Pin solution method

Abstract

The invention relates to the technical field of Pin solution, in particular to a Pin solution method. The Pin solving method comprises the following steps that a material plate is positioned after being fed to a workbench, and a cover plate is arranged above the material plate; the moving mechanism drives the Pin solving mechanism to move to a Pin-free area, the servo motor controls the Pin solving mechanism to press downwards so as to obtain the height value between the initial position of the Pin solving mechanism and the cover plate, and the height value is recorded as a first moving distance; the servo motor controls the Pin solving mechanism to ascend, the moving mechanism drives the Pin solving mechanism to move to the area where the Pin is located, the servo motor controls the Pin solving mechanism to press downwards at first preset pressure, if the pressing depth when the Pin solving mechanism reaches rated pressure is smaller than the sum of the first moving distance and the preset depth, it is judged that the Pin exists in the Pin hole, and if the pressing depth is smaller than the sum of the first moving distance and the preset depth, it is judged that the Pin exists in the Pin hole; the servo motor controls the Pin removal mechanism to press down at a second preset pressure, so that the Pin needle is ejected out of the Pin hole to complete Pin removal, and the second preset pressure is larger than the first preset pressure; and the above steps are circulated until Pin solution of all the Pin needles on the material plate is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of pin unpinning, and in particular to a pin unpinning method. Background Art

[0002] The Pin-Lam line production board is made of multiple layers of copper foil hot-pressed. During the pressing process, Pin pins are usually used to position the layers to improve the quality of the finished circuit board. After the pressing is completed, the Pin pins need to be removed, and the de-pinning machine is the equipment that separates the Pin pins from the Pin-Lam line production board.

[0003] Traditional pin removal machines are mostly driven by hydraulic equipment, that is, the pin pins are ejected hydraulically. However, hydraulic equipment usually cannot accurately control the pressure when ejecting the pin pins, which can easily cause the risk of pin breakage and damage to the Pin-Lam line production board. Summary of the invention

[0004] The purpose of the present invention is to propose a Pin unpinning method, aiming to solve the technical problem that the existing Pin unpinning machine is driven by hydraulic equipment, cannot control the pressure when ejecting the Pin pin, and is prone to breakage of the Pin and damage to the Pin-Lam line production board.

[0005] To achieve the above object, the present invention proposes a Pinning method, comprising the following steps: S1. After the material plate is loaded onto the workbench, it is positioned, and the cover plate is placed on top of the material plate. The pressing mechanism presses the material plate and the cover plate tightly. The material plate contains multiple pins, and the cover plate is provided with through holes at the positions where the pins are located; S2. The moving mechanism drives the unpinning mechanism to move to the pin-free area, and the servo motor controls the unpinning mechanism to press down with a first preset pressure to obtain the height value between the initial position of the unpinning mechanism and the cover plate, which is recorded as the first moving distance; S3. The servo motor controls the release mechanism to rise, and the moving mechanism drives the release mechanism to move to the area where the pin is located. The servo motor controls the release mechanism to press down with a first preset pressure: If the pressing depth of the release mechanism when it reaches the rated pressure is less than or equal to the first moving distance, the release mechanism alarms; If the pressing depth of the unpinning mechanism is ≥ the first moving distance + the preset depth, it is determined that there is no pin in the pin hole, the unpinning mechanism alarms, the servo motor controls the unpinning mechanism to rise, and the moving mechanism drives the unpinning mechanism to move to the area where the next pin is located; If the pressing depth of the unpinning mechanism when reaching the rated pressure is less than the first moving distance + the preset depth, it is determined that there is a pin in the pin hole, and the servo motor controls the unpinning mechanism to press down at the second preset pressure to push the pin out of the pin hole to complete the unpinning, wherein the second preset pressure is greater than the first preset pressure; S4. Repeat step S3 until all the pins on the material board are unpinned.

[0006] Preferably, the release mechanism includes a mounting seat, a sleeve, a transmission mechanism, a pressure head, an ejector mounting block and an ejector, the servo motor is arranged on the mounting seat, and the output end of the servo motor is connected to the pressure head through the transmission mechanism, the mounting seat is movably provided with a sleeve, a movable channel is provided in the sleeve, the ejector mounting block is arranged in the movable channel, the end of the pressure head extends into the movable channel and abuts against the ejector mounting block, the ejector is arranged on the ejector mounting block, and the end of the ejector is movably inserted into the bottom end of the sleeve, so that: When "the servo motor controls the release mechanism to press down with the first preset pressure or the second preset pressure" in step S2 or S3, the servo motor drives the pressure head to move downward through the transmission mechanism, thereby driving the ejector mounting block and the ejector to move downward synchronously, so that the length of the ejector extending from the sleeve gradually increases.

