Automatic pin inserting assembly machine and automatic pin inserting system

Abstract

The invention discloses a pedestal. The processing center is arranged on one side of the pedestal and is used for receiving and sending a working instruction; the flexible vibration feeding device is used for arranging the positions of the workpiece needles through vibration, so that the workpiece needles are placed; the positioning camera is used for photographing and testing the qualified rate of the position of the workpiece needle material on the flexible vibration feeding device; the tray positioning device is used for placing the needle inserting disc and enabling the workpiece needles to be inserted into the needle inserting disc; the movable workbench is further provided with two sets of motor X shafts, motor Y shafts and motor Z shafts, the two sets of motor X shafts are in sliding connection with the movable workbench, the motor Y shafts are arranged at the upper ends of the motor X shafts in a sliding connection mode, the motor Z shafts are arranged at one ends of the motor Y shafts and fixedly connected with the motor Y shafts, and the motor Z shafts are provided with first mechanical heads and second mechanical heads. The first mechanical head is used for sucking workpiece needles on the flexible vibration feeding device and placing the workpiece needles on the tray positioning device, and the second mechanical head is used for installing the workpiece needles on the tray positioning device.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic pin insertion, and in particular to an automatic pin insertion assembly machine and an automatic pin insertion system. Background Art

[0002] In the precision manufacturing industries such as automotive parts, 3C electronics, aerospace and military, 5G / chip semiconductors, etc., a large amount of labor costs are required for refined screening, feeding, observation and other operations. In the production of precision manufacturing, there are various feeding problems such as thin sheets, special shapes, distinguishing between front and back sides, easy deformation, surface damage, silicone parts, and jamming. In the feeding system during the pin insertion operation, it is difficult to measure whether the workpiece needle that is too small meets the feeding position, and it takes manual labor to feed and install smaller workpieces during the feeding process. Therefore, a new automatic pin insertion machine and automatic pin insertion system have become a problem that technicians in this field urgently need to solve. Summary of the invention

[0003] The present application provides an automated pin assembly machine, comprising:

[0004] pedestal;

[0005] A processing center, arranged on one side of the pedestal, for receiving and sending work instructions on the automatic pin insertion machine;

[0006] A flexible vibration feeding device is installed on one side of the pedestal and is used to arrange the position of the workpiece needle by vibration so that the workpiece needle is placed in a position that is convenient for taking;

[0007] A positioning camera, mounted on the upper end of the flexible vibration feeding device, for taking photos to test the position qualification rate of the workpiece needle material on the flexible vibration feeding device;

[0008] A pallet positioning device is installed on one side of the pedestal, and the pallet positioning device and the flexible vibration feeding device are arranged on the same side of the pedestal, and the pallet positioning device is used to place the pin tray so that the workpiece needle is inserted into the pin tray;

[0009] A mobile workbench is installed on the pedestal. Two groups of motor X-axes, motor Y-axes and motor Z-axes are also provided on the mobile workbench. The two groups of motor X-axes are slidably connected with the mobile workbench. The motor Y-axes are arranged at the upper end of the motor X-axes and are slidably connected. The motor Z-axes are arranged at one end of the motor Y-axes and are fixedly connected with the motor Y-axes. A first mechanical head and a second mechanical head are provided on the motor Z-axes. The first mechanical head is used to absorb the workpiece needle on the flexible vibration feeding device and place it on the pallet positioning device. The second mechanical head is used to install the workpiece needle on the pallet positioning device.

[0010] The flexible vibration feeding device, the positioning camera, the tray positioning device, the mobile workbench, the motor X-axis, the motor Y-axis and the motor Z-axis are all connected to the processing center.

[0011] Optionally, the flexible vibration feeding device includes a material taking tray, a feeding channel and a vibration bin, the workpiece needle materials are stacked inside the vibration bin, and the workpiece needles are vibrated through the rotating feeding channel so that the workpiece needles are arranged in a sequential queue and enter the material taking tray;

[0012] The vibration chamber is also provided with an LED light, and the LED light is used to adjust the exposure and clarity of the positioning camera.

[0013] Optionally, the positioning camera is provided with a first phase circle and a second phase circle, the first phase circle is arranged above the second phase circle, the first phase circle is used to adjust the exposure of the positioning camera, and the second phase circle is used to adjust the clarity of the positioning camera.

