Automatic stabilizing and inserting mechanism for electronic components

Abstract

The present application relates to the technical field of automatic assembly equipment, in particular to an electronic component automatic stable insertion mechanism. It comprises a base frame and two side insertion support frames, a horizontal support frame is arranged on the top and hangs an insertion downward mechanism, a push fine adjustment assembly, a suspension frame and an insertion equipment carrier are connected below; the base is provided with fixed side guide rails and movable side guide rails with adjustable spacing by a pusher, and is double-positioned by a photosensitive head and a clamping limiting plate. The insertion downward mechanism adopts double-motor driving racks to achieve torque balance; the push fine adjustment assembly uses multi-link flexible adjustment to adjust the angle; the insertion equipment carrier is provided with an electrical connection detection plate with a detection groove, and is fine-adjusted by a fine-adjusting slider along a fine-adjusting clamping rail. The present application cooperates with the lifting torque balance, flexible angle compensation and electrical closed-loop feedback to effectively eliminate the partial load clamping and avoid pin bending, significantly improving the insertion precision, yield and adaptability to different specifications of the substrate.

Description

Technical Field

[0001] This invention relates to the field of automated assembly equipment technology, specifically an automatic and stable insertion mechanism for electronic components. Background Technology

[0002] In the field of automated assembly of electronic components, the stability and accuracy of insertion operations directly determine the final quality of the product. Existing automated insertion mechanisms typically use a single motor to drive a lead screw or rack for vertical lifting, utilize rigidly fixed guide rails to transport substrates, and rely on an end-effector to grip the components and forcefully insert them, with a vision system for basic alignment detection. However, existing technologies have significant drawbacks: the single-motor driven lifting mechanism is prone to jamming due to off-center friction during high-speed reciprocating motion; the rigidly clamped transport guide rails are incompatible with substrates of different widths and lack flexible adaptive capability to accommodate slight warping or tilting of the substrate, making lead bending highly likely; simultaneously, the end-effector lacks real-time feedback based on electrical signals and micron-level position compensation, making it impossible to actively correct minor deviations during insertion, severely restricting the high yield requirements of electronic component insertion and the long-term stability of equipment operation. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic and stable insertion mechanism for electronic components to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An automatic stabilizing insertion mechanism for electronic components includes a base frame, an orientation adjustment bracket and a device carrier to be inserted, all mounted on the base frame, and insertion support frames on both sides of the base frame. The mechanism is characterized in that: a transverse support frame is mounted on the top of the insertion support frame, and an insertion and lowering mechanism is suspended on the transverse support frame; a suspension frame is connected below the insertion and lowering mechanism via a push-adjustment component, and the insertion device carrier is suspended at the lower end of the suspension frame; a top support rail is provided on the side of the base frame, and a track and a pusher are mounted on the top support rail; a fixed side guide rail and a movable side guide rail are also provided on the base frame, the movable side guide rail being slidably mounted on the track and driven by the pusher to adjust the transverse distance between it and the fixed side guide rail; a bottom retainer, a lifting slot, a locking limit plate, and a photosensitive head are also arranged on the side of the base frame.

[0006] The insertion and lowering mechanism includes a main body, a vertical displacement groove opened in the main body, a fixed rack and a lifting rack respectively disposed on both sides of the main body, and a drive motor and a drive motor respectively disposed on both sides. The drive motor and the drive motor respectively mesh with the fixed rack and the lifting rack through reaction force gears to achieve symmetrical balance of lifting torque.

[0007] As a further aspect of the present invention: the push fine-tuning component includes a mounting base, a lower support profile, an inclined support frame, a lower swing frame, a lower swing rail, and an upper swing rail; the suspension frame is provided with a carrier hoisting component, a first swing adjustment bolt, and a second swing adjustment bolt. By adjusting the extension and retraction of the first swing adjustment bolt and the second swing adjustment bolt, the suspension frame is driven to perform deflection angle compensation in the X-axis and Y-axis directions.

