A multifunctional fully automatic special-shaped component insertion machine and insertion method

Abstract

The present invention is applicable to the technical field of PCBA, and provides a multifunctional fully automatic special-shaped component insertion machine, comprising a frame, and also comprising a conveyor line positioning mechanism, which is installed on the frame and is used for conveying and positioning a PCBA board; an insertion head assembly, wherein the insertion head assembly comprises at least two clamps / sucking nozzles for picking up electronic components, wherein the clamps / sucking nozzles can move in three different directions in space, and different clamps / sucking nozzles can maintain independent rotation or synchronous rotation with each other, and the insertion head assembly is also used for identifying marking points on the PCBA board, and during insertion, at least two clamps / sucking nozzles can be independently rotated 360 degrees at the same time or one by one to any desired angle, thereby improving work efficiency and insertion accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of PCBA, and in particular relates to a multifunctional fully automatic special-shaped component insertion machine and an insertion method. Background Art

[0002] The existing special-shaped component insertion machines on the market have at least the following problems: 1. After the 2-6 material picking heads pick up the materials, the CCD identifies the pins of the electronic components one by one, and the efficiency cannot be improved; 2. After the material picking heads pick up the materials, when the electronic component pins need to be rotated to the corresponding empty space of the PCBA board, the insertion accuracy is not enough and the efficiency is low. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a multifunctional fully automatic special-shaped component insertion machine and insertion method, aiming to solve the problems existing in the prior art identified in the background technology.

[0004] The embodiment of the present invention is implemented as follows: a multifunctional fully automatic special-shaped component insertion machine includes a frame and a conveyor line positioning mechanism installed on the frame for conveying and positioning PCBA boards;

[0005] The insertion head assembly includes at least two clamps / nozzles for picking up electronic components. The clamps / nozzles can move in three different directions in space, and different clamps / nozzles can rotate independently or synchronously with each other. The insertion head assembly is also used to identify the marking points on the PCBA board;

[0006] The identification component is used to identify the pin parameters of the electronic components so that the control component can control the plug-in head component to insert the pins of each electronic component into the corresponding holes on the PCBA board.

[0007] Preferably, the conveyor line positioning mechanism is arranged between the upstream conveyor line and the next workstation.

[0008] Preferably, the frame is provided with a Y-axis moving mechanism and an X-axis moving mechanism respectively, the X-axis moving mechanism is arranged on the Y-axis moving mechanism, and the insertion head assembly is installed on the X-axis moving mechanism.

[0009] Preferably, the clip / nozzle is used to clamp / absorb electronic components, and the insertion head assembly further includes:

[0010] a first mounting plate;

[0011] Feed drive, used for each gripper / nozzle to move up and down independently in the Z axis;

[0012] The first CCD camera is used to collect the marking points on the PCBA board;

[0013] R-axis rotation mechanism, used to drive the clamp / nozzle to rotate to any desired angle;

[0014] Spline shaft, used to fix the clamp / nozzle, convenient for up and down movement;

[0015] Sensor, used to locate the origin of the gripper / nozzle action;

[0016] The bearing mounting seat is installed with the rotating bearing of the R-axis rotating mechanism.

[0017] Preferably, the rotation angle of each clamp / sucking nozzle is 360 degrees.

[0018] Preferably, the identification component comprises:

[0019] A second mounting plate;

[0020] Laser light source mounting plate, used for laser installation;

[0021] A connecting piece, fixedly connected between the second mounting plate and the laser light source mounting plate;

[0022] Laser light source, used to illuminate the pins of electronic components;

[0023] A laser baffle, used to block laser scattered light;

[0024] The second CCD camera is used to identify the pin pitch of electronic components;

[0025] The screw mechanism is adjusted to adjust the distance between the second CCD camera and the laser.

