Coil inserting machine

Abstract

The utility model discloses a coil inserting machine. The automatic coil inserting device comprises a rack, an assembly line module arranged on the rack and used for transferring a circuit board, a feeding module arranged beside the assembly line module and used for providing a coil, and a plug-in manipulator module arranged between the feeding module and the assembly line module and used for grabbing the coil and installing the coil on the circuit board. The positioning and moving module is arranged below the assembly line module and is used for positioning circuit board matched plug-ins; and the detection device is arranged below the plug-in manipulator module and is used for acquiring coil pin information. The detection device is arranged below the plug-in manipulator module to detect the positions of the pins at the bottom of the coil, so that the plug-in manipulator module can obtain the accurate positions of the pins according to the detection device after grabbing the coil, and the coil is inserted into a hole site in a circuit board; production interruption caused by mismatching of the coil pins and the hole sites of the circuit board can be avoided, damage and deformation of the coil pins to the circuit board can be prevented, and meanwhile production efficiency can be improved.

Description

Technical fields:

[0001] This utility model relates to the field of automation technology, and specifically to a coil insertion machine. Background technology:

[0002] In this era of rapid advancements in electronic technology, electronic products, with their powerful functions and convenience, have permeated numerous fields such as communications, healthcare, automobiles, and consumer electronics, profoundly changing people's lifestyles and production methods. As the "heart" of electronic products, the PCB (Printed Circuit Board) bears the heavy responsibility of connecting and supporting various electronic components, and the quality of its manufacturing process directly determines the performance and reliability of electronic products.

[0003] As a core piece of equipment in PCB manufacturing, the coil insertion machine undertakes the crucial task of quickly and accurately inserting various electronic components onto PCB boards. Its efficient operation and precise handling are essential for ensuring the mass production and stable supply of electronic products. However, looking at the current market, most coil insertion machines have significant flaws in the design and application of PCB fixtures, making it difficult to meet increasingly stringent production demands in terms of positioning accuracy. For example, Chinese Patent Publication No. CN216217841U discloses an improved circuit board insertion mechanism, which includes a base, a front-to-back movement drive device, a left-to-right movement drive device, a mounting plate, a spline shaft, an opening clamp shaft, a first lifting drive device, a second lifting drive device, a material clamp, a rotation drive device, and a circuit board fixture. The circuit board fixture includes a fixed plate, clamping rollers, clamping roller mounting brackets, rotating rollers, a push block, a rotating roller rotation drive device, a clamping roller lifting drive device, and a push block translation drive device. First limiting sleeves are fitted onto the rotating rollers. The clamping rollers are located below their respective rotating rollers and parallel to them. A gap is provided between the clamping rollers and the rotating rollers. Second limiting sleeves are fitted onto both ends of the clamping rollers. The push block is located between the two rotating rollers. This circuit board fixture can accurately position the circuit board, preventing the circuit board from shifting and thus preventing electronic components from being inserted into the circuit board. It also avoids the problem of components damaging the circuit board, ensuring production quality.

[0004] However, in the aforementioned patented solutions, due to inaccurate positioning, electronic components often fail to be accurately inserted into the corresponding holes on the circuit board during the insertion process. This not only disrupts the production process and reduces production efficiency, but also causes irreversible damage to the circuit board due to the forced compression of the components, resulting in quality problems such as scratches and deformation. This significantly impacts the overall yield and stability of electronic products. This situation not only increases the production costs for enterprises but also hinders the development of electronic products towards higher performance and greater precision, becoming a bottleneck restricting the high-quality development of the electronics manufacturing industry.

[0005] In view of the above, the inventors propose the following technical solution. Utility Model Content:

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a coil insertion machine.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a coil insertion machine, comprising: a frame, a production line module disposed on the frame for transferring circuit boards, a feeding module disposed beside the production line module for providing coils, a plug-in robot module disposed between the feeding module and the production line module for gripping coils and installing them onto the circuit board, a positioning and cutting module disposed below the production line module for positioning the circuit board and fitting plug-in, and a detection device disposed below the plug-in robot module for acquiring coil pin information.

[0008] Furthermore, in the above technical solution, the plug-in robot module includes a Y-axis motion module spanning above the feeding module and the production line module, a Z-axis motion module mounted on the Y-axis motion module, a rotary gripper device mounted on the Z-axis motion module for gripping the coil, a rotary drive device mounted on the Z-axis motion module for driving the rotary gripper device to rotate, and a pressure rod assembly mounted on the rotary gripper device. The lower end of the Z-axis motion module is provided with a first sensor for detecting whether the coil is in position.

