Pin inserting mechanism and pin inserting method

Abstract

The invention provides a needle inserting mechanism and a needle inserting method. The needle inserting mechanism comprises a needle separating and feeding device, a visual guiding needle inserting device, a needle pressing and aligning device and an intelligent control system. The needle separating and feeding device orderly arranges the inserting needles through a vibration disc and a linear vibration table and conveys the inserting needles to a needle separating assembly, and one-by-one separation is achieved. The pin feeding assembly transfers the contact pins to a blanking pipe through a rotating air cylinder, a sliding table air cylinder and a clamping air cylinder. The visual guidance pin inserting device adopts an industrial camera and an annular light source to obtain position information of a pin hole in a plug board, and an intelligent control system plans an optimal inserting path according to the position information and controls a horizontal driving device and a vertical driving device to adjust the position of a pin inserting assembly for accurate inserting. The pressing needle aligning device ensures that the contact pins are completely pressed into the plugboard. According to the invention, high automation and intellectualization of the pin inserting process are realized, the pin inserting precision, efficiency and system stability are remarkably improved, and particularly, innovative design is adopted in the aspect of pin isolation, so that only one pin is separated each time, and the problem of multi-pin blockage is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic pin insertion machines, and particularly to a pin insertion mechanism and a pin insertion method. Background Art

[0002] The pin insertion operation, as a fundamental and crucial process, plays a decisive role in product performance and production efficiency. However, there are many problems with traditional pin insertion methods, making it difficult to meet the requirements of modern industrial production.

[0003] In the early stage, pin insertion processing mainly relied on manual operation. Operators had to focus on the arrangement, separation, and transportation of pins for a long time, with extremely high labor intensity. Moreover, manual operation was severely affected by subjective factors, and the pin insertion accuracy varied greatly, often resulting in situations such as deviation and incomplete insertion, making the product quality fluctuate significantly. At the same time, manual pin insertion was inefficient and difficult to meet the fast-paced requirements of large-scale production.

[0004] With the initial exploration of industrial automation, some simple mechanical devices emerged. However, these devices had rough structural designs and single functions. In the pin sorting and transportation links, the accuracy was poor, and pins were prone to chaos and blockage due to accumulation. Especially in the step of separating pins one by one, it mostly relied on simple structures such as cylinders. When running at high speed, it was unable to effectively isolate the pins, often resulting in multiple pins flowing into the subsequent process simultaneously. At the same time, there was a lack of effective visual guidance and path planning functions during the subsequent pin insertion process, making it difficult to accurately insert pins into the holes. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a pin insertion mechanism and a pin insertion method, which are used to solve the problems of low pin insertion efficiency and inability to effectively isolate pins one by one in the prior art.

[0006] To achieve the above purpose and other related purposes, the present invention provides the following technical solutions:

[0007] A pin insertion mechanism includes a pin separating and feeding device, a vision-guided pin insertion device, a pin pressing and alignment device, and an intelligent control system;

[0008] The pin separating and feeding device includes a vibrating disk for arranging pins in an orderly manner in the same direction, a linear vibrating table for receiving the pins arranged by the vibrating disk and transporting the pins along a set linear track, a pin separating component arranged at the end of the linear vibrating table for separating the pins transported by the linear vibrating table one by one, a sensor for detecting whether the pins on the pin separating component reach a preset position, and a pin feeding component for transferring the pins on the pin separating component to a blanking tube;

[0009] The visual guidance pin insertion device includes a horizontal driving device, a vertical driving device and a visual detection device arranged on the horizontal driving device, and a pin insertion assembly arranged on the vertical driving device;

[0010] The pin pressing and aligning device includes a bottom plate, a transfer device arranged on the bottom plate and used for carrying the insertion plate to be inserted with pins, a pin pressing device for pressing the pins downward and completely pressing the pins into the insertion plate, and a guiding assembly for providing guiding support for the pin pressing device during pin pressing;

[0011] The intelligent control system is electrically connected to the pin separating and feeding device, the visual guidance pin insertion device and the pin pressing and aligning device, and controls the coordinated operation of each device.

[0012] To implement the above technical solution, the vibrating bowl uses its own vibration characteristics to make the pins move continuously in the bowl. Through a specific track and structure, the pins are arranged in an orderly manner in the same direction and conveyed to the linear vibrating table; the linear vibrating table receives the pins from the vibrating bowl and conveys the pins forward along the set linear track through vibration until they reach the pin separating assembly; the pin separating assembly is arranged at the end of the linear vibrating table and separates the conveyed pins one by one to ensure that only one pin enters the subsequent process each time; the sensor is used to detect in real time whether the pin on the pin separating assembly reaches the preset position. When the pin reaches this position, the sensor transmits a signal to the intelligent control system, and the intelligent control system transfers the pin on the pin separating assembly to the blanking pipe through the pin feeding assembly to prepare for the subsequent pin insertion operation. The visual detection device captures the position information of the pin holes on the insertion plate, and through image processing and analysis by the intelligent control system, determines the center coordinates and shape characteristics of each jack. At the same time, the intelligent control system calculates the optimal insertion path according to the position information of the pin holes and controls the horizontal driving device and the vertical driving device to adjust the position of the pin insertion assembly; after the pin is initially inserted, the intelligent control system controls the transfer device to move the insertion plate from the pin insertion station to the pin pressing station, and then the pin pressing device presses the pin completely into the insertion plate to ensure that the pin is firmly fixed.

[0013] To implement the above technical solution, through the coordinated operation of the visual detection device and the intelligent control system, the shape and center coordinates of the jack can be accurately calculated, and the optimal pin insertion path can be planned. The horizontal driving device and the vertical driving device can accurately insert the pin into the jack according to the planned path, greatly improving the pin insertion accuracy and reducing the situations of pin deviation or incomplete insertion. The pin separating and feeding device realizes the automatic sorting, conveying and separation of the pins, can quickly and accurately convey the pins to the blanking pipe, provides continuous pin supply for the pin insertion operation, reduces manual intervention and improves work efficiency.

[0014] In an embodiment of the present invention, the pin separating assembly includes a pin guiding plate and pin separating plates arranged on both sides of the pin guiding plate and embedded in the pin guiding plate;

[0015] The middle part of the needle separating plate is arranged on the needle guiding plate through a rotating pin. A needle separating block extends from one end of the needle separating plate away from the needle guiding plate, and a spring is arranged between the other end of the needle separating plate and the needle guiding plate.

[0016] The two needle separating blocks can abut against each other under the pushing action of the spring and isolate the needles inserted on the needle guiding plate.

[0017] To achieve the above technical solution, under the pushing action of the spring, the needle separating blocks on the two needle separating plates abut against each other. When the needle reaches the position of the needle separating block, due to the blockage of the needle separating block, the needle is temporarily blocked from advancing; the needle feeding assembly will apply pressure to the needle separating block, forcing the needle separating block to move outward against the elastic force of the spring, opening the channel. After the needle passes through the gap between the needle separating blocks, due to the action of the spring, the needle separating block quickly returns to the closed state, preventing the next needle from passing through, realizing separation one by one, avoiding problems such as needle chaos and blockage that may be caused by multiple needles entering the subsequent process at the same time, and improving the accuracy and stability of the needle inserting process.