[0026] A plug-in method using the plug-in machine in the above solution, the method comprising:

[0027] Control the upstream conveyor line to deliver the PCBA board to the conveyor line positioning mechanism, and the conveyor line positioning mechanism fixes the PCBA board;

[0028] Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, and control the first CCD camera to collect the marked points on the PCBA board for positioning, wherein the marked points correspond to the hole positions on the PCBA board;

[0029] Control the movement of the Y-axis moving mechanism and / or the X-axis moving mechanism to control the clamp / nozzle to clamp / absorb electronic components from the feeder;

[0030] Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, control the clamp / nozzle to move above the identification component, start the identification component, and identify the pitch of each pin of each electronic component;

[0031] Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, and control the clamp / nozzle to move above the PCBA board on the conveyor line;

[0032] After controlling the clamp / nozzle to rotate independently to the required angle, move it up and down along the Z axis to insert the pins of each electronic component into the corresponding space on the PCBA board;

[0033] After the plug-in is completed, the conveyor line positioning mechanism 5 is controlled to reset and the PCBA board is conveyed to the next station.

[0034] The multifunctional fully automatic special-shaped component insertion machine and insertion method provided by the embodiments of the present invention realize that after more than two grippers / nozzles pick up materials, CCD lower cameras corresponding to more than two material picking Z axes simultaneously identify the pins of electronic components. During insertion, at least two grippers / nozzles can be independently rotated 360 degrees simultaneously or one by one to any required angle, thereby improving work efficiency and insertion accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A three-dimensional structural diagram of a multifunctional fully automatic special-shaped component insertion machine provided by an embodiment of the present invention;

[0036] Figure 2 An internal structural diagram of an insertion head assembly provided by an embodiment of the present invention;

[0037] Figure 3 A three-dimensional structural diagram of an insertion head assembly provided in an embodiment of the present invention;

[0038] Figure 4 A three-dimensional structural diagram of an identification component provided in an embodiment of the present invention.

[0039] In the attached drawings: 1-frame; 2-Y-axis moving mechanism; 3-X-axis moving mechanism; 4-insertion head assembly; 41-first mounting plate; 42-feed drive; 43-first CCD camera; 44-R-axis rotation mechanism; 45-spline shaft; 46-sensor; 47-bearing mounting seat; 48-clamp / nozzle; 5-conveyor line positioning mechanism; 6-identification assembly; 61-second mounting plate; 62-laser light source mounting plate; 63-connector; 64-laser light source; 65-laser baffle; 66-second CCD camera; 67-adjusting screw mechanism. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0042] like Figure 1-Figure 4As shown, it is a structural diagram of a multifunctional fully automatic special-shaped component insertion machine provided by an embodiment of the present invention, including a frame 1, and also includes a conveyor line positioning mechanism 5, which is installed on the frame 1 and is used for conveying and positioning PCBA boards;

[0043] The insertion head assembly 4 includes at least two clamps / sucking nozzles 48 for picking up electronic components. The clamps / sucking nozzles 48 can move in three different directions in space, and different clamps / sucking nozzles 48 can rotate independently or synchronously with each other. The insertion head assembly 4 is also used to identify the marking points on the PCBA board;

[0044] The identification component 6 is used to identify the pin parameters of the electronic components so as to realize the control component to control the plug-in head component 4 and insert the pins of each electronic component into the corresponding marked points on the PCBA board. The control component mainly includes the intelligent control host, etc.

[0045] The multifunctional fully automatic special-shaped component insertion machine provided in this embodiment realizes that after at least 2 clamps / nozzles (for example 8) pick up the material, at least 2 CCD cameras (for example 8) respectively correspond to at least 2 Z axes of picking up the material to simultaneously identify the pins of the electronic components. During insertion, at least 2 clamps / nozzles can independently rotate 360 ​​degrees at the same time or one by one to any required angle, thereby improving work efficiency and insertion accuracy.

[0046] like Figure 1 As shown, as a preferred embodiment of the present invention, the conveyor line positioning mechanism 5 is arranged between the upstream conveyor line and the next workstation.

[0047] like Figure 2 As shown, as another preferred embodiment of the present invention, the frame 1 is provided with a Y-axis moving mechanism 2 and an X-axis moving mechanism 3, respectively. The X-axis moving mechanism 3 is arranged on the Y-axis moving mechanism 2, and the insertion head assembly 4 is installed on the X-axis moving mechanism 3.