[0008] As a further aspect of the present invention: the push fine-tuning component further includes an extension support plate, a shield plate, and a lifting bolt; the extension support plate and the shield plate are fixed to the inclined support frame by the lifting bolt; the lower swing frame is hinged to the bottom of the inclined support frame, and the lower swing support and the upper swing support are arranged at both ends of the lower swing frame in a cross-hinged manner; the extension support plate and the shield plate are driven to move vertically up and down by the lifting bolt, thereby adjusting the cross swing angle of the lower swing support and the upper swing support to achieve flexible self-adaptation to the tilt angle of the insertion surface.

[0009] As a further aspect of the present invention: the drive motor and the drive motor are configured to drive synchronously in opposite directions; when the main body of the machine part is moving up and down, the reverse torques generated by the two motors cancel each other out, so as to suppress the transmission resistance caused by the off-center load when the insertion and lowering mechanism moves up and down in the vertical displacement groove.

[0010] As a further aspect of the present invention: the base frame is also equipped with a transmission chain driven to rotate by a support shaft, a sliding guide rail, and a height-limiting buckle; the device carrier to be inserted is slidably disposed on the sliding guide rail, and its vertical displacement height is limited by the height-limiting buckle; the transmission chain is connected to the device carrier to be inserted, driving the device carrier to be inserted to perform step-by-step conveying along the sliding guide rail.

[0011] As a further embodiment of the present invention: the base retainer is fixedly installed on the base frame, the lifting slot is opened on the base retainer, the locking limiting plate is slidably engaged in the lifting slot, and the photosensitive head is arranged on the side of the base retainer; during operation, the locking limiting plate slides up and down to perform rigid mechanical blocking on the carrier of the device to be inserted, while the photosensitive head monitors the position signal in real time, and triggers the synchronous locking of the pusher and the transmission chain after the carrier of the device to be inserted is accurately in place.

[0012] As a further embodiment of the present invention: the insertion device carrier includes a support plate, a fixture mounting plate, an electrical connection detection plate, a fine-tuning slider, a fine-tuning rail, a limit rod, and a pusher;

[0013] The fixture mounting plate and the electrical connection detection plate are an integral structure;

[0014] The support plate and the electrical connection detection plate are slidably mounted on the sliding guide rail via the fine-tuning slider at the bottom;

[0015] The fine-tuning rail is disposed on the surface of the support plate, the fine-tuning slider is slidably mounted on the fine-tuning rail, the pusher is connected to the fine-tuning slider in a transmission manner, and the limiting rod is used to limit the sliding stroke of the fine-tuning slider.

[0016] As a further aspect of the present invention: the electrical connection detection board has a plurality of detection slots, and a plurality of electrical connection detection circuit boards are respectively installed in the plurality of detection slots; the electrical connection detection circuit boards are configured to read the resistance value in the detection slot in real time. When the detected resistance value is abnormal, the control system commands the actuator to drive the fine-tuning slider to perform a small position compensation on the fine-tuning rail until the detection slot restores normal conduction feedback, thereby realizing closed-loop feedback control of mechanical fine-tuning stroke and electrical conduction detection.

[0017] As a further embodiment of the present invention: the transverse support frame includes end support seats and transverse support beams; the end support seats are fixedly assembled on the top of the plug-in support frame, and the transverse support beams are erected between the two end support seats; the plug-in lowering mechanism is slidably mounted on the transverse support beams through the lowering mechanism mounting frame, thereby constructing a high-rigidity gantry support structure.