[0018] In an embodiment of the present invention, the needle feeding assembly includes a rotary cylinder, a slide cylinder arranged on the rotary cylinder, and a clamping cylinder arranged on the slide cylinder.

[0019] An air blowing pipe capable of aligning with the blanking pipe is arranged on the turntable of the rotary cylinder.

[0020] The clamping cylinder includes a cylinder body, a slide rail arranged vertically on the cylinder body, and two jaws slidably arranged on the slide rail.

[0021] The jaw includes a sliding part sliding in the slide rail, a clamping part for clamping the needle, and a connecting part connecting the sliding part and the clamping part.

[0022] When the two jaws abut against each other, a V-shaped gap located on both sides is formed between the two clamping parts, and the needle separating block is embedded in the V-shaped gap and is adapted to the shape of the V-shaped gap.

[0023] To implement the above technical solution, after the sensor sends a signal indicating that the pin has reached the preset position, first, the rotating cylinder turns the slider cylinder and the clamping cylinder as a whole towards the direction where the pin is located. After the rotation is in place, the slider cylinder is immediately activated and smoothly advances towards the pin. At the same time, the clamping cylinder also starts to act synchronously, and uses the jaws to firmly grasp the pin. After successfully grasping the pin, the slider cylinder quickly retracts according to the preset return path, and at the same time, the rotating cylinder adjusts the angle again according to the position of the blanking pipe. After the slider cylinder brings the pin to the accurate position above the blanking pipe, the clamping cylinder releases the clamping, and the pin falls into the blanking pipe under the action of gravity, completing a complete pin feeding process. And the air blowing pipe starts to work while the clamping cylinder grasps the pin, saving the time for separately aligning and blowing the air blowing pipe, making the entire pin feeding process more compact and efficient. With the assistance of air blowing, the pin can reach the next pin station from the blanking pipe faster, reducing the residence time of the pin during the transfer process and greatly increasing the number of pins fed per unit time. The adaptive design of the V-shaped gap and the pin separating block enables the jaws to accurately position and clamp the pin, ensuring the stability and accuracy of the pin during the clamping process and reducing the situation of the pin falling or being poorly clamped.

[0024] In an embodiment of the present invention, when the two jaws are separated from each other, the two needle separating plates are closed together, and the upper clamping part is embedded above the two needle separating blocks, and the lower clamping part is embedded below the two needle separating blocks;

[0025] When the two jaws are closed together, the two clamping parts simultaneously push against the two side needle separating blocks on both sides and cause the two needle separating blocks to move away from each other, thereby releasing the pin.

[0026] To implement the above technical solution, when the two jaws are separated from each other, the needle separating plates return to the natural closed state under the elastic force of the spring. When the jaws start to close, since the upper clamping part is exactly embedded above the two needle separating blocks and the lower clamping part is embedded below the two needle separating blocks, the clamping part is in close contact with the needle separating blocks, and at the same time, it pushes against the two side needle separating blocks on both sides. After being stressed, the needle separating blocks overcome the elastic force of the spring and rotate around the rotating pins, causing the two needle separating blocks to move away from each other. The originally isolated and fixed pin loses the block and smoothly enters the clamping range of the jaws and is accurately grasped. The opening and closing actions of the jaws are closely linked with the closing and separating actions of the needle separating plates. Through the ingenious design of the mechanical structure, automated coordinated operation is achieved.

[0027] In an embodiment of the present invention, the pin assembly includes a thimble device, a needle separating device located below the thimble device, and a needle feeding guide block disposed between the thimble device and the needle separating device;

[0028] The needle feeding guide block is provided with a guide pin hole penetrating through the upper and lower parts and at least one needle feeding hole communicating with the guide pin hole and used for receiving the pin in the blanking pipe;

[0029] The ejector device comprises an insertion needle cylinder and an insertion needle rod which is arranged on the output shaft of the insertion needle cylinder and can penetrate the guide needle hole.

[0030] To implement the above technical solution, after the needle feeding assembly transfers the pin to the blanking tube, the pin enters the pin feeding hole of the needle feeding guide block under the action of air blowing. The pin feeding hole is connected to the guide pin hole, and the pin enters the guide pin hole along the pin feeding hole to achieve the acceptance and preliminary positioning of the pin. The needle spacing device is located below the needle feeding guide block. When the pin has not reached the specified position or the pin is not needed, the needle spacing device is in a closed state to prevent the pin from accidentally falling. When the pin reaches the guide pin hole and the visually guided pin insertion device determines the pin position, the needle spacing device opens to provide a channel for the insertion of the pin. Subsequently, the output shaft of the pin cylinder drives the pin rod to move downward, and the pin rod passes through the guide pin hole to push the pin located in the guide pin hole downward, so that the pin passes through the channel opened by the needle spacing device and is inserted into the pin hole of the plug plate.

[0031] In one embodiment of the present invention, the needle spacing device includes a needle spacing cylinder, two needle blocking blocks arranged on the needle spacing cylinder and capable of closing or separating from each other, and a semicircular needle spacing tube arranged on the needle blocking blocks; the semicircular needle spacing tube includes a large diameter portion, a small diameter portion, a needle spacing portion that gradually transitions from the large diameter portion to the small diameter portion, and an introduction portion whose diameter is larger than the large diameter portion and gradually converges toward the large diameter portion.

[0032] To implement the above technical solution, when the needle falls from the needle guide hole of the needle guide block, it will first enter the introduction part of the semicircular needle spacer tube. The diameter of the introduction part is relatively large and gradually converges towards the large diameter part. This trumpet-shaped design can play a good guiding role; when the needle is not needed, the needle spacer cylinder drives the two needle blocking blocks to close together. At this time, the two semicircular needle spacer tubes are combined into a complete needle spacer channel. The needle falls on the needle spacer part. Since the needle spacer part gradually transitions from the large diameter part to the small diameter part, it can play a good positioning and supporting role for the needle. At the same time, the closed state of the needle blocking block prevents the needle from continuing to fall, and temporarily stores the needle in the semicircular needle spacer tube; when it is determined that the time for needle insertion has arrived, the intelligent control system will issue a command to activate the needle spacer cylinder and drive the two needle blocking blocks to separate from each other. And under the push of the ejector device, it falls smoothly along the small diameter part of the semicircular needle spacer tube and is inserted into the pinhole of the plug plate. The complete needle isolation channel formed when the two needle blocking blocks are closed together can stably store the pins temporarily to prevent the pins from shaking or falling while waiting for insertion, thereby ensuring the stability of the pin insertion process.

[0033] In one embodiment of the present invention, the horizontal driving device includes a linear motor, a slide seat slidably disposed on the linear motor, and a mounting plate disposed on the slide seat;

[0034] The vertical driving device includes a pneumatic slide table disposed on the mounting plate, and a vertical plate disposed on the pneumatic slide table. The vertical plate is successively provided with the thimble device, the needle feeding guide block, and the needle separating device from top to bottom;

[0035] The vision detection device includes a connecting frame disposed on the mounting plate, an industrial camera disposed on the connecting frame, and an annular light source disposed on the connecting frame and below the industrial camera.