[0048] like Figure 3 As shown, as another preferred embodiment of the present invention, the clamp / nozzle 48 is used to clamp / absorb electronic components, and the insertion head assembly 4 specifically includes:

[0049] A first mounting plate 41;

[0050] A feed drive 42, for each gripper / nozzle 48 to independently move up and down in the Z axis, such as a hydraulic telescopic member;

[0051] The first CCD camera 43 is used to collect the marking points on the PCBA board;

[0052] An R-axis rotation mechanism 44, for driving the gripper / nozzle 48 to rotate to any desired angle, and the R-axis rotation mechanism may include a stepping motor;

[0053] The spline shaft 45 is used to fix the clamp / nozzle 48 to facilitate up and down movement;

[0054] A sensor 46 for locating the origin of the action of the clamp / nozzle 48;

[0055] The bearing mounting seat 47 is mounted with the rotating bearing of the R-axis rotating mechanism 44 .

[0056] Specifically, the action flow is as follows:

[0057] 1. XY axis moves, and the insertion head clamps / absorbs electronic components from the feeder;

[0058] 2. The XY axis moves, the insertion head moves to the camera, and the CCD identifies the pitch of each pin of each electronic component;

[0059] 3. XY axis movement, 2-8 R axis gripper / nozzle rotation mechanism rotates 360 degrees to any required angle;

[0060] 4. 2-8 R-axis grippers / nozzles move up and down separately or simultaneously, inserting the pins of electronic components into the corresponding position holes of the PCBA board one by one.

[0061] like Figure 3 As shown, as another preferred embodiment of the present invention, the rotation angle of each clamp / sucking nozzle 48 is 360 degrees.

[0062] like Figure 1 and Figure 4 As shown, as another preferred embodiment of the present invention, the identification component 6 includes:

[0063] A second mounting plate 61;

[0064] Laser light source mounting plate 62, used for laser mounting;

[0065] A connecting member 63, fixedly connected between the second mounting plate 61 and the laser light source mounting plate 62;

[0066] A laser light source 64, used to illuminate the pins of electronic components;

[0067] A laser baffle 65, used to block laser scattered light;

[0068] The second CCD camera 66 is used to identify the pitch of the pins of the electronic components;

[0069] The adjusting screw mechanism 67 is used to adjust the distance between the second CCD camera 66 and the laser, and may also be a linear telescopic mechanism such as a cylinder.

[0070] When this embodiment is used in actual application, the action flow is as follows:

[0071] 1. XY axis movement (control the movement of the Y axis moving mechanism 2 and / or the X axis moving mechanism 3), the clamp / suction nozzle 48 clamps / suctions the electronic components from the feeder;

[0072] 2. The XY axis moves, the clamp / nozzle 48 is above the camera, and 2-8 CCDs identify the pitch of each pin of the electronic components on the corresponding 2-8 R-axis clamps / nozzles.

[0073] Combined with Figure 1-Figure 4 As shown, a plug-in method using the plug-in machine in the above embodiment, the method includes:

[0074] Control the upstream conveyor line to deliver the PCBA board to the conveyor line positioning mechanism 5, and the conveyor line positioning mechanism 5 fixes the PCBA board;

[0075] Control the Y-axis moving mechanism 2 and / or the X-axis moving mechanism 3 to move, and control the first CCD camera 43 to collect the marked points on the PCBA board for positioning;

[0076] Control the Y-axis moving mechanism 2 and / or the X-axis moving mechanism 3 to move, and control the clamp / suction nozzle 48 to clamp / absorb electronic components from the feeder;

[0077] Control the Y-axis moving mechanism 2 and / or the X-axis moving mechanism 3 to move, control the clamp / nozzle 48 to move above the identification component 6, start the identification component 6, and identify the pitch of each pin of each electronic component;

[0078] Control the Y-axis moving mechanism 2 and / or the X-axis moving mechanism 3 to move, and control the clamp / nozzle 48 to move above the PCBA board on the conveyor line;

[0079] After controlling the clamp / nozzle 48 to independently rotate to a required angle, it moves up and down along the Z axis to insert the pins of each electronic component into the corresponding empty space on the PCBA board;

[0080] After the plug-in is completed, the conveyor line positioning mechanism 5 is controlled to reset and the PCBA board is conveyed to the next station.

[0081] The above embodiment of the present invention provides a multifunctional fully automatic special-shaped component insertion machine, and provides an insertion method based on the multifunctional fully automatic special-shaped component insertion machine.

[0082] 1. Use PC to control the motion control card and use the upper and lower cameras for real-time positioning.

