Packaging device of motor control circuit board for robot

Abstract

The invention provides a packaging device of a motor control circuit board for a robot, and belongs to the technical field of robots. The feeding assembly, the detection assembly and the packaging assembly are arranged beside the machining station, automatic feeding is carried out on the packaging shell, the control circuit board and the sealing cover, the packaging shell and the control circuit board are detected, the track of the connecting position between the packaging shell and the sealing cover is explored through the front guide assembly of the packaging assembly, and the packaging efficiency is improved. And the obtained information is transmitted to the rear filling assembly after being delayed for a preset time through the packaging controller, so that a glue filling head of the rear filling assembly can move along with a track explored by a telescopic needle of the front guide assembly under the condition of preventing motion interference, the consistency of a packaging track and an actual track is ensured, the packaging accuracy is ensured, and the packaging efficiency is improved. The packaging can be carried out without complex programming of professionals aiming at the shape of the product, the operation limitation is smaller, debugging is not needed, the packaging efficiency is higher, the cost is lower, and the packaging processing of the control circuit board is facilitated.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a packaging device for a motor control circuit board for a robot. Background Technology

[0002] Currently, the joint movements of robots are driven by motors, that is, motors provide power for the joint movements of robots, and the operation of motors is realized by control circuit boards. Therefore, ensuring the normal operation of control circuit boards is a prerequisite for ensuring the smooth operation of robots.

[0003] Because robots operate in diverse environments, the industry typically mounts control circuit boards (PCBs) within a housing to ensure their proper functioning, providing external protection. To enhance this protection, potting is performed at the seams after installation. Currently, the process involves separately inspecting the housing and PCB before transferring them to an assembly station. The PCB is then manually placed inside the housing, the opening is covered with a cap, and finally, a potting machine fills the gap between the housing and the cap with sealant, thus encapsulating the control circuit board and providing external protection. While this method fulfills the encapsulation requirements, it requires independent inspection of both the housing and the PCB, multiple transfers, numerous steps, and is time-consuming and labor-intensive. In addition, since the shape of the connection between the shell and the cap is not necessarily regular, when the potting machine is used to fill the sealant directly, the filling trajectory is prone to deviate from the actual connection, resulting in poor packaging reliability. Therefore, manual assembly and potting operations are required, which further increases the workload, resulting in low packaging efficiency of the control circuit board. Furthermore, a large number of personnel are required for packaging operations, which increases packaging costs and is not conducive to the packaging and processing of control circuit boards. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, this invention aims to provide a packaging device for a robot motor control circuit board. This device includes a feeding component, a detection component, and a packaging component. The feeding component feeds the casing, control circuit board, and cover separately. The detection component detects the casing and control circuit board. The packaging component includes a front guide component and a rear filling component. The front guide component explores the trajectory of the seam between the casing and cover, and the exploration result is delayed and transmitted to the rear filling component. This allows the rear filling component to follow the trajectory of the front guide component for filling, eliminating the need for manual operation and ensuring accurate filling trajectory. This improves packaging efficiency, reduces packaging costs, and can adapt to casings of any shape. It eliminates the need for complex programming by professional personnel, has fewer usage limitations, requires no debugging, and facilitates the packaging and processing of control circuit boards.

[0005] The specific technical solution is as follows: A packaging device for a robot motor control circuit board, characterized by comprising: A platform, with machining stations set up on it; The feeding assembly includes a shell feeding component, a circuit board feeding component, and a cover feeding component arranged sequentially at intervals and all located next to the processing station. The testing assembly includes a casing testing component and a circuit board testing component. The casing testing component is located at the processing station, and the circuit board testing component is located beside the processing station. The encapsulation assembly includes a front guide assembly, a rear filling assembly, and an encapsulation controller, all located beside the processing station. The front guide assembly includes a translating member and a telescopic pin. The translating member moves in two directions in the horizontal plane, and the telescopic pin is mounted on the translating member. The rear filling assembly is located beside the processing station and includes a dispensing head that can move in both the horizontal and vertical planes. The encapsulation controller detects the position of the translating member and the changes in the extension and retraction length of the telescopic pin, and transmits the data to the rear filling assembly after a predetermined delay.

