A full-automatic charging plug PCB plate into shell assembly equipment

Abstract

The application discloses a kind of full-automatic charging plug PCB board into shell assembly equipment, including rack, shell feeding conveying line is equipped on the rack, shell tray lifting mechanism, shell feeding handling manipulator, shell transfer station, shell surface turning control mechanism, PCB into shell mechanism, front and back detection mechanism, code scanning component, PCB carrier feeding conveying line, PCB carrier reflow conveying line, discharging handling manipulator and PCB feeding manipulator, PCB carrier feeding conveying line and PCB carrier reflow conveying line are connected by PCB carrier lifting mechanism, front and back detection mechanism and code scanning component are located between shell surface turning control mechanism and PCB into shell mechanism;The application can realize full-automatic PCB feeding and shell feeding, can be simultaneously to multiple PCB boards for shell assembly when assembling, and assembly efficiency is high.

Description

Technical Field

[0001] This invention relates to equipment for manufacturing charging plugs, and particularly to a fully automatic charging plug PCB board assembly equipment. Background Technology

[0002] When manufacturing charging plugs, PCB boards are typically assembled inside a housing and then packaged. Existing assembly methods generally involve semi-automatic assembly equipment or purely manual assembly. Both semi-automatic and purely manual assembly can only assemble one plug at a time, resulting in low assembly efficiency and failing to meet the needs of large-scale production. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a fully automatic charging plug PCB board housing assembly device.

[0004] The objective of this invention is achieved through the following technical solution: a fully automatic charging plug PCB board housing assembly equipment, comprising a frame, wherein the frame is provided with a housing feeding conveyor line, a housing tray lifting mechanism, a housing loading and handling robot, a housing transfer station, a housing flipping control mechanism, a PCB housing insertion mechanism, a front and back detection mechanism, a barcode scanning component, a PCB carrier feeding conveyor line, a PCB carrier return conveyor line, a material unloading and handling robot, and a PCB loading robot. The PCB carrier feeding conveyor line and the PCB carrier return conveyor line are connected by the PCB carrier lifting mechanism. The front and back detection mechanism and the barcode scanning component are located between the housing flipping control mechanism and the PCB housing insertion mechanism.

[0005] The outer shell feeding conveyor transports outer shell pallets to the outer shell pallet lifting mechanism. The outer shell pallet lifting mechanism lifts multiple stacked outer shell pallets to the picking position of the outer shell loading and handling robot. The outer shell loading and handling robot picks up four outer shells at a time and places them on the outer shell transfer station for positioning. After the outer shells are positioned, the outer shell loading and handling robot removes the four outer shells from the outer shell transfer station and transports them to the outer shell flipping control mechanism. The outer shell flipping control mechanism clamps the four outer shells. The front and back detection mechanism takes pictures to detect the front and back of each outer shell. The barcode scanning component scans and binds the codes. The unloading and handling robot picks up four outer shells from the outer shell flipping control mechanism and places them on the PCB shell insertion mechanism for positioning. The PCB loading robot picks up four PCB boards from the PCB carrier feeding conveyor and places them on the PCB shell insertion mechanism for positioning. The PCB shell insertion mechanism pushes the four PCB boards into the four outer shells at a time to complete the assembly. The unloading and handling robot removes the four assembled outer shells from the PCB shell insertion mechanism and puts them into the product output line.

[0006] The outer shell feeding conveyor line is divided into a loading position and a waiting position, which can achieve loading without stopping the machine; it can store 1440 PCs, with a height of 600mm. Each outer shell tray has a stacking height of 30mm, and each tray contains 36 PCs. The loading position + waiting position can store 1440 PCs = 600*2 / 30*36.

[0007] As an improvement of the fully automatic charging plug PCB board housing assembly equipment of the present invention, after the PCB carrier conveyed by the PCB carrier feeding conveyor has finished transporting the PCB, it is conveyed by the PCB carrier lifting mechanism to the PCB carrier return conveyor for delivery, and the PCB carrier return conveyor is located below the PCB carrier feeding conveyor.

[0008] After all the outer shells have been transported from the outer shell pallets on the outer shell feeding conveyor line, the empty outer shell pallets are transported to the empty pallet recycling cavity by the outer shell loading and handling robot for stacking and recycling. The empty pallet recycling cavity is located on one side of the outer shell feeding conveyor line.

[0009] As an improvement to the fully automatic charging plug PCB board housing assembly equipment of the present invention, the housing loading and handling robot includes an X-axis servo module, a Y-axis servo module, and a Z-axis servo module. The X-axis servo module controls the movement of the Y-axis servo module, the Y-axis servo module controls the movement of the Z-axis servo module, and the Z-axis servo module controls the lifting and lowering movement of a lifting mounting plate. One side of the lifting mounting plate is provided with a housing handling mechanism with adjustable spacing, and the other side is provided with an empty pallet handling mechanism. There are two sets of X-axis servo modules. Each set of X-axis servo modules includes a bracket, and the bracket is provided with an X-axis crossbeam. The X-axis crossbeam is provided with an X-axis servo motor and an X-axis transmission screw. The X-axis transmission screw is connected to an X-axis slide plate through a screw nut. The X-axis slide plate is connected to the X-axis crossbeam through a slide rail and a slider. The two ends of the Y-axis servo module are respectively connected to one of the X-axis servo modules. The Y-axis servo module includes a Y-axis beam, on which a Y-axis servo motor, two synchronous pulleys, and a synchronous belt are mounted. The two synchronous pulleys are connected by the synchronous belt. The output shaft of the Y-axis servo motor is connected to one of the synchronous pulleys. A Y-axis slide plate is connected to the synchronous belt. The Z-axis servo module is mounted on the Y-axis slide plate. The Z-axis servo module includes a Z-axis mounting profile, on which a Z-axis servo motor, two synchronous pulleys, and a synchronous belt are mounted. The two synchronous pulleys are connected by the synchronous belt. The output shaft of the Z-axis servo motor is connected to one of the synchronous pulleys. The synchronous belt is connected to the lifting mounting plate.