[0014] Optionally, the pallet positioning device includes a support platform, a clamping member and a pin tray, the support platform is fixedly mounted on the base, the clamping member is mounted on the support platform, the clamping member clamps the pin tray, and the pin tray is used to install the workpiece needle.

[0015] An automatic pin insertion assembly system, the automatic pin insertion system comprising:

[0016] A data processing unit, the data processing unit is installed inside the processing center, and the data processing unit is provided with a memory, and the memory is connected to the processing center;

[0017] A positioning unit, the positioning unit is connected to the mobile workbench and is used to locate the position coordinates of two sets of motor X-axis, motor Y-axis and motor Z-axis on the mobile workbench;

[0018] A vibration feeding unit, which is connected to the flexible vibration feeding device and is used to control the start and stop of the vibration bin and the feeding channel, and is used to continuously vibrate and rotate the stacked workpieces into the feeding channel and arrange them on the fetching tray;

[0019] A camera testing unit connected to the positioning camera, the camera testing unit is used to determine the accuracy of the position of the workpiece needle test located on the material picking tray leg through the positioning camera;

[0020] A tray positioning unit is connected to the data processing unit and is used to match the position of the material picking tray with the first mechanical head.

[0021] Optionally, the positioning unit further includes a first mechanical head positioning module, a second mechanical head positioning module, a material picking positioning module and a pin positioning module, the first mechanical head positioning module is used to position the first mechanical head on the material picking tray, and to enable the first mechanical head to absorb the workpiece needle on the material picking tray and place the workpiece needle on the pin tray through a motor shaft, the second mechanical head positioning module is used to position the second mechanical head on the pin tray, and to enable the second mechanical head to install the workpiece needle on the pin tray through a motor shaft;

[0022] The material picking and positioning module is used to obtain the position coordinates corresponding to the workpiece suction needle on the material picking tray;

[0023] The pin positioning module is used to obtain the position coordinates corresponding to the insertion and placement of the workpiece needle on the pin disk.

[0024] Optionally, the positioning unit is further provided with a coordinate measurement module for measuring the distances between the motor axis X, the motor axis Y and the motor axis Z, and recording corresponding coordinate data, and sending the coordinate data to a memory.

[0025] Optionally, the data processing unit is also provided with a frame selection module, which is respectively connected to the positioning unit and includes a residual material selection module and a material picking selection module. The residual material selection module is used to frame select the residual material position of the workpiece needle and send the coordinate information of the residual material position to the memory, and the material picking selection module is used to frame select the material picking position of the workpiece needle and send the coordinate information of the material picking position to the memory.

[0026] Optionally, a position measurement module is provided on the pallet positioning unit, and the position measurement module is used to measure the position coordinates of the pin disk. The position coordinates of the pin disk are sent to the data processing unit, and the data processing unit adapts the pin position coordinates on the pin disk with the moving material picking positions of the first mechanical head and the second mechanical head.

[0027] The beneficial effects of this application are:

[0028] 1. The present application is provided with a positioning camera and a camera test unit. The positioning camera is arranged at the upper end of the flexible vibration feeding device, and is used to take pictures to test the position qualification rate of the workpiece material on the material taking tray. By taking pictures and selecting the material position by framing, and then observing the position of the workpiece needle at the material taking position, if the position of the workpiece needle leg remains above the set qualification rate, the needle insertion work can be started. After improving the camera test, the picture can be enlarged to observe the position of the workpiece needle, which can improve the flexible visual effect, solve the position test difficulty caused by the workpiece needle being too small, and also solve the flexible production needs of small batch sharing and multi-variety switching of a large number of manual production in modern production;

[0029] 2. The automatic pin insertion system set up in the present application is provided with a data processing unit, a positioning unit, a vibration feeding unit, a camera test unit, and a tray positioning unit. Through the connection and coordination between the system and the device, the material picking and placing templates are set, and the positioning coordinates of the first mechanical head and the second mechanical head are measured through the three motor axes X, Y and Z and transmitted to the memory in the data processing unit, and can be called up at any time, so that the first mechanical head and the second mechanical head can insert and place the workpiece needles corresponding to the material picking tray and the pin insertion tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an automatic pin insertion machine;

[0031] Figure 2 This is a schematic diagram of the automatic pin insertion system;