[0006] The aforementioned packaging device for a robot motor control circuit board includes a front guide assembly that further includes a sliding frame. The sliding frame includes a horizontal lateral sliding part, a horizontal longitudinal sliding part, and a vertical sliding part. The vertical sliding part is mounted on the horizontal lateral sliding part, the horizontal longitudinal sliding part is mounted on the horizontal lateral sliding part, and a translation component is disposed on the horizontal longitudinal sliding part.

[0007] The aforementioned packaging device for a robot motor control circuit board includes a translation component comprising a horizontal slide bar, a horizontal slider, a lateral locking component, a vertical slide bar, a vertical slider, and a longitudinal locking component. The horizontal and vertical slide bars are both horizontally arranged and perpendicular to each other. A horizontal slider is slidably mounted on the horizontal slide bar, and a lateral locking component is mounted on the horizontal slider and acts on the horizontal slide bar. The vertical slide bar is mounted on the horizontal slider, and a vertical slider is slidably mounted on the vertical slide bar, and a longitudinal locking component is mounted on the vertical slider. Either the lateral locking component or the longitudinal locking component can be locked.

[0008] The above-mentioned packaging device for a robot motor control circuit board includes a telescopic pin comprising a telescopic sleeve, a telescopic head, and a return spring. The telescopic sleeve is arranged vertically, and the upper end of the telescopic head is inserted into the telescopic sleeve from the lower end of the telescopic sleeve. A return spring is provided inside the telescopic sleeve, and the return spring abuts against the end of the telescopic head that extends into the telescopic sleeve.

[0009] The aforementioned packaging device for a robot motor control circuit board includes sensing plates on the horizontal slider, vertical slider, and telescopic head, and distance sensors corresponding to the sensing plates are installed on the horizontal slider, vertical slider, and telescopic sleeve.

[0010] In the aforementioned packaging device for a robot motor control circuit board, both the lateral locking component and the longitudinal locking component are locking screws.

[0011] The aforementioned packaging device for a robot motor control circuit board, wherein the delay time for the packaging controller to transmit the position of the translation component and the extension length change of the telescopic pin to the back filling component is one trajectory exploration time, and the processing of each batch of products only requires the front guide component to be started once.

[0012] The aforementioned packaging device for a robot motor control circuit board includes a robotic arm for loading the casing, the circuit board, and the cover.

[0013] The above-mentioned packaging device for a robot motor control circuit board includes a sealing detection component comprising a first pressure driver, a pressure cap, and pipe joints. The first pressure driver is arranged vertically and installed above the processing station. The pressure cap is installed on the drive shaft of the first pressure driver. Several pipe joints are provided on the pressure cap, and the pipe joints are connected to an air supply device and a pressure detection device.

[0014] The above-mentioned packaging device for a robot motor control circuit board includes a circuit board testing component comprising a testing platform, a testing contact, a second pressing driver, and a pressing block. The testing platform is located beside the processing station and has a placement slot. The second pressing driver is located above the testing platform and is arranged vertically downwards, and a pressing block is provided on the drive shaft of the second pressing driver. The testing contact is located on the testing platform and extends into the placement slot.

[0015] The above-mentioned packaging device for a robot motor control circuit board includes a post-filling assembly further comprising a horizontal sliding assembly, a horizontal sliding assembly, and a height lifting assembly. The horizontal sliding assembly is mounted on a platform, the height lifting assembly is mounted on the horizontal sliding assembly, the horizontal sliding assembly is mounted on the height lifting assembly, and the dispensing head is positioned on the horizontal sliding assembly.