[0007] Preferably, an air inlet channel is further provided on one side of the sleeve, one end of the air inlet channel is connected to the movable channel, and the other end thereof is connected to the air supply device, a first driving member is provided on one side of the mounting seat, and an output end of the first driving member is connected to the mounting plate at the top end of the sleeve, so that: When "the length of the ejector pin extending from the sleeve gradually increases" in step S2 or S3, the air supply device supplies air from the air inlet channel to the movable channel, driving the ejector mounting block and the ejector pin to move upward, and at the same time, the first driving member drives the mounting plate and the sleeve to move downward, so that the length of the ejector pin extending from the sleeve gradually decreases.

[0008] Preferably, after determining in step S3 that there is a pin in the pin hole, the servo motor first controls the pin release mechanism to rise to a preset height, and then controls the pin release mechanism to press down to release the pin in the pin hole.

[0009] Preferably, the first preset pressure in step S2 is 4000N, the second preset pressure in step S3 is 8000N; and the preset depth in step S3 is 10mm.

[0010] Preferably, before each pin is released, the integrity of the pin is firstly detected by the ejector detection mechanism.

[0011] Preferably, the pin-free area in step S2 is the midpoint of the cover plate.

[0012] Preferably, in step S1, the material plate is positioned on the workbench by a plurality of positioning mechanisms, the positioning mechanisms comprising positioning pins and a second driving member, the second driving member drives the positioning pins to rise along the workbench so that the positioning pins are inserted into the positioning holes of the material plate to complete the positioning.

[0013] Preferably, in step S1, the cover plate and the material plate are pressed simultaneously by a plurality of pressing mechanisms, the pressing mechanisms include a pressing member and a third driving member, and the third driving member drives the pressing member downward to press the cover plate and the material plate onto the workbench.

[0014] Preferably, the moving mechanism includes an X-axis moving component and a Y-axis moving component, the Y-axis moving component is arranged on the X-axis moving component, the X-axis moving component drives the material plate to move along the X-axis direction, and the Y-axis moving component drives the material plate to move along the Y-axis direction.

[0015] The pin undoing method disclosed in the present invention has the following beneficial effects: providing a new pin undoing method with the advantages of high detection efficiency and relatively accurate detection results. The position of the pin hole is detected by the flexible control of the servo motor. Compared with the traditional hydraulic drive, the pressure of the pin undoing mechanism when it is pressed down can be adjusted more flexibly. Before it is determined that there is no pin in the pin hole, a smaller first preset pressure is used, which can prevent the pin of the pin undoing mechanism from bending or breaking due to excessive pressure, and also avoid damage to the cover plate caused by the incorrect downward pressure of the pin undoing mechanism; when there is no need to undo the pin, the output force of the servo motor is adjusted to be smaller, which is more energy-saving. When it is determined that there is a pin in the pin hole, the servo motor will push the pin out of the pin hole with a larger second preset pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of each mechanism in the Pin-unlocking method of the present invention; Figure 2 It is a structural schematic diagram of each mechanism in the Pin-unlocking method of the present invention from another angle; Figure 3 It is a structural schematic diagram of each mechanism in the Pin-unlocking method of the present invention from another angle; Figure 4 It is a structural schematic diagram of the servo motor and the unpinning mechanism in the unpinning method of the present invention; Figure 5It is a structural schematic diagram of the material plate and the cover plate in the de-pinning method of the present invention; Figure 6 It is a structural schematic diagram of the material pressing mechanism in the Pin-unwinding method of the present invention; Figure 7 It is a structural schematic diagram of the positioning mechanism in the Pin unblocking method of the present invention.

[0018] In the accompanying drawings: 1-material plate, 11-Pin hole, 2-workbench, 3-cover plate, 31-through hole, 4-pressing mechanism, 41-pressing member, 42-third driving member, 5-moving mechanism, 51-X-axis moving assembly, 52-Y-axis moving assembly, 6-Pin release mechanism, 61-mounting seat, 62-sleeve, 621-active channel, 622-inlet channel, 623-mounting plate, 63-transmission mechanism, 64-pressure head, 65-thimble mounting block, 66-thimble, 67-first driving member, 7-servo motor, 8-thimble detection mechanism, 9-positioning mechanism, 91-positioning pin, 92-second driving member.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] 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.

