Preassembling equipment for plug-in

Abstract

The utility model discloses preassembling equipment for plug-ins, and relates to the technical field of plug-in machines. The preassembling equipment comprises an automatic feeding device, a preassembling device, a first manipulator, a circuit board conveying and positioning device and a second manipulator. The automatic feeding device is used for supplying at least two plug-ins; the preassembling device comprises an assembling platform and a screw locking mechanism; the first manipulator is provided with a first fixing mechanism, the first fixing mechanism can take and place plug-ins on the automatic feeding device so as to place the plug-ins on the assembling platform, and then the screw locking mechanism performs screw connection on at least two plug-ins to form a plug-in assembly; the circuit board conveying and positioning device is used for positioning a circuit board; and the second manipulator is provided with a second fixing mechanism, the second fixing mechanism is used for taking and placing the plug-in component on the assembling platform so as to move the plug-in component to the circuit board conveying and positioning device, and the second manipulator is further used for inserting the pin into the circuit board when the plug-in component is moved. According to the preassembling equipment, preassembling of the plug-in component can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of plug-in machine technology, specifically to a plug-in pre-installation device. Background Technology

[0002] With the rapid development of the electronics manufacturing industry, traditional manual component assembly methods are no longer sufficient to meet the demands of high-quality production due to their low efficiency and high error rates. This problem is particularly pronounced when handling complex, multi-stage component assembly. While some existing component assembly machines can automate basic component insertion into circuit boards, they are limited to a single assembly process and cannot effectively handle components requiring pre-assembly.

[0003] Therefore, there is room for improvement in the plug-in machine. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a pre-assembly device for plug-in components, which can realize the pre-assembly of plug-in components, improving production efficiency and assembly accuracy.

[0005] A pre-assembly device for plug-ins according to an embodiment of the present invention includes an automatic feeding device, a pre-assembly device, a first robotic arm, a circuit board conveying and positioning device, and a second robotic arm. The automatic feeding device supplies at least two types of plug-ins, at least one of which has pins. The pre-assembly device includes an assembly platform and a screw fastening mechanism. The first robotic arm has a first fixing mechanism for picking up and placing the plug-ins from the automatic feeding device, so that the first robotic arm places at least two plug-ins onto the assembly platform, and the screw fastening mechanism connects the at least two plug-ins with screws to form a plug-in assembly. The circuit board conveying and positioning device is used to position the circuit board. The second robotic arm has a second fixing mechanism for picking up and placing the plug-in assembly from the assembly platform, so that the second robotic arm moves the plug-in assembly to the circuit board conveying and positioning device. The second robotic arm is also used to insert the pins onto the circuit board while moving the plug-in assembly.

[0006] According to an embodiment of this utility model, the pre-assembly equipment, by setting up an automatic feeding device, a pre-assembly device, a first robotic arm, a circuit board conveying and positioning device, and a second robotic arm, achieves automated feeding, pre-assembly, transfer, and assembly of plug-in components onto circuit boards. The automatic feeding device ensures a stable supply of plug-in components. The assembly platform and screw fastening mechanism in the pre-assembly device effectively combine multiple plug-in components into plug-in assemblies to improve production efficiency. The cooperation between the first and second robotic arms, through their respective first and second fixing mechanisms, completes the picking and placing of plug-in components and the transfer of plug-in assemblies. Simultaneously, the second robotic arm can accurately insert plug-in assemblies with pins into the circuit board during its movement, ensuring the accuracy and reliability of the assembly. The entire pre-assembly equipment has a compact structure, is easy to operate, reduces labor costs, and improves the automation level and overall efficiency of the production line.

[0007] The pre-installed equipment according to some embodiments of the present invention further includes: a displacement device, wherein the displacement device is provided with a rotating mechanism and a connected third fixing mechanism; the second robot arm is further used to move the plug-in component from the assembly platform to the displacement device after removing the plug-in component, and hand it over to the third fixing mechanism to fix the plug-in component; the rotating mechanism is capable of rotating the third fixing mechanism to adjust the position of the pin on the plug-in component; the second robot arm is further used to remove the plug-in component after displacement and move the plug-in component to the circuit board delivery positioning device.

[0008] In some optional embodiments, the third fixing mechanism further includes: two pairs of movable grippers, the same pair of movable grippers being arranged along a first direction, the distance between the two pairs of movable grippers in the first direction being adjustable; and two pairs of movable grippers being arranged along a second direction, the distance between the two pairs of movable grippers in the second direction being adjustable, the first direction and the second direction having an angle.

[0009] According to some embodiments of the present invention, the pre-installed equipment includes an automatic feeding device comprising: a material cart assembly, wherein the material cart assembly is provided with a full material bin and a collection bin, the full material bin being used to place packaging materials containing the inserts, and the collection bin being used to place the packaging materials after the inserts have been removed; a first lifting assembly, wherein there are two first lifting assemblies, which are respectively provided corresponding to the full material bin and the collection bin, the first lifting assembly including a height-adjustable bracket on which the packaging materials are placed; and a lateral movement assembly, wherein the lateral movement assembly is provided on the top of the material cart assembly, the lateral movement assembly including a first clamping member that moves laterally, the first clamping member being movable between the upper end of the full material bin and the upper end of the collection bin, and the first clamping member being used to clamp the packaging materials.

[0010] In some optional embodiments, the assembly platform further includes: a placement block for placing the plug-in; an alignment cylinder, the movable block of which is used to push the plug-in to a set position; the first robotic arm is further provided with: a first visual inspection element for detecting the position of the plug-in, and the pre-assembly device is further provided with: a second visual inspection element for detecting the position of the plug-in.

[0011] Optionally, the pre-assembly device further includes: an X-axis moving component connected to the assembly platform; and a Y-axis moving component and a Z-axis moving component connected to the screw fastening mechanism.

[0012] In some alternative embodiments, the first fixing mechanism includes: a first suction cup for holding a first plug-in in the plug-in; and a second clamping member for clamping a second plug-in in the plug-in.

