A pin insertion machine, a pin insertion correction method and a storage medium thereof

Abstract

The present application relates to the field of pin insertion machines, and in particular to a pin insertion machine, a pin insertion correction method and a storage medium thereof, which includes a pin insertion mechanism for inserting a pin row into a socket; a biting mechanism for biting the pin row inserted on the socket; a fixing mechanism for completely inserting the biting-processed pin row into the socket; a transmission mechanism for transmitting the socket row to the pin insertion mechanism, the biting mechanism and the fixing mechanism, and unloading the processed socket row; a loading mechanism for loading the pin row onto the pin insertion mechanism and loading the socket row onto the transmission mechanism. The present application has the effect of improving the processing efficiency of pin insertion.

Description

Technical Field

[0001] The present application relates to the field of pin insertion machines, and in particular to a pin insertion machine, a pin insertion correction method and a storage medium thereof. Background Art

[0002] In the processing of connectors, workers are required to manually align the pins and insert them one by one to make connectors. Workers stare at the tiny pins for a long time and steadily and accurately insert the pins into the holes to be checked. This puts great pressure on the workers, affects their health, and is inefficient. Summary of the invention

[0003] In order to improve the problem of low processing efficiency of connectors, the present application provides a pin insertion machine, a pin insertion correction method and a storage medium thereof.

[0004] The present application provides a pin insertion machine, which adopts the following technical solution:

[0005] A pin insertion machine, comprising:

[0006] A pin insertion mechanism, used for inserting the pin header into the socket header;

[0007] The texturing mechanism is used to perform texturing on the pins inserted in the power strip;

[0008] The fixing mechanism is used to completely insert the pin header after the texture processing into the socket;

[0009] A transmission mechanism, used for transmitting the power strip to the pin mechanism, the biting mechanism and the fixing mechanism, and unloading the processed power strip;

[0010] The loading mechanism is used to load the pin headers onto the pin insertion mechanism and to load the plug headers onto the transmission mechanism.

[0011] By adopting the above technical solution, full-automatic feeding, pin insertion, biting and fixing are realized. At the same time, the pin insertion and fixing are divided into two parts for processing, so that the processing of the header with multiple rows of pins can be realized, which improves the processing efficiency and expands the processing range.

[0012] Optionally, the driving cylinder is also included, the pin mechanism includes a clamping assembly for clamping and transmitting the pins, the fixing mechanism includes a fixing assembly for transmitting the plug strip after the bitting process, and the driving cylinder is used to drive the clamping assembly and the fixing assembly to move.

[0013] By adopting the above technical solution, the drive cylinder is directly driven, which is convenient and fast.

[0014] Optionally, it also includes a driving motor, a cam arranged on the rotating shaft of the driving motor, a rotatable transmission rod and a slidable push block, the cam is provided with a plurality of one-to-one corresponding protrusions and recesses, the protrusions and recesses are symmetrically arranged with respect to the rotating shaft of the cam, so that the diameter of the cam is always within the interval range of a preset transmission diameter threshold, at least two clamping rods are provided on the transmission rod, the two clamping rods are clamped on the cam, and the connecting line of the ends of the two clamping rods clamping the cam passes through the center of the cam, the transmission rod is rotatably connected with a transmission block, and the transmission block is used to be rotatably connected with the push block, so that the push block pushes the clamping assembly and the fixing assembly to move.

[0015] By adopting the above technical solution, reciprocating motion is achieved by a cam rotating in one direction, which can achieve more efficient driving, improve work efficiency, greatly reduce the inertia generated by rapid motion, and reduce the probability of inertia causing damage to the motor.

[0016] Optionally, a pressure detection module is provided on the transmission mechanism to detect the pressure on the power strip, obtain pressure detection data and output it;

[0017] The data processing module receives the pressure detection data, performs calculations to obtain a processing signal, and outputs the processing signal to the transmission mechanism for correction.

[0018] By adopting the above technical solution, the calibration is automatically performed, and compared with using a large number of laser sensors or infrared sensors, the cost of calibration is greatly reduced.