[0032] In the figure: 1. Base; 2. Processing center; 3. Flexible vibration feeding device; 4. Positioning camera; 5. Tray positioning device; 6. Pin disk; 7. Mobile workbench; 8. Motor X-axis; 9. Motor Y-axis; 10. Motor Z-axis; 11. First mechanical head; 12. Second mechanical head; 13. Material picking tray; 14. Loading channel; 15. Vibration bin; 16. LED light; 17. First phase circle; 18. Second phase circle; 19. Support table; 20. Clamping part; 21. Pin disk; 22. Data processing unit; 23. Memory; 24. Positioning unit; 25. Motor X-axis of residual material selection module; 26. Motor Y-axis of material picking module; 27. Position measurement module. Motor Z axis; 28. Vibration feeding unit; 29. ​​Camera testing unit; 30. Tray positioning unit; 31. First mechanical head positioning module; 32. Second mechanical head positioning module; 33. Material picking positioning module; 34. Pin positioning module; 35. Coordinate measurement module; 36. Frame selection module. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Please refer to Figure 1 As shown, the present application provides an automated pin assembly machine, comprising:

[0035] A pedestal 1 is used to support the automatic pin insertion machine, and a universal wheel is arranged under the pedestal 1;

[0036] The processing center 2 is arranged on one side of the platform 1 and is used to receive and send work instructions on the automatic pin insertion machine. The processing center 2 is connected to various devices on the pin insertion machine for control;

[0037] A flexible vibration feeding device 3 is installed on one side of the pedestal 1 and is used to arrange the positions of the workpiece needles by vibration so that the workpiece needles are placed in a position that is convenient for picking up;

[0038] The flexible vibration feeding device 3 includes a material taking tray 13, a feeding channel 14 and a vibration bin 15. The workpiece needle materials are stacked inside the vibration bin 15. The workpiece needles are vibrated by the rotating feeding channel 14, so that the workpiece needles are arranged in a sequential queue and enter the material taking tray 13.

[0039] The vibration chamber 15 is also provided with an LED light 16 , and the LED light 16 is used to adjust the exposure and clarity of the positioning camera 4 .

[0040] The vibration bin 15 vibrates continuously, causing the workpiece needle to vibrate into the feeding channel 14, and then gradually rotate upward along the feeding channel 14 and enter the material picking tray 13. The feeding channel 14 is provided with a unidirectional magnetic suction device, which can make the workpiece needle form a vertical upward state after magnetic suction and remain upright, so that the mechanical head can pick up the workpiece needle.

[0041] A positioning camera 4 is installed at the upper end of the flexible vibration feeding device 3 and is used to take pictures to test the position qualification rate of the workpiece needle material on the flexible vibration feeding device 3;

[0042] The positioning camera 4 is provided with a first phase circle 17 and a second phase circle 18 . The first phase circle 17 is arranged above the second phase circle 18 . The first phase circle 17 is used to adjust the exposure of the positioning camera 4 , and the second phase circle 18 is used to adjust the clarity of the positioning camera 4 .

[0043] The first phase circle 17 is used to adjust the exposure of the positioning camera, and the second phase circle 18 is used to adjust the clarity of the positioning camera. After the adjustment is completed, it is used to photograph whether the position of the workpiece needle on the material picking tray 13 remains upright.

[0044] A pallet positioning device 5 is installed on one side of the pedestal 1, and the pallet positioning device 5 and the flexible vibration feeding device 3 are arranged on the same side of the pedestal 1, and the pallet positioning device 5 is used to place a pin tray 6 so that the workpiece needle is inserted into the pin tray 6;

[0045] The pallet positioning device 5 includes a support platform 19, a clamping member 20 and a pin tray 21. The support platform 19 is fixedly mounted on the base 1. The clamping member 20 is mounted on the support platform 19. The clamping member 20 clamps the pin tray 6. The pin tray 6 is used to install workpiece needles.

[0046] The pin tray 21 is a device for installing workpiece needles, and one or more workpiece needles can be inserted. Multiple devices that need pin insertion are evenly arranged on the pin tray 21. When the pin insertion operations on all devices on a pin tray 21 are completed, a new pin tray 21 is replaced, and the devices that need pin insertion are taken out and placed, and then the pin tray 21 is recycled.