[0013] According to some embodiments of the present invention, the pre-installed device includes a second fixing mechanism: a second suction cup for holding the plug-in component; the second robotic arm is also provided with a third vision detection component for detecting the position of the plug-in component.

[0014] According to some embodiments of the present invention, the pre-installed equipment, the circuit board conveying and positioning device further includes: a conveyor line for conveying the circuit board; and a lifting and positioning mechanism, which is disposed below the conveyor line and is used to lift and position the circuit board upward.

[0015] Optionally, the circuit board conveying and positioning device is further provided with a fourth vision detection element for detecting the position of the plug-in component.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of the structure of the plug-in component in some embodiments of this utility model;

[0019] Figure 2 This is a schematic diagram of the pre-installed equipment in some embodiments of the present invention;

[0020] Figure 3 This is a schematic diagram of the pre-installed device in some embodiments of the present invention;

[0021] Figure 4This is a schematic diagram of the structure of the first robotic arm in some embodiments of this utility model;

[0022] Figure 5 This is a schematic diagram of the circuit board conveying and positioning device in some embodiments of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the second robotic arm in some embodiments of this utility model;

[0024] Figure 7 This is a schematic diagram of the displacement device in some embodiments of the present invention;

[0025] Figure 8 This is a perspective view of the automatic feeding device in some embodiments of the present invention;

[0026] Figure 9 This is a schematic diagram of the structure of the automatic feeding device in some embodiments of this utility model.

[0027] Figure label:

[0028] 100 pre-installed devices

[0029] Automatic feeding device 10, material cart assembly 11, full material bin 111, collection bin 112, first lifting assembly 13, bracket 131, lateral movement assembly 15, first clamping component 151.

[0030] Pre-assembly device 20, assembly platform 22, screw fastening mechanism 24, second vision inspection component 26

[0031] First robotic arm 30, first fixing mechanism 32, first suction cup 321, second gripper 322, first vision inspection component 33

[0032] Circuit board conveying and positioning device 40, conveyor line 41, lifting and positioning mechanism 42, fourth vision inspection component 43.

[0033] Second robotic arm 50, second fixing mechanism 51, second suction cup 511, third vision inspection component 53

[0034] Displacement device 60, rotation mechanism 62, third fixing mechanism 64, moving gripper 641

[0035] Plug-in component 200, plug-in 201, first plug-in 203, second plug-in 205, pin 2051,

[0036] Packaging material 300. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms "lateral," "vertical," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] As mentioned in the background section, some existing plug-in machines cannot achieve pre-assembly of plug-ins. Combined with... Figure 1 Some plug-in components 200 may include two plug-ins 201, namely a first plug-in 203 and a second plug-in 205, wherein the second plug-in 205 is provided with pins 2051. The first plug-in 203 and the second plug-in 205 need to be connected by screws.

[0041] To solve the above problems, this utility model proposes a pre-installed device 100.

[0042] The following is for reference. Figure 2 - Figure 9 Description of a pre-installed device 100 for a plug-in according to an embodiment of the present utility model.

[0043] like Figure 2 As shown, the pre-installation equipment 100 includes: an automatic feeding device 10, a pre-installation device 20, a first robotic arm 30, a circuit board conveying and positioning device 40, and a second robotic arm 50.

[0044] The automatic feeding device 10 is used to supply at least two types of inserts 201, at least one of which has pins 2051. Figure 1 The second plug-in 205 has a pin 2051.

[0045] The automatic feeding device 10 is responsible for supplying at least two different types of plug-in 201, which will form a more complex plug-in assembly 200 during the subsequent pre-assembly process. In particular, at least one type of plug-in 201 is provided with pins 2051, which are used to establish electrical connections with the circuit board.

[0046] Taking some specific embodiments as examples, the plug-in 201 includes a first plug-in 203 and a second plug-in 205. These two types of plug-ins 201 differ in physical form, size, and material, but they are tightly connected together through a pre-assembly process. The pre-assembly work may involve various connection methods, such as screw fastening, welding, and snap-fit ​​connection, depending on the design and assembly requirements of the plug-in 201. In this utility model, screw fastening is used as an example for description, and will not be elaborated further below.

[0047] During the pre-assembly process, the first plug-in 203 and the second plug-in 205 are connected together by a preset connection method.

[0048] The automatic feeding device 10 can provide stable and reliable feeding support for the pre-assembly process by controlling the supply speed of the plug-in 201, thereby improving the automation level of the pre-assembly equipment 100 and thus improving production efficiency.

[0049] In some alternative embodiments, the automatic feeding device 10 may be a conveyor belt or a material cart assembly 11, etc.

[0050] When the automatic feeding device 10 is a conveyor belt, it can be multiple parallel conveyor belts, each with different types of inserts 201 placed on it, so that the first robotic arm 30 can pick up the inserts 201 from a specific conveyor belt as needed. This layout not only improves the flexibility of feeding but also ensures the stability and accuracy of the inserts 201 during the conveying process.

[0051] When the automatic feeding device 10 uses the material cart assembly 11, the transfer method of the insert 201 changes to vertical transfer. The material cart assembly 11 has a lifting or sliding mechanism inside, which allows the insert 201 to be transferred in an orderly manner in the vertical direction. This vertical transfer method can improve space utilization and is especially suitable for some production line scenarios with limited space.

[0052] Optionally, the automatic feeding device 10 also includes a detector, a controller, and an alarm device. The detector, controller, and alarm device work together in the automatic feeding device 10 to achieve real-time monitoring and alarm functions for the inventory of plug-in 201. Specifically, when the detector detects that the inventory of plug-in 201 is lower than a preset value, it sends a signal to the controller. After processing the signal, the controller triggers the alarm device to issue a warning. In this way, operators can promptly understand the inventory status of plug-in 201 and take corresponding measures to replenish the inventory, thereby ensuring the continuity and stability of production. Optionally, the alarm device includes, but is not limited to, an audible and visual alarm component.

[0053] like Figure 3 As shown, the pre-assembly device 20 includes an assembly platform 22 and a screw fastening mechanism 24.