[0009] Furthermore, in the above technical solution, the rotary gripper device includes a chuck seat that is rotatably mounted on the Z-axis motion module, a first connecting rod and a second connecting rod that are symmetrically hinged to the lower end of the chuck seat, a first gripper and a second gripper that are mounted on the first connecting rod and the second connecting rod and used to cooperate with the clamping coil, a push rod that is disposed through the chuck seat and hinged to the first connecting rod and the second connecting rod, and a first cylinder that is disposed on the Z-axis motion module and used to drive the push rod to push the first connecting rod and the second connecting rod to swing, wherein the rotary drive device is connected to the chuck seat.

[0010] Furthermore, in the above technical solution, the rotary drive device includes a first motor mounted on the Z-axis motion module and a transmission pulley assembly mounted between the first motor and the chuck seat. The piston rod of the first cylinder is provided with a connecting flange, one end of the push rod extends into the connecting flange, and a bearing is installed thereon.

[0011] Furthermore, in the above technical solution, the pressure rod assembly includes a positioning seat suspended and installed at the lower end of the chuck seat and located between the first connecting rod and the second connecting rod, a pressure head floating on the positioning seat and used for centering and pressing the coil, a floating spring sleeved and installed on the pressure head and used for pushing the pressure head to elastically press the coil, and a retaining ring installed at the upper end of the pressure head and used to limit it on the positioning seat.

[0012] Furthermore, in the above technical solution, the lower end of the Z-axis motion module is provided with a fixed plate base for supporting the first sensor. The first sensor includes a first L-shaped optical fiber and a second L-shaped optical fiber mounted on the fixed plate base and symmetrically located on both sides of the rotating gripper device. The fixed plate base is provided with a first through hole for the rotating gripper device to pass through.

[0013] Furthermore, in the above technical solution, the feeding module includes a feeding device vertically mounted on the frame for stacking full-loaded trays, a receiving device located beside the feeding device for stacking empty trays, and a horizontal transfer cutting device located between the feeding device and the receiving device for transferring the trays to the bottom of the insertion robot module. The trays contain several coils, and one end of the insertion robot module is located between the feeding device and the receiving device. The horizontal transfer cutting device moves the trays containing the coils to the bottom of the insertion robot module for it to grip and feed.

[0014] Furthermore, in the above technical solution, the feeding device includes a support frame, a first circulating lifting chain assembly and a second circulating lifting chain assembly disposed on both sides of the support frame, a plurality of left L-plates and right L-plates disposed on the first and second circulating lifting chain assemblies and used to cooperate in carrying the material tray, a transmission assembly disposed on the support frame and used to link the first and second circulating lifting chain assemblies, and a second motor disposed on the support frame and used to drive the transmission assembly to work, wherein the number of left L-plates and right L-plates is equal, and they are arranged at the same height in pairs.

[0015] Furthermore, in the above technical solution, the lower end of the support frame is provided with a second sensor and a third sensor for detecting the material tray, and the side of the support frame is also provided with a feeding port for pushing the full-load material tray into the left L plate and the right L plate. The upper and lower ends of the feeding port are provided with a fourth sensor and a fifth sensor for pausing the operation of the second motor.

[0016] Furthermore, in the above technical solution, the detection device includes a pole, a camera mounting base horizontally disposed at the lower end of the pole, a CCD camera disposed on the camera mounting base and used to capture information about the position of the coil bottom pins, a supplementary light disposed at the upper end of the pole and used to provide supplementary light for capturing images of the CCD camera, and a connecting base for connecting the pole and the camera mounting base and capable of adjusting the height of the CCD camera.

