Positive and negative plug-in device and method

Abstract

The application discloses a forward and reverse plug-in equipment, which comprises a feeding module (1), a storage device (11) and a carrying device (12) oppositely arranged, the carrying device (12) taking out and transferring the product to be plugged in the storage device (11); a plug-in module (2) comprising a displacement device (21), a connecting device (22) and a plug-in device (23), the last moving end of the displacement device (21) being fixedly installed with the connecting device (22), and the connecting device (22) being connected with the plug-in device (23) through a forward and reverse rotation structure. Through the above mode, the forward and reverse plug-in equipment and the plug-in method can realize multi-degree-of-freedom precise plug-in with compact structure and flexible control.

Description

Technical Field

[0001] This invention relates to the field of control board testing technology for liquid crystal panels, and in particular to a reversible insertion device and method. Background Technology

[0002] In the assembly process of existing LCD panel control boards, a rigid PCB board needs to be connected to a flexible circuit board. The PCB board typically has interfaces, some of which are fitted with a piano-shaped cover. When testing the PCB board and the devices electrically connected to it, the piano-shaped cover needs to be flipped open. One end of a flexible circuit board is then connected to the interface on the PCB board, and the other end is connected to a fixture. The piano-shaped cover is then rotated in the opposite direction at a certain angle to press down the connection between the flexible circuit board and the PCB board, ensuring that the gold fingers of the flexible circuit board maintain contact with the gold fingers at the interface on the PCB board, thus achieving electrical connection. After testing, the piano-shaped cover is released, and the flexible circuit board is removed from the PCB board. While some piano-shaped cover flipping devices exist for PCB boards, their complex structure limits their applicability to different PCB board interfaces and leads to a high error rate. Summary of the Invention

[0003] The main technical problem solved by this invention is to provide a forward and reverse insertion device and a insertion method that are compact in structure, flexible in control, and capable of achieving multi-degree-of-freedom precision insertion.

[0004] One technical solution adopted in this invention is: a reversible plug-in device, comprising, The feeding module includes a storage device and a conveying device arranged opposite to each other. The conveying device takes out the product to be inserted from the storage device and transfers it. The plug-in module includes a displacement device, a connecting device, and a plug-in device. The connecting device is fixedly installed at the last moving end of the displacement device, and the connecting device is connected to the plug-in device through a forward and reverse rotation structure.

[0005] The storage device includes a back plate, an adjustable storage frame, and a placement area enclosed by the back plate. The upper opening of the placement area is a placement inlet, and the lower opening is provided with a support plate for placing the product to be inserted. A gap is provided between the support plate and the lower end of the back plate to form a discharge port.

[0006] The conveying device includes a conveying frame, which is driven to move in three directions: X, Y, and Z. A material picking and adsorption mechanism is provided at the front end of the conveying frame.

[0007] The material picking and adsorption mechanism includes a material picking and adsorption plate, which is installed at the front end of the transport frame via a buffer assembly, and a material picking and adsorption component is installed on the material picking and adsorption plate.

[0008] The connecting device includes an upper connecting component and a lower connecting component. The upper connecting component and the lower connecting component are connected by a rotating shaft, which allows the lower connecting component to rotate around the rotating shaft. A locking component is also installed between the upper connecting component and the lower connecting component to fix the upper connecting component and the lower connecting component.

[0009] The plug-in device includes a pitch mechanism, and at least one adjustable plug-in displacement component is installed at the lower end of the pitch mechanism. Each adjustable plug-in displacement component has a plug connector assembly installed at its lower end.

[0010] The pitch mechanism includes a pitch drive assembly, a sliding guide assembly, a linkage assembly, and a pitch plate. The pitch drive assembly is fixedly disposed on the bottom surface of the lower connecting assembly. The sliding guide assembly includes an inclined guide portion fixed to the pitch plate and a sliding engagement member connected to the output end of the pitch drive assembly. The sliding engagement member is slidably disposed along the inclined guide portion. The linkage assembly connects the pitch plate and the lower connecting assembly to provide a rotation fulcrum for the pitch plate. The pitch drive assembly drives the sliding engagement member to slide along the inclined guide portion, thereby causing the pitch plate to swing relative to the lower connecting assembly around the rotation fulcrum provided by the linkage assembly.

[0011] The plugging device further includes a correction mechanism for connecting the adjustable plugging displacement component and the plugging component, so that the plugging component can move in the Y direction and rotate in the θ direction.

[0012] The insertion device further includes a vision mechanism, and each of the adjustable insertion displacement components has a vision mechanism installed at its front end.