[0054] Here, the pre-assembly device 20 integrates the assembly platform 22 and pre-assembly tools. The assembly platform 22 provides a stable assembly environment for supporting, positioning, and securing the plug-in 201 to be assembled.

[0055] Optionally, the assembly platform 22 includes a positioning device and / or a fixture. The positioning device ensures that the insert 201 is accurately placed in a predetermined position, thereby improving assembly accuracy and production efficiency. The fixture is used to fix the insert 201 during assembly, preventing it from moving or misaligning, thus ensuring the stability and reliability of the assembly process.

[0056] like Figure 4 As shown, the first robotic arm 30 is provided with a first fixing mechanism 32. The first fixing mechanism 32 is used to pick up and put down the plug-in 201 on the automatic feeding device 10, so that the first robotic arm 30 can place at least two plug-in 201s onto the assembly platform 22, and then the screw fastening mechanism 24 can connect at least two plug-in 201s with screws to form a plug-in assembly 200.

[0057] The first fixing mechanism 32 is used to grab and place the insert 201 from the automatic feeding device 10.

[0058] In some optional embodiments, the first fixing mechanism 32 may be at least a pair of gripping arms that can open and close horizontally. When the first fixing mechanism 32 needs to grip the plug-in 201, its opening and closing portion first expands outward horizontally to form a sufficiently wide opening to accommodate the size of the plug-in 201 to be gripped. Once the opening is adjusted to the appropriate position and aligned with the plug-in 201, the opening and closing portion quickly and smoothly closes inward, firmly fixing the plug-in 201 by controlling the clamping force. In this way, the first fixing mechanism 32 ensures that the plug-in 201 will not shake or fall off during movement, thereby stably placing the plug-in 201 on the assembly platform 22. The first fixing mechanism 32 improves the stability and efficiency of operation and enhances the reliability and consistency of the entire automated assembly process.

[0059] After successfully capturing the plug-in 201, the first fixing mechanism 32 will move the plug-in 201 to the designated position on the assembly platform 22 according to the preset program or instructions.

[0060] First, the first robotic arm 30 drives the first fixing mechanism 32 to move along a preset path. During this process, the first fixing mechanism 32 maintains a firm fixation on the plug-in 201, ensuring the stability of the plug-in 201 during movement. As the first robotic arm 30 moves, the first fixing mechanism 32 gradually approaches the target placement area of ​​the assembly platform 22.

[0061] As it approaches the target position, the opening and closing portion of the first fixing mechanism 32 will begin to perform a reverse operation, that is, slowly open along the horizontal direction to release the plug 201.

[0062] Optionally, the opening speed and force of the opening and closing portion of the first fixing mechanism 32 can be adjusted. This ensures that the plug-in 201 lands smoothly and without impact on the predetermined position on the assembly platform 22. At the same time, it prevents the plug-in 201 from being damaged or shifted in position during placement.

[0063] After the plug-in 201 is successfully placed, the first fixing mechanism 32 will immediately stop opening and prepare for the next grabbing and placement operation, thus making the entire placement process smooth and efficient.

[0064] In some embodiments, when there are two or more plug-ins 201, the first fixing mechanism 32 can place the plug-ins 201 in a preset order. This preset order may be set based on the assembly order and connection relationship of the plug-ins 201.

[0065] Subsequently, the first fixing mechanism 32 will perform the gripping and placement operations in sequence. After each gripping of the plug-in 201, the first robotic arm 30 will accurately move the first fixing mechanism 32 to the corresponding placement position. During this process, the first fixing mechanism 32 will adjust its gripping force and opening speed according to preset data to adapt to the different sizes and weights of the plug-in 201, ensuring that each placement is accurate and stable.

[0066] Therefore, by setting the first fixing mechanism 32, the task of placing the plug-in 201 can be achieved efficiently and in an orderly manner, thereby improving the automation level of the assembly process.

[0067] In some alternative embodiments, the first robotic arm 30 is a multi-axis robotic arm.

[0068] The screw fastening mechanism 24 is used to connect several inserted plugs 201 after placement with screws, thereby forming the plug assembly 200.

[0069] Optionally, the screw fastening mechanism 24 includes an intelligent torque electric screwdriver. The intelligent torque electric screwdriver is mainly used to achieve high-precision and high-efficiency screw fastening operations.

[0070] The screw fastening mechanism 24 in this application can adopt a known solution in the prior art. The screw fastening mechanism 24 itself is not the core point of the solution in this application, so it will not be described in detail here.

[0071] Combination Figure 5 The circuit board conveying and positioning device 40 is used to position the circuit board.

[0072] The circuit board delivery and positioning device 40 is responsible for positioning the circuit board to the designated assembly position so that the subsequent plug-in 201 can be inserted.

[0073] Optionally, the circuit board conveying and positioning device 40 includes a conveying assembly. This conveying assembly is responsible for transporting the circuit boards from the storage or loading area to the assembly position, a process that can be achieved through a conveyor belt, rollers, chain, or other mechanical transmission method. The conveying assembly ensures the smoothness and continuity of the circuit boards during transport, avoiding positioning deviations caused by vibration or bumps.

[0074] Optionally, the circuit board transport and positioning device 40 also includes positioning components. The positioning components are used to position the circuit board. The positioning components include, for example, positioning pins, positioning blocks, and clamping devices. The positioning components are arranged according to the size and shape of the circuit board to ensure the accuracy and stability of the circuit board in the assembly position.

[0075] Optionally, the circuit board conveying and positioning device 40 also includes a lifting cylinder, which is located at the bottom and / or side of the positioning device. The lifting cylinder can directly contact the circuit board or contact the circuit board through a support structure. After the circuit board is conveyed to the assembly position, the lifting cylinder will start working according to a preset program or instruction. By controlling the extension and retraction of the cylinder, it can make minor up-down and left-right adjustments to the circuit board, thereby eliminating minor deviations that may occur during the conveying process.

[0076] Once the circuit board is positioned, the insertion of the plug-in 201 begins. Because the circuit board is already in a stable and accurate position, the insertion process of the plug-in 201 is smoother and more efficient.