[0021] It should be noted that if a directional indication is involved in the embodiment of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] like Figures 1 to 7As shown, a method for de-pinning includes the following steps: S1. The material plate 1 is loaded onto the workbench 2 and positioned, and the cover plate 3 is placed on the material plate 1. The pressing mechanism 4 presses the material plate 1 and the cover plate 3 tightly. The material plate 1 contains a plurality of pins, and the cover plate 3 is provided with through holes 31 at the positions where the pins are located; S2. The moving mechanism 5 drives the unpinning mechanism 6 to move to the pin-free area, and the servo motor 7 controls the unpinning mechanism 6 to press down with a first preset pressure to obtain the height value between the initial position of the unpinning mechanism 6 and the cover plate 3, which is recorded as the first moving distance; S3. The servo motor 7 controls the release mechanism 6 to rise, and the moving mechanism 5 drives the release mechanism 6 to move to the area where the pin is located. The servo motor 7 controls the release mechanism 6 to press down with a first preset pressure: If the pressing depth of the unpinning mechanism 6 when reaching the rated pressure is less than or equal to the first moving distance, the unpinning mechanism 6 will alarm; If the pressing depth of the unpinning mechanism 6 is ≥ the first moving distance + the preset depth, it is determined that there is no pin in the pin hole 11, the unpinning mechanism 6 alarms, the servo motor 7 controls the unpinning mechanism 6 to rise, and the moving mechanism 5 drives the unpinning mechanism 6 to move to the area where the next pin is located; If the pressing depth of the unpinning mechanism 6 when reaching the rated pressure is less than the first moving distance + the preset depth, it is determined that there is a pin in the pin hole 11, and the servo motor 7 controls the unpinning mechanism 6 to press down at the second preset pressure to push the pin out of the pin hole 11 to complete the unpinning, wherein the second preset pressure is greater than the first preset pressure; S4. Repeat step S3 until all the pins on the material board 1 are unpinned.

[0024] The solution's unpinning method includes the following steps: The material plate 1 (which can be a plate produced by the Pin-Lam line) enters the de-pinning process from the previous process, is loaded onto the workbench 2 for positioning, and the cover plate 3 is covered on the top of the material plate 1 through the conveying mechanism, and then the pressing mechanism 4 descends to compact the cover plate 3 and the material plate 1, and exhausts the air between the cover plate 3 and the material plate 1, and the material plate 1 is fixed, and then the (X-axis and Y-axis) moving mechanism 5 drives the de-pinning mechanism 6 to move to the area without Pin pins, and then the servo motor 7 drives the de-pinning mechanism 6 to press down along the Z-axis with a first preset pressure to make the de-pinning mechanism 6 move to the area without Pin pins. The in mechanism 6 is pressed down and hits the top surface of the cover plate 3, and the height value from the initial position of the unpinning mechanism 6 to the cover plate 3 when it is not lowered is obtained (this is the first moving distance a), and then the servo motor 7 drives the unpinning mechanism 6 to rise and reset, and then the moving mechanism 5 drives the unpinning mechanism 6 to be positioned above the first Pin hole 11 to be unpinned. Here, the moving position can be determined by manually inputting the positioning coordinates of the first Pin hole 11, or the position of the first Pin hole 11 can be identified by the visual recognition mechanism, and then the controller sends a signal to make the moving mechanism 5 automatically drive the unpinning mechanism 6 to move, and then the servo motor 7 drives the unpinning mechanism 6 to press down along the Z axis with the first preset pressure again, and then the unpinning mechanism 6 will reach the rated pressure after hitting the object when it is pressed down. If the unpinning mechanism 6 is not aligned with the Pin hole 11, the pressing depth of the unpinning mechanism 6 will reach the rated pressure before reaching the first moving distance a (that is, the height value between the initial position and the cover plate), and at this time, the unpinning mechanism 6 immediately alarms, and then if the unpinning mechanism 6 is aligned with the Pin hole 11, there are two situations: 1 .There is no Pin in the Pin hole 11. At this time, the servo motor 7 drives the Pin releasing mechanism 6 to continue pressing down. After the pressing depth of the Pin releasing mechanism 6 reaches the first moving distance a, it can still extend into the Pin hole 11 through the through hole 31 of the cover plate 3 and continue pressing down. When the preset depth is exceeded, it is determined that there is no Pin in the Pin hole 11, and the work is stopped immediately. After the alarm is sounded, personnel will check to prevent damage to the steel plate below. The servo motor 7 then controls the Pin releasing mechanism 6 to rise, and the moving mechanism 5 drives the Pin releasing mechanism 6 to move to the area where the next Pin is located. 2. There is a Pin in the Pin hole 11. At this time, the servo motor 7 drives the Pin unwinding mechanism 6 to continue pressing down. The pressing depth of the Pin unwinding mechanism 6 reaches the first moving distance a and then extends into the Pin hole 11. When the preset depth is not reached, the Pin will be pushed against the Pin, that is, the rated pressure is reached. It is judged that the Pin hole 11 needs to be unpinned. Then the servo motor 7 unpins downward at the second preset pressure and unpins the Pin within the set number of times. The released Pin falls out from under the Pin hole 11. Then the servo motor 7 controls the Pin unwinding mechanism 6 to rise, and the moving mechanism 5 drives the Pin unwinding mechanism 6 to position above the second Pin hole 11 to be unpinned. In this cycle, all the Pins on the material plate 1 are unpinned.