[0036] To implement the above technical solution, the horizontal driving device is mainly responsible for moving the pin inserting assembly in the horizontal direction to accurately align the pins with the pin holes on the plug board; the vertical driving device is used to move the pin inserting assembly in the vertical direction; the vision detection device is used to obtain the position information of the pin holes on the plug board, providing a basis for the pin inserting path planning. The industrial camera is installed on the mounting plate through the connecting frame, and the annular light source is disposed below the industrial camera to provide uniform lighting conditions for the industrial camera. During the pin inserting process, the industrial camera takes pictures of the pin holes on the plug board, obtains the image information of the pin holes, and transmits these image data to the intelligent control system. The intelligent control system processes and analyzes the image data, calculates information such as the shape and center coordinates of the pin holes, and then plans the pin inserting path according to this information, controlling the actions of the horizontal driving device and the vertical driving device to enable the pins to be accurately inserted into the pin holes.

[0037] In an embodiment of the present invention, the transfer device includes two transfer motors arranged in parallel, a transfer table disposed on the transfer motors, and a plurality of positioning plates disposed on the transfer table and used for placing the plug boards to be inserted with pins;

[0038] The positioning plate is provided with a plug board limiting structure for restricting and positioning the plug board. The plug board limiting structure includes a limiting groove opened on the positioning plate and adapted to the plug board, a positioning pin disposed in the limiting groove and used for passing through the plug board, and a plurality of through pin holes;

[0039] The transfer table is provided with a slot located at the lower end of the pin hole;

[0040] The needle pressing device includes a fixing plate, a boosting cylinder disposed on the fixing plate, a needle pressing plate disposed on the output shaft of the boosting cylinder, a needle pressing block disposed at the lower end of the needle pressing plate, and a pressing block disposed on the bottom plate and opposite to the needle pressing block;

[0041] The guiding assembly includes a plurality of guiding columns disposed between the fixing plate and the bottom plate, and a guide sleeve disposed on the needle pressing plate and through which the guiding columns pass.

[0042] To implement the above technical solution, the main function of the transfer device is to transfer the socket boards to be inserted with pins between different workstations. A plurality of positioning plates are arranged on the transfer table, and the positioning plates are used to place the socket boards. The socket board is placed in the limiting groove of the positioning plate, and the shape of the limiting groove is adapted to the socket board, playing a preliminary constraining role. At the same time, the positioning pins are inserted into the socket board to further position the socket board and ensure the accurate position of the socket board during the transfer process. After the pin insertion is completed, the transfer device transfers the socket board to the pin pressing workstation, and then the boosting cylinder is started. Its output shaft pushes the pin pressing plate downward, and the pin pressing block at the lower end of the pin pressing plate moves downward accordingly. The socket board is placed above the pressing block, and the pin pressing block presses the pins downward. With the cooperation of the pressing block, the pins are completely pressed into the socket board. During the downward movement of the pin pressing plate, the guide sleeve slides along the guiding column to provide guidance for the movement of the pin pressing plate, prevent the pin pressing plate from shifting during the movement, ensure that the pin pressing block can accurately press the pins, and make the pins be vertically and stably pressed into the socket board.

[0043] In an embodiment of the present invention, multiple sets of linear tracks, needle separating assemblies, clamping cylinders, blanking pipes, and pin insertion assemblies are correspondingly arranged on the linear vibrating table.

[0044] To implement the above technical solution, the arrangement of multiple sets of linear tracks, needle separating assemblies, clamping cylinders, blanking pipes, and pin insertion assemblies on the linear vibrating table enables the pin insertion mechanism to process multiple pins simultaneously, greatly shortening the total pin insertion time, increasing the number of pins inserted per unit time, thus significantly improving the production efficiency and meeting the requirements of large-scale production.

[0045] In another embodiment of the present invention, a pin insertion method is provided, including the following steps:

[0046] S1, Place the socket board on the positioning plate of the transfer table, and the transfer table is at the loading workstation.

[0047] S2, The vibrating disk arranges the pins in an orderly manner and transports them to the linear vibrating table. The linear vibrating table transports the pins to the needle separating assembly. The needle separating assembly separates the pins one by one. After the sensor detects that the pins reach the preset position, it transmits a signal to the intelligent control system, and the intelligent control system controls the pin feeding assembly to transfer the pins to the blanking pipe.

[0048] S3, The air blowing pipe blows the pins in the blanking pipe into the pin feeding holes of the pin feeding guide block. The vision-guided pin insertion device obtains the position information of the pin holes on the socket board through an industrial camera, and the intelligent control system plans the pin insertion path according to the position information.

[0049] S4, The intelligent control system controls the horizontal driving device and the vertical driving device to adjust the position of the pin insertion assembly according to the pin insertion path, and inserts the pins into the socket board to a certain depth through the pin insertion assembly.

[0050] In S5, the intelligent control system controls the transfer device to move the transfer table from the pin insertion station to the pin pressing station, and activates the booster cylinder to push the pin pressing plate downward, so that the pin pressing block fully presses the inserted pins into the plug board.

[0051] In S6, after the pin pressing is completed, the intelligent control system controls the transfer device to retract the transfer table to the loading station and take out the plug board with inserted pins.

[0052] To implement the above technical solution, in the preparation stage S1: First, place the socket board on the positioning plate of the transfer table, and at this time, the transfer table is at the loading station. The socket board limiting structure on the positioning plate includes a limiting groove adapted to the socket board and a positioning pin passing through the socket board, which can accurately fix the position of the socket board and ensure the accuracy of subsequent pin insertion operations. Pin feeding and separation S2: Start the vibrating bowl. With its special vibrating structure and track design, the disordered pins are arranged in an orderly manner in the same direction and are conveyed to the linear vibrating table. The linear vibrating table drives the pins to move forward along the set linear track through continuous vibration until they reach the pin separating component. In the pin separating component, the pin separating plates are in contact with each other under the action of springs, and the pin separating blocks isolate the pins one by one. The sensor continuously monitors the position of the pins on the pin separating component. Once the pins reach the preset position, a signal is immediately sent to the intelligent control system. The intelligent control system then instructs the pin feeding component to act. The rotating cylinder, sliding table cylinder, and clamping cylinder in the pin feeding component cooperate. The rotating cylinder first rotates the clamping cylinder to a suitable angle, the sliding table cylinder adjusts the clamping cylinder to be close to the pin separating component, and the clamping cylinder accurately grabs the pins through specially designed jaws (when the jaws close, the clamping part pushes against the pin separating block to release the pins, and when separating, it closely fits with the pin separating block to fix the pins) and transfers them to the blanking pipe. Visual guidance and path planning S3: After the pins enter the blanking pipe, the air blowing pipe blows air to blow the pins into the pin feeding hole of the pin feeding guide block. At the same time, the visual pin guiding device comes into play. The industrial camera takes a clear image of the pin holes on the socket board under the uniform light provided by the annular light source and transmits the image data to the intelligent control system. The intelligent control system performs a series of preprocessing operations on the image, such as grayscale conversion, filtering, threshold segmentation, and morphological processing, accurately extracts the contour of the pin holes, and then combines the current position of the pins to plan a vertical insertion path to ensure that the pins can approach the pin holes along the optimal trajectory. Pin insertion S4: According to the planned pin insertion path, the intelligent control system drives the horizontal driving device and the vertical driving device to accurately adjust the position of the pin insertion component. The thimble device (the pin cylinder pushes the pin rod), the pin separating device (the pin separating cylinder controls the opening and closing of the pin blocking block and cooperates with the semi-circular pin separating pipe to guide and block the pins), and the pin feeding guide block in the pin insertion component work together to insert the pins into the socket board to a certain depth. Pin pressing operation S5: After the pins are inserted to a certain depth, the intelligent control system controls the transfer device to work. The transfer motor drives the transfer table to move from the pin insertion station to the pin pressing station. At this time, the pin pressing device starts, the booster cylinder pushes the pin pressing plate downward, and the pin pressing block at the lower end of the pin pressing plate cooperates with the pressing block on the bottom plate to apply sufficient pressure to the pins and press the pins completely into the socket board. Final stage S6: After the pin pressing is completed, the intelligent control system controls the transfer device again to make the transfer table return to the loading station to take out the socket board with inserted pins, completing a complete pin insertion process. After that, the above steps can be repeated for continuous production.