[0047] A movable workbench 7 is mounted on the pedestal 1. Two groups of motor X-axes 8, motor Y-axes 9 and motor Z-axes 10 are also provided on the movable workbench 7. The two groups of motor X-axes 8 are slidably connected with the movable workbench 7. The motor Y-axes 9 are arranged at the upper end of the motor X-axes 8 and are slidably connected. The motor Z-axes 10 are arranged at one end of the motor Y-axes 9 and are fixedly connected with the motor Y-axes 9. A first mechanical head 11 and a second mechanical head 12 are provided on the motor Z-axes 10. The first mechanical head 11 is used to absorb the workpiece needle on the flexible vibration feeding device 3 and place it on the pallet positioning device 5. The second mechanical head 12 is used to install the workpiece needle on the pallet positioning device 5.

[0048] The flexible vibration feeding device 3 , the positioning camera 4 , the tray positioning device 5 , the movable workbench 7 , the motor X-axis 8 , the motor Y-axis 9 and the motor Z-axis 10 are all connected to the processing center 2 .

[0049] Please continue to refer to Figure 1 As shown, two groups of motor X-axis 8, motor Y-axis 9 and motor Z-axis 10 carry the first mechanical head 11 and the second mechanical head 12. The first mechanical head 11 is moved to suck the workpiece needle on the material picking tray 13, and the sucked workpiece needle is placed on the pin tray 21, and then the workpiece needle placed on the pin tray 21 is pressed and installed by the second mechanical head 12.

[0050] The present application also provides an automatic pin insertion assembly system, the automatic pin insertion system comprising:

[0051] A data processing unit 22, wherein the data processing unit 22 is installed inside the processing center 2, and the data processing unit 22 is provided with a memory 23, and the memory 23 is connected to the processing center 2;

[0052] A positioning unit 24, the positioning unit 24 is connected to the mobile workbench 7, and is used to locate the position coordinates of two groups of motor X-axis 8, motor Y-axis 9 and motor Z-axis 10 on the mobile workbench 7;

[0053] A vibration feeding unit 28, which is connected to the flexible vibration feeding device 3, and is used to control the start and stop of the vibration bin 15 and the feeding channel 14, and is used to continuously vibrate and rotate the stacked workpieces into the feeding channel 14, and arrange them on the picking tray 13;

[0054] A camera testing unit 29, connected to the positioning camera 4, and used to determine the accuracy of the position of the workpiece needle test on the material picking tray 13 through the positioning camera 4;

[0055] The tray positioning unit 30 is connected to the data processing unit 22 and is used to match the position of the material picking tray 13 with the first mechanical head 11 .

[0056] The positioning unit 24 also includes a first mechanical head positioning module 31, a second mechanical head positioning module 32, a material picking positioning module 33 and a pin positioning module 34. The first mechanical head positioning module 31 is used to position the first mechanical head 11 on the material picking tray 13, and to enable the first mechanical head 11 to absorb the workpiece needle on the material picking tray 13 and place the workpiece needle on the pin tray 6 through the motor shaft. The second mechanical head positioning module 32 is used to position the second mechanical head 13 on the pin tray 6, and to enable the second mechanical head 13 to install the workpiece needle on the pin tray 6 through the motor shaft.

[0057] The positioning unit 24 is further provided with a coordinate measurement module 35 for measuring the distances among the motor axis X8 , the motor axis Y9 and the motor axis Z10 , recording corresponding coordinate data, and sending the coordinate data to the memory 23 .

[0058] The data processing unit 22 is also provided with a frame selection module 36, and the frame selection module 36 is respectively connected to the positioning unit 24, and the frame selection module 36 includes a residual material selection module 25 and a material picking selection module 26. The residual material selection module 25 is used to frame the residual material position of the workpiece needle and send the coordinate information of the residual material position to the memory 23, and the material picking selection module 26 is used to frame the material picking position of the workpiece needle and send the coordinate information of the material picking position to the memory 23.

[0059] The pallet positioning unit 30 is provided with a position measurement module 27, and the position measurement module 27 is used to measure the position coordinates of the pin disk 6. The position coordinates of the pin disk 6 are sent to the data processing unit 22, and the data processing unit 22 adapts the pin position coordinates on the pin disk 6 with the moving material picking positions of the first mechanical head 11 and the second mechanical head 12.