[0017] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, a detection device is set at the bottom of the plug-in robot module to detect the bottom pin position of the coil. After the plug-in robot module grabs the coil, it can obtain the accurate pin position according to the detection device, so as to insert the coil into the hole on the circuit board. This avoids production interruption caused by mismatch between the coil pin and the circuit board hole, and also prevents the coil pin from damaging or deforming the circuit board. At the same time, it can improve production efficiency. Attached image description:

[0018] Figure 1 This is a schematic diagram of the result of this utility model;

[0019] Figure 2 This is a schematic diagram of the plug-in robotic arm module in this utility model;

[0020] Figure 3 This is a schematic diagram of the Z-axis motion module in this utility model;

[0021] Figure 4 This is a schematic diagram of the rotating gripper device in this utility model. Figure 1 ;

[0022] Figure 5 This is a schematic diagram of the rotating gripper device in this utility model. Figure 2 ;

[0023] Figure 6 This is a schematic diagram of the rotating gripper device in this utility model. Figure 3 ;

[0024] Figure 7 This is a schematic diagram of the feeding module in this utility model. Figure 1 ;

[0025] Figure 8 This is a schematic diagram of the feeding module in this utility model. Figure 2 ;

[0026] Figure 9 This is a schematic diagram of the detection device in this utility model. Detailed implementation method:

[0027] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0028] See Figures 1 to 9The diagram shows a coil insertion machine, comprising: a frame 1; a production line module 2 mounted on the frame 1 for transferring circuit board A; a feeding module 3 located beside the production line module 2 for providing coils B; a insertion robot module 4 located between the feeding module 3 and the production line module 2 for gripping coils B and installing them onto circuit board A; a positioning and cutting module 5 located below the production line module 2 for positioning circuit board A for insertion; and a detection device 6 located below the insertion robot module 4 for acquiring coil B pin information. The detection device 6 located below the insertion robot module 4 detects the bottom pin position of coil B, enabling the insertion robot module 4 to obtain the accurate pin position after gripping coil B, thus inserting coil B into the hole on circuit board A. This avoids production interruptions due to mismatch between coil B pins and circuit board A holes, prevents damage or deformation of circuit board A caused by coil B pins, and improves production efficiency.

[0029] The plug-in robot module 4 includes a Y-axis motion module 41 spanning above the feeding module 3 and the production line module 2, a Z-axis motion module 42 mounted on the Y-axis motion module 41, a rotary gripper device 43 mounted on the Z-axis motion module 42 for gripping the coil B, a rotary drive device 44 mounted on the Z-axis motion module 42 for driving the rotary gripper device 43 to rotate, and a pressure rod assembly 45 mounted on the rotary gripper device 43. The lower end of the Z-axis motion module 42 is provided with a first sensor 46 for detecting whether the coil B is in position.

[0030] The rotary gripper device 43 includes a chuck seat 431 rotatably mounted on the Z-axis motion module 42, a first connecting rod 432 and a second connecting rod 437 symmetrically hinged to the lower end of the chuck seat 431, a first gripper 433 and a second gripper 434 mounted on the first connecting rod 432 and the second connecting rod 437 and used to clamp the coil B, a push rod 435 penetrating inside the chuck seat 431 and hinged to the first connecting rod 432 and the second connecting rod 437, and a first cylinder 436 mounted on the Z-axis motion module 42 and used to drive the push rod 435 to push the first connecting rod 432 and the second connecting rod 437 to swing. The rotary drive device 44 is connected to the chuck seat 431.

[0031] The rotary drive device 44 includes a first motor 441 mounted on the Z-axis motion module 42 and a transmission pulley assembly 442 mounted between the first motor 441 and the chuck seat 431. A connecting flange 443 is mounted on the piston rod of the first cylinder 436, and one end of the push rod 435 extends into the connecting flange 443 and is fitted with a bearing 444.

[0032] The pressure rod assembly 45 includes a positioning seat 451 suspended at the lower end of the chuck seat 431 and located between the first connecting rod 432 and the second connecting rod 437; a pressure head 452 floating on the positioning seat 451 and used to center and press the coil B; a floating spring 453 sleeved on the pressure head 452 and used to push the pressure head 452 to elastically press the coil B; and a retaining ring 454 installed at the upper end of the pressure head 452 and used to limit it on the positioning seat 451.

[0033] The lower end of the Z-axis motion module 42 is provided with a fixed plate base 460 for supporting the first sensor 46. The first sensor 46 includes a first L-shaped optical fiber 461 and a second L-shaped optical fiber 462 mounted on the fixed plate base 460 and symmetrically located on both sides of the rotating gripper device 43. The fixed plate base 460 is provided with a first through hole 463 for the rotating gripper device 43 to pass through.