[0019] The present application provides a pin insertion correction method for a pin insertion machine, which adopts the following technical solution:

[0020] A pin insertion correction method for a pin insertion machine, comprising:

[0021] The pressure detection data includes pressure magnitude data and pressure coordinate data;

[0022] Determine the offset direction data through the pressure coordinate data, the pressure magnitude data and a preset offset threshold;

[0023] Determining the offset correction data by using the offset direction data, the pressure magnitude data and a preset offset correction threshold;

[0024] The processing signal is determined by the pressure coordinate data and the offset correction data and outputted.

[0025] By adopting the above technical solution, a processing signal is automatically calculated based on the pressure and force coordinates, thereby correcting the transmission mechanism.

[0026] Optional, including:

[0027] The pressure coordinate data includes back-end coordinate data, acquisition timing data and drive phase data, and the processing signal includes a skip signal;

[0028] Determine the interference pressure data through the pressure magnitude data and the rear end coordinate data;

[0029] Determine the conflict pressure change data by using the conflict pressure data and the timing data;

[0030] Determining driving state data by using the timing data, the driving stage data and a preset driving stage threshold;

[0031] Determine misalignment data by using the interference pressure change data, the driving state data and a preset driving pressure threshold;

[0032] The skip signal is determined by the misaligned data and the back-end coordinate data and outputted.

[0033] By adopting the above technical solution, automatic judgment is made on the misaligned pin headers and socket headers, and the subsequent processing steps are automatically controlled to be skipped, thereby reducing the probability of the faulty pin headers and socket headers causing damage to the subsequent mechanisms, playing a protective role, and also reducing the faulty pin headers and socket headers. If subsequent processing is still carried out, the product will eventually be an unqualified product, thereby reducing the waste of resources.

[0034] Optional, including:

[0035] The pressure coordinate data includes lateral coordinate data;

[0036] Determine offset pressure data by using the pressure magnitude data and the lateral coordinate data;

[0037] Determine contact phase data and insertion phase data through the driving state data;

[0038] Determine offset interference data by using the contact phase data and the interference pressure change data;

[0039] Determine offset pressure change data by using the timing data, the offset interference data, the insertion phase data, the interference pressure change data, and the offset pressure data;

[0040] The offset correction data is determined by the offset pressure change data, the offset interference data, a preset interference offset threshold and the offset correction threshold.

[0041] By adopting the above technical solution, the working condition where the pin can be inserted but not fully aligned is automatically corrected so that it can be fully aligned later, reducing the probability of the pins causing pressure on the socket and making the insertion of the pins into the socket smoother.

[0042] Optional, including:

[0043] The processing signal includes a mechanism deviation warning signal;

[0044] Determining a normal insertion signal through the contact phase data, the resistance pressure change data and a preset normal pressure threshold;

[0045] Determine torsional pressure change data by using the normal insertion signal, the offset pressure data, and the timing data;

[0046] The mechanism deviation warning signal is determined and outputted based on the torsional pressure change data and a preset torsional abnormality threshold.

[0047] By adopting the above technical solution, it is automatically determined whether the biting groove of the biting mechanism has a fault, and the user is prompted to perform maintenance.

[0048] The present application provides a computer-readable storage medium, which adopts the following technical solution:

[0049] A computer-readable storage medium stores a computer program that can be loaded by a processor and executed by a pin insertion correction method of a pin insertion machine.

[0050] By adopting the above technical solution, the computer program is stored in a computer-readable storage medium.

[0051] In summary, the present application includes at least one of the following beneficial technical effects:

[0052] 1. It realizes full-automatic feeding, pin insertion, biting and fixing. At the same time, the pin insertion and fixing are divided into two parts for processing, so that the processing of the pin header with multiple rows of pins can be realized, which improves the processing efficiency and expands the processing range.

[0053] 2. Achieve more efficient driving, improve work efficiency, and greatly reduce the inertia generated by rapid movement, reducing the probability of inertia causing damage to the motor.

[0054] 3. Automatically calculate the processing signal based on the coordinates of pressure and force, so as to correct the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the overall structure of a pin insertion machine in Example 1 of the present application.

[0056] Figure 2It is a structural schematic diagram highlighting the pin mechanism.

[0057] Figure 3 It is a schematic diagram of the overall structure of a pin insertion machine in Example 2 of the present application.

[0058] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure at point A in the middle.

[0059] Figure 5 It is a structural diagram highlighting the cam and rolling elements.

[0060] Figure 6 This is a module schematic diagram of a pin insertion machine in Example 3 of the present application.