[0060] It is worth noting that the complete method of using the automatic needle insertion machine and the automatic needle insertion system in this application is:

[0061] The first step is to adjust the positioning camera. First, turn on the LED light 16, select a reference object and place it in the material-taking tray 13 on the vibration chamber 15, adjust the exposure and clarity of the positioning camera 4 to a state where it can be clearly seen, and then put a frame reference object in the material-taking tray 13, adjust the position and direction of the camera by observing the range of projection, and adjust the position and direction of the positioning camera 4 so that the projection frame is parallel to the reference object;

[0062] The first phase circle 17 and the second phase circle 18 are arranged on the positioning camera 4, wherein the first phase circle 17 is arranged above the second phase circle 18, the first phase circle 17 is used to adjust the exposure of the positioning camera 4, and the second phase circle 18 is used to adjust the clarity of the positioning camera 4;

[0063] The frame reference object is selected in a manner of having a straight regular structure and being parallel to the frame of the vibration chamber 15 when placed horizontally.

[0064] The second step is to adjust the mechanical head. The first mechanical head 11 is a conical suction head, and the second mechanical head 12 is a flat mechanical head. Observe the first mechanical head 11 and the second mechanical head 12 from above to see whether the first mechanical head 11 shakes or tilts during the rotation. If there is no shaking, it means that the mechanical head is installed successfully. If shaking of the mechanical head is observed, the mechanical head needs to be adjusted until the mechanical head does not shake or tilt during the rotation. The first mechanical head 11 and the second mechanical head 12 are installed horizontally and the heights are kept consistent.

[0065] The third step is to adjust the material picking height and move the first mechanical head 11 to the center of the material picking tray 13. At this time, the coordinate position of the first mechanical head 11 is positioned by the first mechanical head positioning module 31. First, the processing center 2 issues a material picking instruction. The position of the motor Z axis 10 moves the first mechanical head 11 to the upper center of the material picking tray 13. The height of the motor Z axis 27 at this time is recorded as the material picking height H. After adjusting the material picking height H, the position coordinates (x1, y1, z1) of the first mechanical head 11 are saved. The height of Z1 is the material picking height H. Then the motor Z axis 27 is restored to return the motor Z axis 27 to the initial standby point (x0, y0, z0):

[0066] It should be noted that when adjusting the material picking height, a workpiece can be used for position testing to ensure that the material picking height of the motor Z axis 27 is maintained above the center of the material picking tray 13. When the material tray is replaced, the material picking height will change, and a height adjustment instruction needs to be issued to slowly lower the first mechanical head 11 to find a suitable height. After replacing a different mechanical head, the height of the first mechanical head 11 needs to be readjusted.

[0067] The fourth step is template learning. The template is set at the center position of the pin tray 6. The template is captured through the data processing unit 22 and the camera test unit 29. Modeling is performed through the processing center 2. After the modeling is saved, the modeling is applied to the processing center 2. The modeling is used for the position and action selection of the pin tray 6 of the pin insertion machine during automatic pin insertion and pin pressing. If there is a shadow in the captured image, it is necessary to frame the shadow-free area, test the image, select the shadow-free image for modeling and save it.

[0068] The fifth step is to set the camera calibration starting point and end point, enter the camera test unit 29, use the current position of the positioning camera 4 as the calibration starting point, then adjust the position of the positioning camera 4, compare the position of the positioning camera 4 with the position of the frame reference object in the first step, and adjust the coordinate position of the motor X-axis 8 and the motor Y-axis 9. By adjusting them to the appropriate position, the coordinates of the X, Y and Z axes can be calibrated as the starting point coordinates (x2, y2, z2) of the positioning camera 4. After completing the calibration of the starting position, the position of the positioning camera 4 is compared with the position of the frame reference, and the coordinate positions of the motor X-axis 8 and the motor Y-axis 9 are adjusted to above the pin disk 6 as the end point coordinate position of the positioning camera 4, and the coordinates of the adjusted motor X-axis 8, motor Y-axis 9 and motor Z-axis 10 are used as the end point coordinates (x3, y3, z3), and the starting point coordinates and the end point coordinates are respectively saved in the memory 23, and the shadow observation is scored, and the scoring rules are set to 1 to 100 points. The evaluation test is 90-100 for qualified calibration, and the starting point coordinates and the end point coordinates can be used.