[0010] As an improvement of the fully automatic charging plug PCB board housing assembly equipment of the present invention, the housing conveying mechanism includes a mounting plate. One side of the mounting plate is provided with a linear slide rail, and the other side is provided with two synchronous pulleys and a synchronous belt. The two synchronous pulleys are connected by the synchronous belt. Four material picking components are slidably connected to the linear slide rail by a slider. All four material picking components are connected to a pitch-changing component. Two material picking components located at both ends of the linear slide rail are connected to the synchronous belt through a connecting plate. One of the synchronous pulleys is connected to the output shaft of a stepper motor. The stepper motor is mounted on one end of the mounting plate.

[0011] The variable pitch assembly includes a first connecting arm, a second connecting arm, a third connecting arm, and a fourth connecting arm. The four material picking assemblies are respectively a first material picking assembly, a second material picking assembly, a third material picking assembly, and a fourth material picking assembly. One end of the first connecting arm is rotatably connected to the first material picking assembly via a bearing and a shaft, and the other end is rotatably connected to the second connecting arm via a bearing and a shaft. The middle part of the second connecting arm is rotatably connected to the second material picking assembly via a bearing and a shaft. The other end of the second connecting arm is rotatably connected to the third connecting arm via a bearing and a shaft. The middle part of the third connecting arm is rotatably connected to the third material picking assembly via a bearing and a shaft. The other end of the third connecting arm is rotatably connected to one end of the fourth connecting arm via a bearing and a shaft. The other end of the fourth connecting arm is rotatably connected to the fourth material picking assembly via a bearing and a shaft.

[0012] The mounting plate is provided with two elongated holes, and the connecting plate passes through the elongated holes to connect with the timing belt. One of the connecting plates is connected to the upper belt body of the timing belt, and the other connecting plate is connected to the lower belt body of the timing belt.

[0013] The material handling assembly includes an upper mounting block and a lower mounting block, which are connected by a slide rail and a slider. The bottom of the lower mounting block is provided with a vacuum suction cup, and the upper end of the lower mounting block is provided with a spring screw. The spring screw is mounted on a screw mounting plate, and a buffer spring is sleeved on the spring screw. The screw mounting plate is connected to the upper mounting block.

[0014] As an improvement to the fully automatic charging plug PCB board housing assembly equipment of the present invention, the empty pallet handling mechanism includes a suction cup bracket and a lifting control cylinder for controlling the lifting and moving of the suction cup bracket. The lifting control cylinder is mounted on a cylinder mounting plate, and the cylinder mounting plate is mounted on the lifting mounting plate. The suction cup bracket is provided with two parallel suction cup mounting plates. Both ends of the two suction cup mounting plates are provided with oblong holes. One end of the suction cup passes through a threaded sleeve. The outer surface of the threaded sleeve is provided with threads. The threaded sleeve passes through the oblong hole and is fixed by two nuts. The position of the suction cup can be adjusted to the position of the oblong hole by loosening the nuts.

[0015] As an improvement of the fully automatic charging plug PCB board housing assembly equipment of the present invention, the front and back detection mechanism includes a servo screw module and a camera. The camera is mounted on a camera mounting plate, and the camera mounting plate is slidably connected to the servo screw module by a slider.

[0016] The servo screw module includes a module profile, on which a transmission screw and a servo motor are mounted. The servo motor is connected to the transmission screw via a coupling, and the transmission screw is connected to the camera mounting plate via a screw nut. The servo screw module controls the movement of the camera, and the camera takes a picture to detect the front and back of the camera each time it moves to a position on the housing. The camera is a Keyence smart camera.

[0017] The scanning assembly includes an X-axis guide rod, a Y-axis guide rod, and a Z-axis guide rod. One end of the Z-axis guide rod is connected to the X-axis guide rod via a first clamping block, and the other end of the Z-axis guide rod is connected to the Y-axis guide rod via a second clamping block. A barcode reader mounting plate is located at the other end of the Y-axis guide rod, and barcode readers are mounted on the mounting plate. Each barcode reader is located directly below the outer casing. Four sets of barcode readers scan the outer casing simultaneously, improving efficiency. Each set of barcode readers is adjustable in the X, Y, and Z directions.

[0018] As an improvement to the fully automatic charging plug PCB board housing assembly equipment of the present invention, the housing flipping control mechanism includes a mounting side plate. Multiple bearing sleeves are arranged at intervals on the mounting side plate, each bearing sleeve containing a bearing. A shaft passes through the bearing, one end of which extends out from one side of the mounting side plate and is equipped with a synchronous pulley. The other end of the shaft extends out from the other side of the mounting side plate and is equipped with a clamping cylinder mounting plate. A clamping cylinder is mounted on the clamping cylinder mounting plate. The multiple synchronous pulleys are linked by a first synchronous belt. One end of one of the shafts is equipped with a first synchronous pulley, which is connected to the flipping control motor via a second synchronous belt and a second synchronous pulley.