[0016] The positive effects of the above technical solution are: The aforementioned robotic motor control circuit board packaging device automatically feeds the casing, control circuit board, and cap into place using a feeding component. A detection component then inspects the casing and control circuit board to ensure they meet product requirements. A front guide component of the packaging assembly explores the trajectory at the connection point between the casing and cap, transmitting the acquired information to the packaging controller. The packaging controller then transmits this information to the post-filling component after a predetermined delay, allowing the post-filling component to follow the trajectory explored by the front guide component. This eliminates the need for manual operation, ensuring the filling trajectory perfectly matches the trajectory at the casing and cap connection point, resulting in higher accuracy, better packaging effect, improved packaging efficiency, and reduced packaging costs. Furthermore, the front guide component can adapt to the trajectory exploration of casings of any shape, avoiding the need for complex programming by professionals for packaging. This reduces usage limitations, eliminates the need for debugging, and facilitates the packaging process of control circuit boards. Attached Figure Description

[0017] Figure 1 This is a structural diagram of an embodiment of a packaging device for a robot motor control circuit board according to the present invention; Figure 2 This is a schematic diagram of the structure of the front guide assembly of a packaging device for a robot motor control circuit board according to the present invention; Figure 3 This is a schematic diagram of the post-filling assembly of a packaging device for a robot motor control circuit board according to the present invention.

[0018] In the attached diagram: 1. Platform; 2. Processing station; 3. Loading assembly; 4. Detection assembly; 41. Sealing inspection component; 42. Circuit board inspection component; 411. First pressure driver; 412. Pressure cap; 413. Pipe connector; 421. Inspection table; 422. Inspection contact; 423. Second pressure driver; 424. Pressure block; 5. Encapsulation assembly; 51. Front guide assembly; 52. Rear filling assembly; 511. Translation component; 512. Telescopic pin; 513. Sliding frame; 521. Dispensing head; 52 2. Horizontal sliding assembly; 523. Horizontal longitudinal sliding assembly; 524. Height lifting assembly; 5111. Horizontal sliding rod; 5112. Horizontal slider; 5113. Horizontal locking component; 5114. Longitudinal sliding rod; 5115. Longitudinal slider; 5116. Longitudinal locking component; 5121. Telescopic sleeve; 5122. Telescopic head; 5123. Return spring; 5124. Sensing plate; 5125. Distance sensor; 5131. Horizontal transverse sliding part; 5132. Horizontal longitudinal sliding part; 5133. Vertical sliding part. Detailed Implementation

[0019] To make the technical means, creative features, objectives, and effects of this invention easier to understand, the following embodiments are provided in conjunction with the appendix. Figure 1 To be continued Figure 3 The technical solutions provided by this invention are described in detail, but the following content is not intended to limit this invention.

[0020] Figure 1 This is a structural diagram of an embodiment of a packaging device for a robot motor control circuit board according to the present invention. Figure 1 As shown, the packaging device for the robot motor control circuit board provided in this embodiment includes: a stage 1, a feeding component 3, a detection component 4, and a packaging component 5.

[0021] Specifically, the bottom of the platform 1 is provided with support legs so that it can be placed horizontally on the ground. At this time, a processing station 2 is provided on the platform 1. The processing station 2 is used to clamp the shell to be packaged, which provides the conditions for the subsequent placement of the control circuit board inside the shell and the sealing of the cover for packaging.

[0022] Specifically, the loading assembly 3 includes a shell loading component, a circuit board loading component, and a cover loading component arranged sequentially and at intervals beside the processing station 2. The shell loading component transfers the shell to the processing station 2, and the circuit board loading component transfers the control circuit board to the testing assembly 4 to ensure that the packaged control circuit board has a normal structure. After testing, the control circuit board is then transferred back into the shell. Additionally, the cover loading component seals the opening of the shell. It is worth noting that after subsequent packaging, the packaged product can be unloaded, achieving automated operation.

[0023] Specifically, the testing component 4 includes a casing testing component 41 and a circuit board testing component 42. The casing testing component 41 is located at the processing station 2, allowing for direct testing of the casing when it is placed there, ensuring that the casing meets the packaging requirements. Furthermore, the circuit board testing component 42 is located beside the processing station 2 to test whether the control circuit board is operating normally, ensuring that the subsequently packaged control circuit board meets the product design requirements.