[0013] A reversible plugging method, using the aforementioned reversible plugging device, comprises the following steps: S1. Confirm the product to be inserted and adjust the forward or reverse installation posture of the material storage device and the insertion device; S2. Adjust the position of the plug-in module according to the plug-in product model; S3. After the conveying device takes out the product to be inserted from under the storage device, it moves to be opposite the insertion device, and the insertion connector assembly clamps the product to be inserted; S4. The pitch mechanism tilts the connector assembly and opens the interface between the product to be plugged in and the product to be plugged in before plugging in.

[0014] The beneficial effects of the reversible plug-in device and method of the present invention are: High flexibility and adaptability: By setting an adjustable storage frame, the width of the placement area can be quickly adjusted to adapt to products of different sizes and specifications to be inserted without the need to replace the storage frame; by using the forward and reverse rotation structure of the connecting device, the entire insertion device can be quickly switched 180° to meet the needs of inserting products in the forward or reverse direction without the need to flip the product or replace the clamp.

[0015] Multi-degree-of-freedom precision insertion: This invention, based on the traditional X, Y, and Z-axis motion, adds tilt motion of the pitch mechanism and fine-tuning motion of the Y and θ axes of the correction mechanism, forming a multi-axis precision insertion capability. The pitch mechanism, through a combination of servo drive and linkage structure, achieves precise adjustment of any angle within the range of 0° to 12°, making it particularly suitable for interface insertion with flip-top structures. It can simulate the oblique insertion action after a human hand opens the cover, avoiding damage to the gold fingers. The fine-tuning capability of the correction mechanism compensates for product positioning errors and assembly tolerances, achieving an insertion accuracy of ±0.05mm.

[0016] Continuous and stable material supply: The storage device adopts a stacked placement method, combined with the lifting component to achieve layer-by-layer material supply. The material picking and adsorption mechanism of the conveying device uses a buffer component to achieve flexible material picking, avoiding damage to the product surface. The three-axis linkage structure of the conveying device enables rapid material picking and transfer, effectively reducing equipment waiting time.

[0017] Visual guidance and closed-loop control: Each connector assembly is independently equipped with a vision mechanism at its front end, which can accurately position the interface of the plugged product and monitor the interface cover opening status in real time. The vision mechanism, together with the correction mechanism and the adjustable plug displacement assembly, forms a closed-loop control system to ensure precise and controllable plug position and improve plug success rate.

[0018] Compact structure and high space utilization: The pitch mechanism adopts a combination of linkage and slide rail structure, and the drive components are arranged inside the equipment. The overall height is low and the space occupied is small, which makes it easy to integrate into the automated production line. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a first embodiment of the reversible plug-in device of the present invention; Figure 2 This is a schematic diagram of the plug-in module of Embodiment 1 of the reversible plug-in device of the present invention; Figure 3 This is a schematic diagram of the displacement device in Embodiment 1 of the forward and reverse insertion device of the present invention; Figure 4 This is a schematic diagram of the connection device and the plugging device of Embodiment 1 of the forward and reverse plugging device of the present invention; Figure 5 This is a top view of the connection device in Embodiment 1 of the reversible plug-in device of the present invention; Figure 6 yes Figure 5A sectional view; Figure 7 This is a schematic diagram of the pitching mechanism of Embodiment 1 of the forward and reverse plugging device of the present invention; Figure 8 This is a schematic diagram of the correction mechanism in Embodiment 1 of the reversible plug-in device of the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the correction mechanism in Embodiment 1 of the reversible plug-in device of the present invention. Figure 2 ; Figure 10 This is a schematic diagram of the feeding module of the first embodiment of the forward and reverse insertion device of the present invention; Figure 11 This is a schematic diagram of the transport device of Embodiment 1 of the forward and reverse insertion device of the present invention; Figure 12 This is a bottom view of the feeding module of the first embodiment of the forward and reverse insertion device of the present invention; Figure 13 This is a schematic diagram of the material storage device in Embodiment 1 of the forward and reverse insertion device of the present invention; Figure 14 This is a rear view of the material storage device of Embodiment 1 of the forward and reverse insertion device of the present invention; Figure 15 This is a schematic diagram of the structure of Embodiment 2 of the reversible plug-in device of the present invention; Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of the present invention shown in and described with reference to the drawings are merely exemplary, and the present invention is not limited to these embodiments.

[0021] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0022] Furthermore, in the description of this invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In this embodiment of the invention, the insertion device is mainly used to insert the product to be inserted 5 into the insertion product for testing. As a specific application of this embodiment, the product to be inserted 5 is a flexible printed circuit board (FPC), and the insertion product is a PCB board. The PCB board has an interface for inserting the FPC, and a piano cover is rotatably connected to this interface. When the insertion device is working, the piano cover is first opened through a corresponding mechanism, and then the flexible printed circuit board is accurately inserted into the interface of the PCB board, realizing the electrical connection and test continuity between the two. It should be noted that the use of a flexible printed circuit board and a PCB board as examples here is only for ease of understanding. The product to be inserted 5 and the insertion product of this invention are not limited to these; they can also be other electronic components or modules that need to be inserted into each other, and can be flexibly selected according to actual testing needs.