[0061] Figure 7 It is a flow chart of a calibration method for a pin insertion machine in Example 3 of the present application.

[0062] Figure 8 It is a flowchart diagram of step S2 to step S25.

[0063] Fig. 9 It is a flowchart diagram of step S3 to step S35.

[0064] Fig.10 It is a flowchart diagram of step S4 to step S43.

[0065] Explanation of the reference numerals in the accompanying drawings: 1. Insertion mechanism; 11. Driving cylinder; 12. Clamping assembly; 13. Driving motor; 131. Cam; 1311. Protrusion; 1312. Depression; 132. Transmission rod; 133. Push block; 134. Clamping rod; 1341. Rolling member; 135. Transmission block; 14. Base; 2. Biting mechanism; 21. Biting member; 22. Biting driving member; 23. Biting groove; 3. Fixing mechanism; 31. Fixing assembly; 4. Transmission mechanism; 41. Track; 42. Transmission driving member; 43. Transmission member; 431. Transmission groove; 5. Feeding mechanism; 6. Pressure detection module; 61. Data processing module. DETAILED DESCRIPTION

[0066] The following is combined with Figure 1-10 This application is described in further detail.

[0067] Embodiment 1 of the present application discloses a pin insertion machine. Figure 1 and Figure 2 The pin insertion machine includes a base 14, on which are mounted a pin insertion mechanism 1, a biting mechanism 2, a fixing mechanism 3, a transmission mechanism 4 and a feeding mechanism 5. The feeding mechanism 5 can usually adopt a plurality of vibration plates, and among the plurality of vibration plates, at least one vibration plate is used for storing and transmitting the row of pins, and at least two vibration plates are used for storing and transmitting the row of pins.

[0068] Reference Figure 1 and Figure 2 The transmission mechanism 4 includes a track 41, a transmission drive 42 and a transmission member 43. The transmission member 43 is provided with a transmission groove 431 for accommodating the power strip. The vibration plate transmits the power strip to the track 41. The transmission drive 42 controls the transmission member 43 to descend and covers the power strip through the transmission groove 431. The transmission drive 42 controls the transmission member 43 to move on the track 41, thereby moving the power strip to the processing station of the pin insertion mechanism 1, and at the same time, moving the power strip on the processing station of the pin insertion mechanism 1 to the processing station of the texturing mechanism 2, and at the same time, moving the power strip on the processing station of the texturing mechanism 2 to the processing station of the fixing mechanism 3.

[0069] Reference Figure 2 , and also includes a driving cylinder 11. The pin insertion mechanism 1 includes a clamping assembly 12. The vibration plate transfers the row pins to the clamping assembly 12, and the row pins are clamped by the clamping assembly 12. The driving cylinder 11 pushes the clamping assembly 12 to move toward the direction close to the track 41, and the row pins are inserted into the row pins on the processing station of the pin insertion mechanism 1.

[0070] Reference Figure 2 The biting mechanism 2 includes a biting piece 21 and a biting driving piece 22. The number of the biting pieces 21 is at least two. The biting driving piece 22 is used to drive the biting piece 21 to move toward or away from another biting piece 21. The two biting pieces 21 are used to approach each other to clamp the side walls of the pins, and a biting groove 23 is provided. The inner wall of the biting groove 23 is used to clamp and resist the pins on the plug at the processing station of the biting mechanism 2, and to perform biting processing.

[0071] Reference Figure 2 The fixing mechanism 3 includes a fixing component 31, which can be made of a metal block, for example. The driving cylinder 11 drives the fixing component 31 to approach the power strip on the processing station of the fixing mechanism 3 to completely push the pins on the power strip into the power strip.

[0072] The implementation principle of a pin insertion machine in Example 1 of the present application is as follows: the vibration disk transfers the row plug to the track 41, and then the transmission driving member 42 controls the transmission member 43 to transfer the row plug to the processing station of the pin insertion mechanism 1, the vibration disk transfers the row pin to the clamping assembly 12, the driving cylinder 11 controls the clamping assembly 12 to insert the row pin into the row plug, and then the transmission driving member 42 controls the transmission member 43 to transfer the row plug to the processing station of the biting mechanism 2, the biting driving member 22 controls the biting member 21 to clamp the row pin, and the biting groove 23 is used for biting processing, and then the transmission driving member 42 controls the transmission member 43 to transfer the row plug to the processing station of the fixing mechanism 3, and the driving cylinder 11 pushes the fixing assembly 31 to completely push the row pin into the row plug;

[0073] If multiple rows of pin headers need to be installed on the power strip, the transmission member 43 is controlled by the transmission driver 42 to transfer the power strip from the processing station of the fixing mechanism 3 to the processing station of the pin insertion mechanism 1 .