[0069] Step 6: Set the starting point coordinates and the key point coordinates for the positions of the first mechanical head 11 and the second mechanical head 12. According to the Z-axis height determined in steps 1-5, the X-axis and Y-axis positions of the first mechanical head 11 and the second mechanical head 12 need to be calibrated. In this application, the four coordinates of the same axis need to be calibrated for the first mechanical head 11 and the second mechanical head 12 at the same height. First, move the first mechanical head 11 to the top of the center of the material picking tray 13, then move the positions of the X-axis and the Y-axis, measure the distance between the X-axis and the Y-axis through the first mechanical head positioning module 31, and when the camera test module displayed on the processing center 2 gives 90-100 points, a position is successfully calibrated. The scoring standard is: after setting the optimal distance, compare the difference between the optimal distance and the actual distance to obtain the evaluation strategy of different gears. In this application, four positions are calibrated for the first mechanical head 11 and the second mechanical head 12 respectively: the starting point coordinates of the first mechanical head 11 (x4, y4, z4), the end point coordinates of the first mechanical head 11 (x5, y5, z5), the starting point coordinates of the first mechanical head 11 for picking up materials (x6, y6, z6) and the end point coordinates of the first mechanical head 11 for inserting pins (x7, y7, z7), the starting point coordinates correspond to the position above the center of the material picking tray 13, and the end point coordinates correspond to the position above the center of the pin tray 6;

[0070] After the calibration of the starting point coordinates (x4, y4, z4) of the second mechanical head 12, the end point coordinates (x5, y5, z5) of the second mechanical head 12, the starting point coordinates (x6, y6, z6) of the second mechanical head 12 for material picking, and the end point coordinates (x7, y7, z7) of the second mechanical head 12 for pin insertion is completed, the mechanical head A and the mechanical head B are restored to the starting point coordinates.

[0071] It should be noted that if the height position of mechanical head B is inappropriate during the calibration process, origin compensation can be performed in the manufacturer's parameters. The origin compensation means comparing the height of mechanical head B with the calibrated height of mechanical head A to make the height of mechanical head B consistent with that of mechanical head A. After origin compensation, mechanical head B can be recalibrated.

[0072] The seventh step is to switch the working mechanical head, switching the conical mechanical head to a flat mechanical head. The flat mechanical head is used to limit the position of the workpiece needle. After the switch is completed, move the flat mechanical head to the previously calibrated material picking position. At this time, the flat mechanical head is placed above the center position of the vibration disk. Place a workpiece needle on the vibration disk, and place the flat mechanical head on the workpiece needle to keep it fit.

[0073] Step 8. Determine the residual material area, issue the residual material setting command, select the expected area and confirm to upload the area.

[0074] The ninth step is to set the material collection area. Two material collection areas are set, namely the first material collection area and the second material collection area. The two material collection areas are distinguished by color. The first material collection area and the second material collection area are both rectangular areas, and the left frame line of the first material collection area is smaller than that of the second material collection area. The first material collection area is the material collection range of mechanical head A, and the second material collection area is the material collection range of mechanical head B.

[0075] The tenth step is template setting. After setting the material picking area, enter the template setting module, put the workpiece needle into the material tray, perform a vibration test on the material tray, start the camera test system above the vibration tray, and open the template setting instruction. The template is used for the device to grab the workpiece needle in the correct position; then select the needle located in the center of the screen with a large gap around it, and adjust the size of the frame to keep the frame parallel to the workpiece needle; after starting the vibration disk, observe whether the position of the workpiece needle on the test panel is positive by observing the vibration disk camera. If the number of positive workpiece needles is greater than 80%, the template setting is completed, and the position and size parameters of the frame can be saved.

[0076] Step 11. Set the discharge position, issue the discharge position setting command for the mechanical head, move the mechanical head A to the discharge position, set the discharge height, move the motor Z-axis distance to adjust the height of the mechanical head A so that it just touches the discharge head, and save it as the discharge position coordinate.

[0077] Step 12. Set the material picking position, enter the material picking position setting instruction of mechanical head A, move the mechanical head to the material picking position, set the material picking height, adjust the height of the mechanical head by adjusting the height of the motor Z axis to make it close to the position above the discharge head, save the position after adjustment, and set the material picking position coordinates.