[0025] In the above-mentioned unpinning method, the moving mechanism 5 can drive the unpinning mechanism 6 to move to each position on the material plate 1 that needs to be unpinned. This solution uses a servo motor 7 to move up and down through the unpinning mechanism 6. Compared with the traditional hydraulic drive, this solution can more flexibly adjust the pressure of the unpinning mechanism 6 when it is pressed down. Before judging that there is no pin in the pin hole 11, a smaller first preset pressure is used. On the one hand, it can prevent the ejector pin 66 of the unpinning mechanism 6 from bending or breaking due to excessive pressure, and also avoid the damage of the cover plate 3 caused by the wrong downward pressure of the unpinning mechanism 6; on the other hand, when unpinning is not needed, the output force of the servo motor 7 is adjusted to be smaller, which is more energy-saving. When it is judged that there is a pin in the pin hole 11, the servo motor 7 will eject the pin in the pin hole 11 with a larger second preset pressure.

[0026] In summary, this solution provides a new type of Pin undoing method with faster detection efficiency and more accurate detection results. The position of the Pin hole 11 is detected through the flexible control of the servo motor 7 to ensure that the force is applied only when there is a Pin that needs to be released in the Pin hole 11 to prevent the Pin from being damaged. The above-mentioned Pin undoing method can also be used to perform a secondary detection to see if there is a Pin in the Pin hole 11 to prevent the Pin undoing mechanism 6 from extending excessively and damaging the steel plate and products on the workbench 2.

[0027] Further, the release mechanism 6 includes a mounting seat 61, a sleeve 62, a transmission mechanism 63, a pressure head 64, an ejector mounting block 65 and an ejector 66. The servo motor 7 is arranged on the mounting seat 61, and the output end of the servo motor 7 is connected to the pressure head 64 through the transmission mechanism 63. The mounting seat 61 is movably provided with a sleeve 62, and a movable channel 621 is provided in the sleeve 62. The ejector mounting block 65 is arranged in the movable channel 621. The end of the pressure head 64 extends into the movable channel 621 and abuts against the ejector mounting block 65. The ejector 66 is arranged on the ejector mounting block 65, and the end of the ejector 66 is movably inserted into the bottom end of the sleeve 62, so that: like Figure 4 As shown, in step S2 or S3, when "the servo motor 7 controls the release mechanism 6 to press down with the first preset pressure or the second preset pressure", the servo motor 7 drives the pressure head 64 to move downward through the transmission mechanism 63, thereby driving the ejector mounting block 65 and the ejector 66 to move downward synchronously, so that the length of the ejector 66 extending from the sleeve 62 gradually increases.

[0028] In this embodiment, the servo motor 7 uses a screw structure as a transmission mechanism 63 to convert the rotational output of the servo motor 7 into a linear motion to drive the pressure head 64 to move downward. Since the pressure head 64 is in contact with the ejector mounting block 65, the pressure head 64 can drive the ejector mounting block 65 and the ejector 66 to move downward synchronously when it moves downward, so that the ejector 66 extends a long distance from the sleeve 62, and the ejector 66 is used to push the pin to complete the above-mentioned detection process and pin removal process.