[0024] Specifically, the encapsulation component 5 includes a front guide component 51, a rear filling component 52, and an encapsulation controller, all located beside the processing station 2. The front guide component 51 includes a translation member 511 and a telescopic pin 512. The translation member 511 moves in two directions in the horizontal plane, providing conditions for the subsequent telescopic pin 512 to move in the horizontal plane to explore the trajectory of the casing. Simultaneously, the telescopic pin 512 is mounted on the translation member 511, allowing it to follow the translation member 511's movement. The lower end of the telescopic pin 512 is inserted into the connection between the casing and the cap to explore the trajectory. Furthermore, the telescopic pin 512 adapts to changes in the height of the trajectory in the vertical plane of the casing through its extension and retraction. In other words, the front guide component 51 can adapt to changes in the trajectory of the connection between the casing and the cap in both the horizontal and vertical directions, providing guidance for the operation of the subsequent rear filling component 52.

[0025] Furthermore, the post-fill component 52 is located beside the processing station 2. The post-fill component 52 includes a dispensing head 521, which can move in both the horizontal and vertical planes. This allows the dispensing head 521 to follow the movement of the front guide component 51, thereby ensuring that the dispensing head 521 can smoothly fill the sealant into the connection between the shell and the cap, resulting in higher accuracy and ensuring the effectiveness of the encapsulation. Moreover, it does not require manual operation, can adapt to different potting trajectories, does not require complex procedures by professional personnel, has fewer usage limitations, higher processing efficiency, and does not require debugging, which is beneficial for controlling the encapsulation process of the circuit board. The encapsulation controller detects the position of the translation component 511 and the change in the extension length of the telescopic pin 512, and transmits the data to the post-filling component 52 after a predetermined delay. This ensures that after the front guide component 51 explores the trajectory at the connection between the casing and the cap, the data is transmitted to the post-filling component 52 after a predetermined delay. Consequently, the dispensing head 521 of the post-filling component 52 follows the movement of the telescopic pin 512, thereby ensuring that the dispensing head 521 can accurately fill the encapsulation at the connection between the casing and the cap, guaranteeing product quality and facilitating processing.

[0026] Figure 2 This is a schematic diagram of the front guide assembly of a packaging device for a robot motor control circuit board according to the present invention. Figure 1 and Figure 2As shown, the front guide assembly 51 also includes a sliding frame 513, which provides power for the exploration of the subsequent telescopic needle 512. The sliding frame 513 further includes a horizontal transverse sliding part 5131, a horizontal longitudinal sliding part 5132, and a vertical sliding part 5133. The vertical sliding part 5133 is mounted on the horizontal transverse sliding part 5131, allowing the vertical sliding part 5133 to move in one direction in the horizontal plane along with the horizontal transverse sliding part 5131, while also being able to move vertically. Simultaneously, the horizontal longitudinal sliding part 5132 is mounted on the horizontal transverse sliding part 5131, allowing the horizontal... The longitudinal sliding part 5132 can move with the horizontal sliding part 5131 and the vertical sliding part 5133, and can also move in another direction within the horizontal plane. Furthermore, the translation member 511 is mounted on the horizontal longitudinal sliding part 5132, allowing it to move along the X and Y axes in the horizontal plane and the Y axis in the vertical plane under the action of the sliding frame 513. This provides conditions for obstacle avoidance and driving the telescopic needle 512 to explore. It is worth noting that the height of the vertical sliding part 5133 can be adjusted by raising and lowering the translation member 511 and the telescopic needle 512 when trajectory exploration is needed and after it is completed. This ensures smooth trajectory exploration and avoidance of the dispensing head 521 during subsequent encapsulation, allowing the dispensing head 521 to successfully fill the sealant. The horizontal and longitudinal sliding parts drive the telescopic needle 512 to move in the horizontal plane, meeting the trajectory exploration requirements of the telescopic needle 512 at the connection between the casing and the cap. It is worth noting that the horizontal sliding part 5131, the horizontal longitudinal sliding part 5132, and the vertical sliding part 5133 are all commonly used linear sliding structures of screw block type, which belong to the prior art. Therefore, their specific structures will not be described in detail here.