[0078] It should be noted that the coordinates of the material discharge position and the material collection position are both set on the mechanical head A, and the height of the mechanical head B is kept the same as that of the mechanical head A. If the heights are different, it is necessary to perform origin compensation on the mechanical head B so that the mechanical head B maintains the same height as the mechanical head A.

[0079] Step 13: Set the discharge point:

[0080] 1. Set the starting point A of the tray, move the mechanical head to the starting point of the pin tray, move the plus or minus of the Z axis to adjust the gripper height, and adjust the X-axis and Y-axis positions of the mechanical head A by moving the distance of the X-axis and Y-axis, so that the mechanical head A is located at the center of the tray discharge hole. After adjustment, save the current coordinate position, switch to the discharge height to save, and finally return the mechanical head A to the starting position.

[0081] 2. Set the end point A of the pallet, move the mechanical head A to the end point of the pin disk, click the material discharge height coordinate directly here, and then adjust the direction of the X-axis and Y-axis of the mechanical head A to save the position coordinate;

[0082] 3. Set the starting point B of the tray discharge, move the mechanical head B to the starting point of the pin disk (the same as the starting point of the A head), and only need to adjust the X-axis and Y-axis positions of the mechanical head B to the center point, and save the position coordinates of the point;

[0083] 4. After setting the positions of the mechanical head A and the mechanical head B, return to the initial position coordinates of the standby state.

[0084] It should be noted that the tray module will automatically stop after loading one tray. At this time, you need to send a stop command, change the mold, and then click start, and the machine will start loading the next tray.

[0085] Step 14: Test operation. Manually perform each step of the test according to the system. After the test is problem-free, reset and change to automatic operation.

[0086] It should be noted that before starting the pin insertion device, it needs to be reset. The reset operation is to restore the positions of all mechanical heads and the pin disk to the starting positions. The device is also equipped with an emergency stop button to stop the machine operation in time.

[0087] The above are only several embodiments of the present application, and do not constitute any form of limitation to the present application. Although the present application discloses the preferred embodiments as above, it is not intended to limit the present application. Any technician familiar with the profession, without departing from the scope of the technical solution of the present application, using the technical content disclosed above to make slight changes or modifications are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. An automated pin assembly machine, characterized in that: include: Pedestal(1); A processing center (2), arranged on one side of the platform (1), for receiving and sending work instructions on the automatic pin insertion machine; A flexible vibration feeding device (3) is installed on one side of the base (1) and is used to arrange the positions of the workpiece needles by vibration so that the workpiece needles are placed in a position that is convenient for picking up; A positioning camera (4) is installed at the upper end of the flexible vibration feeding device (3) and is used to take pictures to test the position qualification rate of the workpiece needle material on the flexible vibration feeding device (3); A pallet positioning device (5) is installed on one side of the base (1), and the pallet positioning device (5) and the flexible vibration feeding device (3) are arranged on the same side of the base (1), and the pallet positioning device (5) is used to place the pin tray (6) so that the workpiece needle is inserted into the pin tray (6); A movable workbench (7) is mounted on the base (1); the movable workbench (7) is also provided with two groups of motor X-axes (8), motor Y-axes (9) and motor Z-axes (10); the two groups of motor X-axes (8) are slidably connected to the movable workbench (7); the motor Y-axes (9) are slidably connected to the upper end of the motor X-axes (8); the motor Z-axes (10) are arranged at one end of the motor Y-axes (9) and are fixedly connected to the motor Y-axes (9); a first mechanical head (11) and a second mechanical head (12) are arranged on the motor Z-axes (10); the first mechanical head (11) is used to absorb the workpiece needle on the flexible vibration feeding device (3) and place it on the pallet positioning device (5); the second mechanical head (12) is used to install the workpiece needle on the pallet positioning device (5); The flexible vibration feeding device (3), the positioning camera (4), the tray positioning device (5), the movable workbench (7), the motor X-axis (8), the motor Y-axis (9) and the motor Z-axis (10) are all connected to the processing center (2).

2. The automatic pin assembly machine according to claim 1, characterized in that: The flexible vibration feeding device (3) comprises a material taking tray (13), a feeding channel (14) and a vibration bin (15), wherein the workpiece needle materials are stacked inside the vibration bin (15), and the workpiece needles are vibrated through the rotating feeding channel (14), so that the workpiece needles are arranged in a sequential queue and enter the material taking tray (13); The vibration chamber (15) is also provided with an LED light (16), and the LED light (16) is used to adjust the exposure and clarity of the positioning camera (4).