[0053] As described above, a pin insertion mechanism and a pin insertion method of the present invention have the following beneficial effects: The present invention adopts an innovative design of a needle separation component, including a needle guiding plate, needle separation plates embedded on both sides of the needle guiding plate, and a spring mechanism. The middle part of the needle separation plate is fixed on the needle guiding plate through a rotating pin, and the end extends out a needle separation block. The two needle separation blocks can abut against each other under the pushing action of the spring to ensure that only one pin can pass through each time. When the pin reaches the position of the needle separation block, the clamping cylinder pushes the needle separation block to move outward against the spring force, opening the channel. After the pin passes through, the needle separation block quickly returns to the closed state to prevent the next pin from entering in advance. By optimizing the design of the needle separation block, it is made smoother and more fluent during the opening and closing process, reducing jamming or blocking phenomena. In addition, the close cooperation between the needle separation component and the needle feeding component (such as the V-shaped gap of the clamping jaw and the matching design of the needle separation block) further improves the stability and reliability of the pin transmission. The position information of the pin holes on the insertion board is captured by a vision-guided pin insertion device (including an industrial camera and an annular light source), and image processing and analysis are carried out by an intelligent control system to determine the center coordinates and shape characteristics of each jack. According to this information, the optimal insertion path is calculated to ensure that the pin can be inserted vertically into the jack with extremely high precision. The entire pin insertion process realizes a high degree of automation, from the automatic sorting, conveying, separation of the pins to the final insertion, reducing manual intervention and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It shows a schematic structural diagram of the present invention.

[0055] Figure 2 It shows a schematic structural diagram of the needle separation and feeding device.

[0056] Figure 3 It shows a schematic structural diagram of the linear vibrating table and the needle separation component.

[0057] Figure 4 It shows a partial exploded state diagram of the needle separation component.

[0058] Figure 5 It shows a schematic structural diagram of the needle feeding component.

[0059] Figure 6 It shows a schematic structural diagram of the needle separation component and the clamping cylinder.

[0060] Figure 7 It shows a schematic structural diagram of the clamping cylinder.

[0061] Figure 8 It shows a schematic structural diagram of the clamping jaw.

[0062] Figure 9 It shows a schematic structural diagram of the sensor.

[0063] Figure 10Shown is a schematic structural view of a vision-guided pin insertion device.

[0064] Figure 11 Shown is another schematic structural view of a vision-guided pin insertion device.

[0065] Figure 12 Shown is a schematic structural view of a pin insertion assembly.

[0066] Figure 13 Shown is a cross-sectional view of a needle feeding guide block.

[0067] Figure 14 Shown is a schematic structural view of a semi-circular needle separating tube.

[0068] Figure 15 Shown is a schematic structural view of a vision detection device.

[0069] Figure 16 Shown is a schematic structural view of a needle pressing alignment device.

[0070] Figure 17 Shown is another schematic structural view of a needle pressing alignment device.

[0071] Figure 18 Shown is an exploded view of a transfer table and a positioning plate.

[0072] Element number description

[0073] 1. Needle separating and feeding device; 2. Vision-guided pin insertion device; 3. Needle pressing alignment device; 4. Pin; 5. Vibration bowl; 6. Linear vibration table; 7. Linear track; 8. Needle separating assembly; 9. Sensor; 10. Feeding pipe; 11. Bottom plate; 81. Needle guiding plate; 82. Needle separating plate; 83. Rotating pin; 821. Needle blocking block; 84. Spring; 12. Rotary cylinder; 13. Slide table cylinder; 14. Clamping cylinder; 15. Air blowing pipe; 141. Cylinder body; 142. Slide rail; 143. Claw; 1431. Sliding part; 1432. Clamping part; 1433. Connecting part; 16. V-shaped gap; 17. Needle feeding guide block; 171. Needle guiding hole; 172. Needle feeding hole; 18. Pin insertion cylinder; 19. Pin insertion rod; 20. Needle separating cylinder; 21. Needle blocking block; 22. Semi-circular needle separating tube; 221. Large diameter part; 222. Small diameter part; 223. Needle separating part; 224. Introducing part; 23. Linear motor; 24. Slide seat; 25. Mounting plate; 26. Pneumatic slide; 27. Vertical plate; 28. Connecting frame; 29. Industrial camera; 30. Ring light source; 31. Transfer motor; 32. Transfer table; 33. Positioning plate; 331. Limiting groove; 332. Positioning pin; 333. Insertion hole; 321. Slot; 34. Fixed plate; 35. Boosting cylinder; 36. Needle pressing plate; 37. Needle pressing block; 38. Pressing block; 39. Guide post; 40. Guide sleeve. Detailed implementation manners

[0074] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0075] Please refer to Figures 1 to 18 , the present invention provides a pin inserting mechanism, including: a pin separating and feeding device 1, a vision-guided pin inserting device 2, a pin pressing and aligning device 3, and an intelligent control system; the pin separating and feeding device 1 includes a vibrating disk 5 for arranging pins 4 in an orderly manner in the same direction, a linear vibrating table 6 for receiving the pins 4 arranged by the vibrating disk 5 and conveying the pins 4 along a set linear track 7, a pin separating assembly 8 arranged at the end of the linear vibrating table 6 for separating the pins 4 conveyed by the linear vibrating table 6 one by one, a sensor 9 for detecting whether the pins 4 on the pin separating assembly 8 reach a preset position, and a pin feeding assembly for transferring the pins 4 on the pin separating assembly 8 to a blanking pipe 10; the vision-guided pin inserting device 2 includes a horizontal driving device, a vertical driving device and a vision detection device arranged on the horizontal driving device, and a pin inserting assembly arranged on the vertical driving device; the pin pressing and aligning device 3 includes a bottom plate, a transfer device arranged on the bottom plate and used for carrying a plug board to be inserted with pins 4, a pin pressing device for pressing the pins 4 downward and completely pressing the pins 4 into the plug board, and a guiding assembly for providing guiding support for the pin pressing device during pin pressing; the intelligent control system is electrically connected to the pin separating and feeding device 1, the vision-guided pin inserting device 2 and the pin pressing and aligning device 3, and controls the coordinated operation of each device.