[0027] More specifically, the translation component 511 includes a horizontal slide bar 5111, a horizontal slider 5112, a lateral locking component 5113, a longitudinal slide bar 5114, a longitudinal slider 5115, and a longitudinal locking component 5116. The horizontal slide bar 5111 and the longitudinal slide bar 5114 are both horizontally arranged and perpendicular to each other, accommodating movement in two directions within the horizontal plane. Furthermore, a horizontal slider 5112 is slidably mounted on the horizontal slide bar 5111. Simultaneously, a lateral locking component 5113 is mounted on the horizontal slider 5112 and acts on the horizontal slide bar 5111. The lateral locking component 5113 temporarily locks the horizontal slider 5112 onto the horizontal slide bar 5111, temporarily restricting the horizontal slider 5112. At this time, the horizontal lateral sliding part 5131 drives the translation component 511 to move laterally within the horizontal plane, thereby driving the telescopic needle 512 to move laterally within the horizontal plane, meeting the trajectory exploration requirements. Furthermore, a longitudinal slide bar 5114 is mounted on a transverse slide bar 5112, and a longitudinal slide bar 5115 is slidably mounted on the longitudinal slide bar 5114. A longitudinal locking member 5116 is mounted on the longitudinal slide bar 5115, which temporarily locks the longitudinal slide bar 5115 on the longitudinal slide bar 5114, thus temporarily restricting the longitudinal slide bar 5115. At this time, the horizontal longitudinal sliding part 5132 drives the translation member 511 to move longitudinally in the horizontal plane. Moreover, either the transverse locking member 5113 or the longitudinal locking member 5116 can be locked. That is, when the transverse locking member 5113 is locked, the longitudinal locking member 5116 is released, and when the longitudinal locking member 5116 is locked, the transverse locking member 5113 is released, allowing the telescopic needle 512 to move longitudinally or laterally in the horizontal plane. When the transverse locking member 5113 is locked, the telescopic pin 512 moves laterally under the action of the horizontal transverse sliding part 5131, so that the telescopic pin 512 moves in one direction of the cover. At this time, since the longitudinal locking member 5116 is in the loose state, the longitudinal slider 5115 can move freely on the longitudinal sliding rod 5114, so that the telescopic pin 512 can adapt to the left and right transverse movement in the current movement direction, thereby adapting to the exploration of the protruding or concave trajectory in the current movement direction. After the telescopic pin 512 moves to the other direction of the lock housing, the longitudinal locking member 5116 can be tightened, allowing the telescopic pin 512 to move longitudinally under the action of the horizontal longitudinal sliding part 5132. This enables the telescopic pin 512 to move in the other direction of the lock housing. At this time, since the transverse locking member 5113 is in a loose state, the transverse slider 5112 can move freely on the transverse sliding rod 5111, allowing the telescopic pin 512 to adapt to the left and right lateral movement in the current direction of movement. This allows it to adapt to the exploration of the protruding or recessed trajectory in the current direction of movement. Thus, the direction of the track of the lock housing in the horizontal plane and whether there is a protrusion or recess in that direction can be determined by selecting either the transverse locking member 5113 or the longitudinal locking member 5116 to lock, thereby enabling the telescopic pin 512 to explore the trajectory of the connection between the lock housing and the cover, meeting the usage requirements.

[0028] More specifically, the telescopic needle 512 includes a telescopic sleeve 5121, a telescopic head 5122, and a return spring 5123. The telescopic sleeve 5121 is arranged vertically, and the upper end of the telescopic head 5122 is inserted into the telescopic sleeve 5121 from the lower end of the telescopic sleeve 5121, so that the telescopic head 5122 can slide vertically within the telescopic sleeve 5121 to adjust its height. At the same time, a return spring 5123 is provided inside the telescopic sleeve 5121. The return spring 5123 abuts against the end of the telescopic head 5122 that extends into the telescopic sleeve 5121. The return spring 5123 provides leeway for the raising and lowering of the telescopic head 5122, and also provides thrust for the return of the telescopic head 5122 after retraction. This allows the telescopic head 5122 to adapt to changes in height in the vertical direction when the telescopic needle 512 is exploring its trajectory. The structural design is more reasonable.