[0074] Embodiment 2:

[0075] Different from the first embodiment, the second embodiment of the present application discloses a pin insertion machine. Figure 3 and Figure 4 The pin insertion machine also includes a driving motor 13, a cam 131 fixedly connected to the rotating shaft of the driving motor 13, a transmission rod 132 rotatably connected to the base 14, and a push block 133 sliding on the base 14. The driving motor 13 can also be used in conjunction with a reducer to provide greater torque and power. The cam 131 rotates coaxially with the rotating shaft of the driving motor 13. A plurality of protrusions 1311 are fixedly connected to the outer ring side wall of the cam 131. The outer ring side wall of the cam 131 is also provided with recesses 1312 corresponding to the protrusions 1311. The protrusions 1311 and the recesses 1312 are symmetrically arranged with respect to the rotating shaft of the cam 131, so that the diameter of the cam 131 is always within the range of the preset transmission diameter threshold. In simple terms, the length of the line connecting the outer wall of the cam 131 through the rotating shaft of the cam 131 and the outer wall of the cam 131 on the other side is always equal.

[0076] Reference Figure 2 and Figure 4 and Figure 5 At least two clamping rods 134 are fixedly connected to the transmission rod 132. The rotation axis of the transmission rod 132 is located at the connection between the transmission rod 132 and the two clamping rods 134. The ends of the two clamping rods 134 are rotatably connected with rolling elements 1341. The rolling elements 1341 roll against and roll on the outer ring side wall of the cam 131. The two clamping rods 134 are clamped on the cam 131 through the rolling elements 1341, and the connecting line of the ends of the two rolling elements 1341 clamping the cam 131 passes through the center of the cam 131. The end of the transmission rod 132 away from the clamping rod 134 is rotatably connected with a transmission block 135. One end of the transmission block 135 is hinged on the transmission rod 132, and the other end of the transmission block 135 is hinged on the push block 133. The base 14 is provided with a limiting groove for limiting the sliding direction of the push block 133, so that the push block 133 pushes the clamping assembly 12 and the fixing assembly 31 to move.

[0077] Embodiment 3:

[0078] Different from the first embodiment, the third embodiment of the present application discloses a pin insertion machine. Figure 2 and Figure 6The pin insertion machine also includes a pressure detection module 6 and a data processing module 61. There are multiple pressure detection modules 6. The pressure detection module 6 is embedded in the track 41 and the inner wall of the transmission slot 431. The transmission slot 431 has an opening for inserting or processing the row pins as the front end, that is, all the inner walls of the transmission slot 431 except the opening surface for inserting the row pins, and the side of the track 41 for carrying the transmission strip are embedded with the pressure detection module 6. The pressure detection module 6 is installed on the four inner side walls of the transmission slot 431, the rear end inner wall of the transmission slot 431 and the upper end surface of the track 41. The pressure detection module 6 can use a pressure sensor to detect the pressure on the strip, that is, the pressure detection data, and then output it to the data processing module 61.

[0079] Reference Figure 6 The data processing module 61 includes a processor and a database. The database is used to store various threshold data, such as offset threshold, offset correction threshold and other threshold data. The processor is used to receive pressure detection data and call the corresponding threshold data from the database for processing and calculation, and obtain the corresponding processing signal to output to the transmission driver 42 for control.

[0080] The processor may include a central processing unit such as a CPU or MPU or a host system built around a CPU or MPU, including hardware or software. After the meter has a processor, people can freely control the metering instrument through programming to make it run according to people's wishes. The processor can control local measurement transmission, remote measurement transmission, remote communication, etc. through internal protocols. Internal protocols refer to all protocols that achieve mutual communication or links within the same metering instrument or the same system, including: human-computer interaction protocols, software / hardware (interface) protocols, chip bus (C-Bus) protocols, internal bus (I-Bus) protocols, etc. Part or all of the protocols. With the development of integrated circuit technology, some protocols that belong to the external bus (E-Bus) protocol are also classified as internal protocols after the external bus (E-Bus) is integrated into the chip.