[0029] In other embodiments, the transmission mechanism 63 may also select other commonly used transmission structures such as a rack and pinion mechanism, a worm gear mechanism, etc., and be adaptively adjusted in different usage scenarios.

[0030] Furthermore, an air inlet channel 622 is provided on one side of the sleeve 62, one end of the air inlet channel 622 is communicated with the movable channel 621, and the other end thereof is communicated with the air supply device. A first driving member 67 is provided on one side of the mounting seat 61, and an output end of the first driving member 67 is connected to a mounting plate 623 at the top end of the sleeve 62, so that: When "the length of the ejector pin 66 extending from the sleeve 62 gradually increases" in step S2 or S3, the air supply device supplies air from the air inlet channel 622 to the movable channel 621, driving the ejector mounting block 65 and the ejector pin 66 to move upward, and at the same time, the first driving member 67 drives the mounting plate 623 and the sleeve 62 to move downward, so that the length of the ejector pin 66 extending from the sleeve 62 gradually decreases.

[0031] In the above structure, unpinning is mainly achieved by ejecting the ejector pin 66. However, when the ejection length of the ejector pin 66 is too long, the ejection under a greater pressure may easily cause the ejector pin 66 to bend and deform.

[0032] In order to solve the above problem, in the present solution, the sleeve 62 outside the ejector pin 66 is also designed to be an independently movable structure. When the ejector pin 66 is extended for a long distance, the sleeve 62 outside it is also driven by the first driving member 67 (which can be a cylinder) to drop a certain distance, so that the length of the ejector pin 66 relative to the sleeve 62 is not too large. When the ejector pin 66 is subjected to a large ejection pressure, the ejector pin 66 is not easily bent or deformed under the protection of the external sleeve 62.

[0033] In this embodiment, the retraction of the ejector pin 66 is controlled by an external air supply device (such as an air pump). Since the air inlet channel 622 is connected to the movable channel 621, the lower end of the pressure head 64 is in close contact with the inner wall of the sleeve 62 like a piston. Therefore, when the air supply device passes from the air inlet channel 622 into the movable channel 621, the compressed gas will push up the ejector pin mounting block 65 and the pressure head 64, and the ejector pin 66 will move upward and retract a certain distance.

[0034] Furthermore, after determining in step S3 that there is a pin in the pin hole 11 , the servo motor 7 first controls the pin release mechanism 6 to rise to a preset height, and then controls the pin release mechanism 6 to press down to release the pin in the pin hole 11 .

[0035] In this embodiment, in order to complete the unpinning more quickly, when it is determined that there is a pin that needs to be unpinned in the pin hole 11, the servo motor 7 first drives the unpinning mechanism 6 to rise a certain distance (which can be 5 mm in actual operation), and then drives the unpinning mechanism 6 to fall quickly with a second preset pressure, so that the ejector pin 66 of the unpinning structure quickly hits the pin to achieve rapid unpinning.

[0036] Of course, in other embodiments, the servo motor 7 can also choose to make the unpinning mechanism 6 fall slowly without rising, and the ejector pin 66 slowly presses down the pin pin to achieve unpinning.

[0037] Furthermore, the first preset pressure in step S2 is 4000N, the second preset pressure in step S3 is 8000N; and the preset depth in step S3 is 10mm.

[0038] The first preset pressure can be 4000N in actual operation, which is a relatively small starting pressure for the servo motor 7 to overcome the friction of the transmission chain. Under this pressure condition, even if the unpinning mechanism 6 touches the top of the cover plate 3, it will not damage the cover plate 3 or the ejector pin 66. The second preset pressure can be 8000N in actual operation. Since unpinning is required, this pressure is more suitable and can better complete the unpinning. In other embodiments, the second preset pressure can be appropriately increased or decreased.

[0039] When determining whether there is a pin in the pin hole 11, the setting of the preset depth is relatively important. Usually, the preset depth in actual operation is 10 mm, which can also be appropriately increased or decreased to 9 mm or 12 mm.

[0040] Furthermore, before each pin is released, the pin detection mechanism 8 first detects the integrity of the pin 66. In order to ensure the efficiency of pin removal, it is necessary to confirm the integrity of the pin 66 in a timely manner. Therefore, the present embodiment is provided with a pin detection mechanism 8, which can detect in real time whether the pin 66 is bent or broken, which helps to ensure the smooth progress of the pin removal operation and reduce the occurrence rate of faults.