[0024] In this embodiment of the invention, the "positive and negative" insertion device means that the insertion device and / or storage device can switch between the positive installation posture and the negative installation posture to adapt to different orientations of the product interface.

[0025] Please see Figures 1 to 14 Embodiment 1 of the present invention A reversible plug device, comprising, The feeding module 1 includes a storage device 11 and a conveying device 12 arranged opposite to each other. The conveying device 12 takes out the product 5 to be inserted from the storage device 11 and transfers it. The plug-in module 2 includes a displacement device 21, a connecting device 22, and a plug-in device 23. The last moving end of the displacement device 21 is fixedly installed with the connecting device 22, and the connecting device 22 is connected to the plug-in device 23 through a forward and reverse rotation structure.

[0026] Specifically, it also includes a feeding frame 3 and a plug-in frame 4. The feeding module 1 is installed on the feeding frame, and the plug-in module 2 is installed on the plug-in frame 4. In specific implementation, the product 5 to be plugged in is manually placed into the storage device 11. The conveying device 12 takes the product 5 to be plugged in from the lower end of the storage device 11 and moves it to the plugging position opposite to the plugging device 23. The displacement device 21 adjusts according to the position of the plugging product interface so that the plugging device 23 corresponds to the interface of the plugging product. After the plugging device 23 clamps the product 5 to be plugged in, the piano cover of the plugging product interface is opened and plugged in.

[0027] like Figure 2 , Figure 3As shown, the displacement device 21 includes an X-axis displacement drive assembly 211, a Y-axis displacement drive assembly 212, a Z-axis displacement drive assembly 213, a displacement lifting plate 214, and a displacement support frame 215. The drive end of the Z-axis displacement drive assembly 213 is the final moving end of the displacement device 21 in this embodiment, used to mount the connecting device 22. Specifically, one end of the displacement support frame 215 is connected to the insertion device 23, and the other end is connected to the displacement lifting plate 214, which is connected to the drive end of the Z-axis displacement drive assembly 213. The X-axis displacement drive assembly 211, the Y-axis displacement drive assembly 212, and the Z-axis displacement drive assembly 213 form mutually perpendicular movement paths, enabling the insertion device 23 to perform a wide range of displacement adjustments in the X, Y, and Z directions.

[0028] In this manual, the displacement device 21 is installed on a horizontal worktable as a reference, and the mutually orthogonal X, Y and Z directions are defined: where the X and Y directions are two mutually perpendicular directions in the horizontal plane, and the Z direction is a vertical direction perpendicular to the horizontal plane.

[0029] like Figure 10 , 13 As shown in Figure 14, the storage device 11 includes a back plate 111 and an adjustable storage frame 112. The back plate 111 and the adjustable storage frame 112 form a placement area. The upper opening of the placement area is a placement inlet, and the lower opening is provided with a support plate 113 for placing the product 5 to be inserted. A gap is provided between the support plate 113 and the lower end of the back plate 111 to form a discharge port.

[0030] Specifically, the feeding module 1 also includes a quick-clamp device 13 for fixing the storage device 11 to the feeding frame 3. For example... Figure 13 As shown, the quick-clamp device 13 includes a quick-clamp mounting plate 131, a quick-clamp base 133, and a quick-clamping device 132. The quick-clamp base 133 is mounted on the feeding frame 3, the quick-clamp mounting plate 131 is mounted on the back plate 111, and the quick-clamping device 132 connects the quick-clamp base 133 and the quick-clamp mounting plate 131.

[0031] Two quick-clamp bases 133 are provided. A quick-clamp mounting plate 131 is fixed to the surface of the back plate 111 facing away from the adjustable storage frame 112, and both ends extend outwards along the X direction away from the back plate 111 to form a quick-clamp pressure plate 134. The quick-clamp base 133 is provided with a quick-clamp positioning groove that matches the quick-clamp pressure plate 134 for positioning the quick-clamp pressure plate 134. A quick-clamp device 132 is fixedly installed on the quick-clamp base 133, and the clamping head of the quick-clamp device 132 locks the quick-clamp pressure plate 134 into the quick-clamp positioning groove.

[0032] The quick-clamping device 132 is a common quick-clamping device in the art. Its basic working principle is as follows: The quick-clamping device 132 has a clamping head and a flipper, which cooperate with the clamping head. When the flipper is opened, the clamping head opens, and the quick-clamping plate 134 can be placed in the quick-clamping positioning groove. Then, the flipper is closed, and the clamping head closes and presses the quick-clamping plate 134, thereby locking the quick-clamping plate 134 in the quick-clamping positioning groove, achieving quick positioning and fixation. The structure and operating principle of this quick-clamping device 132 are well known to those skilled in the art, so its internal structure and operational details will not be described in detail.

