An automated device for automatically detecting pins and assembling circuit boards.

Abstract

This utility model relates to the technical field of automated production lines, and in particular to an automated device for automatically detecting pins and assembling circuit boards, comprising: a feeding platform, a conveying device, a gripping device, and a detection device; wherein, the detection device includes a U-shaped frame spanning both sides of the conveying device, a transverse moving module mounted on the top of the U-shaped frame, a vertical moving module mounted on the drive end of the transverse moving module, and a line scanning module mounted on the drive end of the vertical moving module. The line scanning module performs three-dimensional measurement of the PIN pins within the housing stopped at the detection station. In summary, the high-precision line scanning module accurately detects the position and state of the PIN pins, and, in conjunction with a SCARA robot and special gripper components, achieves efficient gripping and assembly; the gripper and the bottom recognition module work together to ensure assembly accuracy, and the rational design of each module improves the versatility and stability of the equipment, significantly improving production efficiency and product quality.

Description

Technical Field

[0001] This utility model relates to the technical field of automated production lines, and in particular to an automated device for automatically detecting pins and assembling circuit boards. Background Technology

[0002] In the production of power conversion boards for new energy lithium batteries, mounting the circuit board to the housing is a critical process. To achieve circuit board fixation and high current transmission, PIN pins are typically installed inside the housing, and corresponding PIN pin vias are made on the circuit board. During assembly, it is essential to ensure precise alignment of the two to allow the PIN pins to pass smoothly through the vias for installation.

[0003] However, existing technologies face numerous challenges. For specially designed high-power boards, the large number of pins makes it difficult to quickly and accurately align the pins and vias with the leads during manual assembly. This not only results in slow assembly speed and low production efficiency but also increases the risk of misalignment and even damage to the pins due to improper handling. Even with automated assembly equipment, the lack of effective detection methods to precisely determine the exact position of the pins within the housing makes it difficult to guarantee the alignment accuracy between the circuit board and the leads, hindering efficient and reliable automated assembly. This has become a pressing technical problem in the industry. Utility Model Content

[0004] To overcome the shortcomings mentioned above, this utility model aims to provide a technical solution that can solve the above problems.

[0005] This utility model provides an automated device for automatically detecting pins and assembling circuit boards, comprising:

[0006] The feeding platform is used to support the circuit boards that are fed into the system.

[0007] The conveying device transports the housings that need to be assembled with circuit boards and stops the housings at the inspection station and the assembly station respectively.

[0008] The gripping device grips and assembles circuit boards; and

[0009] The detection device detects the pins inside the housing, thereby assisting the gripping device in assembling the circuit board;

[0010] The detection device includes a U-shaped frame spanning both sides of the conveying device, a transverse moving module mounted on the top of the U-shaped frame, a vertical moving module mounted on the drive end of the transverse moving module, and a line scanning module mounted on the drive end of the vertical moving module. The line scanning module performs three-dimensional measurement on the PIN pins inside the housing that are stopped at the detection station.

[0011] Furthermore: the line scanning module is equipped with a line scanning bracket, a line scanning camera and a pneumatic rotating component. The line scanning bracket is installed on the drive end of the vertical moving module, the pneumatic rotating component is installed on the line scanning bracket, and the line scanning camera is installed on the rotating shaft of the pneumatic rotating component.

[0012] Furthermore: The vertical movement module is equipped with a vertical movement bracket, a vertical movement motor, and a vertical movement linear slide. The vertical movement bracket is installed on the drive end of the horizontal movement module. The vertical movement motor and the vertical movement linear slide are respectively installed on the vertical movement bracket, and the output shaft of the vertical movement motor is drivenly connected to the input shaft of the vertical movement linear slide. The line scan bracket is installed on the slide end of the vertical movement linear slide.

[0013] Furthermore: the transverse module is equipped with a transverse motor and a transverse linear slide, which are respectively installed on the crossbeam of the U-shaped frame, and the output shaft of the transverse motor is driven to the input shaft of the transverse linear slide. The vertical support is installed on the slide end of the transverse linear slide.