[0018] As a further embodiment of the present invention: the fixed side guide rail on the base frame is fixedly installed, and the movable side guide rail is slidably installed on the track; the sliding guide rail is arranged parallel to the fixed side guide rail; the height limiting buckles are evenly distributed on the side of the sliding guide rail. After the movable side guide rail is adjusted to the distance between itself and the fixed side guide rail, the height limiting buckles are used to limit and guide the movement of the device carrier on the sliding guide rail, preventing it from generating unexpected vertical swaying during high-speed transport.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] A dual-motor reverse-drive lifting system counteracts off-center load torque, effectively eliminating lifting jamming. A multi-link flexible swing assembly adaptively fine-tunes the insertion angle, preventing damage to pins from rigid impacts. The bottom features a sliding, adjustable side guide rail, combined with photoelectric and mechanical dual-limit locking, ensuring compatibility with different carrier sizes and precise positioning. The end insertion head incorporates a micron-level displacement compensation structure, coupled with closed-loop feedback from electrical continuity detection, to correct minute deviations in real time. These technologies work together to solve industry pain points such as uneven force distribution leading to jamming in large insertion mechanisms, easy pin bending from hard insertion, cumbersome changeover debugging, and untimely feedback. This significantly improves the insertion accuracy of electronic components, product yield, and the equipment's flexibility to adapt to different substrates, while also significantly extending the service life of key transmission components, achieving high-quality, high-efficiency automated continuous production.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Furthermore, these drawings and textual descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of the automatic stable insertion mechanism for electronic components provided in an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the transverse support frame and the insertion and lowering mechanism provided in an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the suspension frame and the push fine-tuning component provided in an embodiment of the present invention.

[0026] Figure 4 This is a schematic diagram of the internal drive structure of the insertion and lowering mechanism provided in an embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the base frame and the conveying and positioning mechanism provided in an embodiment of the present invention.

[0028] Figure 6 This is a schematic diagram of the overall structure of the insertion device carrier provided in an embodiment of the present invention.

[0029] Figure 7 This is a partially enlarged structural diagram of the vehicle positioning component provided in an embodiment of the present invention.

[0030] In the diagram: 1. Insertion support frame; 2. Lateral support frame; 3. Insertion and lowering mechanism; 4. Push fine-tuning component; 5. Suspension frame; 6. Insertion equipment carrier; 7. Base frame; 8. Orientation adjustment bracket; 9. Equipment carrier to be inserted; 21. End support seat; 22. Lateral support beam; 23. Lowering mechanism mounting frame; 24. Fixed rack; 31. Drive motor; 32. Reaction gear; 33. Mechanism body; 34. Vertical guide groove; 35. Lifting rack; 36. Drive motor; 41. Mounting seat; 42. Lower support profile; 43. Diagonal support frame; 44. Lower swing frame; 45. Lower swing support rod; 46. Upper swing support rod; 47. Lifting bolt. ; 48. Extension support plate; 49. Protective plate; 51. Carrier hoisting component; 52. First swing adjustment bolt; 53. Second swing adjustment bolt; 71. Top support frame; 72. Guide rail; 73. Pusher; 74. Lifting slot; 75. Snap-fit ​​limit plate; 76. Photosensitive head; 77. Bottom fastener; 81. Fixed side guide rail; 82. Movable side guide rail; 83. Transmission chain; 84. Support shaft; 85. Sliding guide rail; 86. Limit buckle; 91. Bearing plate; 92. Fixture mounting plate; 93. Electrical connection detection plate; 94. Fine-tuning slider; 95. Fine-tuning rail; 96. Limiting rod; 97. Pusher; 98. Detection slot; 99. Electrical connection detection circuit board. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, examples of which are illustrated in the drawings. In the following description relating to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or identical elements.

[0032] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0034] Example 1, see Figure 1 and combined Figure 2 and Figure 5 This embodiment provides the main structure of an automatic stable insertion mechanism for electronic components. The mechanism has a gantry-style three-dimensional layout, and its support system consists of a base frame 7 at the bottom and vertically erected insertion support frames 1 on both sides. Orientation adjustment brackets 8 are provided around the bottom of the base frame 7 for leveling and aligning the entire device. The device carrier 9 is located at the top center of the base frame 7 and is used to support the substrate or tray on which electronic components need to be inserted.

[0035] At the top of the two side insertion support frames 1, end support seats 21 are fixedly installed with bolts. A transverse support beam 22 is horizontally supported between the two end support seats 21, together forming a high-rigidity transverse support frame 2. Below the transverse support frame 2, an insertion and lowering mechanism 3 is slidably mounted on a lowering mechanism mounting bracket 23. The insertion and lowering mechanism 3 is located directly above the device carrier 9 to be inserted, and is used to perform high-precision vertical insertion actions. Below the insertion and lowering mechanism 3, a suspension bracket 5 is connected by a push fine-tuning component 4, and the lower end of the suspension bracket 5 is attached to the insertion device carrier 6, which is the end effector that directly performs the component pressing action.