[0077] The second robotic arm 50 is equipped with a second fixing mechanism 51, such as Figure 6 As shown, the second fixing mechanism 51 is used to pick up and place the plug-in assembly 200 on the assembly platform 22 so that the second robot arm 50 can move the plug-in assembly 201 to the circuit board conveying and positioning device 40. The second robot arm 50 is also used to insert the pin 2051 onto the circuit board when moving the plug-in assembly 200.

[0078] The second robotic arm 50 and its equipped second fixing mechanism 51 are used to install the pre-assembled plug-in assembly 200 onto the circuit board.

[0079] Optionally, the second robotic arm 50 is a multi-axis robotic arm.

[0080] Multi-axis robots have multiple degrees of freedom, enabling them to move freely within a certain space and complete tasks with multiple angles and trajectories. This allows multi-axis robots to adapt to plug-in components 200 of different shapes, sizes, and weights, as well as circuit boards of different layouts and specifications.

[0081] Therefore, multi-axis robots can replace manual labor in inserting components 200, reducing the workload of workers. Furthermore, in automated production, multi-axis robots can reduce waste and loss of production materials caused by misassembly during the production process, thereby lowering production costs.

[0082] The multi-axis robot can precisely grasp the plug-in components 200 on the assembly platform 22 via the second fixing mechanism 51.

[0083] Optionally, the second fixing mechanism 51 can be a suction cup, a clamp, etc.

[0084] It should be noted that some pre-assembled plug-in components 200, after being removed from the assembly platform 22, do not have pins 2051 oriented in a way that allows for direct mounting onto the circuit board. For successful installation, these plug-in components 200 need to be rotated at a certain angle to ensure that the pins 2051 are accurately aligned with the corresponding sockets on the circuit board.

[0085] To solve the above problems, such as Figure 7 As shown, the pre-installed device 100 according to some embodiments of the present invention further includes: a displacement device 60.

[0086] The positioning device 60 is used to rotate the pre-assembled plug-in assembly 200 to ensure that the pin 2051 of the plug-in assembly 200 can be aligned with the socket on the circuit board, so as to facilitate insertion.

[0087] Specifically, after the pre-assembly process is completed, the plug-in assembly 200 is located on the assembly platform 22. At this time, the direction of its pins 2051 is upward in the vertical direction. The displacement device 60 can rotate the plug-in assembly 200 so that the pins 2051 face downward, thereby matching the direction of the socket on the circuit board.

[0088] After rotation is complete, the second fixing mechanism 51 will release its fixation on the plug-in assembly 200, at which point the plug-in assembly 200 is in the correct assembly orientation. Subsequently, other parts of the pre-assembly equipment 100, such as the conveying device or the second robotic arm 50, can accurately move the plug-in assembly 200 above the circuit board for subsequent assembly work.

[0089] The positioning device 60 is equipped with a rotating mechanism 62 and a connected third fixing mechanism 64. The second robot arm 50 is also used to move the plug-in assembly 200 from the assembly platform 22 to the positioning device 60 and hand it over to the third fixing mechanism 64 to fix the plug-in assembly 200.

[0090] For example, after the plug-in component 200 on the assembly platform 22 completes the screw connection via the screw fastening mechanism 24, the second robot arm 50 moves to above the plug-in component 200 or to a designated position according to a preset program and path.

[0091] Then, the plug-in component 200 is gripped by the second fixing mechanism 51 (such as a clamping arm, suction cup, clamp, etc.) to ensure that the plug-in component 200 is not damaged or displaced during the gripping process.

[0092] After grasping the plug-in component 200, the second robotic arm 50 will move the plug-in component 200 from the assembly platform 22 to above the displacement device 60 or a designated position along a preset trajectory.

[0093] Then, the third fixing mechanism 64 of the displacement device 60, such as a clamping arm, suction cup, or fixture, will receive the plug-in assembly 200 and rotate the plug-in assembly 200 to a preset angle.

[0094] The rotating mechanism 62 can rotate the third fixing mechanism 64 to adjust the position of the pin 2051 on the plug-in assembly 200.

[0095] Optionally, the rotating mechanism 62 includes a rotary motor, a reducer, and a drive shaft, the drive shaft being used to connect to the third fixed mechanism 64. The rotary motor provides rotational power, the reducer adjusts the rotational speed to ensure smooth and accurate rotation. The drive shaft transmits the rotational motion of the rotary motor to the third fixed mechanism 64.

[0096] The third fixing mechanism 64 is mounted on the rotating mechanism 62 to fix the plug-in assembly 200 and prevent it from shifting or loosening during rotation, which could lead to damage. The third fixing mechanism 64 can be set according to factors such as the shape, size, and weight of the plug-in assembly 200. The third fixing mechanism 64 can be a clamping arm, a suction cup, a fixture, etc., and there are no specific limitations.

[0097] In some alternative embodiments, the third fixing mechanism 64 consists of two pairs of clamping arms. When it is necessary to fix the plug-in assembly 200, these two pairs of clamping arms will simultaneously clamp the plug-in assembly 200 from both sides, ensuring that the plug-in assembly 200 remains stable during subsequent rotation or movement.

[0098] The second robotic arm 50 is also used to remove the transposed plug-in component 200 and move the plug-in component 200 toward the circuit board conveying and positioning device 40.

[0099] Specifically, once the plug-in component 200 is rotated to the required angle by the third fixing mechanism 64, the repositioning operation is completed, and the second robotic arm 50 will intervene in the process to execute the next action.

[0100] Subsequently, the second robotic arm 50 fixes the plug-in assembly 200 through the second fixing mechanism 51 and moves it to the circuit board conveying and positioning device 40 for subsequent operations.

[0101] In some alternative embodiments, combined with Figure 7 The third fixing mechanism 64 further includes: two pairs of movable grippers 641, with each pair of movable grippers 641 arranged along a first direction and the distance between them in the first direction being adjustable. The two pairs of movable grippers 641 are arranged along a second direction, and the distance between the two pairs of movable grippers 641 in the second direction is adjustable. The first direction and the second direction have an angle between them.