[0033] In the specific implementation of this application, for testing different models of products 5 to be plugged in, it may be necessary to flip the storage device 11. When the flipper of the quick clamp 132 opens upward, the quick clamp plate 134 can be taken out from the quick clamp positioning groove. After flipping, the quick clamp plate 134 is placed into the quick clamp positioning groove. When the flipper of the quick clamp 132 presses down, the quick clamp plate 134 is pressed tightly in the quick clamp positioning groove, thereby achieving the purpose of flipping the storage device 11 in both directions.

[0034] More specifically, the support plate 113 is a U-shaped plate, and the two ends of the support plate 113 are vertically fixed to the lower end of the back plate 111. Multiple evenly spaced support rods 1131 are provided in the recess of the support plate 113 for placing the product 5 to be inserted. A gap is provided between the upper end face of the support rod 1131 and the lower end face of the back plate 111, and the gap is less than the thickness of two pieces of the product 5 to be inserted.

[0035] The upper surface of the support plate 113 is provided with multiple X-axis slide grooves and multiple Y-axis slide grooves. Each X-axis slide groove and Y-axis slide groove is equipped with a slider seat that slides within it. The slider seat is provided with a threaded through hole, and an adjusting bolt is installed in the threaded through hole to allow the slider seat to slide or be fixed within the X-axis slide groove or Y-axis slide groove. A backing plate is also installed on the slider seat.

[0036] The adjustable storage frame 112 consists of multiple baffles 1121 and side panels 1122 placed on both sides of the baffles 1121. The lower end of the baffles 1121 is fixedly installed in the recess of the support plate 113. The lower part of the side panel 1122 is fixedly installed with the back plate of the slider seat assembled in the X-direction slide groove, and is used to adjust the size of the placement area. The lower part of the back plate 111 is fixedly installed with the back plate of the slider seat assembled in the Y-direction slide groove, and is used to adjust the size of the placement area.

[0037] like Figure 11 , 12As shown, the conveying device 12 includes an X-axis conveying drive assembly 121, a conveying mounting plate 122 is mounted on the moving end of the X-axis conveying drive assembly 121, a Z-axis conveying drive assembly 123 is mounted on the conveying mounting plate 122, a Y-axis conveying drive assembly 124 is mounted on the moving end of the Z-axis conveying drive assembly 123, a conveying frame 125 is mounted on the moving end of the Y-axis conveying drive assembly 124, and a material picking and adsorption mechanism 126 is provided at the front end of the conveying frame 125 (towards the material storage device 11).

[0038] Specifically, a position sensor is also installed on the X-axis transport drive assembly 121.

[0039] Z-axis transport drive assembly 123 includes a Z-axis transport driver 1231 fixedly mounted on a transport mounting plate 122, and guide rails 1232 located on both sides of the Z-axis transport driver. The slider of the guide rail 1232 and the moving end of the Z-axis transport driver 1231 are fixedly mounted on a transport lifting plate 1233. A Y-axis drive assembly 124 is mounted on the transport lifting plate 1233.

[0040] The Y-axis drive assembly 124 includes a Y-axis driver 1241, a push plate 1242 fixedly installed on the moving end of the Y-axis driver, and a limiting post 1243 fixedly installed on the transport lifting plate. The other end of the push plate 1242 is fixedly connected to the transport frame 125. A limiting waist hole is provided at the front of the push plate 1242, and the limiting post 1243 is embedded in the limiting waist hole.

[0041] The material picking and adsorption mechanism 126 includes a material picking and adsorption plate 1261, which is installed on the front end of the transport frame 125 via a buffer assembly. The material picking and adsorption plate 1261 is provided with at least one set of mounting recesses, and a material picking and adsorption component 1262 is installed in the mounting recesses. The material picking and adsorption plate 1261 is also provided with an air passage 1263 that communicates with the mounting recesses.

[0042] Specifically, the material-taking adsorption plate 1261 is provided with multiple clearance grooves, the positions of which correspond to multiple support rods 1131, and are used to avoid the support rods 1131, so that the material-taking adsorption component 1262 can pick up the product 5 to be inserted at the lower end of the storage device 11 placement area.

[0043] Specifically, the material picking and adsorption plate 1261 is fixed to the transport frame by equal-height screws 1264 and a buffer assembly 1265, the buffer assembly being a spring.

[0044] Specifically, the material picking and adsorption component 1262 adopts an accordion-style suction cup, and a light source is installed below the material picking and adsorption plate 1261.