[0081] Embodiment 3 of the present application discloses a pin insertion calibration method for a pin insertion machine. Figure 7 , the pin insertion correction method of the pin insertion machine includes the following steps:

[0082] S1, pressure detection data includes pressure magnitude data and pressure coordinate data;

[0083] S11, determining the offset direction data through the pressure coordinate data, the pressure magnitude data and a preset offset threshold;

[0084] S12, determining the offset correction data through the offset direction data, the pressure magnitude data and a preset offset correction threshold;

[0085] S13. Determine a processing signal based on the pressure coordinate data and the offset correction data and output it.

[0086] In detail: the pressure size data is the numerical size of the detected pressure, and the pressure coordinate data is the coordinate of each pressure detection module 6 detecting the pressure. For example, the pressure detection module 6 installed on the track 41 and the pressure detection module 6 installed on the rear end inner wall of the transmission slot 431 have different coordinates. Therefore, the direction of the pressure can be determined by the coordinates and the pressure values; the offset threshold is the pressure size when the position where the pin is inserted into the socket is offset. Let the offset threshold be a. If the pressure detection module 6 with pressure coordinate data b detects a pressure size data c, if c>a, it means that the pin is offset in the direction of the pressure detection module 6 with pressure coordinate data b, that is, Offset direction data; the offset correction threshold is the amount of pressure offset at this time. For example, if the pressure is 100N, it means an offset of 0.01mm, and due to the flexibility of the strip, the strip has been inserted after squeezing the inner wall of the strip. If the pressure is 1000N, it means an offset of 0.03mm, and due to the flexibility of the strip, the strip has been inserted after squeezing the inner wall of the strip. The corresponding relationship between 100N and 0.01mm, 1000N and 0.03mm is the offset correction threshold. Through the offset direction and pressure size data, the data on the direction and amount of correction can be obtained, and combined with the pressure coordinate data, the processing signal for how to control the transmission drive 42 can be determined and output.

[0087] Reference Figure 8 , further comprising the following steps:

[0088] S2, pressure coordinate data including back-end coordinate data, obtaining timing data and driving stage data, processing signals including skip signals;

[0089] S21, determining the conflict pressure data through the pressure size data and the back-end coordinate data;

[0090] S22, determining the conflict pressure change data through the conflict pressure data and the timing data;

[0091] S23, determining driving state data through the timing data, the driving stage data and a preset driving stage threshold;

[0092] S24, determining misaligned data by comparing the conflicting pressure change data, the driving state data and a preset driving pressure threshold;

[0093] S25. Determine the skip signal through the misaligned data and the back-end coordinate data and output it.

[0094] In detail: the rear-end coordinate data is the coordinate of the pressure detection module 6 installed on the rear-end inner wall of the transmission slot 431, which is mainly used to detect the pressure generated in the insertion direction of the pin when the pin is inserted without being aligned with the socket. The driving stage data is the processing progress of each stage of the pin. For example, when the pin insertion mechanism 1 inserts the pin, it is divided into two stages: the pin approaches the socket and the pin is inserted into the socket. The biting processing of the biting mechanism 2 is divided into two stages: the contact stage of not completely closing to clamp the pin and the biting stage. The fixing mechanism 3 is similarly divided into two stages: approaching the pin and pushing the pin into the socket. The driving stage data is obtained through the working process of a driving source such as a driving cylinder 11 or a driving motor 13 or a biting driving member 22, such as how much the cylinder has moved forward or how many times the motor has rotated. The pressure size data detected by the pressure detection module 6 corresponding to the rear-end coordinate data is the contact pressure data, and the contact pressure data is combined with time, that is, timing data, to obtain the contact pressure change data that changes with time; the driving stage number According to the driving stage threshold, that is, the current driving state, combined with the driving pressure threshold, it can be obtained what the pressure should be at this time in theory. The driving pressure threshold is the pressure of the current driving stage data during normal processing. For example, when the pin row is just inserted into the socket, the pressure on the socket should be 50N in theory, because the socket itself is flexible, and the hole for the pin row to insert is smaller than that of the pin row to achieve an interference fit. At this time, the insertion of the pin row will squeeze the inner wall of the socket larger. If the resistance pressure change data suddenly increases, and as the pin row continues to be inserted, the pressure reflected by the resistance pressure change data continues to increase and continues to exceed the range of the driving pressure threshold. Even when the pin row is inserted into the socket, the resistance pressure change data has not decreased. At this time, it means that a pin row is not aligned with the hole on the socket, resulting in the pin row contacting the side wall of the socket. At this time, there is a lack of pins on the socket, which may even cause damage to the socket. At this time, a skip signal is output to skip the processing of this socket in subsequent processing steps.