[0076] The vibrating bowl 5 utilizes its own vibration characteristics to make the pins 4 move continuously within the bowl. Through specific tracks and structures, the pins 4 are arranged orderly in the same direction and conveyed to the linear vibrating table 6; the linear vibrating table 6 receives the pins 4 from the vibrating bowl 5 and conveys the pins 4 forward along the set linear track 7 through vibration until they reach the pin separating assembly 8; the pin separating assembly 8 is arranged at the end of the linear vibrating table 6 to separate the conveyed pins 4 one by one to ensure that only one pin 4 enters the subsequent process each time; the sensor 9 is used to detect in real time whether the pins 4 on the pin separating assembly 8 reach the preset position. When the pins 4 reach this position, the sensor 9 transmits a signal to the intelligent control system, and the intelligent control system transfers the pins 4 on the pin separating assembly 8 to the blanking pipe 10 through the pin feeding assembly to prepare for the subsequent pinning operation. The vision detection device captures the position information of the pin holes on the plug board and performs image processing and analysis through the intelligent control system to determine the center coordinates and shape characteristics of each jack 333. At the same time, the intelligent control system calculates the optimal insertion path based on the position information of the pin holes and controls the horizontal driving device and the vertical driving device to adjust the position of the pinning assembly; after the pins 4 are initially inserted, the intelligent control system controls the transfer device to move the plug board from the pinning 4 station to the pin pressing station, and then the pin pressing device presses the pins 4 completely into the plug board to ensure that the pins 4 are firmly fixed.

[0077] Through the collaborative work of the vision detection device and the intelligent control system, the shape and center coordinates of the jack 333 can be accurately calculated, and the optimal pinning 4 path can be planned. The horizontal driving device and the vertical driving device can accurately insert the pins 4 into the jack 333 according to the planned path, greatly improving the accuracy of pinning 4 and reducing the situations of pin 4 deviation or incomplete insertion. The pin separating and feeding device 1 realizes the automatic sorting, conveying and separation of the pins 4, can quickly and accurately convey the pins 4 to the blanking pipe 10, provides a continuous supply of pins 4 for the pinning 4 operation, reduces manual intervention and improves work efficiency.

[0078] The pin separating assembly 8 includes a guide pin plate 81 and pin separating plates 82 arranged on both sides of the guide pin plate 81 and embedded in the guide pin plate 81; the middle part of the pin separating plate 82 is arranged on the guide pin plate 81 through a rotating pin 83, a pin separating block extends from the end of the pin separating plate 82 far away from the guide pin plate 81, and a spring 84 is arranged between the other end of the pin separating plate 82 and the guide pin plate 81; the two pin separating blocks can abut against each other under the pushing action of the spring 84 and isolate the pins 4 on the guide pin plate 81.

[0079] Under the pushing action of the spring 84, the needle separating blocks on the two needle separating plates 82 are in contact with each other. When the inserting needle 4 reaches the position of the needle separating block, the inserting needle 4 is temporarily blocked from advancing due to the blocking of the needle separating block. The needle feeding assembly will apply pressure to the needle separating block, forcing the needle separating block to move outward against the elastic force of the spring 84 to open the channel. After the inserting needle 4 passes through the gap between the needle separating blocks, due to the action of the spring 84, the needle separating block quickly returns to the closed state to prevent the next inserting needle 4 from passing through, realizing separation one by one, avoiding problems such as confusion and blockage of the inserting needles 4 that may be caused by multiple inserting needles 4 entering the subsequent process at the same time, and improving the accuracy and stability of the inserting needle 4 process.

[0080] The needle feeding assembly includes a rotary cylinder 12, a slide cylinder 13 arranged on the rotary cylinder 12, and a clamping cylinder 14 arranged on the slide cylinder 13; an air blowing pipe 15 capable of aligning with the blanking pipe 10 is arranged on the turntable of the rotary cylinder 12; the clamping cylinder 14 includes a cylinder body 141, a slide rail 142 vertically arranged on the cylinder body 141, and two clamping jaws 143 slidably arranged on the slide rail 142; the clamping jaw 143 includes a sliding part 1431 sliding in the slide rail 142, a clamping part 1432 for clamping the inserting needle 4, and a connecting part 1433 connecting the sliding part 1431 and the clamping part 1432; when the two clamping jaws 143 are in contact with each other, a V-shaped gap 16 located on both sides is formed between the two clamping parts 1432, and the needle separating block is embedded in the V-shaped gap 16 and is adapted to the shape of the V-shaped gap 16.

[0081] After the sensor 9 sends a signal that the inserting needle 4 has reached the preset position, first, the rotary cylinder 12 turns the slide cylinder 13 and the clamping cylinder 14 as a whole towards the direction where the inserting needle 4 is located. After turning in place, the slide cylinder 13 is immediately started and smoothly advances towards the inserting needle 4. At the same time, the clamping cylinder 14 also starts to act synchronously, and uses the clamping jaws 143 to firmly grasp the inserting needle 4. After successfully grasping the inserting needle 4, the slide cylinder 13 quickly retracts according to the preset return path, and at the same time, the rotary cylinder 12 adjusts the angle again according to the position of the blanking pipe 10. After the slide cylinder 13 brings the inserting needle 4 to the accurate position above the blanking pipe 10, the clamping cylinder 14 releases the clamping, and the inserting needle 4 falls into the blanking pipe 10 under the action of gravity, completing a complete needle feeding process. And the air blowing pipe 15 starts to work while the clamping cylinder 14 grasps the inserting needle 4, saving the time for separately aligning and blowing the air blowing pipe 15, making the whole needle feeding process more compact and efficient. The inserting needle 4 can reach the next inserting needle 4 station from the blanking pipe 10 faster with the assistance of air blowing, reducing the residence time of the inserting needle 4 during the transfer process and greatly increasing the number of needles fed per unit time. The matching design of the V-shaped gap 16 and the needle separating block enables the clamping jaws 143 to accurately position and clamp the inserting needle 4, ensuring the stability and accuracy of the inserting needle 4 during the clamping process and reducing the situation of the inserting needle 4 falling or being clamped insecurely.

[0082] When the two clamping jaws 143 are separated from each other, the two needle spacer plates 82 are closed together, and the upper clamping portion 1432 is embedded above the two needle spacer blocks, and the lower clamping portion 1432 is embedded below the two needle spacer blocks; when the two clamping jaws 143 are closed together, the two clamping portions 1432 simultaneously push the needle spacer blocks on both sides and make the two needle spacer blocks move away from each other, thereby releasing the pin 4.