3. The automatic pin assembly machine according to claim 2, characterized in that: The positioning camera (4) is provided with a first phase circle (17) and a second phase circle (18); the first phase circle (17) is arranged above the second phase circle (18); the first phase circle (17) is used to adjust the exposure of the positioning camera (4); and the second phase circle (18) is used to adjust the clarity of the positioning camera (4).

4. The automatic pin assembly machine according to claim 1, characterized in that: The tray positioning device (5) comprises a support platform (19), a clamping member (20) and a pin plate (21); the support platform (19) is fixedly mounted on the base (1); the clamping member (20) is mounted on the support platform (19); the clamping member (20) clamps the pin plate (21); and the pin plate (21) is used to mount workpiece needles.

5. An automatic pin insertion assembly system of the automatic pin insertion machine according to any one of claims 1 to 4, characterized in that: The automatic needle insertion system comprises: A data processing unit (22), the data processing unit (22) being installed inside the processing center (2), and the data processing unit (22) being provided with a memory (23), and the memory (23) being connected to the processing center (2); A positioning unit (24), the positioning unit (24) being connected to the movable workbench (7) and used for positioning the position coordinates of two sets of motor X-axis (8), motor Y-axis (9) and motor Z-axis (10) on the movable workbench (7); A vibration feeding unit (28), the vibration feeding unit (28) is connected to the flexible vibration feeding device (3), and is used to control the start and stop of the vibration bin (15) and the feeding channel (14), and is used to continuously vibrate and rotate the stacked workpieces into the feeding channel (14), and arrange them on the picking tray (13); A camera testing unit (29) connected to the positioning camera (4), the camera testing unit (29) being used to determine the accuracy of the position of the workpiece needle test on the material taking tray (13) through the positioning camera (4); A tray positioning unit (30) is connected to the data processing unit (22) and is used to match the position of the material taking tray (13) with the position of the first mechanical head (11).

6. The automatic pin assembly system according to claim 5, characterized in that: The positioning unit (24) further comprises a first mechanical head positioning module (31), a second mechanical head positioning module (32), a material picking positioning module (33) and a pin insertion positioning module (34); The first mechanical head positioning module (31) is used to position the first mechanical head (11) on the material picking tray (13), and to enable the first mechanical head (11) to absorb the workpiece needle on the material picking tray (13) and place the workpiece needle on the pin insertion tray (6) through the motor shaft; the second mechanical head positioning module (32) is used to position the second mechanical head (12) on the pin insertion tray (6), and to enable the second mechanical head (12) to install the workpiece needle on the pin insertion tray (6) through the motor shaft; The material picking and positioning module (33) is used to obtain the position coordinates corresponding to the workpiece suction needle on the material picking tray (13); The pin positioning module (34) is used to obtain the position coordinates corresponding to the workpiece needle inserted and placed on the pin disk (6).

7. The automatic pin assembly system according to claim 5, characterized in that: The positioning unit (24) is also provided with a coordinate measurement module (35) for measuring the distances between the motor X-axis (8), the motor Y-axis (9) and the motor Z-axis (10), recording the distances as corresponding coordinate data, and sending the coordinate data to the memory (23).

8. The automatic pin assembly system according to claim 5, characterized in that: The data processing unit (22) is also provided with a frame selection module (36), and the frame selection module (36) is respectively connected to the positioning unit (24), and the frame selection module (36) includes a residual material selection module (37) and a material picking selection module (38), the residual material selection module (37) is used to frame the residual material position of the workpiece needle, and send the coordinate information of the residual material position to the memory (23), and the material picking selection module (38) is used to frame the material picking position of the workpiece needle, and send the coordinate information of the material picking position to the memory (23).

9. The automatic pin assembly system according to claim 5, characterized in that: The pallet positioning unit (30) is provided with a position measurement module (39), and the position measurement module (39) is used to measure the position coordinates of the pin disk (6). The position coordinates of the pin disk (6) are sent to the data processing unit (22), and the data processing unit (22) matches the pin position coordinates on the pin disk (6) with the moving material picking positions of the first mechanical head (11) and the second mechanical head (12).

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