[0036] On the side of the device carrier 9 to be inserted, the base frame 7 has a top support railing 71. A track 72 is horizontally arranged on the top support railing 71. A pusher 73 and a movable side guide rail 82 are slidably mounted on the track 72. The base frame 7 also has a fixed side guide rail 81. The movable side guide rail 82 can slide laterally along the track 72 by the pusher 73, thereby adjusting the distance between it and the fixed side guide rail 81. Furthermore, on the side of the base frame 7 in the insertion working area, a bottom retainer 77, a lifting slot 74, a locking limit plate 75, and a photosensitive head 76 are also arranged for rigid obstruction and photoelectric positioning of the device carrier 9 to be inserted.

[0037] The overall working process of this embodiment is as follows: First, the electronic component substrate to be inserted is placed on the insertion device carrier 9. According to the width of the substrate, the pusher 73 is activated to push the movable side guide rail 82 to slide on the track 72. The distance between the movable side guide rail 82 and the fixed side guide rail 81 is adjusted until the two just clamp the two sides of the substrate. Then, the insertion device carrier 9 moves forward along the base frame 7 under the action of the transmission mechanism and enters the insertion station. When entering the station, the locking limit plate 75 rises in the lifting slot 74 to form a mechanical hard stop. At the same time, the photosensitive head 76 detects that the insertion device carrier 9 is in place and triggers the synchronous locking of the pusher 73 and the transmission chain 83, and the substrate is firmly locked. Then, the insertion downward movement mechanism 3 moves on the transverse support frame 2 to be directly above the insertion position, driving the insertion device carrier 6 to move vertically downward to complete the insertion action of the electronic component. After insertion is completed, the insertion and lowering mechanism 3 is lifted in the reverse direction, the locking limit plate 75 is lowered to release the limit, and the carrier 9 of the device to be inserted is moved out, completing one cycle.

[0038] This embodiment constructs a stable force-bearing space through a high-rigidity plug-in support frame 1 and a transverse support frame 2. It utilizes the adjustable spacing of the fixed side guide rail 81 and the movable side guide rail 82 to adapt to the conveying of products of different specifications. Through the cooperation of the bottom retainer 77, the lifting slot 74, the locking limit plate 75 and the photosensitive head 76 on the side of the base, a "double insurance" positioning mechanism is achieved, which first ensures the position through mechanical hard limiting and then triggers locking through photosensitive signal.

[0039] The overall device in this embodiment has a compact structure and strong load-bearing capacity, effectively avoiding positioning deviations caused by inconsistent substrate widths. It boasts high positioning accuracy and greatly improves the flexibility of automated production lines. Furthermore, the modular layout of "adjusting the spacing first, then locking synchronously" significantly reduces the inertial impact generated by high-speed transport, ensuring stability during long-term continuous operation.

[0040] Example 2, based on Example 1, further refines the internal structure and transmission method of the insertion and lowering mechanism 3. (See reference...) Figure 4 and combined Figure 2 The insertion and lowering mechanism 3 includes a main body 33 and a vertical displacement groove 34 formed at the center of the main body 33 and extending vertically through it. A fixed rack 24 is fixedly provided on the left outer wall of the main body 33, and a lifting rack 35 is fixedly provided on the right outer wall. It is worth noting that the fixed rack 24 and the lifting rack 35 are located on the left and right sides of the main body 33, respectively, and are parallel to each other.

[0041] Drive motor 31 and drive motor 36 are fixedly installed on the left and right outer walls of the main body 33, respectively. The output end of drive motor 31 is connected to a reaction gear 32, which meshes with the fixed rack 24 on the left side; the output end of drive motor 36 is also connected to a reaction gear 32, which meshes with the lifting rack 35 on the right side. This constitutes a dual-motor, dual-rack, dual-sided symmetrical drive layout.