[0083] When the two clamping jaws 143 are separated from each other, the needle spacer plate 82 returns to its natural closed state under the elastic force of the spring 84. When the clamping jaws 143 begin to close, the upper clamping portion 1432 is embedded in the upper part of the two needle spacer blocks, and the lower clamping portion 1432 is embedded in the lower part of the two needle spacer blocks. The clamping portion 1432 is in close contact with the needle spacer blocks and pushes against the needle spacer blocks on both sides. After the needle spacer blocks are subjected to force, they overcome the elastic force of the spring 84 and rotate around the rotating pin 83, so that the two needle spacer blocks move away from each other. The pin 4 that was originally isolated and fixed loses its obstruction and smoothly enters the clamping range of the clamping jaws 143 and is accurately grasped. The opening and closing action of the clamping jaws 143 is closely linked with the closing and separation action of the needle spacer plate 82. Through the ingenious design of the mechanical structure, the automatic coordinated operation is realized.

[0084] The needle insertion assembly includes a pin ejector device, a pin spacer device located below the pin ejector device, and a pin feed guide block 17 arranged between the pin ejector device and the pin spacer device; the pin feed guide block 17 is provided with a pin guide hole 171 that passes through from top to bottom, and at least one pin feed hole 172 that is connected to the pin guide hole 171 and is used to receive the pin 4 in the blanking tube 10; the pin ejector device includes a pin 4 cylinder, and a pin 4 rod that is arranged on the output shaft of the pin 4 cylinder and can pass through the pin guide hole 171.

[0085] After the needle feeding assembly transfers the pin 4 to the blanking tube 10, the pin 4 enters the pin feeding hole 172 of the pin feeding guide block 17 under the action of air blowing. The pin feeding hole 172 is connected with the guide pin hole 171, and the pin 4 enters the guide pin hole 171 along the pin feeding hole 172 to achieve the acceptance and preliminary positioning of the pin 4. The needle spacing device is located below the needle feeding guide block 17. When the pin 4 has not reached the specified position or the pin 4 is not needed, the needle spacing device is in a closed state to prevent the pin 4 from accidentally falling. When the pin 4 reaches the guide pin hole 171 and the visually guided pin device 2 determines the position of the pin 4, the needle spacing device opens to provide a channel for the insertion of the pin 4. Subsequently, the pin 4 cylinder output shaft drives the pin 4 rod to move downward, and the pin 4 rod passes through the guide pin hole 171, pushing the pin 4 located in the guide pin hole 171 downward, so that the pin 4 passes through the channel opened by the needle spacing device and is inserted into the pin hole of the plug plate.

[0086] The needle separating device includes a needle separating cylinder 20, two needle blocking blocks 21821 which are arranged on the needle separating cylinder 20 and can be closed or separated from each other, and a semi-circular needle separating tube 22 arranged on the needle blocking blocks 21821; the semi-circular needle separating tube 22 includes a large-diameter part 221, a small-diameter part 222, a needle separating part 223 which gradually transitions from the large-diameter part 221 to the small-diameter part 222, and an introduction part 224 with a diameter larger than that of the large-diameter part 221 and gradually converging towards the large-diameter part 221.

[0087] When the needle 4 drops from the needle guiding hole 171 of the needle feeding guide block 17, it will first enter the introduction part 224 of the semi-circular needle separating tube 22. The introduction part 224 has a larger diameter and gradually converges towards the large-diameter part 221. This flared design can play a good guiding role; when the needle 4 is not needed, the needle separating cylinder 20 drives the two needle blocking blocks 21821 to close towards each other. At this time, the two semi-circular needle separating tubes 22 are combined into a complete needle separating channel. The needle 4 lands on the needle separating part 223. Since the needle separating part 223 gradually transitions from the large-diameter part 221 to the small-diameter part 222, it can play a good positioning and supporting role for the needle 4. At the same time, the closed state of the needle blocking blocks 21821 prevents the needle 4 from continuing to drop, and temporarily stores the needle 4 in the semi-circular needle separating tube 22; when it is determined that the time for inserting the needle 4 has arrived, the intelligent control system will issue an instruction to make the needle separating cylinder 20 act, driving the two needle blocking blocks 21821 to separate from each other. And under the pushing action of the thimble device, it smoothly drops along the small-diameter part 222 of the semi-circular needle separating tube 22 and is inserted into the needle hole of the plug board. The complete needle separating channel formed when the two needle blocking blocks 21821 close towards each other can stably store the needle 4, prevent the needle 4 from shaking or dropping during the waiting for insertion process, and ensure the stability of the needle inserting process.

[0088] The horizontal driving device includes a linear motor 23, a sliding seat 24 slidably arranged on the linear motor 23, and a mounting plate 25 arranged on the sliding seat 24; the vertical driving device includes a pneumatic slide 26 arranged on the mounting plate 25 and a vertical plate 27 arranged on the pneumatic slide 26. The vertical plate 27 is sequentially provided with the thimble device, the needle feeding guide block 17 and the needle separating device from top to bottom; the visual detection device includes a connecting frame 28 arranged on the mounting plate 25, an industrial camera 29 arranged on the connecting frame 28, and an annular light source 30 arranged on the connecting frame 28 and located below the industrial camera 29.

[0089] The horizontal driving device is mainly responsible for moving the pin insertion assembly in the horizontal direction to accurately align the pin 4 with the jack 333 on the plug board; the vertical driving device is used to move the pin insertion assembly in the vertical direction; the vision detection device is used to obtain the position information of the jack 333 on the plug board, providing a basis for the path planning of the pin 4. The industrial camera 29 is installed on the mounting plate 25 through the connecting frame 28, and the annular light source 30 is arranged below the industrial camera 29 to provide uniform lighting conditions for the industrial camera 29. During the pin insertion process, the industrial camera 29 takes pictures of the pin holes on the plug board, obtains the image information of the pin holes, and transmits this image data to the intelligent control system. The intelligent control system processes and analyzes the image data, calculates information such as the shape and center coordinates of the pin holes, and then plans the path of the pin 4 according to this information, controlling the actions of the horizontal driving device and the vertical driving device so that the pin 4 can be accurately inserted into the jack 333.

[0090] The transfer device includes two transfer motors 31 arranged in parallel, a transfer table 32 arranged on the transfer motors 31, and a plurality of positioning plates 33 arranged on the transfer table 32 and used for placing the plug board that needs to be inserted with pins 4; the positioning plate 33 is provided with a plug board limiting structure for restricting and positioning the plug board. The plug board limiting structure includes a limiting groove 331 opened on the positioning plate 33 and adapted to the plug board, a positioning pin 332 arranged in the limiting groove 331 and used for passing through the plug board, and several through holes 333; a slot 321 is opened on the transfer table 32 at the lower end of the through hole 333; the needle pressing device includes a fixing plate 34, a boosting cylinder 35 arranged on the fixing plate 34, a needle pressing plate 36 arranged on the output shaft of the boosting cylinder 35, a needle pressing block 37 arranged at the lower end of the needle pressing plate 36, and a pressing block 38 arranged on the bottom plate and opposite to the needle pressing block 37; the guiding component includes several guiding columns 39 arranged between the fixing plate 34 and the bottom plate, and a guiding sleeve 40 arranged on the needle pressing plate 36 and through which the guiding columns 39 pass.

