation cavity 43, and the guide posts 4001 and the lifting rods 423 correspond to each other one by one.

[0132] There are two insertion manipulators 3, the XYZ three-axis moving mechanism 2, the vision mechanism 5 and the pressing plate 442 respectively, corresponding to two workstations, and insertion is carried out simultaneously to improve production efficiency. Two protection boards 200 are pre-placed on the jig 400.

[0133] The working program is preset, and the normal insertion pressure range of the pressure sensor 32 is preset.

[0134] ① The protection board 200 is pre-placed on the jig 400; the test adapter plate 100 is also pre-placed on the jig 400.

[0135] ② The PLC controls the servo motor to work, drives the turntable 300 to rotate, and rotates the jig 400 with the protection board 200 placed thereon to the preset position in the accommodation cavity 43;

[0136] ③The PLC controls the piston rod of the lifting cylinder 421 to extend upward, and then the lifting rods 423 respectively lift the guide posts one by one, so that the jig 400 contacts the positioning plate 41. The first positioning member 411 at the bottom of the positioning plate 41 is inserted into the positioning hole 4002, and the position is determined by pin hole fitting;

[0137] ④After the jig 400 is positioned, the PLC controls the piston rod of the pressing cylinder 441 to move to the right, driving the pressing plate 442 to just press the protection plate 200;

[0138] ⑤The PLC controls the two first intelligent cameras 51 to take pictures of the two protection plates 200 on the jig 400 respectively, identify whether the switch on the connector 2001 is open, identify the coordinates of the connector 2001, and identify whether the appearance of the connector 2001 is qualified; if all meet the requirements, proceed to step ⑤. If there are any unqualified ones, the PLC controls the alarm device to give an alarm prompt, then controls the lifting cylinder 421 and the pressing cylinder 441 to reset, and redeploys steps ② to ⑤, switches to the next jig 400 until the appearance of the protection plate 200 on the jig 400 is qualified.

[0139] ⑥The PLC controls the XYZ three-axis moving mechanism 2 to work, drives the two-pair plugging manipulator 3 to move, so that the suction cups 35 move to the predetermined positions on the test adapter plate 100, and then controls the PLC to connect the air paths of the solenoid valve and the vacuum pump. The two suction cups 35 each suck a test adapter plate 100 at the same time;

[0140] ⑦The PLC controls the XYZ three-axis moving mechanism 2 to work, drives the two-pair plugging manipulator 3 to move, moves the test adapter plate 100 above the second intelligent camera 52, takes pictures, identifies the coordinates of the two test adapter plates 100 and whether the appearance is qualified. If the appearance is qualified, proceed to step ⑧. If it is unqualified, the PLC controls the XYZ three-axis moving mechanism 2 to work, drives the two-pair plugging manipulator 3 to move, moves the test adapter plate 100 above the NG bin 6, and then the PLC connects the air paths of the solenoid valve and the air compressor to break the vacuum. The test adapter plate 100 falls into the NG bin 6, and then the PLC controls the turntable 300 to rotate, switches to the next jig 400 and repeats step ⑥ until the appearance is qualified;

[0141] ⑧The PLC controls the XYZ three-axis moving mechanism 2 to work, drives the two-pair plugging manipulator 3 to move, moves the test adapter plate 100 to the front of the connector 2001, and then inserts the plug of the test adapter plate 100 into the connector 2001 of the protection plate 200 along the top surface of the pressing plate 442;

[0142] During the insertion of the protection board 200, the test adapter board 100 will be pushed backward by resistance and compress the spring 34 to transfer the resistance to the pressure sensor 32. When the pressure exceeds the pressure set value, the PLC controls the XYZ three-axis moving mechanism 2 to operate, driving the two pairs of insertion manipulators 3 and the test adapter board 100 to retract and placing them into the NG bin 6. When the pressure is less than or equal to the set value, the next action is entered;

[0143] ⑨ The PLC controls the first intelligent camera 51 to take a picture of the protection board 200 again to detect whether the insertion state of the test adapter board 100 and the connector 2001 meets the insertion requirements. When the requirements are not met, the PLC controls the XYZ three-axis moving mechanism 2 to operate, driving the two pairs of insertion manipulators 3 and the test adapter board 100 to retract and placing them into the NG bin 6. When the requirements are met, the next step is entered;