[0019] As an improvement of the fully automatic charging plug PCB board housing assembly equipment of the present invention, the PCB housing mechanism includes a fixed plate, a clamping plate and a two-stage quick housing pushing mechanism. The fixed plate is provided with two upright plates. The clamping plate is fixed to the two upright plates by quick clamps. The clamping plate is provided with a row of housing positioning slots and a row of PCB board positioning slots. Each housing positioning slot corresponds to one PCB board positioning slot. The housing positioning slots and PCB board positioning slots are connected. Each of the two-stage quick housing pushing mechanisms is set at the position of one PCB board positioning slot. The housing flipping control mechanism is installed at one end of the fixed plate.

[0020] The fixing plate is equipped with a quick-clamp mounting base, and the quick-clamp is mounted on the quick-clamp mounting base. The quick-clamp is a horizontal quick-clamp, and the model of the horizontal quick-clamp can be GH-201-A, GH-201-C, or GH-203-P. The fixture plate uses quick-clamp clamping, which can quickly switch product fixtures.

[0021] As an improvement of the fully automatic charging plug PCB board housing assembly equipment of the present invention, the two-stage high-speed housing pushing mechanism includes a first-stage high-speed cylinder and a second-stage high-speed cylinder. The first-stage high-speed cylinder is disposed on a first cylinder mounting seat, which is connected to a slide rail via a slider. The slide rail is mounted on the fixed plate. The second-stage high-speed cylinder is fixed on the fixed plate and corresponds to the first-stage high-speed cylinder. A connecting sleeve is provided on the other side of the first cylinder mounting seat, which is connected to the piston rod of the second-stage high-speed cylinder. A push plate is provided on the first cylinder mounting seat, which corresponds to the PCB board positioning groove.

[0022] The first-stage high-speed cylinder pushes the PCB board into the housing at a slower speed than the second-stage high-speed cylinder. The first-stage high-speed cylinder first slowly pushes the PCB board into the housing, and then the second-stage high-speed cylinder quickly pushes the PCB board completely into the housing. The PCB is pushed into the housing using two speeds: a slow speed initially ensures a smooth entry, and a high speed afterwards ensures the PCB board is properly secured by the spring clips.

[0023] As an improvement to the fully automatic charging plug PCB board assembly equipment of the present invention, the PCB loading robot includes a three-axis cantilever screw module and a picking and scanning component controlled by the three-axis cantilever screw module; the picking and scanning component includes a picking cylinder mounting plate, on which four PCB board picking gripper cylinders and four scanners are spaced apart. The four scanners are transferred to the scanning position by the three-axis cantilever screw module and simultaneously scan and bind the four PCB boards. After scanning, the PCB boards are held by the four PCB board picking gripper cylinders and transferred by the three-axis cantilever screw module to the PCB board assembly mechanism for positioning.

[0024] The material handling robot includes a Y-axis lead screw module and a Z-axis lead screw module. The Y-axis lead screw module controls the movement of the Z-axis lead screw module, which in turn controls the movement of a lifting plate. The lifting plate is equipped with an R-axis rotation control motor and a bearing seat. A rotating shaft is mounted on the bearing seat. One end of the rotating shaft is equipped with a material handling cylinder mounting plate, on which multiple material handling gripper cylinders are arranged. The other end of the rotating shaft is connected to the R-axis rotation control motor via a synchronous pulley and a synchronous belt. When the material handling robot handles assembled products, it needs to rotate the products 90 degrees to an upright position before placing them on the product output line.

[0025] Both the outer shell tray lifting mechanism and the PCB carrier lifting mechanism include a carrier in-and-out conveyor line and a lifting module, wherein the lifting module controls the lifting and moving of the carrier in-and-out conveyor line;

[0026] The lifting module includes a lifting servo motor and a ball screw. The lifting servo motor is connected to the ball screw through a synchronous pulley and a synchronous belt. The carrier in-and-out conveyor line is connected to a linear guide rail through a slider. The linear guide rail is mounted on the lifting plate.

[0027] The vehicle entry and exit conveyor line includes a conveyor line mounting plate, and conveyor line guide rails are respectively provided on both sides of the conveyor line mounting plate. Conveyor belts are provided on the corresponding surfaces of the two conveyor line guide rails, and the conveyor belts are controlled and driven by a conveyor motor.

[0028] The beneficial effects of this invention are as follows: This invention enables fully automated PCB and shell loading, allowing for simultaneous shell assembly of multiple PCBs, resulting in high assembly efficiency. The shell feeding conveyor line can simultaneously stack multiple shell trays, with each tray holding multiple shells, reducing waiting time due to material shortages. The shell loading and handling robot has shell handling and empty shell tray handling functions. After handling shells, the shell tray can be transported to the empty tray recycling cavity by the shell loading and handling robot, eliminating manual loading. PCB insertion into the shell employs a two-stage speed system: a slow speed initially ensures smooth entry, while a high speed ensures the PCB is securely clamped by spring clips, eliminating the need for subsequent manual secondary pressing and clamping. This invention also features front and back detection, ensuring the PCB enters the shell in the correct orientation, reducing defect rates. The unloading and handling robot has a product flipping function, capable of flipping horizontal products to an upright position, facilitating delivery by the conveyor line. Attached Figure Description

[0029] Figure 1 This is a perspective view of the present invention;

[0030] Figure 2 This is a top view of the present invention;

[0031] Figure 3 This is a perspective view of the present invention from another direction;

[0032] Figure 4 This is a schematic diagram of the outer shell flipping control mechanism, PCB insertion mechanism, front and back detection mechanism and barcode scanning component of the present invention.