[0091] The main function of the transfer device is to transfer the plug board that needs to be inserted with pins 4 between different workstations. A plurality of positioning plates 33 are arranged on the transfer table 32, and the positioning plates 33 are used to place the plug board. The plug board is placed in the limiting groove 331 of the positioning plate 33, and the shape of the limiting groove 331 is adapted to the plug board, playing a preliminary constraining role. At the same time, the positioning pin 332 is inserted into the plug board to further position the plug board and ensure the accurate position of the plug board during the transfer process; after the pin insertion 4 is completed, the transfer device transfers the plug board to the pin pressing workstation, and then the boosting cylinder 35 is started, and its output shaft pushes the pin pressing plate 36 to move downward, and the pin pressing block 37 at the lower end of the pin pressing plate 36 moves downward accordingly. The plug board is placed above the pressing block 38, and the pin pressing block 37 presses the pins 4 downward. With the cooperation of the pressing block 38, the pins 4 are completely pressed into the plug board. During the downward movement of the pin pressing plate 36, the guide sleeve 40 slides along the guide post 39 to provide guidance for the movement of the pin pressing plate 36, prevent the pin pressing plate 36 from shifting during the movement, ensure that the pin pressing block 37 can accurately press the pins 4, and make the pins 4 vertically and stably press into the plug board.

[0092] Multiple sets of linear tracks 7, needle separating assemblies 8, clamping cylinders 14, blanking pipes 10 and pin insertion assemblies are correspondingly provided on the linear vibrating table 6.

[0093] The arrangement of multiple sets of linear tracks 7, needle separating assemblies 8, clamping cylinders 14, blanking pipes 10 and pin insertion assemblies on the linear vibrating table 6 enables the pin insertion 4 mechanism to process multiple pins 4 simultaneously; greatly shortens the total time of pin insertion 4, increases the number of pins inserted per unit time, thus significantly improving the production efficiency and meeting the requirements of large-scale production.

[0094] In another embodiment of the present invention, a pin insertion method is provided, including the following steps: S1, placing the plug board on the positioning plate 33 of the transfer table 32, and the transfer table 32 is at the loading station; S2, the vibrating bowl 5 arranges the pins 4 in an orderly manner and conveys them to the linear vibrating table 6. The linear vibrating table 6 conveys the pins 4 to the pin separating assembly 8. The pin separating assembly 8 separates the pins 4 one by one. After the sensor 9 detects that the pins 4 reach the preset position, it transmits a signal to the intelligent control system. The intelligent control system controls the pin feeding assembly to transfer the pins 4 to the blanking pipe 10; S3, the air blowing pipe 15 blows the pins 4 in the blanking pipe 10 into the pin feeding holes 172 of the pin feeding guide block 17. The vision-guided pin insertion device 2 obtains the position information of the pin holes on the plug board through the industrial camera 29. The intelligent control system plans the pin insertion 4 path according to the position information; S4, the intelligent control system controls the horizontal driving device and the vertical driving device to adjust the position of the pin insertion assembly according to the pin insertion 4 path, and inserts the pins 4 into the plug board to a certain depth through the pin insertion assembly; S5, the intelligent control system controls the transfer device to move the transfer table 32 from the pin insertion 4 station to the pin pressing station, and starts the booster cylinder 35 to push the pin pressing plate 36 downward, so that the pin pressing block 37 presses the pins 4 completely into the plug board; S6, after the pin pressing is completed, the intelligent control system controls the transfer device to retract the transfer table 32 to the loading station and take out the plug board with the inserted pins 4.

[0095] Preparation stage S1: First, place the socket on the positioning plate 33 of the transfer table 32. At this time, the transfer table 32 is at the loading station. The socket limiting structure on the positioning plate 33, including a limiting groove 331 adapted to the socket and a positioning pin 332 passing through the socket, can accurately fix the position of the socket and ensure the accuracy of subsequent pin 4 operations. Conveyor and separation of pins 4 S2: Start the vibrating bowl 5. With its special vibration structure and track design, the disordered pins 4 are arranged in an orderly manner in the same direction and conveyed to the linear vibrating table 6. The linear vibrating table 6 drives the pins 4 to move forward along the set linear track 7 through continuous vibration until they reach the pin separating assembly 8. In the pin separating assembly 8, the separating plates 82 of the pin separating assembly are in contact with each other under the action of the spring 84, and the pin separating blocks isolate the pins 4 one by one. The sensor 9 monitors the position of the pins 4 on the pin separating assembly 8 in real time. Once the pins 4 reach the preset position, a signal is immediately sent to the intelligent control system. The intelligent control system then instructs the pin feeding assembly to act. The rotating cylinder 12, the sliding table cylinder 13, and the clamping cylinder 14 in the pin feeding assembly cooperate. The rotating cylinder 12 first rotates the clamping cylinder 14 to an appropriate angle, the sliding table cylinder 13 adjusts the clamping cylinder 14 to be close to the pin separating assembly 8, and the clamping cylinder 14 accurately grabs the pins 4 through the specially designed jaws 143 (when the jaws 143 close, the clamping part 1432 pushes against the pin separating block to release the pins 4, and when separating, it fits tightly with the pin separating block to fix the pins 4) and transfers them to the blanking pipe 10. Visual guidance and path planning S3: After the pins 4 enter the blanking pipe 10, the air blowing pipe 15 blows air to blow the pins 4 into the pin feeding holes 172 of the pin feeding guide block 17. At the same time, the visual guidance pin inserting device 2 comes into play. The industrial camera 29 takes clear images of the pin holes on the socket under the uniform light provided by the annular light source 30 and transmits the image data to the intelligent control system. The intelligent control system performs a series of preprocessing operations on the image, such as grayscale conversion, filtering, threshold segmentation, and morphological processing, accurately extracts the contour of the pin holes, and then combines the current position of the pins 4 to plan a vertical insertion path to ensure that the pins 4 can approach the pin holes along the optimal trajectory. Insertion of pins 4 S4: According to the planned path of the pins 4, the intelligent control system drives the horizontal driving device and the vertical driving device to accurately adjust the position of the pin inserting assembly. The thimble device (the pin 4 cylinder pushes the pin 4 rod), the pin separating device (the pin separating cylinder 20 controls the opening and closing of the pin blocking block 21821 to cooperate with the semi-circular pin separating tube 22 to guide and block the pins 4), and the pin feeding guide block 17 in the pin inserting assembly work together to insert the pins 4 into the socket to a certain depth. Pressing operation S5: After the pins 4 are inserted to a certain depth, the intelligent control system controls the transfer device to work. The transfer motor 31 drives the transfer table 32 to move from the pin 4 station to the pressing station. At this time, the pressing device is started, and the booster cylinder 35 pushes the pressing plate 36 downward. The pressing block 37 at the lower end of the pressing plate 36 cooperates with the pressing block 38 on the bottom plate to apply sufficient pressure to the pins 4 and press the pins 4 completely into the socket.Final stage S6: The needle pressing is completed. The intelligent control system controls the transfer device again to retract the transfer table 32 to the loading station, so as to take out the inserted board with the inserted needles 4, completing a complete process of inserting the needles 4. After that, the above steps can be repeated for continuous production.