[0102] In the above technical solution, firstly, the pair of movable grippers 641 are arranged along a first direction, and the distance between them is adjustable. This means that the third fixing mechanism 64 can adjust the distance between the pair of grippers according to the height and shape of the plug-in assembly 200 to ensure that they can clamp the plug-in assembly 200 tightly and stably without damaging the plug-in assembly 200.

[0103] Secondly, the two pairs of movable grippers 641 are also arranged along the second direction, and the distance between them is also adjustable. This means that the third fixing mechanism 64 can adjust the distance between the two pairs of movable grippers 641 according to the length of the plug-in assembly 200, so that the third fixing mechanism 64 can accurately clamp the plug-in assembly 200.

[0104] In some alternative embodiments, the first direction is vertical and the second direction is horizontal, then the angle between the first direction and the second direction is 90°.

[0105] Two pairs of movable grippers 641 are horizontally separated to form an opening. When the second fixing device, carrying the insert assembly 200, moves between these two sets of grippers, the two sets of grippers move horizontally closer to each other, ensuring that both ends of the insert assembly 200 are positioned between the corresponding pair of grippers on each side. Then, the grippers on the same side move vertically closer to each other to securely clamp both ends of the insert assembly 200.

[0106] According to some embodiments of the present invention, the pre-installed device 100, such as Figure 8 - Figure 9 As shown, the automatic feeding device 10 includes: a material cart assembly 11, a first lifting assembly 13, and a lateral movement assembly 15. The material cart assembly 11 is equipped with a full material bin 111 and a collection bin 112. The full material bin 111 is used to hold packaging materials 300 containing inserts 201, and the collection bin 112 is used to hold packaging materials 300 after the inserts 201 have been removed. There are two first lifting assemblies 13, one corresponding to the full material bin 111 and the other to the collection bin 112. Each first lifting assembly 13 includes a height-adjustable bracket 131 on which the packaging materials 300 are placed. The lateral movement assembly 15 is located on top of the material cart assembly 11. The lateral movement assembly 15 includes a first clamping member 151 that moves laterally. The first clamping member 151 is movable between the upper end of the full material bin 111 and the upper end of the collection bin 112, and is used to clamp the packaging materials 300.

[0107] In the above technical solution, the complete packaging material 300 with plug-in 201 is placed in the full material bin 111 in a stacking order, with the bottom packaging material 300 located at the lowest position.

[0108] Collection bin 112 is used to store empty packaging material 300 after the plug-in 201 has been removed, i.e., empty packaging material 300 collection bin 112. Initially, collection bin 112 is in an empty state.

[0109] The first lifting assembly 13 is responsible for the vertical lifting operation of the packaging material 300. The lateral movement assembly 15 is responsible for the clamping and lateral movement of the packaging material 300 between the full material bin 111 and the collection bin 112.

[0110] Specifically, during the first material retrieval, the bracket 131 in the first lifting component 13 in the full material bin 111 rises to lift the top packaging material 300 to the retrieval position, making it at a height that is convenient for the first robotic arm 30 to retrieve the material.

[0111] The first fixing mechanism 32 of the first robotic arm 30 removes the insert 201 from the material handling position for subsequent operations.

[0112] When all the plug-ins 201 in the top layer packaging material 300 are removed, the transverse component 15 is activated. The first clamping member 151 in the transverse component 15 clamps the empty packaging material 300 and transversely transfers it to the collection chamber 112.

[0113] Afterwards, the bracket 131 in the full material bin 111 rises again, raising the next layer of full material packaging 300 to the material picking position.

[0114] At the same time, when the stacking height of empty packages in the collection bin 112 reaches the preset height, the first lifting component 13 in the empty material bin drives the bracket 131 to descend, making room for the new empty package material 300.

[0115] Optionally, the full material bin 111 and the collection bin 112 are also equipped with detectors, controllers, and alarm devices. Through the coordinated operation of the detectors, controllers, and alarm devices, real-time monitoring and alarm functions for the full material bin 111 and the collection bin 112 are achieved. Specifically, when the detector detects that the number of inserts 201 in the full material bin 111 is lower than a preset value, or the number of empty packaging materials 300 in the collection bin 112 exceeds a preset value, it sends a signal to the controller. After processing the signal, the controller triggers the alarm device to issue a prompt. In this way, the operator can promptly understand the status of the automatic feeding device 10 and take corresponding measures to adjust it, thereby ensuring the continuity and stability of production. Optionally, the alarm device includes, but is not limited to, an audible and visual alarm component.

[0116] In some alternative embodiments, the assembly platform 22 further includes a placement block and an alignment cylinder (the placement block and alignment cylinder are not shown in the figure). The placement block is used to place the insert 201. The movable block of the alignment cylinder is used to push the insert 201 to a set position.

[0117] The placement block is used to support the plug-in 201. Optionally, a placement groove is formed on the placement block, the shape and size of which match the plug-in 201 to ensure that the plug-in 201 can be placed stably and accurately on it.

[0118] In some embodiments, the placement block and the assembly platform 22 are detachably connected. This allows for the placement of various sizes of plug-in 201 by replacing the placement block, thereby improving the flexibility and adaptability of the pre-assembled equipment 100. The detachable connection methods include, but are not limited to, fasteners, snap-fits, and magnetic attachments.

[0119] like Figure 4 As shown, the first robotic arm 30 is also provided with a first visual inspection component 33 for detecting the position of the plug-in 201, and the pre-installation device 20 is also provided with a second visual inspection component 26 for detecting the position of the plug-in 201.

[0120] The first visual detection element 33 is used to identify key features of the plug-in 201, thereby guiding the movement of the first robotic arm 30 and improving the grasping accuracy of the plug-in 201. Optionally, the first visual detection element 33 includes a camera and a retractable light source.

[0121] The second visual inspection component 26 is used to identify the features of different plug-ins 201, thereby guiding the alignment between different plug-ins 201.