[0033] Figure 5 This is a schematic diagram of the outer shell flipping control mechanism, PCB insertion mechanism, front and back detection mechanism and barcode scanning component of the present invention from another perspective.

[0034] Figure 6 This is a perspective view of the shell loading and handling robot of the present invention;

[0035] Figure 7 This is a perspective view of the shell loading and handling robot of the present invention from another direction;

[0036] Figure 8 This is a perspective view of the outer casing transport mechanism of the present invention;

[0037] Figure 9 This is a front view of the housing transport mechanism of the present invention;

[0038] Figure 10 This is a schematic diagram of one of the suction cups of the present invention mounted on a bracket;

[0039] Figure 11 This is a 3D view of the PCB loading robot of the present invention;

[0040] Figure 12 This is a perspective view of the material handling robot of the present invention; Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0043] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0044] like Figures 1-12 As shown, a fully automatic charging plug PCB board assembly equipment includes a frame 1, on which are provided a shell feeding conveyor line 2, a shell tray lifting mechanism 3, a shell loading and handling robot 4, a shell transfer station 5, a shell flipping control mechanism 6, a PCB insertion mechanism 7, a front and back detection mechanism 8, a barcode scanning component 9, a PCB carrier feeding conveyor line 10, a PCB carrier return conveyor line 11, a material unloading and handling robot 12, and a PCB loading robot 13. The PCB carrier feeding conveyor line 10 and the PCB carrier return conveyor line 11 are connected by a PCB carrier lifting mechanism 14. The front and back detection mechanism 8 and the barcode scanning component 9 are located between the shell flipping control mechanism 6 and the PCB insertion mechanism 7.

[0045] The outer shell feeding conveyor 2 conveys the outer shell pallets to the outer shell pallet lifting mechanism 3. The outer shell pallet lifting mechanism 3 lifts the stacked outer shell pallets to the picking position of the outer shell loading and handling robot 4. The outer shell loading and handling robot 4 picks up 4 outer shells at a time and places them on the outer shell transfer station 5 for positioning. After the outer shells are positioned, the outer shell loading and handling robot 4 takes out the 4 outer shells from the outer shell transfer station 5 and transports them to the outer shell flipping control mechanism 6. The outer shell flipping control mechanism 6 clamps the 4 outer shells. The front and back detection mechanism 8 takes pictures to detect the front and back of each outer shell. The barcode scanning component 9 scans and binds the barcode. The unloading and handling robot 12 picks up 4 outer shells from the outer shell flipping control mechanism 6 and places them on the PCB shell insertion mechanism 7 for positioning. The PCB loading robot 13 picks up 4 PCB boards from the PCB carrier feeding conveyor 10 and places them on the PCB shell insertion mechanism 7 for positioning. The PCB shell insertion mechanism 9 pushes the four PCB boards into the 4 outer shells at a time to complete the assembly. The unloading and handling robot 12 takes the four assembled outer shells from the PCB shell insertion mechanism 7 and puts them into the product output line 15.

[0046] The outer shell feeding conveyor line is divided into a loading position and a waiting position, which can achieve loading without stopping the machine; it can store 1440 PCs, with a height of 600mm. Each outer shell tray has a stacking height of 30mm, and each tray contains 36 PCs. The loading position + waiting position can store 1440 PCs = 600*2 / 30*36.

[0047] Preferably, after the PCB carriers transported by the PCB carrier feeding conveyor line 10 have finished handling the PCBs, they are transported by the PCB carrier lifting mechanism 14 to the PCB carrier return conveyor line 11 for delivery. The PCB carrier return conveyor line 11 is located below the PCB carrier feeding conveyor line 10.

[0048] After the outer shells on the outer shell feeding conveyor line 2 have been transported, the empty outer shell pallets are transported by the outer shell loading and transporting robot 4 to the empty pallet recycling cavity 16 for stacking and recycling. The empty pallet recycling cavity 16 is located on one side of the outer shell feeding conveyor line 2.

[0049] Preferably, the shell loading and handling robot 4 includes an X-axis servo module 41, a Y-axis servo module 42, and a Z-axis servo module 43. The X-axis servo module 41 controls the movement of the Y-axis servo module 42, the Y-axis servo module 42 controls the movement of the Z-axis servo module 43, and the Z-axis servo module 43 controls the lifting and moving of a lifting mounting plate 44. One side of the lifting mounting plate 44 is provided with a shell handling mechanism 45 with adjustable spacing, and the other side is provided with an empty pallet handling mechanism 46.

[0050] Preferably, the housing conveying mechanism 45 includes a mounting plate 451. One side of the mounting plate 451 is provided with a linear slide rail 452, and the other side is provided with two synchronous pulleys 453 and a synchronous belt 454. The two synchronous pulleys 453 are connected by the synchronous belt 454. Four material picking components 455 are slidably connected to the linear slide rail 452 by a slider. All four material picking components 455 are connected to the pitch variable component 456. Two material picking components 455 located at both ends of the linear slide rail 452 are connected to the synchronous belt 454 through a connecting plate 456. One of the synchronous pulleys 453 is connected to the output shaft of a stepper motor 457. The stepper motor 457 is mounted at one end of the mounting plate 451.