[0083] 2. First, by moving the XY control of the first CCD camera 43, make the Mark point and collect the pin position of the component to be plugged in, and then automatically calculate the center position and angle information of the plug-in component;

[0084] 3. Move the head of the insertion head assembly 4 to the corresponding feeder position and obtain the feeder position.

[0085] 4. The second CCD camera 66 is used to collect information on the pitch, center coordinates and angle of the components, and the parameters related to OK and NG of the components are set.

[0086] 5. During automatic operation, the control process first takes the corresponding components from the feeder, and then collects the component information through the second CCD camera 66 to match and calculate the set parameters. When the result is NG, the material throwing position is moved to throw away the components and re-take the material. When the result is OK, if the current PCBA board has not passed the Mark point correction, it will first move to the Mark point position to collect the Mark point information and then automatically correct the corresponding plug-in coordinates and angles. If the current PCBA board has passed the Mark point correction, it will move to the corresponding plug-in position for plug-in.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional fully automatic special-shaped component insertion machine, comprising a frame, characterized in that: Also includes: The conveyor line positioning mechanism is installed on the frame and is used for conveying and positioning PCBA boards; The insertion head assembly includes at least two clamps / nozzles for picking up electronic components. The clamps / nozzles can move in three different directions in space, and different clamps / nozzles can rotate independently or synchronously with each other. The insertion head assembly is also used to identify the marking points on the PCBA board; Identification component, used to identify the pin parameters of electronic components, so as to enable the control component to control the plug-in head component and insert the pins of each electronic component into the corresponding holes on the PCBA board; The frame is provided with a Y-axis moving mechanism and an X-axis moving mechanism, the X-axis moving mechanism is arranged on the Y-axis moving mechanism, and the insertion head assembly is installed on the X-axis moving mechanism; The clip / nozzle is specifically used to clamp / absorb electronic components, and the insertion head assembly specifically includes: A first mounting plate, used for mounting corresponding components; Feed drive parts, which are provided in multiple numbers, are used for each clamp / nozzle to move up and down independently in the Z axis; The first CCD camera is used to collect the marking points on the PCBA board; R-axis rotation mechanism, used to drive the clamp / nozzle to rotate to any desired angle; Spline shaft, used to fix the clamp / nozzle, convenient for up and down movement; Sensor, used to locate the origin of the gripper / nozzle action; The bearing mounting seat is installed with the rotating bearing of the R-axis rotating mechanism; The identification component comprises: A second mounting plate; Laser light source mounting plate, used for mounting the laser light source; A connecting piece, fixedly connected between the second mounting plate and the laser light source mounting plate; Laser light source, used to illuminate the pins of electronic components; A laser baffle, used to block laser scattered light; The second CCD camera is used to identify the pin pitch of electronic components; The screw mechanism is adjusted to adjust the distance between the second CCD camera and the laser.

2. The multifunctional fully automatic special-shaped component insertion machine according to claim 1, characterized in that: The conveyor line positioning mechanism is arranged between the upstream conveyor line and the next workstation.

3. The multifunctional fully automatic special-shaped component insertion machine according to claim 1, characterized in that: The rotation angle of each of the clips / sucking nozzles is any required angle within 360 degrees.

4. An insertion method applied to the insertion machine as claimed in any one of claims 1 to 3, characterized in that: The method comprises: Control the upstream conveyor line to deliver the PCBA board to the conveyor line positioning mechanism, and the conveyor line positioning mechanism fixes the PCBA board; Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, and control the first CCD camera to collect the marked points on the PCBA board for positioning, wherein the marked points correspond to the hole positions on the PCBA board; Control the movement of the Y-axis moving mechanism and / or the X-axis moving mechanism to control the clamp / nozzle to clamp / absorb electronic components from the feeder; Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, control the clamp / nozzle to move above the identification component, start the identification component, and identify the pitch of each pin of each electronic component; Control the Y-axis moving mechanism and / or the X-axis moving mechanism to move, and control the clamp / nozzle to move above the PCBA board on the conveyor line; After controlling the clamp / nozzle to rotate independently to the required angle, move it up and down along the Z axis to insert the pins of each electronic component into the corresponding space on the PCBA board; After the plug-in is completed, the positioning mechanism of the conveyor line is controlled to reset and the PCBA board is transported to the next station.

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