[0045] like Figure 4-6As shown, the connecting device 22 includes an upper connecting component 221 and a lower connecting component 222. The upper connecting component 221 is connected to the displacement support frame 215. The upper connecting component 221 and the lower connecting component 222 are connected by a rotating shaft, allowing the lower connecting component 222 to rotate around the rotating shaft. A locking component 223 is also installed between the upper connecting component 221 and the lower connecting component 222 to fix the upper connecting component 221 and the lower connecting component 222. The "forward and reverse rotation structure" mentioned above refers to the rotatable connection between the upper connecting component 221 and the lower connecting component 222 of the connecting device 22 via a rotating shaft, and the locking component 223 fixes the angle after rotation, allowing the insertion device to switch between a forward insertion posture and a reverse insertion posture to adapt to insertion product interfaces with different orientations.

[0046] A plug-in device 23 is installed at the lower end of the connecting device 22. The plug-in device 23 includes a pitch mechanism 231, an adjustable plug-in displacement component 232, and a plug-in component 233. An adjustable plug-in displacement component 232 is installed at the lower end of the pitch mechanism 231, and a plug-in component 233 is installed at the lower end of each adjustable plug-in displacement component 232. The pitch mechanism 231 is used to adjust the pitch angle of all components mounted on it, and the adjustable plug-in displacement component 232 is used to adjust the X-direction position of all components mounted on it.

[0047] like Figure 7 As shown, the pitch mechanism 231 includes a pitch drive assembly, a sliding guide assembly, a linkage assembly, and a pitch plate 2311. The pitch drive assembly and the linkage assembly work together on the pitch plate 2311.

[0048] The pitch drive assembly includes a pitch servo driver 2312 disposed on the bottom surface of the lower connecting assembly 222, a guide seat 2316 mounted on the moving end of the pitch servo driver 2312, and a pitch shaft 2315 rotatably mounted on the guide seat 2316.

[0049] The sliding guide assembly includes an inclined guide portion fixed to the pitch plate 2311 and a sliding engagement component connected to the output end of the pitch drive assembly. The sliding engagement component is slidably disposed along the inclined guide portion. In this embodiment, the inclined guide portion is a pitch slide rail 2313 inclinedly disposed on the pitch plate 2311, and the sliding engagement component is a slider 2314 that matches the pitch slide rail 2313. One end of the pitch shaft 2315 is mounted on the guide seat 2316 via a bearing, and the other end is connected to the slider 2314.

[0050] The linkage assembly is connected between the pitch plate 2311 and the lower connecting assembly 222, and is used to provide a rotation fulcrum for the pitch plate 2311. It includes a pitch rod 2317 fixedly installed on the side of the pitch plate 2311 away from the pitch drive assembly. The other end of the pitch rod 2317 is hinged to a base 2318, and the base 2318 is fixedly installed on the bottom surface of the lower connecting assembly 222.

[0051] The moving end of the pitch servo driver 2312 drives the slider 2314 to slide on the pitch slide rail 2313, so that the pitch plate 2311 rotates around the base 2318 via the pitch rod 2317.

[0052] It should be noted that the specific structure of the pitch mechanism 231 described above is merely an exemplary implementation of the present invention. Those skilled in the art will understand that the sliding guide assembly is not limited to the specific forms of the pitch slide rail 2313 and slider 2314 in this embodiment. Any guide structure that can provide an inclined guide path for the sliding mating parts and allow the sliding mating parts to move in an inclined direction (e.g., but not limited to an inclined screw and nut pair, the cooperation between an inclined guide groove and a guide block, the cooperation between a cam and a follower, etc.) can be used as an equivalent alternative to the sliding guide assembly. Similarly, the structure in the pitch drive assembly that realizes the motion transmission between the drive output end and the sliding mating parts (e.g., but not limited to the drive output end being connected to the sliding mating parts via a hinge or floating joint) is not limited to the specific construction of the guide seat 2316 and pitch shaft 2315 in this embodiment. Any equivalent structural transformation that uses the pitch drive assembly to drive the sliding mating parts to slide along the inclined guide portion, thereby causing the pitch plate 2311 to swing around the rotation fulcrum—the core transmission principle—falls within the protection scope of the present invention.

[0053] The plug-in device 23 further includes a correction mechanism 234, which is used to connect the adjustable plug displacement component 232 and the plug component 233, so that the plug component 233 can move in the Y and θ directions.

[0054] like Figure 8 , 9 As shown, the correction mechanism 234 includes a dual-axis drive module, which includes a base plate 2341. The base plate 2341 serves as a mounting base to support various functional components. Its material can be aluminum alloy or steel, combining lightweight and structural strength.

[0055] The substrate 2341 is provided with a first drive shaft assembly 2342 and a second drive shaft assembly 2343 arranged in parallel. The two are spaced apart along the X direction of the substrate 2341 and move in the same direction. The first drive shaft assembly 2342 and the second drive shaft assembly 2343 are respectively connected to an independent power source for transmission, and achieve independent movement by being driven by the power source.