[0042] The working process and technical principle of this embodiment are as follows: During the vertical insertion action, the control system issues a command, and drive motors 31 and 36 are configured to operate synchronously in opposite directions. That is, when drive motor 31 rotates forward, drive motor 36 rotates in reverse. Since the fixed rack 24 is stationary, the forward rotation of drive motor 31 causes the reaction gear 32 to crawl upward or downward along the fixed rack 24; at the same time, the lifting rack 35, as a moving part, is driven by the reverse rotation of drive motor 36 through its corresponding reaction gear 32, which in turn drives the lifting rack 35 and the entire machine body 33 to translate in the same direction. Due to this reverse drive of the two motors, while the machine body 33 is undergoing lifting displacement, the two sets of gear rack pairs simultaneously generate lateral deflection torques of equal magnitude and opposite direction. These two torques perfectly cancel each other out inside the machine body 33.

[0043] The beneficial effects of this embodiment are as follows: This double-sided symmetrical reverse drive structure completely solves the "unilateral load" problem caused by unequal gravity and frictional resistance in traditional single-sided motor drives. The mutual cancellation of reverse torques ensures that the insertion and lowering mechanism 3 experiences absolutely balanced forces when it rises and falls within the vertical displacement groove 34, greatly suppressing transmission stagnation, creeping, and jamming caused by uneven loads. The insertion action becomes extremely smooth, ensuring that the huge vertical impact force during insertion will not be converted into lateral forces that damage the equipment guide rails and jamming system, effectively extending the service life of the core components of the mechanism.

[0044] Example 3: This example further refines the structure of the fine-tuning component 4 and the suspension bracket 5 with a stepped limitation. See reference... Figure 3 and combined Figure 2 The fine-tuning component 4 is located below the insertion and lowering mechanism 3. From top to bottom, it includes a mounting base 41, a lower support profile 42, and an inclined support frame 43. The mounting base 41 is fixed to the lower end of the insertion and lowering mechanism 3, the lower support profile 42 is vertically connected to the bottom of the mounting base 41, and the inclined support frame 43 extends to one side to form a support skeleton.

[0045] A lower swing frame 44 is hinged to the bottom of the inclined support frame 43. The two ends of the lower swing frame 44 are respectively hinged to a lower swing support 45 and an upper swing support 46, forming a spatial cross-link mechanism. An extension support plate 48 and a shield plate 49 are provided on the side of the inclined support frame 43, and are fixed to the inclined support frame 43 by a lifting bolt 47. The raising and lowering of the lifting bolt 47 can drive the extension and retraction of the extension support plate 48 and the shield plate 49, thereby adjusting the cross angle between the lower swing support 45 and the upper swing support 46. The suspension frame 5 is located below the aforementioned cross-link mechanism and includes a carrier lifting component 51, and a first swing adjustment bolt 52 and a second swing adjustment bolt 53 respectively disposed on both sides of the carrier lifting component 51.

[0046] In this embodiment, when electronic components are inserted into complex positions with slight inclinations on the edge or bottom surface of the substrate, there is an angular error between the lower end face of the insertion device carrier 6 and the substrate surface. At this time, the control system drives the first swing adjustment bolt 52 and the second swing adjustment bolt 53, using the extension and retraction feed of the adjustment bolts to drive the suspension frame 5 to compensate for the deflection angle in the X and Y axes. Simultaneously, in the vertical direction, the lifting bolt 47 raises or lowers the extension support plate 48 and the shield plate 49, thereby changing the cross angle between the lower swing support 45 and the upper swing support 46, allowing the lower suspension frame 5 to tilt slightly laterally.

[0047] This embodiment constructs a highly flexible spatial decoupling mechanism through a lower support profile 42, an inclined support frame 43, a hinged lower swing frame 44, intersecting lower swing supports 45 and upper swing supports 46. Combined with the precise fine-tuning of the first swing adjustment bolt 52 and the second swing adjustment bolt 53, it endows the insertion head with a "flexible leveling" capability similar to an artificial wrist. Under immense downward pressure, it can automatically adapt to minute deformations and assembly errors of the insertion surface, greatly eliminating pin bending and substrate damage caused by "hard insertion," and significantly improving its adaptability to complex irregular electronic components and warped substrates.