[0034] The feeding module 3 includes a feeding device 31 vertically mounted on the frame 1 for stacking full-loaded trays, a receiving device 32 located beside the feeding device 31 for stacking empty trays, and a horizontal transfer cutting device 33 located between the feeding device 31 and the receiving device 32 for transferring tray C to the bottom of the insertion robot module 4. The tray C has several coils B placed on it. One end of the insertion robot module 4 is located between the feeding device 31 and the receiving device 32. The horizontal transfer cutting device 33 moves the tray C carrying the coils B to the bottom of the insertion robot module 4 for it to grab and feed.

[0035] The feeding device 31 includes a support frame 311, a first circulating lifting chain assembly 312 and a second circulating lifting chain assembly 313 disposed on both sides of the support frame 311, a plurality of left L-plates 314 and right L-plates 315 disposed on the first circulating lifting chain assembly 312 and the second circulating lifting chain assembly 313 and used to cooperate in carrying the material tray C, a transmission assembly 316 disposed on the support frame 311 and used to link the first circulating lifting chain assembly 312 and the second circulating lifting chain assembly 313, and a second motor 317 disposed on the support frame 311 and used to drive the transmission assembly 316 to work. The number of left L-plates 314 and right L-plates 315 is equal, and they are arranged at the same height in pairs.

[0036] The lower end of the support frame 311 is provided with a second sensor 318 and a third sensor 319 for detecting the material tray C. The side of the support frame 311 is also provided with a feeding port 310 for pushing the full-load material tray into the left L plate 314 and the right L plate 315. The upper and lower ends of the feeding port 310 are provided with a fourth sensor 310A and a fifth sensor 310B for pausing the operation of the second motor 317.

[0037] The detection device 6 includes a pole 61, a camera mounting base 62 horizontally disposed at the lower end of the pole 61, a CCD camera 63 disposed on the camera mounting base 62 and used to capture information about the position of the bottom pin of coil B, a fill light 64 disposed at the upper end of the pole 61 and used to provide supplementary light for capturing images of the CCD camera 63, and a connecting base 65 for connecting the pole 61 and the camera mounting base 62 and for adjusting the height of the CCD camera 63.

[0038] In summary, during operation, circuit board A is transferred via assembly line module 2. When it reaches below one end of insertion robot module 4, it is lifted and removed from assembly line module 2 by positioning and transferring module 5. Further, the material trays C filled with coils B are manually stacked one by one into the feeding device 31 of feeding module 3. The feeding device 31 then transfers the material trays C one by one to the horizontal transferring device 33 below. The horizontal transferring device 33 moves the material trays C to below the other end of insertion robot module 4. Finally, insertion robot module 4 removes the material trays C from the assembly line module 4. One by one, coils B are picked up and moved above the circuit board A, stopping above the detection device 6. The detection device 6 takes a picture to obtain the position of the coil B pins. Then, the rotary drive device 44 drives the rotary gripper device 43 to rotate and adjust the coil B according to the coil B pin position information, so that the coil B pins can be aligned with the holes of the circuit board A. Further, the insertion robot module 4 inserts the coil B into the circuit board A, and with the cooperation of the horizontal transfer cutting device 33 and the positioning transfer cutting module 5, the coils B on the material tray C are inserted one by one into different holes of the circuit board A.

[0039] Of course, the above description is only a specific embodiment of the present utility model and is not intended to limit the scope of the present utility model. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present utility model should be included in the scope of the claims of the present utility model.

Claims

1. A coil inserter, characterized in that, include: The assembly includes a frame (1), a production line module (2) mounted on the frame (1) for transferring circuit boards (A), a feeding module (3) mounted next to the production line module (2) for providing coils (B), a plug-in robot module (4) mounted between the feeding module (3) and the production line module (2) for gripping coils (B) and mounting them onto the circuit board (A), a positioning and cutting module (5) mounted below the production line module (2) for positioning the circuit board (A) for plugging in, and a detection device (6) mounted below the plug-in robot module (4) for acquiring information about the coil (B) pins.

2. The coil insertion machine according to claim 1, characterized in that: The plug-in robot module (4) includes a Y-axis motion module (41) spanning above the feeding module (3) and the production line module (2), a Z-axis motion module (42) on the Y-axis motion module (41), a rotary gripper device (43) on the Z-axis motion module (42) for gripping the coil (B), a rotary drive device (44) on the Z-axis motion module (42) for driving the rotary gripper device (43) to rotate, and a pressure bar assembly (45) on the rotary gripper device (43). The lower end of the Z-axis motion module (42) is provided with a first sensor (46) for detecting whether the coil (B) is in position.