[0056] Specifically, both the first drive shaft assembly 2342 and the second drive shaft assembly 2343 include a guide rail, a slider mounted on the guide rail, and a drive shaft connected to the slider. The drive shaft is connected to a power source and can drive the slider to slide along the guide rail under the action of the power source. More specifically, the first drive shaft assembly 2342 includes a dual-axis drive first guide rail, a dual-axis drive first slider, and a dual-axis drive first shaft. The second drive shaft assembly 2343 includes a dual-axis drive second guide rail, a dual-axis drive second slider, and a dual-axis drive second shaft. The dual-axis drive first guide rail and the dual-axis drive second guide rail are arranged parallel to each other to ensure that the movement trajectories of the dual-axis drive first slider and the dual-axis drive second slider remain parallel, providing a basis for subsequent motion coordination.

[0057] A dual-axis drive connecting plate 2344 is connected to the first drive shaft assembly 2342 and the second drive shaft assembly 2343. The dual-axis drive connecting plate 2344 is used to connect to an external component to be driven (such as a connector), and the movement of the dual-axis drive connecting plate 2344 drives the external component to move synchronously. The first drive shaft assembly 2342 and the second drive shaft assembly 2343 are connected to the dual-axis drive connecting plate 2344 through a drive engagement structure. The drive engagement structure includes a rotating part and a mating part 2346. Through the cooperative action of the rotating part and the mating part 2346, the dual-axis drive connecting plate 2344 can move linearly or rotate with the movement of the first drive shaft assembly 2342 and the second drive shaft assembly 2343.

[0058] The rotating part includes a first rotating part 23452 disposed between the dual-axis drive first slider and the dual-axis drive connecting plate 2344, and a second rotating part 23451 disposed between the dual-axis drive second slider and the dual-axis drive connecting plate 2344; a mating part 2346 is disposed between the first rotating part 23452 and the second rotating part 23451. By setting up two rotating parts, stress concentration during the movement process can be reduced, and the stability of the dual-axis drive connecting plate 2344 during rotation can be improved.

[0059] The first rotating part 23452 includes a rotary bearing disposed on the dual-axis driven first slider and a rotary mating hole opened at a corresponding position on the dual-axis driven connecting plate 2344. The rotary bearing is fitted into the rotary mating hole and can rotate relative to the rotary mating hole. This structure achieves low-friction rotation between the dual-axis driven first slider and the dual-axis driven connecting plate 2344 through the cooperation of the bearing and the hole, ensuring smooth rotation.

[0060] The second rotating part 23451 includes a first bearing fixed to the second slider of the dual-axis drive, and a second bearing fixed to the bottom of the dual-axis drive connecting plate 2344 and coaxially arranged with the first bearing. The first bearing and the second bearing are connected by passing through the same shaft and can rotate relative to each other. The coaxial double bearing structure can improve the load-bearing capacity and rotational accuracy of the second rotating part 23451 and prevent the dual-axis drive connecting plate 2344 from shifting during rotation.

[0061] The mating part 2346 includes a limiting shaft disposed on the second slider of the dual-axis drive and a limiting hole opened at a corresponding position on the dual-axis drive connecting plate 2344. The limiting shaft passes through the limiting hole and can slide along the length direction of the limiting hole. The length direction of the limiting hole is parallel to the rotation trajectory of the second rotating part 23451 or parallel to the first axis of the dual-axis drive. When the dual-axis drive connecting plate 2344 rotates around the rotating part, the limiting shaft can slide along the limiting hole to adapt to the rotation action, while limiting the displacement of the dual-axis drive connecting plate 2344 in non-preset directions to ensure motion stability.

[0062] From a structural layout perspective, the second rotating part 23451 is located at the edge of the dual-axis drive connecting plate 2344, and the mating part 2346 is located between the second rotating part 23451 and the first rotating part 23452. This layout can reduce torque fluctuations during movement and improve the overall structural rigidity by rationally distributing the lever arm.

[0063] When the power source drives the first drive shaft assembly 2342 and the second drive shaft assembly 2343 to move synchronously and at the same speed, the dual-axis drive first slider and the dual-axis drive second slider move in the same direction and at the same speed along the guide rail. At this time, under the constraint of the first rotating part 23452 and the second rotating part 23451 and the limiting action of the mating part 2346, the dual-axis drive connecting plate 2344 maintains a stable posture and moves synchronously along a straight line with the slider. When the first drive shaft assembly 2342 and the second drive shaft assembly 2343 move at different speeds or in opposite directions, the dual-axis drive first slider and the dual-axis drive second slider generate a displacement difference. Under the action of this displacement difference, the dual-axis drive connecting plate 2344 rotates around the axis of the first rotating part 23452. At the same time, the limiting shaft of the mating part 2346 slides along the limiting hole to adapt to the rotation trajectory and achieve smooth rotational movement.