[0095] Reference Fig. 9 , further comprising the following steps:

[0096] S3, pressure coordinate data including lateral coordinate data;

[0097] S31, determining offset pressure data through pressure magnitude data and lateral coordinate data;

[0098] S32, determining contact phase data and insertion phase data through driving state data;

[0099] S33, determining offset conflict data through the contact phase data and the conflict pressure change data;

[0100] S34, determining the offset pressure change data through the timing data, the offset conflict data, the insertion phase data, the conflict pressure change data, and the offset pressure data;

[0101] S35 , determining the offset correction data according to the offset pressure change data, the offset conflict data, the preset conflict offset threshold value and the offset correction threshold value.

[0102] In detail: the lateral coordinate data is the coordinate of the pressure detection module 6 installed on the inner wall of the transmission slot 431, and the pressure size data detected by the pressure detection module 6 corresponding to the lateral coordinate data is the offset pressure data. According to the driving state data, the stage of inserting the pin into the socket is divided into the contact stage data when the pin just contacts the socket, and the insertion stage data when the pin is inserted into the socket. In the contact stage, if the resistance pressure change data increases, this data is formed into the offset resistance data for the next step of calculation. When entering the insertion stage from the contact stage, if the resistance pressure change data suddenly decreases, that is, the resistance pressure change data suddenly decreases and is less than the offset resistance data, then the offset pressure change data can be obtained, indicating that although the pin has not It is completely aligned with the power strip, but there is only a very small offset, and the pin header can be inserted through the flexibility of the power strip itself. However, since the pin header is still offset from the power strip, the pin header will deviate to one direction. At this time, the pressure detected by the pressure detection module 6 in this direction will be greater than the pressure detected by the pressure detection module 6 in the opposite direction. The offset conflict data at this time is calculated with the conflict conflict conflict threshold. The principle of the conflict conflict threshold is the same as the offset correction threshold, that is, the offset pressure is used to calculate the distance the pin header has deviated for the working condition of the pin header being inserted into the power strip at this stage, and then the offset correction data is calculated through the offset correction threshold and output to the transmission drive 42 for adjustment. For example, the motor originally rotated 100 times, but now it rotates 101 times, etc.

[0103] Reference Fig.10 , further comprising the following steps:

[0104] S4, processing signals including mechanism deviation warning signals;

[0105] S41, determining a normal insertion signal through contact stage data, resistance pressure change data and a preset normal pressure threshold;

[0106] S42, determining torsional pressure change data through normal insertion signal, offset pressure data, and timing data;

[0107] S43, determining a mechanism deviation warning signal based on the torsional pressure change data and a preset torsional abnormality threshold and outputting the signal.

[0108] In detail: the pressure during the contact stage is normal, which means that the positions of the biting groove 23 and the pin header are aligned, but when the biting parts 22 approach each other for biting, the offset pressure data gradually increases as the biting progresses, and the pressure increase detected by more than one pressure detection module 6 indicates that the pin header is twisted in the plug connector. For example, due to long-term processing, metal shavings of the pin header remain in the biting groove 23, or the biting groove 23 is repeatedly scratched by the pin header for a long time, which affects the fit between the pin header and the inner wall of the biting groove 23, causing the pin header to twist. At this time, the output mechanism offset warning signal is given to the user, prompting the user that the biting mechanism 2 has a fault.

[0109] Embodiment 3 of the present application discloses a computer-readable storage medium. Figure 1 The computer-readable storage medium stores a computer program that can be loaded by a processor and executed by a pin insertion correction method of a pin insertion machine.