[0029] More specifically, each of the horizontal slider 5112, vertical slider 5115, and telescopic head 5122 is equipped with a sensor 5124, allowing the sensor 5124 to move synchronously when the horizontal slider 5112, vertical slider 5115, and telescopic head 5122 move. This provides the means to determine the positions of the horizontal slider 5112, vertical slider 5115, and telescopic head 5122 using the sensor 5124. Simultaneously, distance sensors 5125 corresponding to the sensor 5124 are installed on the horizontal slider 5111, vertical slider 5114, and telescopic sleeve 5121. By sensing the distance of the corresponding sensor 5124 through the distance sensor 5125, the positions of the horizontal slider 5112, vertical slider 5115, and telescopic head 5122 can be obtained, fulfilling the requirements for trajectory exploration. It is worth noting that a clearance groove is provided on the side wall of the telescopic sleeve 5121 along its axial direction. One end of the sensing plate 5124 on the telescopic head 5122 is installed on the side wall of the telescopic head 5122, and the other end extends from the clearance groove to the outside of the telescopic sleeve 5121, so that the sensing plate 5124 on the telescopic head 5122 can correspond to the distance sensor 5125 on the telescopic sleeve 5121, thereby meeting the positioning requirements.

[0030] More specifically, both the transverse locking member 5113 and the longitudinal locking member 5116 are locking screws. By turning the locking screws, the transverse locking member 5113 and the longitudinal locking member 5116 can be temporarily locked and loosened, making them more convenient to use.

[0031] More specifically, the delay time by which the encapsulation controller transmits the position of the translation component 511 and the extension / retraction length change of the telescopic pin 512 to the post-filling assembly 52 is defined as a trajectory exploration time. This ensures that when the dispensing head 521 is working, the front guide assembly 51 has already completed its work, preventing structural and motion interference and enhancing safety. Furthermore, the front guide assembly 51 only needs to be activated once per batch of products. It only needs to be activated again after a subsequent batch change to perform trajectory exploration at the connection between the casing and cap, avoiding resource waste caused by needing to perform trajectory exploration for each encapsulation and improving encapsulation efficiency.

[0032] More specifically, the casing loading component, circuit board loading component, and cap loading component are all robotic arms. Preferably, the robotic arms are multi-axis robotic arms, which can grasp and transfer the corresponding casings, control circuit boards, and caps in multiple directions to meet the needs of loading, testing, assembly, and unloading.

[0033] More specifically, the sealing shell testing component 41 includes a first pressing actuator 411, a pressure cap 412, and pipe joints 413. The first pressing actuator 411 is arranged vertically and installed above the processing station 2, and the pressure cap 412 is installed on the drive shaft of the first pressing actuator 411, so that the first pressing actuator 411 can drive the pressure cap 412 to move up and down vertically, providing conditions for sealing the opening of the sealing shell by the pressure cap 412. At the same time, a sealing gasket is provided on the side of the pressure cap 412 near the sealing shell, so that the sealing performance is better when the opening of the sealing shell is sealed by the pressure cap 412, ensuring more accurate subsequent testing of the sealing shell. At this time, several pipe joints 413 are provided on the pressure cap 412, and an air supply device and a pressure testing device are connected through the pipe joints 413. That is, during testing, the sealing shell is closed by the pressure cap 412 and the sealing shell is inflated. The change in internal air pressure is observed. If there is no change or the change is small, the sealing shell is considered qualified. Preferably, the first pressing driver 411 is mounted on a rotating platform, which is powered by a rotary driver. This allows the rotating platform to drive the first pressing driver 411 to deflect, enabling the pressure cap 412 to correspond to or move away from the processing station 2. In other words, when inspection is required, the pressure cap 412 can be moved to a position facing the processing station 2, and after inspection, it can be moved to a position away from the processing station 2. This avoids interfering with the operation of the subsequent front guide assembly 51 and rear filling assembly 52, resulting in a more reasonable structural design.