[0064] like Figure 2 As shown, the insertion device 23 also includes a vision mechanism 235, and a vision mechanism 235 is respectively installed on the front end of each adjustable insertion displacement component 232 (the side of the adjustable insertion displacement component 232 away from the displacement device 21).

[0065] The vision mechanism 235 includes an industrial camera and a coaxial light source. The industrial camera is a 5-megapixel CMOS camera, and the coaxial light source provides uniform illumination. The vision mechanism 235 is connected to an external image processing system, which calculates the positional deviation and open / closed status of the plugged-in product interface through an image recognition algorithm, and feeds back the deviation value to the correction mechanism 234 and the adjustable plugging displacement component 232.

[0066] The forward and reverse plug-in device also includes a control system, which includes a PLC controller and an industrial computer. The control system is electrically connected to the conveying device 12, the displacement device 21, the pitch servo driver 2312, the adjustable plug-in displacement component 232, the correction mechanism 234, and the vision mechanism 235, respectively, and is used to coordinate and control the motion timing and position accuracy of each mechanism.

[0067] A reversible plugging method, using a reversible plugging device, comprises the following steps: S1. Confirm the product 5 to be inserted and adjust the forward or reverse installation posture of the storage device 11 and the insertion device 23; S2. Adjust the position of plug-in module 2 according to the plug-in product model; S3. After the conveying device 12 takes out the product 5 to be inserted from below the storage device 11, it moves to be opposite to the insertion device 23, and the insertion assembly 233 clamps the product 5 to be inserted. S4. The movement of the pitch mechanism 231 tilts the connector assembly 233 and opens the piano cover at the interface between the product to be plugged in and the product to be plugged in, so that they can be plugged in.

[0068] S1. Product Model Confirmation and Equipment Adjustment: Based on the external dimensions of the product 5 to be inserted, the operator loosens the adjusting bolts, adjusts the position of the slider seat in the X-direction and Y-direction slide grooves, and adjusts the relative position of the surrounding plate 1122 and back plate 111 of the adjustable storage frame 112 to match the size of the placement area with the product 5 to be inserted, with the gap controlled within 0.5mm. Then, the adjusting bolts are tightened to fix the slider seat. Depending on the interface orientation of the inserted product, if it is necessary to flip the storage device 11, the flipper of the quick clamp 132 is opened upwards, the quick clamp pressure plate 134 is removed from the quick clamp positioning slot, the storage device 11 is flipped, the quick clamp pressure plate 134 is placed into the quick clamp positioning slot, and the flipper of the quick clamp 132 is pressed downwards to press the quick clamp pressure plate 134 into the quick clamp positioning slot. At the same time, loosen the locking bolt of the locking assembly 223, pull out the positioning pin, rotate the lower connecting assembly 222 to the 180° position, insert the positioning pin and tighten the locking bolt, so that the plug-in device 23 is in the reverse plug-in posture.

[0069] S2. Module Position Calibration: The control system moves the module 2 to the vicinity of the preset plug-in product position through the displacement device 21. The vision mechanism 235 collects the actual position image of the plug-in product interface. The image processing system calculates the center coordinates and angle deviation of the interface, establishes the plug-in reference coordinate system, and stores the reference coordinates in the control system.

[0070] S3. Picking and Transfer: The X-axis conveying drive assembly 121, Z-axis conveying drive assembly 123, and Y-axis conveying drive assembly 124 of the conveying device 12 work together to move the picking and adsorption mechanism 126 to the discharge port position of the storage device 11. The vacuum generator is activated, and the picking and adsorption component 1262 adsorbs the surface of the product 5 to be inserted. The buffer assembly 1265 provides flexible cushioning when the picking and adsorption comes into contact. The conveying device 12 transfers the adsorbed product to the front of the insertion device 23. The grippers of the insertion assembly 233 open, the picking and adsorption component 1262 breaks the vacuum, and the grippers close to pick up the product.

[0071] S4. Attitude Adjustment and Insertion: The pitch servo driver 2312 drives the pitch plate 2311 to rotate according to the preset pitch angle (12° for flip-type interfaces), causing the connector assembly 233 to tilt to 12°. The vision mechanism 235 acquires the interface image in real time, and the Z-axis displacement drive assembly 213 drives the connector assembly 233 to descend along the Z-direction. The correction mechanism 234 performs real-time fine-tuning based on the position feedback from the vision mechanism 235. The Z-axis displacement drive assembly 213 inserts the product 5 to be inserted into the connector interface with an oblique trajectory. The insertion depth is controlled by the encoder feedback of the adjustable insertion displacement assembly 232 to ensure accurate insertion depth. After insertion is completed, the grippers release, the adjustable insertion displacement assembly 232 resets, and it waits for the next insertion cycle.