[0110] Computer-readable storage media include, for example, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0111] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pin insertion machine, characterized in that: include: A pin insertion mechanism (1) is used to insert the pin header into the socket header; A texturing mechanism (2) is used to perform texturing on the pins inserted into the socket; A fixing mechanism (3) is used to completely insert the header pins after the texture processing into the header socket; A transmission mechanism (4) is used to transmit the power strip to the pin insertion mechanism (1), the biting mechanism (2) and the fixing mechanism (3), and to unload the processed power strip; A loading mechanism (5) is used to load the pin header onto the pin insertion mechanism (1) and to load the plug header onto the transmission mechanism (4); It also includes a driving cylinder (11), the pin insertion mechanism (1) includes a clamping assembly (12) for clamping and transmitting the pins, the fixing mechanism (3) includes a fixing assembly (31) for transmitting the plug after the texture processing, and the driving cylinder (11) is used to drive the clamping assembly (12) and the fixing assembly (31) to move; The invention also comprises a driving motor (13), a cam (131) arranged on a rotating shaft of the driving motor (13), a rotatably arranged transmission rod (132) and a slidably arranged push block (133), wherein the cam (131) is provided with a plurality of protrusions (1311) and recesses (1312) in one-to-one correspondence, and the protrusions (1311) and recesses (1312) are symmetrically arranged about the rotating shaft of the cam (131), so that the diameter of the cam (131) is always within a range of a preset transmission diameter threshold value, and the transmission rod (132) is rotatably arranged on the cam (131). At least two clamping rods (134) are provided on the movable rod (132), the two clamping rods (134) are clamped on the cam (131), and the connecting line of the ends of the two clamping rods (134) clamping the cam (131) passes through the center of the cam (131), and a transmission block (135) is rotatably provided on the transmission rod (132), and the transmission block (135) is used to be rotatably connected with the push block (133), so that the push block (133) pushes the clamping assembly (12) and the fixing assembly (31) to move.

2. A pin insertion machine according to claim 1, characterized in that: include: A pressure detection module (6) is arranged on the transmission mechanism (4) to detect the pressure exerted on the power strip, obtain pressure detection data and output it; The data processing module (61) receives the pressure detection data, performs calculation processing to obtain a processing signal, and outputs the processed signal to the transmission mechanism (4) for correction.

3. A pin insertion calibration method for a pin insertion machine, using the pin insertion machine according to claim 2, characterized in that: include: The pressure detection data includes pressure magnitude data and pressure coordinate data; Determine the offset direction data through the pressure coordinate data, the pressure magnitude data and a preset offset threshold; Determining the offset correction data by using the offset direction data, the pressure magnitude data and a preset offset correction threshold; The processing signal is determined by the pressure coordinate data and the offset correction data and outputted.

4. The pin insertion correction method of a pin insertion machine according to claim 3, characterized in that: include: The pressure coordinate data includes back-end coordinate data, acquisition timing data and drive phase data, and the processing signal includes a skip signal; Determine the interference pressure data through the pressure magnitude data and the rear end coordinate data; Determine the conflict pressure change data by using the conflict pressure data and the timing data; Determining driving state data by using the timing data, the driving stage data and a preset driving stage threshold; Determine misalignment data by using the interference pressure change data, the driving state data and a preset driving pressure threshold; The skip signal is determined by the misaligned data and the back-end coordinate data and outputted.

5. The pin insertion correction method of a pin insertion machine according to claim 4, characterized in that: include: The pressure coordinate data includes lateral coordinate data; Determine offset pressure data by using the pressure magnitude data and the lateral coordinate data; Determine contact phase data and insertion phase data through the driving state data; Determine offset interference data by using the contact phase data and the interference pressure change data; Determine offset pressure change data by using the timing data, the offset interference data, the insertion phase data, the interference pressure change data, and the offset pressure data; The offset correction data is determined by the offset pressure change data, the offset interference data, a preset interference offset threshold and the offset correction threshold.

6. A pin insertion correction method for a pin insertion machine according to claim 5, characterized in that: include: The processing signal includes a mechanism deviation warning signal; Determining a normal insertion signal through the contact phase data, the resistance pressure change data and a preset normal pressure threshold; Determine torsional pressure change data by using the normal insertion signal, the offset pressure data, and the timing data; The mechanism deviation warning signal is determined and outputted based on the torsional pressure change data and a preset torsional abnormality threshold.

7. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes a pin insertion correction method for a pin insertion machine as claimed in any one of claims 3 to 6.

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