[0051] Preferably, the pitch-changing assembly 456 includes a first connecting arm 4561, a second connecting arm 4562, a third connecting arm 4563, and a fourth connecting arm 4564. The four material-picking assemblies 455 are respectively the first material-picking assembly 4551, the second material-picking assembly 4552, the third material-picking assembly 4553, and the fourth material-picking assembly 4554. One end of the first connecting arm 4561 is rotatably connected to the first material-picking assembly 4551 via a bearing and a shaft, and the other end is rotatably connected to the second connecting arm 4562 via a bearing and a shaft. The second connecting arm 4562... The middle part of the second connecting arm 4562 is rotatably connected to the second material handling assembly 4552 via bearings and shafts. The other end of the second connecting arm 4562 is rotatably connected to the third connecting arm 4563 via bearings and shafts. The middle part of the third connecting arm 4563 is rotatably connected to the third material handling assembly 4553 via bearings and shafts. The other end of the third connecting arm 4563 is rotatably connected to one end of the fourth connecting arm 4564 via bearings and shafts. The other end of the fourth connecting arm 4564 is rotatably connected to the fourth material handling assembly 4554 via bearings and shafts.

[0052] Preferably, the mounting plate 451 is provided with two elongated holes 458, and the connecting plate 456 passes through the elongated holes 458 and connects to the timing belt 454. One connecting plate 456 is connected to the upper belt body of the timing belt 454, and the other connecting plate is connected to the lower belt body of the timing belt 454.

[0053] Preferably, the material handling component 455 includes an upper mounting block 471 and a lower mounting block 472, which are connected by a slide rail and a slider. The bottom of the lower mounting block 472 is provided with a vacuum suction cup 473, and the upper end of the lower mounting block 472 is provided with a spring screw 474. The spring screw 474 is mounted on a screw mounting plate 475, and a buffer spring is sleeved on the spring screw 474. The screw mounting plate 475 is connected to the upper mounting block 471.

[0054] Preferably, the empty pallet handling mechanism 46 includes a suction cup bracket 461 and a lifting control cylinder 462 for controlling the lifting and lowering movement of the suction cup bracket 461. The lifting control cylinder 462 is mounted on a cylinder mounting plate 463, which is mounted on a lifting mounting plate 44. The suction cup bracket 461 has two parallel suction cup mounting plates 464. Both ends of the two suction cup mounting plates 464 have oblong holes 465. One end of the suction cup 466 passes through a threaded sleeve 467. The outer surface of the threaded sleeve 467 is threaded. The threaded sleeve 467 passes through the oblong hole 465 and is fixed by two nuts 468. The position of the suction cup 466 can be adjusted to the position of the oblong hole 465 by loosening the nuts 468.

[0055] Preferably, there are two sets of X-axis servo modules 41. Each set of X-axis servo modules 41 includes a bracket 411. The bracket 411 is equipped with an X-axis crossbeam 412. The X-axis crossbeam 412 is equipped with an X-axis servo motor 413 and an X-axis transmission screw. The X-axis transmission screw is connected to an X-axis slide plate 414 through a screw nut. The X-axis slide plate 414 and the X-axis crossbeam 412 are connected through a slide rail and a slider. The two ends of the Y-axis servo module 42 are respectively connected to one X-axis servo module 41.

[0056] Preferably, the Y-axis servo module 42 includes a Y-axis crossbeam 421, on which a Y-axis servo motor 422, two synchronous pulleys and a synchronous belt are provided. The two synchronous pulleys are connected by the synchronous belt. The output shaft of the Y-axis servo motor 422 is connected to one of the synchronous pulleys. A Y-axis slide plate 423 is connected to the synchronous belt. The Z-axis servo module 43 is mounted on the Y-axis slide plate 423.

[0057] Preferably, the Z-axis servo module 43 includes a Z-axis mounting profile 431, on which a Z-axis servo motor 432, two synchronous pulleys and a synchronous belt are provided. The two synchronous pulleys are connected by the synchronous belt, the output shaft of the Z-axis servo motor 432 is connected to one of the synchronous pulleys, and the synchronous belt is connected to the lifting mounting plate 44.

[0058] Preferably, the front and back detection mechanism 8 includes a servo screw module 841 and a camera 842. The camera 842 is mounted on a camera mounting plate 843, and the camera mounting plate 843 is slidably connected to the servo screw module 841 via a slider.

[0059] The servo screw module 841 includes a module profile, on which a transmission screw and a servo motor are provided. The servo motor is connected to the transmission screw through a coupling, and the transmission screw is connected to the camera mounting plate through a screw nut.

[0060] The servo screw module 841 controls the movement of the camera 842. Each time the camera 842 moves to a different position on the housing, it takes a picture to detect the front and back. The camera 842 uses a Keyence smart camera.

[0061] The barcode scanning assembly 9 includes an X-axis guide rod 951, a Y-axis guide rod 952, and a Z-axis guide rod 953. One end of the Z-axis guide rod 953 is connected to the X-axis guide rod 951 via a first clamping block 954, and the other end of the Z-axis guide rod 953 is connected to the Y-axis guide rod 952 via a second clamping block 955. A barcode reader mounting plate 956 is located at the other end of the Y-axis guide rod 952, and barcode readers 957 are mounted on the mounting plate 956. Each barcode reader 957 is located directly below the outer casing 86. Four sets of barcode readers 957 scan the outer casing simultaneously, improving efficiency. Each set of barcode readers 957 is adjustable in the X, Y, and Z directions.

