High speed pin inserting robot

Abstract

The application is suitable for the field of automatic pin insertion technology, and provides a robot high-speed pin insertion machine, a feeding and discharging mechanism for completing feeding and discharging of a pin insertion jig, jacking the pin insertion jig and positioning the pin insertion jig, a robot pin insertion visual image detection system for detecting the angle and perpendicularity of a PIN pin and visually guiding the pin insertion jig, a four-axis robot pin insertion mechanism for grabbing a PIN pin and inserting the PIN pin and for monitoring the insertion force in real time, and a detection mechanism for pressing the PIN pin and detecting the depth of the PIN pin pressed in. The application realizes automatic pin insertion on the pin insertion jig, can detect the insertion force of each PIN pin in real time, monitors the insertion state and feeds back to a PLC control system, and has the advantages of flexible pin insertion angle, simple structure, good debugging, high efficiency, high intelligentization, human-computer interaction and the like compared with the prior art.

Description

Technical Field

[0001] This invention belongs to the field of automated pin insertion technology, and particularly relates to a high-speed robotic pin insertion machine. Background Technology

[0002] Currently, both domestically and internationally, automated pin insertion typically employs a combination of rotary assembly for pin picking, two-axis module for loading and unloading disc-shaped fixtures, and vision inspection components. This approach offers advantages such as low cost and high versatility. However, it lacks incoming material inspection functions for PINs cut from rolled material, such as burr detection, angle and skewing detection. Furthermore, it often involves single-station loading and unloading, requiring the pin insertion station to stop and wait during the process. Additionally, the pin angle is not flexible enough; changing to products with different pin angles necessitates adding a rotating carrier assembly, which is difficult and time-consuming to debug, and cannot meet the needs of various angles and high-efficiency pin insertion. Therefore, we propose a robotic high-speed pin insertion machine. Summary of the Invention

[0003] The purpose of this invention is to provide a high-speed robotic pin insertion machine, which aims to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The robotic high-speed pin insertion machine includes a frame and also includes: The loading and unloading mechanism is used to load and unload the pin fixture, lift the pin fixture, and position the pin fixture. A robotic pin insertion visual image detection system is used to detect the angle and perpendicularity of pins and to provide visual guidance for pin insertion fixtures. A four-axis robot pin insertion mechanism is used to grasp PIN pins and insert pins, and to monitor the insertion force in real time. The detection mechanism is used to press the PIN pin and detect the depth of the PIN pin being pressed in.

[0005] Furthermore, the loading and unloading mechanism includes a DD motor, a side-push cylinder, and two sets of cam lifting structures. The output end of the DD motor is provided with a turntable, and a carrier is provided on the turntable.

[0006] Furthermore, the robotic pin insertion visual image detection system includes: Incoming material visual inspection structure, which is used to detect the angle and perpendicularity of PIN pins; A pin-guided vision structure is used to visually guide a pin fixture on a vehicle.

[0007] Furthermore, the four-axis robot pin insertion mechanism includes a four-axis robot and a robot head.

[0008] Furthermore, the robot head consists of a gripper cylinder, an air-blowing rod, and a pressure sensor. The output end of the gripper cylinder is equipped with a gripper, and the pressure sensor is connected to the air-blowing rod.

[0009] Furthermore, the testing institution includes: A two-axis height detection module is used to detect the height of the PIN pins; A pressure pin assembly for pressing a PIN pin.

[0010] Furthermore, the two-axis height detection module includes a laser displacement sensor.

[0011] Compared with the prior art, the beneficial effects of the present invention are: This high-speed robotic pin insertion machine enables automated pin insertion on a pin insertion fixture. It can detect the insertion force of each pin in real time, monitor the insertion status and feed it back to the system. Compared with existing technologies, this invention has the advantages of flexible pin insertion angle, simple structure, easy debugging, high efficiency, high level of intelligence, and human-computer interaction. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention.

[0013] Figure 2 This is a top view of part of the loading and unloading mechanism of the present invention.

[0014] Figure 3 This is a side view of part of the loading and unloading mechanism of the present invention.