[0122] In some specific embodiments, there are two plug-ins 201, namely a first plug-in 203 and a second plug-in 205. The first plug-in 203 includes an assembly through hole, and the second plug-in 205 includes a screw hole. The specific operation process is as follows: the second plug-in 205 is placed in a preset position. At this time, the second vision detection component 26 is activated to take pictures and accurately identify the screw hole of the second plug-in 205. Immediately afterwards, the first plug-in 203 is moved above the second vision detection component 26, and the second vision detection component 26 works again to take pictures and identify the assembly through hole of the first plug-in 203. Based on the hole position coordinate information obtained from the two pictures, the second vision detection component 26 performs hole position coordinate fitting calculation. Based on this, it guides the first robot arm 30 to place the first plug-in 203 in a suitable position, thereby ensuring that the assembly through hole of the first plug-in 203 and the screw hole of the second plug-in 205 are accurately aligned. By setting the second vision detection component 26, the accuracy of the alignment of the plug-in 201 is improved, and the overall working efficiency of the pre-assembly equipment 100 is also effectively improved.

[0123] Optionally, the second vision detection element 26 includes a camera and a retractable light source.

[0124] In some embodiments, the pre-assembly device 20 further includes an X-axis moving component connected to the assembly platform 22 and a Y-axis moving component and a Z-axis moving component connected to the screw fastening mechanism 24.

[0125] Here, the X direction is the second direction, the Y direction is the third direction, and there is a certain angle between the X and Y directions. The Z direction is the first direction.

[0126] The X-axis moving component is responsible for moving the assembly platform 22 in the X direction, thereby driving the plug-in 201 on the platform to make precise position adjustments. Optionally, the X-axis moving component includes: a guide rail system, a slider, a drive motor, etc., to ensure the smoothness, accuracy, and controllability of the movement process.

[0127] Similar to the X-axis moving assembly, the Y-axis moving assembly is also a component of the pre-installed device 20, but it is connected to the screw fastening mechanism 24. The Y-axis moving assembly is responsible for moving the screw fastening mechanism 24 in the Y-axis direction to accurately feed the screw into the screw hole of the insert 201 or insert assembly 200. Optionally, the Y-axis moving assembly includes components such as a guide rail system, a slider, and a drive motor to ensure smooth and precise movement of the screw fastening mechanism 24 in the Y-axis direction.

[0128] In addition to the X-axis and Y-axis moving components, the pre-assembly device 20 also includes a Z-axis moving component. The Z-axis moving component is connected to the screw-locking mechanism 24 and is responsible for lifting and lowering along the Z-axis on the vertical plane. The addition of the Z-axis moving component allows the screw-locking mechanism 24 to flexibly adjust its height to adapt to the assembly requirements of different plug-in components 200. Optionally, the Z-axis moving component includes a lifting mechanism, guide columns, and a drive motor to ensure stability and accuracy during the lifting process.

[0129] In this way, during the pre-assembly process, the transfer platform can move along the X-axis, while the screw fastening mechanism 24 can move along the Y and Z axes. This multi-dimensional mobility improves the assembly efficiency and accuracy of the screw fastening mechanism 24.

[0130] In some alternative embodiments, such as Figure 4 As shown, the first fixing mechanism 32 includes a first suction cup 321 and a second clamping member 322. The first suction cup 321 is used to hold the first plug-in 203 in the plug-in 201. The second clamping member 322 is used to hold the second plug-in 205 in the plug-in 201.

[0131] The first suction cup 321 is part of the first fixing mechanism 32, and is used to hold the first plug-in 203 in the plug-in 201. It utilizes the principle of vacuum adsorption, creating a negative pressure inside the first suction cup 321 to firmly adhere to the surface of the first plug-in 203. Optionally, the first suction cup 321 is made of a soft and wear-resistant material, such as a silicone suction cup, a polyurethane suction cup, or a rubber suction cup.

[0132] This ensures that the surface of the plug-in 201 is not damaged during the adsorption process. At the same time, the shape and size of the first suction cup 321 are adapted to the shape of the first plug-in 203 to ensure that it can fit tightly against the surface of the first plug-in 203 and provide stable adsorption force.

[0133] Unlike the first suction cup 321, the second clamping member 322 is used to clamp the second plug-in 205. The clamping of the second clamping member 322 ensures stable fixation of the second plug-in 205. Simultaneously, the second clamping member 322 possesses sufficient clamping force to ensure that the second plug-in 205 will not fall off or shift due to external interference during pre-assembly.

[0134] According to some embodiments of the present utility model, the pre-installed device 100, combined with Figure 6 The second fixing mechanism 51 includes a second suction cup 511. The second suction cup 511 is used to hold the plug-in assembly 200. The second robotic arm 50 is also provided with a third vision detection component 53 for detecting the position of the plug-in assembly 200.

[0135] In the above technical solution, the second fixing mechanism 51 includes a second suction cup 511. The second suction cup 511 uses the principle of vacuum adsorption to firmly adhere to the plug-in assembly 200 by creating negative pressure. The shape and size of the second suction cup 511 are adapted to the shape and size of the plug-in assembly 200 to ensure that the second suction cup 511 can closely adhere to the surface of the plug-in assembly 200, thereby providing a stable adsorption force. Simultaneously, the second suction cup 511 can be made of a soft and wear-resistant material to avoid any damage to the plug-in assembly 200 during the adsorption process. For example, the second suction cup 511 can be a silicone suction cup, a polyurethane suction cup, a rubber suction cup, etc.

[0136] According to some embodiments of the present invention, the pre-installed device 100, such as Figure 5 As shown, the circuit board conveying and positioning device 40 also includes a conveyor line 41 for conveying circuit boards and a lifting and positioning mechanism 42. The lifting and positioning mechanism 42 is located below the conveyor line 41 and is used to lift and position the circuit board upwards.

[0137] Conveyor line 41 is responsible for transporting circuit boards from upstream to downstream stations during the pre-assembly process. Conveyor line 41 can operate continuously or intermittently to accommodate the time requirements of different pre-assembly processes.

[0138] The lifting and positioning mechanism 42 is located below the conveyor line 41 and is used to lift and position the circuit board when it arrives at the pre-assembly station.