[0062] Preferably, the shell flipping control mechanism 6 includes a mounting side plate 621. Multiple bearing sleeves 622 are arranged at intervals on the mounting side plate 621. Each bearing sleeve 622 contains a bearing, and a shaft 623 passes through the bearing. One end of the shaft 623 extends out of one side of the mounting side plate 621 and is provided with a synchronous pulley 624. The other end of the shaft 623 extends out of the other side of the mounting side plate 621 and is provided with a clamping cylinder mounting plate 625. A clamping cylinder 626 is mounted on the clamping cylinder mounting plate 625. The multiple synchronous pulleys 624 are linked by a first synchronous belt. One end of one shaft 623 is provided with a first synchronous pulley 627. The first synchronous pulley 627 is connected to the flipping control motor 628 through a second synchronous belt and a second synchronous pulley.

[0063] Preferably, the PCB housing insertion mechanism 7 includes a fixed plate 731, a clamping plate 732, and a two-stage rapid housing insertion pushing mechanism 733. The fixed plate 731 is provided with two upright plates 734. The clamping plate 732 is fixed to the two upright plates 734 by a quick clamp 735. The clamping plate 732 is provided with a row of housing positioning slots 736 and a row of PCB board positioning slots 737. Each housing positioning slot 736 corresponds to one PCB board positioning slot 737, and the housing positioning slots 736 and PCB board positioning slots 737 are connected. Each two-stage rapid housing insertion pushing mechanism 33 is positioned corresponding to one PCB board positioning slot 737. The housing flipping control mechanism 6 is installed at one end of the fixed plate 731.

[0064] Preferably, the two-stage high-speed housing push mechanism 733 includes a first-stage high-speed cylinder 7331 and a second-stage high-speed cylinder 7332. The first-stage high-speed cylinder 7331 is mounted on a first cylinder mounting seat 7333, which is connected to a slide rail 7334 via a slider. The slide rail 7334 is mounted on a fixed plate 731. The second-stage high-speed cylinder 7332 is fixed on the fixed plate 731 and corresponds to the first-stage high-speed cylinder 7331. A connecting sleeve 7335 is provided on the other side of the first cylinder mounting seat 7333, which is connected to the piston rod of the second-stage high-speed cylinder 7332. A push plate 7336 is provided on the first cylinder mounting seat 7333, which corresponds to the PCB board positioning groove 737. The PCB is pushed into the housing at two speeds: a slow speed is used when the PCB first enters to ensure smooth entry into the housing, and a high speed is used after entering the housing to ensure that the PCB board can be clamped by the spring clips.

[0065] Preferably, the speed at which the first-stage cylinder 7331 pushes the PCB board into the housing is slower than the speed at which the second-stage cylinder 7332 pushes the PCB board into the housing. After the first-stage cylinder 7331 slowly pushes the PCB board into the housing, the second-stage cylinder 7332 quickly pushes the PCB board completely into the housing.

[0066] Preferably, the fixing plate 731 is provided with a quick-clamp mounting base 738, and the quick-clamp 735 is mounted on the quick-clamp mounting base 738. The quick-clamp 735 is a horizontal quick-clamp, and the model of the horizontal quick-clamp can be GH-201-A, GH-201-C, or GH-203-P. The fixture plate uses quick-clamp clamping, which can quickly switch product fixtures.

[0067] Preferably, the PCB loading robot 13 includes a three-axis cantilever screw module 131 and a picking and scanning component 132 controlled by the three-axis cantilever screw module 131. The picking and scanning component 132 includes a picking cylinder mounting plate 1321, on which four PCB picking gripper cylinders 1322 and four barcode scanners 1323 are spaced apart. The four barcode scanners 1323 are transferred to the scanning position by the three-axis cantilever screw module 131 and simultaneously scan and bind the four PCBs. After scanning, the PCBs are held by the four PCB picking gripper cylinders 1322 and transferred by the three-axis cantilever screw module 131 to the PCB housing mechanism 7 for positioning.

[0068] The unloading and handling robot 12 includes a Y-axis lead screw module 121 and a Z-axis lead screw module 122. The Y-axis lead screw module 121 controls the movement of the Z-axis lead screw module 122, and the Z-axis lead screw module 122 controls the movement of a lifting plate. The lifting plate is equipped with an R-axis rotation control motor 123 and a bearing seat 124. The bearing seat 124 is equipped with a rotating shaft 125. One end of the rotating shaft 125 is equipped with an unloading cylinder mounting plate 126. Multiple unloading gripper cylinders 127 are arranged on the unloading cylinder mounting plate 126. The other end of the rotating shaft 125 is connected to the R-axis rotation control motor 123 through a synchronous pulley and a synchronous belt. When the unloading and handling robot 12 handles the assembled product, it needs to rotate the product 90 degrees to an upright position before placing it on the product output line.

[0069] Both the outer shell pallet lifting mechanism 3 and the PCB carrier lifting mechanism 14 include a carrier entry and exit conveyor line and a lifting module. The lifting module controls the lifting and moving of the carrier entry and exit conveyor line.

[0070] The lifting module includes a lifting servo motor and a ball screw. The lifting servo motor is connected to the ball screw through a synchronous pulley and a synchronous belt. The carrier's entry and exit conveyor line is connected to a linear guide rail through a slider. The linear guide rail is mounted on the lifting plate.