[0015] Figure 4 This is a three-dimensional structural diagram of the robot head of the present invention.

[0016] Figure 5 This is a three-dimensional structural diagram of the incoming material visual inspection structure of the present invention.

[0017] Figure 6 This is a three-dimensional structural diagram of the pin-guided visual structure of the present invention.

[0018] Figure 7 This is a three-dimensional structural diagram of the detection mechanism of the present invention.

[0019] In the diagram: 1. Loading / unloading mechanism; 11. DD motor; 12. Side push cylinder; 13. Cam lifting structure; 14. Turntable; 15. Carrier; 16. Pin insertion fixture; 21. Four-axis robot; 22. Gripper cylinder; 23. Air blowing rod; 24. Pressure sensor; 25. Gripper; 3. Incoming material vision inspection structure; 4. Vibratory feeder picking position; 5. Pin insertion guide vision structure; 6. Pin pressing assembly; 7. Two-axis height detection module. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0022] like Figure 1-7 As shown, a high-speed robotic pin insertion machine according to an embodiment of the present invention includes a frame and further includes: The loading and unloading mechanism 1 is used to load and unload the pin insertion fixture 16, lift the pin insertion fixture 16, and position the pin insertion fixture 16. A robotic pin insertion visual image detection system is used to detect the angle and perpendicularity of PIN pins and to provide visual guidance for the pin insertion fixture 16. The four-axis robot 21 pin insertion mechanism is used to grasp PIN pins and insert pins, and to monitor the insertion force in real time. The detection mechanism is used to press the PIN pin and detect the depth of the PIN pin being pressed in.

[0023] like Figure 1-3 As shown, in a preferred embodiment of the present invention, the loading and unloading mechanism 1 includes a DD motor 11, a side-push cylinder 12 and two sets of cam lifting structures 13. The output end of the DD motor 11 is provided with a turntable 14, and the turntable 14 is provided with a carrier 15.

[0024] In this embodiment of the invention, preferably, the DD motor 11 has the advantages of high speed and high precision; the cam lifting structure 13 has self-locking properties and can withstand a large load, preventing excessive downward pressure or robot collisions from causing the DD motor 11 to alarm, while also preventing the pin insertion fixture 16 from tilting due to the poor flatness of the turntable 14, thus preventing pin insertion from being uneven. The four-axis loading robot 21 picks up the pin insertion fixture 16 and places it on the carrier 15 at the loading / unloading position. When the photoelectric sensor detects the pin insertion fixture 16, the DD motor 11 rotates 90° counterclockwise to send the fixture to the pin insertion position 18, completing the action; when the photoelectric sensor at the robot pin insertion position 18 detects that the fixture is in place, the cam lifting structure 13 actuates, lifting the carrier 15 along with the fixture by 1mm, so that the pin insertion fixture 16 is disengaged from the turntable 14. The side push cylinder 12 extends and presses the pin insertion fixture 16 firmly, preventing the pin insertion fixture 16 from shaking during the pin insertion process, which would cause the robot to insert the pins inaccurately, thus completing the action.

[0025] like Figure 1-6As shown, in a preferred embodiment of the present invention, the robot pin insertion visual image detection system includes: Incoming material visual inspection structure 3, which is used to detect the angle and perpendicularity of PIN pins; The pin-guided visual structure 5 is used to visually guide the pin fixture 16 on the carrier 15.

[0026] In this embodiment of the invention, preferably, the pin insertion guiding vision structure 5 captures the deviation between the lifted pin insertion fixture 16 and the calibration reference, and feeds the information back to the PLC control system, so that the pin insertion position and angle of the four-axis robot 21 are accurate and the action is completed. The four-axis robot 21 picks up the pin from the vibratory plate, passes through the incoming material vision detection structure 3, and judges the angle (incoming material angle detection 32) and perpendicularity (incoming material perpendicularity detection 31) of the pin. OK material moves to the pin insertion fixture 16 for pre-pin insertion, and NG material is sent to the NG material box. This action is repeated until the pin insertion fixture 16 is filled with 24 pins. Then, the side push cylinder 12 retracts, the cam lifting cylinder retracts, the pin insertion fixture 16 falls onto the turntable 14, and the DD motor 11 rotates 180° to send the pin insertion fixture 16 to the detection mechanism, completing the action.