[0139] In some alternative embodiments, the lifting and positioning mechanism 42 includes at least two lifting units, each capable of independently lifting a portion of the circuit board. These lifting units move synchronously to ensure that the circuit board remains stable and tilt-free during the lifting process.

[0140] According to the above technical solution, the conveyor line 41 and the lifting and positioning mechanism 42 work together to enable the circuit board conveying and positioning device 40 to quickly and accurately convey and position the circuit board during the pre-assembly process. When the circuit board is conveyed to the vicinity of the pre-assembly station on the conveyor line 41, the lifting and positioning mechanism 42 starts to work, and through lifting and positioning operations, it places the circuit board stably on the pre-assembly station. During this process, the seamless cooperation between the conveyor line 41 and the lifting and positioning mechanism 42 ensures the stability and accuracy of the circuit board during the pre-assembly process.

[0141] Optionally, such as Figure 4 As shown, the circuit board conveying and positioning device 40 is also provided with a fourth vision detection element 43 for detecting the position of the plug-in assembly 200.

[0142] The fourth vision detection component 43 can work closely with the second robotic arm 50 to achieve precise positioning and correction of the plug-in component 200, ensuring the efficiency and accuracy of the plug-in 201's movements.

[0143] Specifically, when the second robotic arm 50 picks up the plug-in component 200 from the upstream station and moves it to the pre-assembly station, it first places the plug-in component 200 on top of the fourth vision inspection component 43.

[0144] The fourth vision detection device 43 then activates and captures an image of the pin 2051 of the plug-in component 200. Through image processing technology, the fourth vision detection device 43 is able to identify the specific location and shape of the pin 2051.

[0145] If the detection result shows that there is a deviation in the position of pin 2051, the fourth vision detection component 43 sends a signal to guide the second robot arm 50 to make adjustments and perform a correction operation on the plug-in component 200 to ensure that the position of pin 2051 is consistent with the preset coordinate information.

[0146] After the plug-in component 200 is corrected and accurately positioned, the fourth vision inspection component 43 will move above the circuit board.

[0147] At this point, the fourth vision detection device 43 is activated again to capture images of the locations of the plug-in holes on the circuit board. Through image processing technology, the detection device can accurately identify the specific location and shape of the plug-in holes.

[0148] Based on the identified insertion hole location information, the fourth vision detection unit 43 will emit a guidance signal. The second robotic arm 50 will adjust its movement trajectory according to this guidance signal to ensure that the insertion assembly 200 can be accurately inserted into the insertion hole on the circuit board.

[0149] Guided by the second robotic arm 50, the plug-in assembly 200 was successfully inserted into the plug-in hole on the circuit board.

[0150] At this point, the fourth vision detection component 43 can once again confirm the position of the plug-in component 200 to ensure that the plug-in 201 has successfully completed its action.

[0151] Therefore, by setting the fourth vision detection component 43, the circuit board delivery and positioning device 40 of the pre-installed device 100 achieves higher accuracy and efficiency in the positioning, correction and insertion process of the plug-in assembly 200.

[0152] The following is for reference. Figure 2 - Figure 9 The pre-installed device 100 according to an embodiment of the present invention is described in detail with reference to a specific example. It is to be understood that the following description is merely illustrative and not intended to limit the scope of the invention.

[0153] Reference Figure 2 The pre-installation equipment 100 of the plug-in 201 includes: an automatic feeding device 10, a pre-installation device 20, a first robotic arm 30, a circuit board conveying and positioning device 40, a second robotic arm 50, and a displacement device 60.

[0154] Automatic feeding device 10 is used to supply two types of inserts 201, see reference. Figure 1 The two types of plug-ins are a first plug-in 203 and a second plug-in 205. The first plug-in 203 includes a mounting through hole. The second plug-in 205 includes a screw hole and a pin 2051.

[0155] Reference Figure 8 - Figure 9 The automatic feeding device 10 includes a material cart assembly 11, a first lifting assembly 13, and a lateral movement assembly 15. The material cart assembly 11 includes a full material bin 111 and a collection bin 112. The full material bin 111 is used to hold packaging material 300 containing inserts 201, and the collection bin 112 is used to hold packaging material 300 after inserts 201 have been removed. There are two first lifting assemblies 13, one corresponding to the full material bin 111 and the other to the collection bin 112. Each first lifting assembly 13 includes a height-adjustable bracket 131 on which the packaging material 300 is placed. The lateral movement assembly 15 is located on top of the material cart assembly 11. The lateral movement assembly 15 includes a first clamping member 151 that moves laterally. The first clamping member 151 is movable between the upper end of the full material bin 111 and the upper end of the collection bin 112, and is used to clamp the packaging material 300.

[0156] Reference Figure 3 The pre-assembly device 20 includes: an assembly platform 22, a screw fastening mechanism 24, a second vision detection element 26 for detecting the position of the plug-in 201, an X-axis movement component, a Y-axis movement component, and a Z-axis movement component.

[0157] The X-axis moving component is connected to the assembly platform 22 to move the assembly platform 22 in the X direction. The Y-axis moving component and the Z-axis moving component are connected to the screw fastening mechanism 24 to move the screw fastening mechanism 24 along the Y-axis moving component and the Z-axis moving component.

[0158] The assembly platform 22 includes a placement block and an alignment cylinder. The placement block is used to place the insert 201, and the movable block of the alignment cylinder is used to push the insert 201 to a set position.

[0159] Reference Figure 4 The first robotic arm 30 includes a first fixing mechanism 32 and a first vision detection element 33 for detecting the position of the plug-in 201. The first fixing mechanism 32 is used to pick up and place the plug-in 201 on the automatic feeding device 10, so that the first robotic arm 30 can place two plug-in 201s onto the assembly platform 22, and then the screw fastening mechanism 24 can screw together the two plug-in 201s to form a plug-in assembly 200.

[0160] The first fixing mechanism 32 includes a first suction cup 321 and a second clamping member 322. The first suction cup 321 is used to hold the first plug-in 203 in the plug-in 201. The second clamping member 322 is used to hold the second plug-in 205 in the plug-in 201.

[0161] The circuit board conveying and positioning device 40 is used to position the circuit board.