[0071] The vehicle entry and exit conveyor line includes a conveyor line mounting plate. Conveyor line guide rails are provided on both sides of the conveyor line mounting plate. Conveyor belts are provided on the corresponding surfaces of the two conveyor line guide rails. The conveyor belts are driven by a conveyor motor.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and structure of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A full-automatic charging plug PCB plate into shell assembly equipment, comprising a rack, characterized in that, The rack is provided with a shell feeding conveying line, a shell tray lifting mechanism, a shell feeding and carrying manipulator, a shell transfer station, a shell turning control mechanism, a PCB shell feeding mechanism, a front and back face detection mechanism, a code scanning assembly, a PCB carrier feeding conveying line, a PCB carrier reflow conveying line, a discharging and carrying manipulator and a PCB feeding manipulator, the PCB carrier feeding conveying line and the PCB carrier reflow conveying line are connected through a PCB carrier lifting mechanism, the front and back face detection mechanism and the code scanning assembly are located between the shell turning control mechanism and the PCB shell feeding mechanism; The shell feeding conveying line conveys the shell tray to the position of the shell tray lifting mechanism, the shell tray lifting mechanism lifts the stacked multiple shell trays to the material taking position of the shell feeding and carrying manipulator, the shell feeding and carrying manipulator takes 4 shells at a time and places them on the shell transfer station for positioning, after the shell positioning, the shell feeding and carrying manipulator takes the 4 shells from the shell transfer station and carries them to the shell turning control mechanism, the shell turning control mechanism clamps the 4 shells, the front and back face detection mechanism takes a photo to detect the front and back face of each shell, the code scanning assembly scans and binds the code, the discharging and carrying manipulator takes the 4 shells from the shell turning control mechanism and places them on the PCB shell feeding mechanism for positioning, the PCB feeding manipulator takes 4 PCBs from the PCB carrier feeding conveying line and places them on the PCB shell feeding mechanism for positioning, the PCB shell feeding mechanism pushes the four PCBs into the 4 shells at a time to complete the assembly, and the discharging and carrying manipulator takes the four assembled shells from the PCB shell feeding mechanism and places them on the product output line.

2. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The PCB carrier feeding conveying line conveys the PCB carrier after the PCB is carried by the PCB carrier lifting mechanism to the PCB carrier reflow conveying line below the PCB carrier feeding conveying line for output; After the shells on the shell tray on the shell feeding conveying line are carried, the empty shell tray is carried by the shell feeding and carrying manipulator to the empty tray recycling cavity on one side of the shell feeding conveying line for stacking and recycling.

3. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The shell feeding and carrying manipulator comprises an X-axis servo module, a Y-axis servo module and a Z-axis servo module, the X-axis servo module controls the movement of the Y-axis servo module, the Y-axis servo module controls the movement of the Z-axis servo module, the Z-axis servo module controls the lifting movement of a lifting mounting plate, one side of the lifting mounting plate is provided with a shell carrying mechanism capable of adjusting the distance, and the other side is provided with an empty tray carrying mechanism.

4. The fully automatic charging plug PCB-in-housing assembly apparatus according to claim 3, wherein, The shell carrying mechanism comprises a mounting plate, one side of the mounting plate is provided with a linear slide rail, the other side is provided with two synchronous wheels and a synchronous belt, the two synchronous wheels are connected through the synchronous belt, four material taking assemblies are slidably connected to the linear slide rail through sliding blocks, the four material taking assemblies are connected to a variable distance assembly, the two material taking assemblies arranged at the two ends of the linear slide rail are connected to the synchronous belt through a connecting plate, one of the synchronous wheels is connected to the output shaft of a stepping motor, and the stepping motor is installed at one end of the mounting plate; The variable distance assembly comprises a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, the four material taking assemblies are a first material taking assembly, a second material taking assembly, a third material taking assembly and a fourth material taking assembly, one end of the first connecting arm is rotatably connected to the first material taking assembly through a bearing and a shaft rod, the other end of the first connecting arm is rotatably connected to the second connecting arm through a bearing and a shaft rod, the middle part of the second connecting arm is rotatably connected to the second material taking assembly through a bearing and a shaft rod, the other end of the second connecting arm is rotatably connected to the third connecting arm through a bearing and a shaft rod, the middle part of the third connecting arm is rotatably connected to the third material taking assembly through a bearing and a shaft rod, the other end of the third connecting arm is rotatably connected to one end of the fourth connecting arm through a bearing and a shaft rod, and the other end of the fourth connecting arm is rotatably connected to the fourth material taking assembly through a bearing and a shaft rod; Two long holes are arranged on the mounting plate, the connecting plates are connected to the synchronous belt through the long holes, one of the connecting plates is connected to the upper belt body of the synchronous belt, and the other connecting plate is connected to the lower belt body of the synchronous belt; The material taking assembly comprises an upper mounting block and a lower mounting block, the upper mounting block and the lower mounting block are connected through a slide rail and a sliding block, the bottom of the lower mounting block is provided with a vacuum suction cup, the upper end of the lower mounting block is provided with a spring screw, the spring screw is installed on a screw mounting plate, a buffer spring is sleeved on the spring screw, and the screw mounting plate is connected to the upper mounting block.

5. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 3, wherein, The empty tray carrying mechanism comprises a suction disc support and a lifting control cylinder for controlling the lifting movement of the suction disc support, the lifting control cylinder is installed on a cylinder mounting plate, the cylinder mounting plate is installed on the lifting mounting plate, two parallel suction disc mounting plates are arranged on the suction disc support, the two ends of the two suction disc mounting plates are provided with waist-shaped holes, one end of a suction disc is arranged on a threaded sleeve, the outer surface of the threaded sleeve is provided with threads, the threaded sleeve is arranged in the waist-shaped hole and is fixed through two nuts, and the position of the suction disc can be adjusted in the position of the waist-shaped hole by loosening the nuts.

6. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The front and back surface detection mechanism comprises a servo screw rod module and a camera, the camera is installed on a camera mounting plate, and the camera mounting plate is slidably connected to the servo screw rod module through a sliding block. The servo screw module includes a module profile, a transmission screw and a servo motor are arranged on the module profile, the servo motor is connected with the transmission screw through a shaft coupling, and the transmission screw is connected with the camera mounting plate through a screw nut. The code scanning assembly includes an X-axis guide rod, a Y-axis guide rod and a Z-axis guide rod, one end of the Z-axis guide rod is connected with the X-axis guide rod through a first clamping block, the other end of the Z-axis guide rod is connected with the Y-axis guide rod through a second clamping block, the other end of the Y-axis guide rod is provided with a code reader mounting plate, and the code reader mounting plate is provided with code readers.

7. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The shell turning control mechanism includes a mounting side plate, a plurality of bearing sleeves are arranged on the mounting side plate at intervals, a bearing is arranged in each bearing sleeve, a shaft rod is arranged in the bearing, one end of the shaft rod extends out of one side of the mounting side plate and is provided with a synchronous pulley, the other end of the shaft rod extends out of the other side of the mounting side plate and is provided with a clamping air cylinder mounting plate, a clamping air cylinder is arranged on the clamping air cylinder mounting plate, a plurality of synchronous pulleys are connected through a first synchronous belt, one end of one of the shaft rods is provided with a first synchronous wheel, and the first synchronous wheel is connected with a turning control motor through a second synchronous belt and a second synchronous wheel.

8. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The PCB entering shell mechanism includes a fixed plate, a clamp plate and two-stage rapid entering shell pushing mechanisms, two vertical plates are arranged on the fixed plate, the clamp plate is fixed on the two vertical plates through a quick clamp, a row of shell positioning grooves and a row of PCB board positioning grooves are arranged on the clamp plate, each shell positioning groove corresponds to one PCB board positioning groove, the shell positioning grooves and the PCB board positioning grooves are communicated, and each two-stage rapid entering shell pushing mechanism is arranged at the position corresponding to one PCB board positioning groove. A quick clamp mounting seat is arranged on the fixed plate, and the quick clamp is arranged on the quick clamp mounting seat.

9. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 8, wherein, The two-stage rapid entering shell pushing mechanism includes a first-stage rapid air cylinder and a second-stage rapid air cylinder, the first-stage rapid air cylinder is arranged on a first air cylinder mounting seat, the first air cylinder mounting seat is connected with a sliding rail through a sliding block, the sliding rail is arranged on the fixed plate, the second-stage rapid air cylinder is fixed on the fixed plate and corresponds to the first-stage rapid air cylinder, a connecting sleeve is arranged on the other side of the first air cylinder mounting seat, the connecting sleeve is connected with a piston rod of the second-stage rapid air cylinder, a push plate is arranged on the first air cylinder mounting seat, and the push plate corresponds to the PCB board positioning groove. The speed of the first-stage rapid air cylinder for pushing the PCB board into the shell is slower than the speed of the second-stage rapid air cylinder for pushing the PCB board into the shell, after the first-stage rapid air cylinder slowly pushes the PCB board into the shell, the second-stage rapid air cylinder quickly pushes the PCB board into the shell.

10. The fully automatic charging plug PCB-in-housing assembly apparatus of claim 1, wherein, The PCB feeding mechanical hand comprises a three-axis cantilever screw module and a material taking and code scanning assembly controlled by the three-axis cantilever screw module; the material taking and code scanning assembly comprises a material taking cylinder mounting plate, four PCB plate material taking clamp cylinder and four code scanners are arranged on the material taking cylinder mounting plate in intervals, the four code scanners are moved to a code scanning position by the three-axis cantilever screw module, four PCB plates are scanned and bound at the same time, the scanned PCB plates are clamped by the four PCB plate material taking clamp cylinder and are moved to a PCB shell entering mechanism by the three-axis cantilever screw module for positioning; The discharging carrying mechanical hand comprises a Y-axis screw module and a Z-axis screw module, the Y-axis screw module controls the movement of the Z-axis screw module, the Z-axis screw module controls the movement of a lifting plate, the lifting plate is provided with an R-axis rotation control motor and an axle seat, the axle seat is provided with a rotating shaft rod, one end of the rotating shaft rod is provided with a discharging cylinder mounting plate, a plurality of discharging clamp cylinder are arranged on the discharging cylinder mounting plate, the other end of the rotating shaft rod is connected with the R-axis rotation control motor through a synchronous wheel and a synchronous belt; The shell tray lifting mechanism and the PCB carrier lifting mechanism both comprise a carrier in-out conveying line and a lifting module, the lifting module controls the lifting movement of the carrier in-out conveying line; The lifting module comprises a lifting servo motor and a ball screw, the lifting servo motor is connected with the ball screw through a synchronous wheel and a synchronous belt, the carrier in-out conveying line is connected with a linear guide rail through a sliding block, and the linear guide rail is installed on a lifting vertical plate; The carrier in-out conveying line comprises a conveying line mounting plate, conveying line guide rails are arranged on the two sides of the conveying line mounting plate respectively, conveying belts are arranged on the corresponding surfaces of the two conveying line guide rails, and the conveying belts are controlled to drive by a conveying motor.

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