3. A coil inserter according to claim 2, characterized in that: The rotary gripper device (43) includes a chuck seat (431) rotatably mounted on the Z-axis motion module (42), a first connecting rod (432) and a second connecting rod (437) symmetrically hinged to the lower end of the chuck seat (431), a first gripper (433) and a second gripper (434) mounted on the first connecting rod (432) and the second connecting rod (437) and used to cooperate with the clamping coil (B), a push rod (435) passing through the chuck seat (431) and hinged to the first connecting rod (432) and the second connecting rod (437), and a first cylinder (436) mounted on the Z-axis motion module (42) and used to drive the push rod (435) to push the first connecting rod (432) and the second connecting rod (437) to swing. The rotary drive device (44) is connected to the chuck seat (431).

4. A coil inserter according to claim 3, characterized in that: The rotary drive device (44) includes a first motor (441) mounted on the Z-axis motion module (42) and a transmission pulley assembly (442) mounted between the first motor (441) and the chuck seat (431). A connecting flange (443) is provided on the piston rod of the first cylinder (436), and one end of the push rod (435) extends into the connecting flange (443) and is fitted with a bearing (444).

5. A coil inserter according to claim 3, characterized in that: The pressure rod assembly (45) includes a positioning seat (451) suspended at the lower end of the chuck seat (431) and located between the first connecting rod (432) and the second connecting rod (437), a pressure head (452) floating on the positioning seat (451) and used to center and press the coil (B), a floating spring (453) sleeved on the pressure head (452) and used to push the pressure head (452) to elastically press the coil (B), and a retaining ring (454) installed on the upper end of the pressure head (452) and used to limit it on the positioning seat (451).

6. A coil inserter according to claim 2, characterized in that: The lower end of the Z-axis motion module (42) is provided with a fixed plate base (460) for supporting the first sensor (46). The first sensor (46) includes a first L-shaped optical fiber (461) and a second L-shaped optical fiber (462) mounted on the fixed plate base (460) and symmetrically located on both sides of the rotating gripper device (43). The fixed plate base (460) is provided with a first through hole (463) through which the rotating gripper device (43) passes.

7. A coil inserter according to any one of claims 1-6, characterized in that: The feeding module (3) includes a feeding device (31) vertically mounted on the frame (1) for stacking full-loaded trays, a receiving device (32) mounted next to the feeding device (31) for stacking empty trays, and a horizontal cutting device (33) mounted between the feeding device (31) and the receiving device (32) for transferring trays (C) to the bottom of the plug-in robot module (4). The trays (C) are filled with coils (B). One end of the plug-in robot module (4) is located between the feeding device (31) and the receiving device (32). The horizontal cutting device (33) moves the trays (C) containing coils (B) to the bottom of the plug-in robot module (4) for it to grab and feed.

8. A coil insertion machine according to claim 7, characterized in that: The feeding device (31) includes a support frame (311), a first circulating lifting chain assembly (312) and a second circulating lifting chain assembly (313) disposed on both sides of the support frame (311), a number of left L plates (314) and right L plates (315) disposed on the first circulating lifting chain assembly (312) and the second circulating lifting chain assembly (313) and used to cooperate with the material tray (C), a transmission assembly (316) disposed on the support frame (311) and used to link the first circulating lifting chain assembly (312) and the second circulating lifting chain assembly (313), and a second motor (317) disposed on the support frame (311) and used to drive the transmission assembly (316) to work. The number of left L plates (314) and right L plates (315) is equal, and they are arranged at the same height in pairs.

9. A coil inserter according to claim 8, characterized in that: The lower end of the support frame (311) is provided with a second sensor (318) and a third sensor (319) for detecting the material tray (C). The side of the support frame (311) is also provided with a feeding port (310) for pushing the full-load material tray into the left L plate (314) and the right L plate (315). The upper and lower ends of the feeding port (310) are provided with a fourth sensor (310A) and a fifth sensor (310B) for pausing the operation of the second motor (317).

10. A coil inserter according to any one of claims 1-6, characterized in that: The detection device (6) includes a pole (61), a camera mounting base (62) horizontally set at the lower end of the pole (61), a CCD camera (63) set on the camera mounting base (62) for capturing information on the position of the bottom pin of the coil (B), a supplementary light (64) set on the upper end of the pole (61) for capturing supplementary light for the CCD camera (63), and a connecting base (65) for connecting the pole (61) and the camera mounting base (62) and for adjusting the height of the CCD camera (63).

Images