[0048] Example 4 focuses on the conveying and positioning mechanism on the base frame 7. (See attached document.) Figure 1 and combined Figure 5 and Figure 7 The base frame 7 is equipped with a fixed side guide rail 81 and a movable side guide rail 82. The fixed side guide rail 81 is fixedly installed, while the movable side guide rail 82 is slidably mounted on the track 72 on the top support frame 71. Driven by the pusher 73, the movable side guide rail 82 can move along the track 72 to adjust its distance from the fixed side guide rail 81. A sliding guide rail 85 is also provided on the base frame 7. The sliding guide rail 85 is arranged parallel to the fixed side guide rail 81, and a transmission chain 83 driven by a support shaft 84 is provided between the fixed side guide rail 81 and the sliding guide rail 85 to drive the device carrier 9 to move forward. Furthermore, height-limiting latches 86 are evenly distributed on the side of the sliding guide rail 85.

[0049] In the workpiece positioning and locking area, the bottom retainer 77 is fixed on the base frame 7. The bottom retainer 77 is provided with a lifting slot 74, and a locking limit plate 75 is slidably fitted in the slot. A photosensitive head 76 is arranged on the side of the bottom retainer 77.

[0050] At the start of the operation, based on the width of the carrier 9 to be inserted, the pusher 73 is activated, and the movable side guide rail 82 slides along the track 72, precisely adjusting the gap between it and the fixed side guide rail 81, and locking the gap after adjustment. Driven by the transmission chain 83, the carrier 9 moves along the sliding guide rail 85, while the height-limiting latch 86 limits and guides the height of the carrier to prevent it from jumping during high-speed transport. When the carrier is about to reach the target workstation, the locking and limiting plate 75 inside the lifting slot 74 rises in advance, forming a rigid mechanical stop at the front end of the carrier. Simultaneously, the photosensitive head 76 monitors the carrier's arrival signal in real time and immediately feeds it back to the control system, which then triggers the braking and locking of the pusher 73 and the transmission chain 83.

[0051] This embodiment utilizes the electrical signal feedback from the photosensitive head 76 and the mechanical hard limiting of the locking plate 75 to form a "dual feedback locking" mechanism. Even if the transmission chain 83 tends to continue moving forward under high-speed inertia, it will be forcibly stopped by the mechanical strength of the locking plate 75, avoiding overshoot error. At the same time, through the auxiliary guidance of the height-limiting locking buckle 86, unexpected shaking of the carrier during the transportation process is completely eliminated, providing an absolutely stable physical foundation for subsequent precise insertion.

[0052] Example 5 provides a detailed description of the internal structure of the insertion device carrier 6 at the lowest level. See also... Figure 6 and combined Figure 1 and Figure 5 The insertion device carrier 6 is located below the suspension frame 5 and includes a support plate 91, a fixture mounting plate 92, and an electrical connection detection plate 93. The fixture mounting plate 92 and the electrical connection detection plate 93 are an integrated structure, mounted together above the support plate 91. Fine-tuning sliders 94 are provided at the bottom of the support plate 91 and the electrical connection detection plate 93, allowing them to slide on the sliding guide rails 85 of the base frame 7 via these sliders.

[0053] A fine-tuning rail 95 is provided parallel to the surface of the support plate 91, and a fine-tuning slider 94 is slidably mounted on the fine-tuning rail 95. A limit rod 96 is provided on the support plate 91, and a pusher 97 is connected to the side end of the fine-tuning slider 94. Several detection slots 98 are provided on the electrical connection detection plate 93, and several electrical connection detection circuit boards 99 are respectively installed in the corresponding detection slots 98.

[0054] After the insertion and lowering mechanism 3 presses the insertion device carrier 6 down to the set height, due to various combined errors, there may still be a slight misalignment between the component pins and the slots. At this time, the control system reads the resistance value fed back by the electrical connection detection circuit board 99 in real time according to the detection status in the detection slot 98 on the electrical connection detection board 93. If the contact resistance is abnormal, it indicates that the alignment is inaccurate, and the system immediately instructs the pusher 97 to move, pushing the fine-tuning slider 94 to perform a very small X-direction displacement compensation along the fine-tuning rail 95. If Y-direction compensation is required, it can be achieved by the fine-tuning slider 94 sliding slightly longitudinally on the sliding guide rail 85. At the same time, the limit rod 96 strictly limits the sliding stroke of the fine-tuning slider 94 to prevent excessive displacement. Only after the electrical connection detection circuit board 99 detects normal conduction feedback will the insertion action continue to deepen.