[0027] like Figure 1 and Figure 4 As shown, in a preferred embodiment of the present invention, the pin insertion mechanism of the four-axis robot 21 includes a four-axis robot 21 and a robot head.

[0028] In this embodiment of the invention, preferably, an Epson four-axis robot 21 is used, with a repeatability of ±0.05mm and a maximum head load of 3kg.

[0029] like Figure 4 As shown, in a preferred embodiment of the present invention, the robot head is composed of a gripper cylinder 22, an air-blowing rod 23 and a pressure sensor 24. The output end of the gripper cylinder 22 is provided with a gripper 25, and the pressure sensor 24 is connected to the air-blowing rod 23.

[0030] In this embodiment of the invention, preferably, the gripper 25 is pressed against the cylindrical upper surface of the PIN needle by the air-blowing rod 23 before clamping, with the top limiting the position. During needle pressing, the force can be borne by the ejector pin, and the PIN needle can also be prevented from tilting. The gripper 25 uses a V-shape to clamp the cylindrical section of the PIN needle. The pressure sensor 24 is rigidly connected to the air-blowing rod 23 by a linear guide rail. When the needle is not inserted, the pressure sensor 24 displays the tension value. After the air-blowing rod 23 contacts the PIN needle at the vibratory feeder pick-up position 4, it displays the pressure value. During needle insertion, the change in insertion pressure can be detected in real time. If the pressure is too high, it is assumed that the insertion is abnormal and the PIN needle needs to be re-grabbed.

[0031] like Figure 1 As shown, in a preferred embodiment of the present invention, the detection mechanism includes: A two-axis height detection module 7 is used to detect the height of the PIN pins; The pressing pin assembly 6 is used to press the PIN pin.

[0032] In a preferred embodiment of the invention, the pressing needle function is mainly achieved by a pressing needle fixture having the same number of ejector pin holes at the same PIN hole position directly above the insertion needle fixture 16. A compression spring is placed on the upper end of the ejector pin to apply downward pre-pressure to the ejector pin. During the pressing needle fixture's downward pressing process, the guide rod on the pressing needle fixture first cooperates with the positioning pin on the insertion needle fixture 16, and then the ejector pin is pressed into the PIN hole. If the PIN pin in the hole is not in place, the ejector pin will be pushed out to the same height. When the photoelectric sensor at the detection position 17 of the detection mechanism detects the pin insertion fixture 16, the cam lifting cylinder is activated, lifting the pin insertion fixture 16 by 1mm to disengage it from the turntable 14. The cylinder of the pin pressing assembly 6 retracts, pressing the PIN pins that are not fully inserted into place and holding them in place. The two-axis height detection module 7 moves to detect the height of the pins in sequence to determine whether all PINs are fully inserted. After the detection is completed, the cylinder of the pin pressing assembly 6 extends, the cam ejection cylinder retracts, and the pin insertion fixture 16 falls to the turntable 14 and moves with the turntable 14 to the unloading position, completing the action.

[0033] like Figure 1 As shown, in a preferred embodiment of the present invention, the two-axis height detection module 7 includes a laser displacement sensor.

[0034] In this embodiment of the invention, preferably, if the ejector pin is not pressed into place, it will be a certain distance higher than normal. At this time, a laser displacement sensor is used to detect it one by one, and the detection information is fed back to the PLC control system. In this way, when the abnormal ejector pin fixture passes through the unloading position, the four-axis robot 21 will grab it into the NG flow channel.