[0144] ⑩ The PLC controls the pressing cylinder 441 to reset and retract, and the pressing plate 442 moves to the left, and the pressing plate 441 disengages from between the test adapter board 100 and the protection board 200;

[0145] ⑾ The PLC controls the solenoid valve to break the vacuum of the suction cup 35, and then controls the XYZ three-axis moving mechanism 2 to operate, driving the two pairs of insertion manipulators 3 to reset, completing the automatic insertion;

[0146] ⑿ The PLC controls the piston rod of the lifting cylinder 421 to reset and retract, so that the fixture 400 is disengaged from the positioning plate 41 and falls back onto the turntable again,

[0147] Then the PLC controls the servo motor to operate, causing the turntable 300 to rotate and switch to the next fixture 400.

[0148] Although the specific embodiments of the present invention have been described above, those skilled in the art of this technology should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should all be covered by the scope protected by the claims of the present invention.

Claims

1. An automatic plugging mechanism, characterized in that: including a frame; an XYZ three-axis moving mechanism fixedly connected to the frame; a docking manipulator connected to the XYZ three-axis moving mechanism; a positioning mechanism arranged within the stroke range of the XYZ three-axis moving mechanism; a vision mechanism fixedly connected to the frame and located above the positioning mechanism; The docking manipulator includes: a fixed seat fixedly connected to the Z-axis output end of the XYZ three-axis moving mechanism; a pressure sensor fixedly connected to the fixed seat; a support block movably connected to the fixed seat; a spring with one end abutted against the pressure sensor and the other end abutted against the support block; a suction cup fixedly connected to the support block and arranged downward; The positioning mechanism includes: a positioning plate having a first positioning member at the bottom and fixedly connected to the frame; a lifting mechanism arranged below the positioning plate and forming a receiving cavity between the positioning plate; The lifting mechanism includes: a lifting cylinder fixedly connected to the frame and having a piston rod arranged vertically upward; a bracket provided with a linear bearing and fixedly connected to the piston rod of the lifting cylinder; a lifting rod having limit blocks respectively provided at the upper and lower ends, fitted in the linear bearing and arranged vertically upward; lifting springs, equal in number to the lifting rods, sleeved on the lifting rods, with the bottom ends abutted against the linear bearing or the bracket and the top ends abutted against the upper limit blocks.

2. The automatic plugging mechanism according to claim 1, characterized in that: The docking manipulator further includes a guide rail fixedly connected to the fixed seat and arranged along the Y-axis; a slider slidably connected to the guide rail and fixedly connected to the support block.

3. An automatic plugging mechanism according to any one of claims 1 to 2, characterized in that: There are two Z-axes of the XYZ three-axis moving mechanism; There are two docking manipulators, which are fixedly connected to the Z-axis output ends of the XYZ three-axis moving mechanism in one-to-one correspondence.

4. An automatic plugging mechanism according to claim 1, characterized in that: The positioning mechanism further includes a pressing mechanism fixedly connected to the positioning plate and used for pressing the workpiece.

5. The automatic insertion mechanism according to claim 4, characterized in that: The pressing mechanism includes: a pressing cylinder fixedly connected to the positioning plate; a pressing plate fixedly connected to the piston rod of the pressing cylinder; Wherein, the positioning plate has an avoidance opening; the pressing plate is located within the avoidance opening.

6. An automatic insertion mechanism according to claim 1, characterized in that: The vision mechanism includes: a first intelligent camera fixedly connected to the frame and located above the positioning mechanism with the lens arranged downward; a second intelligent camera fixedly connected to the frame with the lens arranged upward; a first light source fixedly connected to the frame to provide illumination for the first intelligent camera; a second light source fixedly connected to the frame to provide illumination for the second intelligent camera.

7. The automatic plugging mechanism according to claim 1, wherein: It further includes an NG material box placed on the frame and within the stroke range of the XYZ three-axis moving mechanism.

Images