[0096] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. All equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A pin insertion mechanism, characterized in that: include: Needle feeding device with spaced needles, visually guided needle insertion device, needle pressing and alignment device and intelligent control system; The needle-separating and needle-feeding device includes a vibration plate for arranging the pins in order in the same direction, a linear vibration table for receiving the pins arranged on the vibration plate and transporting the pins along a set linear track, a needle-separating assembly arranged at the end of the linear vibration table and separating the pins transported by the linear vibration table one by one, a sensor for detecting whether the pins on the needle-separating assembly have reached a preset position, and a needle-feeding assembly for transferring the pins on the needle-separating assembly to the blanking tube; The visually guided pin insertion device comprises a horizontal driving device, a vertical driving device and a visual detection device arranged on the horizontal driving device, and a pin insertion assembly arranged on the vertical driving device; The pin pressing and alignment device comprises a bottom plate, a transfer device arranged on the bottom plate and used to carry the plug board that needs to insert pins, a pin pressing device used to press the pins downward and make the pins completely pressed into the plug board, and a guide assembly used to provide guide support for the pin pressing device when pressing the pins; The intelligent control system is electrically connected to the needle-separating and needle-feeding device, the visual-guided needle-inserting device and the needle-pressing and alignment device, and controls the coordinated operation of each device.

2. A pin insertion mechanism according to claim 1, characterized in that: The needle spacer assembly comprises a needle guide plate, and a needle spacer plate arranged on both sides of the needle guide plate and embedded in the needle guide plate; The middle part of the needle spacer plate is arranged on the needle guide plate through a rotating pin, a needle spacer block is extended from one end of the needle spacer plate away from the needle guide plate, and a spring is arranged between the other end of the needle spacer plate and the needle guide plate; The two needle spacer blocks can abut against each other under the pushing action of the spring and isolate the insertion pins on the needle guide plate.

3. A pin insertion mechanism according to claim 2, characterized in that: The needle feeding assembly includes a rotating cylinder, a slide cylinder arranged on the rotating cylinder, and a clamping cylinder arranged on the slide cylinder; An air blowing pipe capable of aligning with the blanking pipe is provided on the turntable of the rotary cylinder; The clamping cylinder comprises a cylinder body, a slide rail vertically arranged on the cylinder body, and two clamping claws slidably arranged on the slide rail; The clamping claw comprises a sliding portion sliding in the slide rail, a clamping portion for clamping the pin, and a connecting portion connecting the sliding portion and the clamping portion; When the two clamping jaws abut against each other, a V-shaped gap located on both sides is formed between the two clamping parts, and the needle spacer block is embedded in the V-shaped gap and is adapted to the shape of the V-shaped gap.

4. A pin insertion mechanism according to claim 3, characterized in that: When the two clamping jaws are separated from each other, the two needle spacer plates are closed together, and the upper clamping portion is embedded above the two needle spacer blocks, and the lower clamping portion is embedded below the two needle spacer blocks; When the two clamping jaws are closed together, the two clamping parts simultaneously push the needle spacer blocks on both sides and make the two needle spacer blocks move away from each other, thereby releasing the insertion needle.

5. The pin insertion mechanism according to claim 3, characterized in that: The needle insertion assembly includes an ejector device, a needle spacer device located below the ejector device, and a needle guide block arranged between the ejector device and the needle spacer device; The needle feeding guide block is provided with a needle guide hole which passes through from top to bottom, and at least one needle feeding hole which is connected to the needle guide hole and is used to receive the needle inserted in the blanking tube; The ejector device comprises an insertion needle cylinder and an insertion needle rod which is arranged on the output shaft of the insertion needle cylinder and can penetrate the guide needle hole.

6. A pin insertion mechanism according to claim 5, characterized in that: The needle spacer device comprises a needle spacer cylinder, two needle blocking blocks arranged on the needle spacer cylinder and capable of closing or separating with each other, and a semicircular needle spacer tube arranged on the needle blocking blocks; The semicircular needle-separating tube comprises a large diameter portion, a small diameter portion, a needle-separating portion gradually transitioning from the large diameter portion to the small diameter portion, and an introduction portion having a diameter larger than the large diameter portion and gradually converging toward the large diameter portion.

7. The pin insertion mechanism according to claim 5, characterized in that: The horizontal driving device comprises a linear motor, a slide seat slidably arranged on the linear motor, and a mounting plate arranged on the slide seat; The vertical driving device comprises a pneumatic slide arranged on the mounting plate, and a vertical plate arranged on the pneumatic slide, wherein the vertical plate is provided with the ejector device, the needle guide block and the needle spacer device in sequence from top to bottom; The visual inspection device includes a connecting frame arranged on the mounting plate, an industrial camera arranged on the connecting frame, and an annular light source arranged on the connecting frame and located below the industrial camera.

8. The pin insertion mechanism according to claim 7, characterized in that: The transfer device comprises two transfer motors arranged in parallel, a transfer platform arranged on the transfer motor, and a plurality of positioning plates arranged on the transfer platform and used for placing the plugging board requiring the plugging pins; The positioning plate is provided with a plug-in plate limiting structure for constraining and limiting the plug-in plate, and the plug-in plate limiting structure includes a limiting groove provided on the positioning plate and adapted to the plug-in plate, a positioning pin provided in the limiting groove and used to penetrate the plug-in plate, and a plurality of through-holes; The transfer platform is provided with a slot located at the lower end of the plug hole; The needle pressing device comprises a fixed plate, a booster cylinder arranged on the fixed plate, a needle pressing plate arranged on the output shaft of the booster cylinder, a needle pressing block arranged at the lower end of the needle pressing plate, and a pressing block arranged on the bottom plate and opposite to the needle pressing block; The guide assembly comprises a plurality of guide posts arranged between the fixing plate and the bottom plate, and a guide sleeve arranged on the needle pressing plate and through which the guide posts pass.

9. The pin insertion mechanism according to claim 3, characterized in that: There are multiple groups of linear tracks, spacer needle assemblies, clamping cylinders, drop tubes and pin assemblies on the linear vibration table.

10. A pin insertion method, characterized in that: The application of a pin insertion mechanism as claimed in claim 8 comprises the following steps: S1, placing the insert plate on the positioning plate of the transfer platform, and the transfer platform is in the loading position; S2, the vibration plate arranges the pins in order and transports them to the linear vibration table, the linear vibration table transports the pins to the pin spacer assembly, the pin spacer assembly separates the pins one by one, and after the sensor detects that the pins have reached the preset position, the signal is transmitted to the intelligent control system, and the intelligent control system controls the pin feeding assembly to transfer the pins to the blanking tube; S3, the air blow pipe blows the pins in the blanking tube into the pin feeding holes of the pin feeding guide block, the visual guidance pin insertion device obtains the position information of the pin holes on the plug board through the industrial camera, and the intelligent control system plans the pin insertion path according to the position information; S4, the intelligent control system controls the horizontal driving device and the vertical driving device to adjust the position of the pin assembly according to the pin path, and inserts the pin into the plug board to a certain depth; S5, the intelligent control system controls the transfer device to move the transfer platform from the pin insertion station to the pin pressing station, and starts the booster cylinder to push the pin pressing plate downward, so that the pin pressing block completely presses the pin into the insertion plate; S6, after the pin pressing is completed, the intelligent control system controls the transfer device to return the transfer platform to the loading station and take out the inserted pin board.

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