[0041] Furthermore, the pin-free area in step S2 is the midpoint of the cover plate 3. Since the position of the pins on the material plate 1 changes for each batch, the pin holes 11 and pins are never set at the center of the material plate 1, and since the positions of the cover plate 3 and the material plate 1 are completely corresponding, the through hole 31 is never set at the center of the cover plate 3, so that the height value between the initial position of the unpinning mechanism 6 and the cover plate 3 can always be obtained.

[0042] Furthermore, in step S1, the material plate 1 is positioned on the workbench 2 by means of a plurality of positioning mechanisms 9, the positioning mechanism 9 comprising a positioning pin 91 and a second driving member 92, the second driving member 92 drives the positioning pin 91 to rise along the workbench 2 so that the positioning pin 91 is inserted into the positioning hole of the material plate 1 to complete the positioning.

[0043] The material plate 1 is automatically conveyed to the workbench 2 by the conveyor line, and then the material plate 1 is positioned by the positioning mechanism 9 to prevent it from shifting in the subsequent process. The workbench 2 is usually provided with multiple positioning mechanisms 9, and the second driving member 92 of each positioning mechanism 9 is kept synchronous. The second driving member 92 drives the positioning pin 91 to rise along the workbench 2 and insert into the positioning hole of the material plate 1 to complete the positioning. The positioning pin 91 can be in a conical shape, which can be better inserted into the positioning hole of the material plate 1.

[0044] Furthermore, in step S1 , the cover plate 3 and the material plate 1 are simultaneously pressed by a plurality of pressing mechanisms 4 , the pressing mechanisms 4 include a pressing member 41 and a third driving member 42 , and the third driving member 42 drives the pressing member 41 downward to press the cover plate 3 and the material plate 1 onto the workbench 2 .

[0045] After the material plate 1 is positioned, a clamping mechanism is required to clamp the material and the cover plate 3 onto the workbench 2, so that the material plate 1 can be accurately positioned and fixed. The third driving member 42 of the clamping device drives the clamping member 41 to press down, hold the cover plate 3, and clamp the cover plate 3 and the material plate 1 onto the workbench 2, which is convenient for the subsequent unpinning process. The first driving member 67, the second driving member 92 and the third driving member 42 can all be cylinders.

[0046] Furthermore, the moving mechanism 5 includes an X-axis moving component 51 and a Y-axis moving component 52. The Y-axis moving component 52 is arranged on the X-axis moving component 51. The X-axis moving component 51 drives the material plate 1 to move along the X-axis direction, and the Y-axis moving component 52 drives the material plate 1 to move along the Y-axis direction.

[0047] The moving structure in this embodiment includes an X-axis moving assembly 51 and a Y-axis moving assembly 52, so that the pin release mechanism 6 can move freely along the X-axis and the Y-axis in addition to being able to move freely along the Z-axis driven by the servo motor 7, and the pin release mechanism 6 can quickly move to the area where the pin is located. The X-axis moving assembly 51 and the Y-axis moving assembly 52 can be specifically composed of a motor, a gear, a rack, a slide rail, and a slider.

[0048] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A method for de-pinning, characterized in that: The steps include: S1. After the material plate (1) is loaded onto the workbench (2), it is positioned, and the cover plate (3) is placed above the material plate (1). The pressing mechanism (4) presses the material plate (1) and the cover plate (3) tightly, wherein the material plate (1) contains a plurality of pins, and the cover plate (3) is provided with through holes (31) at positions corresponding to the pins; S2. The moving mechanism (5) drives the pin release mechanism (6) to move to the pin-free area, and the servo motor (7) controls the pin release mechanism (6) to press down with a first preset pressure to obtain a height value between the initial position of the pin release mechanism (6) and the cover plate (3), which is recorded as a first moving distance; S3. The servo motor (7) controls the release mechanism (6) to rise, the moving mechanism (5) drives the release mechanism (6) to move to the area where the pin is located, and the servo motor (7) controls the release mechanism (6) to press down with a first preset pressure: If the pressing depth of the release mechanism (6) when reaching the rated pressure is less than or equal to the first moving distance, the release mechanism (6) alarms; If the pressing depth of the pin release mechanism (6) is greater than or equal to the first moving distance + the preset depth, it is determined that there is no pin in the pin hole (11), the pin release mechanism (6) alarms, the servo motor (7) controls the pin release mechanism (6) to rise, and the moving mechanism (5) drives the pin release mechanism (6) to move to the area where the next pin is located; If the pressing depth of the pin release mechanism (6) when reaching the rated pressure is less than the first moving distance + the preset depth, it is determined that there is a pin in the pin hole (11), and the servo motor (7) controls the pin release mechanism (6) to press down at a second preset pressure to push the pin out of the pin hole (11) to complete the pin release, wherein the second preset pressure is greater than the first preset pressure; S4. Repeat step S3 until all the pins on the material board (1) are unpinned.