[0034] More specifically, the circuit board testing component 42 includes a testing platform 421, a testing contact 422, a second pressing driver 423, and a pressing block 424. The testing platform 421 is positioned beside the processing station 2. A placement slot is provided on the testing platform 421 for placing the control circuit board. The second pressing driver 423 is positioned above the testing platform 421 and vertically downwards. A pressing block 424 is mounted on the drive shaft of the second pressing driver 423. This allows the pressing block 424 to move downwards and press the control circuit board firmly after it is placed in the placement slot of the testing platform 421, ensuring stability during testing. Simultaneously, the testing contact 422 is positioned on the testing platform 421 and extends into the placement slot, allowing the control circuit board to contact the testing contact 422 after it is placed in the slot, thus achieving electrical connection and testing of the control circuit board. It is worth noting that there are several detection contacts 422, which are electrically connected to the power supply equipment and the testing equipment respectively to ensure the smooth progress of the test. Furthermore, the parameter settings of the power supply equipment and the testing equipment can be adjusted according to the specific structure of the control circuit board under test to meet the testing requirements. In addition, since there are many types of power supply equipment and testing equipment on the market, only the appropriate equipment needs to be selected in this embodiment. Therefore, the specific models and parameter selections will not be elaborated here.

[0035] Figure 3 This is a schematic diagram of the post-filling assembly of a packaging device for a robot motor control circuit board according to the present invention. Figure 1 and Figure 3 As shown, the post-filling assembly 52 also includes a horizontal sliding assembly 522, a horizontal vertical sliding assembly 523, and a height lifting assembly 524. During assembly, the horizontal sliding assembly 522 is mounted on the platform 1, and the height lifting assembly 524 is mounted on the horizontal sliding assembly 522, allowing the height lifting assembly 524 to move with the horizontal sliding assembly 522 and also to lift itself. Furthermore, the horizontal vertical sliding assembly 523 is mounted on the height lifting assembly 524, and the dispensing head 521 is positioned on the horizontal vertical sliding assembly 523, allowing the dispensing head 521 to move horizontally under the action of the horizontal sliding assembly 522 and the horizontal vertical sliding assembly 523, and to lift vertically under the action of the height lifting assembly 524, thus meeting the requirement that the dispensing head 521 moves with the telescopic needle 512. It is worth noting that the horizontal sliding assembly 522, the horizontal sliding assembly 523, and the height lifting assembly 524 include, but are not limited to, the use of existing ball screw block sliding structures on the market. Since there are many existing structures on the market and they are widely used, their specific structures will not be described in detail here.

[0036] The robot motor control circuit board packaging device provided in this embodiment includes a platform 1, a feeding component 3, a detection component 4, and a packaging component 5. By setting the feeding component 3, the detection component 4, and the packaging component 5 on the side of the processing station 2 of the platform 1, the casing, control circuit board, and cover can be automatically fed. At the same time, the casing and control circuit board are detected. After the detection is completed, the cover is placed at the opening of the casing. Then, the front guide component 51 of the packaging component 5 explores the trajectory at the connection between the casing and the cover, and transmits the obtained information to the post-filling component 52 after a predetermined delay through the packaging controller. Under the condition of preventing motion interference, the dispensing head 521 of the post-filling component 52 can follow the trajectory explored by the telescopic needle 512 of the front guide component 51, ensuring that the packaging trajectory is consistent with the actual trajectory, ensuring the accuracy of packaging. It does not require professional personnel to perform complex programming for the product shape to perform packaging, has fewer operational restrictions, does not require debugging, has higher packaging efficiency, lower cost, and is beneficial to the packaging processing of control circuit boards.