[0035] The working principle of this invention is: This high-speed pin insertion robot operates as follows: Empty pin insertion fixture 16 is loaded. When the photoelectric sensor at the loading position detects its position, the DD motor 11 rotates 90°, moving the pin insertion fixture 16 to the pin insertion position 18, completing the action. The photoelectric sensor at the pin insertion position 18 detects the pin insertion fixture 16, triggering a cam-lifting cylinder to lift the carrier 15 along with the pin insertion fixture 16 by 1mm, detaching it from the turntable 14. A side-push cylinder 12 extends to laterally press the pin insertion fixture 16, completing the action. The pin insertion guidance vision structure 5 captures the deviation between the lifted pin insertion fixture 16 and the calibration reference, feeding this information back to the PLC control system to ensure accurate pin insertion position and angle, completing the action. The four-axis robot 21 retrieves pins from the vibratory feeder. After passing through the incoming material vision inspection structure 3, the angle and perpendicularity of the pins are judged. OK pins move to the pin insertion fixture 16 for pre-insertion. NG material is fed to the NG material box, and this process repeats until the pin insertion fixture 16 is filled with 24 PIN pins. Then, the side push cylinder 12 retracts, the cam lifting cylinder retracts, and the pin insertion fixture 16 falls to the turntable 14. The DD motor 11 rotates 180° to send the pin insertion fixture 16 to the detection mechanism, completing the action. The photoelectric sensor at the detection position 17 of the detection mechanism senses the pin insertion fixture 16, and the cam lifting cylinder actuates to lift the pin insertion fixture 16 by 1mm and remove it from the turntable 14. The cylinder of the pin pressing assembly 6 retracts, and the pin pressing assembly 6 presses the PIN pins that are not fully inserted into place and holds them in place. The two-axis height detection module 7 moves to detect the height of the pins in sequence to determine whether all PIN pins are fully inserted. After the detection is completed, the cylinder of the pin pressing assembly 6 extends, the cam ejection cylinder retracts, and the pin insertion fixture 16 falls to the turntable 14 and moves with the turntable 14 to the unloading position, completing the action.

[0036] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A high-speed robotic pin insertion machine, comprising a frame, characterized in that, Also includes: The loading and unloading mechanism is used to load and unload the pin insertion fixture, lift the pin insertion fixture, and position the pin insertion fixture. The loading and unloading mechanism includes a DD motor, a side-push cylinder, and two sets of cam lifting structures. The output end of the DD motor is equipped with a turntable. A robotic pin insertion visual image inspection system is used to detect the angle and perpendicularity of pins and to provide visual guidance for pin insertion fixtures. The robotic pin insertion visual image inspection system includes an incoming material visual inspection structure, which is used to detect the angle and perpendicularity of pins. A four-axis robot pin insertion mechanism is used to grasp PIN pins and insert pins, and to monitor the insertion force in real time. The detection mechanism is used to press the PIN pin and detect the depth of the PIN pin being pressed in.

2. The high-speed robotic pin insertion machine according to claim 1, characterized in that, The loading and unloading mechanism includes a DD motor, a side-push cylinder, and two sets of cam lifting structures. The output end of the DD motor is equipped with a turntable, and a carrier is provided on the turntable.

3. The high-speed robotic pin insertion machine according to claim 1, characterized in that, The robotic pin insertion visual image detection system includes: Incoming material visual inspection structure, which is used to detect the angle and perpendicularity of PIN pins; A pin-guided vision structure is used to visually guide a pin fixture on a vehicle.

4. The high-speed robotic pin insertion machine according to claim 1, characterized in that, The four-axis robot pin insertion mechanism includes a four-axis robot and a robot head.

5. The high-speed robotic pin insertion machine according to claim 3, characterized in that, The robot head consists of a gripper cylinder, an air-blowing rod, and a pressure sensor. The output end of the gripper cylinder is equipped with a gripper, and the pressure sensor is connected to the air-blowing rod.

6. The high-speed robotic pin insertion machine according to claim 1, characterized in that, The testing institutions include: A two-axis height detection module is used to detect the height of the PIN pins; A pressure pin assembly for pressing a PIN pin.

7. The high-speed robotic pin insertion machine according to claim 6, characterized in that, The dual-axis height detection module includes a laser displacement sensor.

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