[0162] Reference Figure 5 The circuit board conveying and positioning device 40 includes: a conveyor line 41 for conveying circuit boards, a lifting and positioning mechanism 42, and a fourth vision detection element 43 for detecting the position of the plug-in assembly 200.

[0163] The lifting and positioning mechanism 42 is located below the conveyor line 41 and is used to lift and position the circuit board upwards.

[0164] Reference Figure 7 The positioning device 60 includes a rotating mechanism 62 and a connected third fixing mechanism 64. The rotating mechanism 62 is capable of rotating the third fixing mechanism 64 to adjust the position of the pin 2051 on the plug-in assembly 200.

[0165] The third fixing mechanism 64 further includes: two pairs of movable grippers 641, with each pair of movable grippers 641 arranged along a first direction and the distance between them in the first direction being adjustable. The two pairs of movable grippers 641 are arranged along a second direction, and the distance between the two pairs of movable grippers 641 in the second direction is adjustable. The first direction and the second direction have an angle between them.

[0166] Reference Figure 6 The second robotic arm 50 includes a second fixing mechanism 51 and a third vision detection element 53 for detecting the position of the plug-in assembly 200.

[0167] The second robotic arm 50 is used to move the plug-in component 200 from the assembly platform 22 to the displacement device 60, and then hand it over to the third fixing mechanism 64 to fix the plug-in component 200.

[0168] The second robotic arm 50 is also used to remove the displaced plug-in component 200 and move the plug-in component 200 to the circuit board conveying and positioning device 40.

[0169] The second robotic arm 50 is also used to insert pin 2051 onto the circuit board when moving the plug-in assembly 200.

[0170] Reference Figure 6 The second fixing mechanism 51 includes a second suction cup 511. The second suction cup 511 is used to hold the plug-in assembly 200.

[0171] Other components of the pre-installed equipment according to the embodiments of this utility model, such as the insertion machine, and its operation are known to those skilled in the art and will not be described in detail here.

[0172] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0173] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A pre-installation device for plug-ins, characterized in that, include: An automatic feeding device for supplying at least two types of inserts, at least one of the inserts having pins; A pre-assembly device, the pre-assembly device including an assembly platform and a screw fastening mechanism; A first robotic arm is provided with a first fixing mechanism. The first fixing mechanism is used to pick up and place the plug-in on the automatic feeding device, so that the first robotic arm can place at least two plug-ins on the assembly platform, and the screw fastening mechanism can connect at least two plug-ins with screws to form a plug-in assembly. A circuit board conveying and positioning device, wherein the circuit board conveying and positioning device is used to position the circuit board; The second robotic arm is equipped with a second fixing mechanism. The second fixing mechanism is used to pick up and place the plug-in component on the assembly platform so that the second robotic arm can move the plug-in component to the circuit board conveying and positioning device. The second robotic arm is also used to insert the pins onto the circuit board when moving the plug-in component.

2. The pre-installation device for the plug-in according to claim 1, characterized in that, Also includes: A displacement device, wherein the displacement device is provided with a rotating mechanism and a connected third fixing mechanism; The second robotic arm is also used to move the plug-in component from the assembly platform to the displacement device after it has been removed, and then hand it over to the third fixing mechanism to fix the plug-in component. The rotating mechanism can rotate the third fixing mechanism to adjust the position of the pin on the plug-in assembly; The second robotic arm is also used to remove the swapped plug-in component and move the plug-in component toward the circuit board conveying and positioning device.

3. The pre-installation device for the plug-in according to claim 2, characterized in that, The third fixing mechanism also includes: Two pairs of movable grippers are arranged along a first direction, and the distance between them in the first direction is adjustable. The two pairs of movable grippers are arranged along the second direction, and the distance between the two pairs of movable grippers in the second direction is adjustable. The first direction and the second direction have an angle between them.

4. The pre-installation device for the plug-in according to claim 1, characterized in that, The automatic feeding device includes: A material cart assembly, wherein the material cart assembly is provided with a full material bin and a collection bin, the full material bin being used to place packaging materials containing the plug-in, and the collection bin being used to place the packaging materials after the plug-in has been removed; The first lifting assembly, comprising two components, is respectively positioned corresponding to the full hopper and the collection hopper. The first lifting assembly includes a height-adjustable bracket on which the packaging material is placed. A lateral movement assembly is disposed on top of the material cart assembly. The lateral movement assembly includes a first clamping member that moves laterally. The first clamping member is movable between the upper end of the full hopper and the upper end of the collection hopper. The first clamping member is used to clamp the packaging material.

5. The pre-installation device for the plug-in according to claim 1, characterized in that, The assembly platform also includes: Placement block for placing the plug-in; A positioning cylinder, wherein the movable block of the positioning cylinder is used to push the insert to a set position; The first robotic arm is also equipped with a first visual detection component for detecting the position of the plug-in, and the pre-assembly device is also equipped with a second visual detection component for detecting the position of the plug-in.

6. The pre-installation device for the plug-in according to claim 5, characterized in that, The pre-installation device also includes: An X-axis moving component connected to the assembly platform; The Y-axis moving component and the Z-axis moving component connect the screw fastening mechanism.

7. The pre-installation device for the plug-in according to claim 1, characterized in that, The first fixing mechanism includes: A first suction cup is used to hold the first plug-in in the plug-in; The second clamping member is used to clamp the second plug-in in the plug-in.

8. The pre-installation device for the plug-in according to claim 1, characterized in that, The second fixing mechanism includes: a second suction cup, which is used to hold the plug-in component; The second robotic arm is also equipped with a third vision detection device for detecting the position of the plug-in component.

9. The pre-installation device for the plug-in according to any one of claims 1-8, characterized in that, The circuit board conveying and positioning device further includes: Conveyor lines used for transporting circuit boards; A lifting and positioning mechanism is located below the conveyor line and is used to lift and position the circuit board upwards.

10. The pre-installation device for the plug-in according to claim 9, characterized in that, The circuit board conveying and positioning device is also equipped with a fourth vision detection element for detecting the position of the plug-in component.

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