[0037] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A packaging device for a robot motor control circuit board, characterized in that, include: A platform, wherein a processing station is provided on the platform; The feeding assembly includes a shell feeding component, a circuit board feeding component, and a cover feeding component arranged sequentially at intervals and all located next to the processing station. The detection component includes a casing detection component and a circuit board detection component. The casing detection component is disposed at the processing station, and the circuit board detection component is disposed beside the processing station. The encapsulation assembly includes a front guide assembly, a rear filling assembly, and an encapsulation controller disposed beside the processing station. The front guide assembly includes a translation member and a telescopic pin. The translation member can move in two directions in the horizontal plane, and the telescopic pin is mounted on the translation member. The rear filling assembly is disposed beside the processing station and includes a dispensing head that can move in both the horizontal and vertical planes. The encapsulation controller is used to detect the position of the translation member and the change in the extension length of the telescopic pin, and transmits the information to the rear filling assembly after a predetermined delay.

2. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The front guide assembly further includes a sliding frame, which includes a horizontal lateral sliding part, a horizontal longitudinal sliding part, and a vertical sliding part. The vertical sliding part is mounted on the horizontal lateral sliding part, the horizontal longitudinal sliding part is mounted on the horizontal lateral sliding part, and the translation member is disposed on the horizontal longitudinal sliding part.

3. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The translation component includes a horizontal slide bar, a horizontal slider, a lateral locking member, a longitudinal slide bar, a longitudinal slider, and a longitudinal locking member. The horizontal slide bar and the longitudinal slide bar are both arranged horizontally and are perpendicular to each other. The horizontal slider is slidably mounted on the horizontal slide bar. The lateral locking member is mounted on the horizontal slider and acts on the horizontal slide bar. The longitudinal slide bar is mounted on the horizontal slider, and the longitudinal slider is slidably mounted on the longitudinal slide bar. The longitudinal locking member is mounted on the longitudinal slider. Either the lateral locking member or the longitudinal locking member can be locked.

4. The packaging device for a robot motor control circuit board according to claim 3, characterized in that, The telescopic needle includes a telescopic sleeve, a telescopic head, and a return spring. The telescopic sleeve is arranged vertically. The upper end of the telescopic head is inserted into the telescopic sleeve from the lower end of the telescopic sleeve. The return spring is provided inside the telescopic sleeve and abuts against the end of the telescopic head that extends into the telescopic sleeve.

5. The packaging device for a robot motor control circuit board according to claim 4, characterized in that, The horizontal slider, the vertical slider, and the telescopic head are all equipped with sensing plates, and distance sensors corresponding to the sensing plates are installed on the horizontal slider, the vertical slider, and the telescopic sleeve.

6. The packaging device for a robot motor control circuit board according to claim 3, characterized in that, Both the lateral locking component and the longitudinal locking component are locking screws.

7. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The delay time by which the packaging controller transmits the position of the translation component and the extension / retraction length change of the telescopic pin to the post-filling component is one trajectory exploration time. The processing of each batch of products only requires the front guide component to be activated once.

8. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The sealing test component includes a first pressure driver, a pressure cap, and pipe joints. The first pressure driver is arranged vertically and installed above the processing station. The pressure cap is installed on the drive shaft of the first pressure driver. Several pipe joints are provided on the pressure cap. The pipe joints are connected to an air supply device and a pressure testing device.

9. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The circuit board testing component includes a testing platform, a testing contact, a second pressing driver, and a pressing block. The testing platform is located beside the processing station and has a placement slot. The second pressing driver is located above the testing platform and is arranged vertically downwards. The pressing block is located on the drive shaft of the second pressing driver. The testing contact is located on the testing platform and extends into the placement slot.

10. The packaging device for a robot motor control circuit board according to claim 1, characterized in that, The post-filling assembly further includes a horizontal sliding assembly, a horizontal sliding assembly, and a height lifting assembly. The horizontal sliding assembly is mounted on the platform, the height lifting assembly is mounted on the horizontal sliding assembly, the horizontal sliding assembly is mounted on the height lifting assembly, and the dispensing head is positioned on the horizontal sliding assembly.

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