[0072] Through the above structure and method, the present invention realizes automatic feeding of products to be plugged in, flexible switching between forward and reverse directions, and precision plugging with multiple degrees of freedom, which significantly improves the applicability, plugging reliability and production efficiency of automated plugging equipment.

[0073] like Figure 15 As shown, this is the second embodiment of the present invention. The difference between the second embodiment and the first embodiment is that the adjustable storage frame 112 of the storage device 11 is set towards the conveying device 12. In order to adapt to different models of products 5 to be inserted, the corresponding insertion device 23 is rotated and reversed through the connecting device 22 so that the gripper of the insertion device 23 can clamp products 5 to be inserted that are different from those in the first embodiment.

[0074] Furthermore, it should be noted that in this specification, "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0075] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A reversible plug-in device, characterized in that, include, The feeding module (1) includes a storage device (11) and a conveying device (12) arranged opposite to each other. The conveying device (12) takes out the product to be inserted from the storage device (11) and transfers it. The plug-in module (2) includes a displacement device (21), a connecting device (22) and a plug-in device (23). The last moving end of the displacement device (21) is fixedly installed with the connecting device (22). The connecting device (22) is connected to the plug-in device (23) through a forward and reverse rotation structure.

2. The reversible plug-in device according to claim 1, characterized in that, The storage device (11) includes a back plate (111), an adjustable storage frame (112), and a placement area enclosed by the back plate (112). The upper opening of the placement area is a placement entrance, and the lower opening is provided with a support plate (113) for placing the product to be inserted. A gap is provided between the support plate (113) and the lower end of the back plate (111) to form a discharge port.

3. The reversible plug-in device according to claim 1, characterized in that, The conveying device (12) includes a conveying frame (125), which is driven to move in three directions: X, Y, and Z. The front end of the conveying frame (125) is provided with a material picking and adsorption mechanism (126).

4. The reversible plug-in device according to claim 3, characterized in that, The material picking and adsorption mechanism (126) includes a material picking and adsorption plate (1261), which is installed at the front end of the transport frame (125) through a buffer assembly. A material picking and adsorption component (1262) is installed on the material picking and adsorption plate (1261).

5. The reversible plug-in device according to claim 1, characterized in that, The connecting device (22) includes an upper connecting component (221) and a lower connecting component (222). The upper connecting component (221) and the lower connecting component (222) are connected by a rotating shaft, which allows the lower connecting component (222) to rotate around the rotating shaft. A locking component (223) is also installed between the upper connecting component (221) and the lower connecting component (222) to fix the upper connecting component (221) and the lower connecting component (222).

6. The reversible plug-in device according to claim 5, characterized in that, The plug-in device (23) includes a pitch mechanism (231), and at least one adjustable plug displacement component (232) is installed at the lower end of the pitch mechanism (231). Each adjustable plug displacement component (232) has a plug connector component (233) installed at its lower end.

7. A reversible plug-in device according to claim 6, characterized in that, The pitch mechanism (231) includes a pitch drive assembly, a sliding guide assembly, a linkage assembly, and a pitch plate (2311). The pitch drive assembly is fixedly disposed on the bottom surface of the lower connecting assembly (222). The sliding guide assembly includes an inclined guide portion fixed to the pitch plate (2311) and a sliding engagement member connected to the output end of the pitch drive assembly. The sliding engagement member is slidably disposed along the inclined guide portion. The linkage assembly is connected between the pitch plate (2311) and the lower connecting assembly (222) to provide a rotation fulcrum for the pitch plate (2311). The pitch drive assembly drives the sliding engagement member to slide along the inclined guide portion, thereby causing the pitch plate (2311) to swing relative to the lower connecting assembly (222) around the rotation fulcrum provided by the linkage assembly.

8. A reversible plug-in device according to claim 6, characterized in that, The plug-in device (23) further includes a correction mechanism (234) for connecting the adjustable plug displacement assembly (232) and the plug assembly (233) to make the plug assembly (233) move in the Y direction and rotate in the θ direction.

9. A reversible plug-in device according to claim 8, characterized in that, The plug-in device (23) further includes a vision mechanism (235), and each of the adjustable plug-in displacement components (232) is equipped with a vision mechanism (235) at its front end.

10. A method for reversible insertion, characterized in that, The method steps using the reversible plug-in device according to any one of claims 1-9 are as follows: S1. Confirm the product to be inserted and adjust the forward or reverse installation posture of the material storage device and the insertion device; S2. Adjust the position of the plug-in module according to the plug-in product model; S3. After the conveying device takes out the product to be inserted from under the storage device, it moves to be opposite the insertion device, and the insertion connector assembly clamps the product to be inserted; S4. The pitch mechanism tilts the connector assembly and opens the interface between the product to be plugged in and the product to be plugged in before plugging in.

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