2. A method for de-pinning according to claim 1, characterized in that: The unpinning mechanism (6) comprises a mounting seat (61), a sleeve (62), a transmission mechanism (63), a pressure head (64), an ejector mounting block (65) and an ejector (66). The servo motor (7) is arranged on the mounting seat (61), and the output end of the servo motor (7) is connected to the pressure head (64) through the transmission mechanism (63). The mounting seat (61) is movably provided with a sleeve (62), and a movable channel (621) is provided in the sleeve (62). The ejector mounting block (65) is arranged in the movable channel (621). The end of the pressure head (64) extends into the movable channel (621) and abuts against the ejector mounting block (65). The ejector (66) is arranged on the ejector mounting block (65), and the end of the ejector (66) is movably inserted into the bottom end of the sleeve (62), so that: When "the servo motor (7) controls the release mechanism (6) to press downward at the first preset pressure or the second preset pressure" in step S2 or S3, the servo motor (7) drives the pressure head (64) to move downward through the transmission mechanism (63), thereby driving the ejector mounting block (65) and the ejector (66) to move downward synchronously, so that the length of the ejector (66) extending from the sleeve (62) gradually increases.

3. A method for de-pinning according to claim 2, characterized in that: An air inlet channel (622) is further provided on one side of the sleeve (62), one end of the air inlet channel (622) is in communication with the movable channel (621), and the other end thereof is in communication with the air supply device. A first driving member (67) is provided on one side of the mounting seat (61), and an output end of the first driving member (67) is connected to a mounting plate (623) at the top end of the sleeve (62), so that: When "the length of the ejector pin (66) extending from the sleeve (62) gradually increases" in step S2 or S3, the air supply device supplies air from the air inlet channel (622) into the movable channel (621), driving the ejector pin mounting block (65) and the ejector pin (66) to move upward, and at the same time, the first driving member (67) drives the mounting plate (623) and the sleeve (62) to move downward, so that the length of the ejector pin (66) extending from the sleeve (62) gradually decreases.

4. A method for de-pinning according to claim 1, characterized in that: After determining in step S3 that there is a pin in the pin hole (11), the servo motor (7) first controls the pin release mechanism (6) to rise to a preset height, and then controls the pin release mechanism (6) to press down to release the pin in the pin hole (11).

5. A method for de-pinning according to claim 1, characterized in that: The first preset pressure in step S2 is 4000N, and the second preset pressure in step S3 is 8000N; The preset depth in step S3 is 10 mm.

6. A method for de-pinning according to claim 2, characterized in that: Before each pin is released, the integrity of the ejector pin (66) is first detected by the ejector pin detection mechanism (8).

7. A method for de-pinning according to claim 1, characterized in that: The pin-free area in step S2 is the midpoint of the cover plate (3).

8. A method for de-pinning according to claim 1, characterized in that: In step S1, a material plate (1) is positioned on a workbench (2) by means of a plurality of positioning mechanisms (9). The positioning mechanisms (9) include positioning pins (91) and a second driving member (92). The second driving member (92) drives the positioning pins (91) to rise along the workbench (2) so that the positioning pins (91) are inserted into positioning holes of the material plate (1) to complete positioning.

9. A method for de-pinning according to claim 1, characterized in that: In step S1, the cover plate (3) and the material plate (1) are simultaneously pressed by a plurality of pressing mechanisms (4), wherein the pressing mechanism (4) comprises a pressing member (41) and a third driving member (42), and the third driving member (42) drives the pressing member (41) to press downward, so as to press the cover plate (3) and the material plate (1) onto the workbench (2).

10. A method for de-pinning according to claim 1, characterized in that: The moving mechanism (5) comprises an X-axis moving component (51) and a Y-axis moving component (52); the Y-axis moving component (52) is arranged on the X-axis moving component (51); the X-axis moving component (51) drives the material plate (1) to move along the X-axis direction; and the Y-axis moving component (52) drives the material plate (1) to move along the Y-axis direction.

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