[0055] This embodiment enhances the structural rigidity of the end effector by integrating the fixture mounting plate 92 and the electrical connection detection board 93. A fine-tuning slider 94 is mounted as the base on the bottom of the support plates 91 and 93, and combined with the fine-tuning rail 95, limit rod 96, and pusher 97, an independent micron-level mechanical fine-tuning transmission system is constructed. Most importantly, the electrical connection detection circuit board 99 is connected to the detection slot 98 for real-time continuity detection, realizing a closed-loop electrical control of "detection-feedback-fine-tuning-re-detection". This system endows the equipment with adaptive capabilities similar to a robot's "touch," automatically eliminating extremely small mechanical assembly errors and ensuring that every electronic component pin is precisely and without damage inserted into the substrate hole, greatly improving the assembly yield of high-end precision electronic components.

[0056] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0057] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and 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. An automatic stabilizing insertion mechanism for electronic components, comprising a base frame (7), an orientation adjustment bracket (8) disposed on the base frame (7), a device carrier (9) to be inserted, and insertion support frames (1) disposed on both sides of the base frame (7), characterized in that: The top of the plug-in support frame (1) is provided with a transverse support frame (2), and the transverse support frame (2) is equipped with a plug-in lowering mechanism (3); the bottom of the plug-in lowering mechanism (3) is connected to a suspension frame (5) through a push fine adjustment component (4), and the lower end of the suspension frame (5) is equipped with a plug-in equipment carrier (6); the side of the base frame (7) is provided with a top support frame rail (71), the top support frame rail (71) is equipped with a track (72) and a pusher (73), the base frame (7) is also provided with a fixed side guide rail (81) and a movable side guide rail (82), the movable side guide rail (82) is slidably installed on the track (72), and is driven by the pusher (73) to adjust the transverse distance between it and the fixed side guide rail (81); the side of the base frame (7) is also provided with a bottom retainer (77), a lifting slot (74), a locking limit plate (75) and a photosensitive head (76). The insertion and lowering mechanism (3) includes a main body (33), a vertical displacement groove (34) opened in the main body (33), a fixed rack (24) and a lifting rack (35) respectively disposed on both sides of the main body (33), and a drive motor (31) and a drive motor (36) respectively disposed on both sides. The drive motor (31) and the drive motor (36) mesh with the fixed rack (24) and the lifting rack (35) respectively through a reaction force gear (32) to achieve symmetrical balance of lifting torque.

2. The automatic stable insertion mechanism for electronic components according to claim 1, characterized in that: The push fine-tuning component (4) includes a mounting base (41), a lower support profile (42), an inclined support frame (43), a lower swing frame (44), a lower swing rail (45), and an upper swing rail (46); the suspension frame (5) is provided with a carrier hoisting component (51), a first swing adjustment bolt (52), and a second swing adjustment bolt (53). By adjusting the extension and retraction of the first swing adjustment bolt (52) and the second swing adjustment bolt (53), the suspension frame (5) is driven to perform deflection angle compensation in the X-axis and Y-axis directions.

3. The automatic stabilizing insertion mechanism for electronic components according to claim 2, characterized in that: The push fine-tuning component (4) also includes an extension support plate (48), a shield plate (49), and a lifting bolt (47); the extension support plate (48) and the shield plate (49) are fixed to the inclined support frame (43) by the lifting bolt (47); the lower support swing frame (44) is hinged to the bottom of the inclined support frame (43), and the lower swing support (45) and the upper swing support (46) are arranged at both ends of the lower support swing frame (44) in a cross-hinged manner; the extension support plate (48) and the shield plate (49) are driven to move vertically up and down by the lifting bolt (47), thereby adjusting the cross swing angle of the lower swing support (45) and the upper swing support (46) to achieve flexible self-adaptation to the tilt angle of the insertion surface.

4. The automatic stabilizing insertion mechanism for electronic components according to claim 1, characterized in that: The drive motor (31) and drive motor (36) are configured to drive synchronously in opposite directions. When the main body (33) of the machine part moves up and down, the reverse torque generated by the two motors cancels each other out, so as to suppress the transmission resistance caused by the off-center load when the insertion and lowering mechanism (3) moves up and down in the vertical displacement groove (34).

5. The automatic stabilizing insertion mechanism for electronic components according to claim 1, characterized in that: The base frame (7) is also equipped with a transmission chain (83) driven to rotate by a support shaft (84), a sliding guide rail (85), and a height limiting buckle (86); the device carrier (9) to be inserted is slidably set on the sliding guide rail (85), and its displacement height in the vertical direction is limited by the height limiting buckle (86); the transmission chain (83) is connected to the device carrier (9) to drive the device carrier (9) to be inserted to perform step-by-step conveying along the sliding guide rail (85).

6. The automatic stabilizing insertion mechanism for electronic components according to claim 1, characterized in that: The base retainer (77) is fixedly installed on the base frame (7), the lifting slot (74) is opened on the base retainer (77), the locking limiting plate (75) is slidably engaged in the lifting slot (74), and the photosensitive head (76) is arranged on the side of the base retainer (77). During operation, the locking limiting plate (75) slides up and down to perform a rigid mechanical stop on the device carrier (9) to be inserted. At the same time, the photosensitive head (76) monitors the position signal in real time and triggers the synchronous locking of the pusher (73) and the transmission chain (83) after the device carrier (9) to be inserted is accurately in place.

7. The automatic stabilizing insertion mechanism for electronic components according to claim 5, characterized in that: The insertion device carrier (6) includes a support plate (91), a fixture mounting plate (92), an electrical connection detection plate (93), a fine-tuning slider (94), a fine-tuning rail (95), a limit rod (96), and a pusher (97). The fixture mounting plate (92) and the electrical connection detection plate (93) are an integral structure; The support plate (91) and the electrical connection detection plate (93) are slidably mounted on the sliding guide rail (85) via the fine-tuning slider (94) at the bottom; The fine-tuning rail (95) is disposed on the surface of the support plate (91), the fine-tuning slider (94) is slidably mounted on the fine-tuning rail (95), the pusher (97) is connected to the fine-tuning slider (94) in a transmission manner, and the limiting rod (96) is used to limit the sliding stroke of the fine-tuning slider (94).

8. The automatic stable insertion mechanism for electronic components according to claim 7, characterized in that: The electrical connection detection board (93) has several detection slots (98), and several electrical connection detection circuit boards (99) are respectively installed in several of the detection slots (98). The electrical connection detection circuit boards (99) are configured to read the resistance value in the detection slots (98) in real time. When the detected resistance value is abnormal, the control system command pusher (97) drives the fine adjustment slider (94) to perform a small position compensation on the fine adjustment rail (95) until the detection slot (98) restores normal conduction feedback, thereby realizing closed-loop feedback control of mechanical fine adjustment stroke and electrical conduction detection.

9. The automatic stabilizing insertion mechanism for electronic components according to claim 1, characterized in that: The transverse support frame (2) includes end support seats (21) and transverse support beams (22); the end support seats (21) are fixedly assembled on the top of the plug-in support frame (1), and the transverse support beams (22) are erected between the two end support seats (21); the plug-in lowering mechanism (3) is slidably mounted on the transverse support beams (22) through the lowering mechanism mounting frame (23), thus forming a high-rigidity gantry support structure.

10. The automatic stabilizing insertion mechanism for electronic components according to claim 1, characterized in that: The fixed side guide rail (81) on the base frame (7) is fixedly installed, and the movable side guide rail (82) is slidably installed on the track (72); the sliding guide rail (85) is arranged parallel to the fixed side guide rail (81); the height limiting buckle (86) is evenly distributed on the side of the sliding guide rail (85). After the movable side guide rail (82) is adjusted to complete the distance between it and the fixed side guide rail (81), the height limiting buckle (86) is used to limit and guide the movement of the device carrier (9) on the sliding guide rail (85) to prevent it from generating unexpected vertical swaying during high-speed transportation.

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