[0014] Furthermore, the detection device is also equipped with a longitudinal movement module, which includes a longitudinal movement motor, a longitudinal movement linear slide, and a longitudinal movement slide rail, all of which are installed on the equipment frame. The longitudinal movement slide rail is also equipped with a longitudinal movement slider that cooperates with each other to form a linear guide mechanism. The longitudinal movement slider is also fixed to one side support column of the U-shaped frame, and the other side support column of the U-shaped frame is installed on the slide end of the longitudinal movement linear slide.

[0015] Furthermore, the gripping device includes a robotic arm and a gripper assembly. The gripper assembly is mounted on the wrist of the robotic arm, thereby enabling the robotic arm to drive the gripper assembly to move. The gripper assembly has a floating bracket mounted on the wrist of the robotic arm, and multiple gripper cylinders are mounted on the floating bracket. Each gripper cylinder has a single-bar finger mounted on its piston end, so that the multiple gripper cylinders drive the corresponding single-bar finger to move, thereby performing a gripping operation on the circuit board.

[0016] Furthermore: one end of the single-bar finger is fixed to the piston end of the gripper cylinder, and the other end forms a free end, with a limiting wedge at its end. A notch groove is formed between the body of the single-bar finger and the limiting wedge, so that the bottom of the notch groove abuts against the side of the circuit board.

[0017] Furthermore, the gripper assembly also includes a wrist support, a pressure sensor, a wrist spring, a wrist bearing, a wrist optical shaft, and a shaft end baffle. The upper end of the wrist support is connected to the wrist of the robotic arm, and its lower end is used to install a floating support. The wrist bearing is fixed to the wrist support, and the upper end of the wrist optical shaft passes through the wrist bearing and is fixedly connected to the shaft end baffle, while its lower end is fixed to the floating support. The pressure sensor is installed at the bottom of the wrist support, and one end of the wrist spring abuts against the pressure sensor, while the other end abuts against the floating support.

[0018] Furthermore, the gripping device is also equipped with a gripper recognition module for intelligent recognition of the components that the gripping device needs to process; the gripper recognition module is equipped with a gripper fill light, a gripper camera and a gripper lens, the gripper fill light and the gripper camera are respectively mounted on the wrist bracket, and the gripper lens is mounted on the gripper camera.

[0019] Furthermore, it also includes a bottom recognition module, which is equipped with a bottom bracket, a bottom fill light, a bottom camera, and a bottom lens. The bottom bracket is mounted on the device frame, the bottom fill light is mounted on the top of the bottom bracket, the bottom camera is mounted on the bottom bracket, and the bottom lens is mounted on the bottom camera.

[0020] Compared with the prior art, the beneficial effects of this utility model are:

[0021] 1. Precise Detection and Positioning: By setting up a detection device including a frame, horizontal movement module, vertical movement module, longitudinal movement module, and line scan module, and especially utilizing the high-precision three-dimensional measurement function of a 3D line scan camera, it can perform all-round detection of the PIN pins inside the housing. This not only quickly identifies whether there are defects such as bending or displacement of the PIN pins, but also accurately obtains their position information and feeds the detection parameters back to the automated control system, providing a reliable basis for the precise assembly of the circuit board and effectively solving the problem of accurately determining the pin position in existing technologies.

[0022] 2. High-efficiency automated assembly: Utilizing a SCARA robot as the gripping arm, coupled with a specially designed gripper assembly, enables rapid and precise gripping and assembly of circuit boards. The SCARA robot is lightweight and responsive, suitable for both planar positioning and vertical assembly operations. The gripper assembly, with guide-type three-axis three-bar cylinders and single-bar fingers at the four corners of the floating support, forms a hook-like limiting structure, ensuring stable gripping of circuit boards and significantly improving assembly efficiency. Compared to manual assembly and traditional automated assembly methods, it significantly shortens the production cycle.

[0023] 3. Multiple Inspections Ensure Assembly Quality: The equipment is equipped with a gripper recognition module and a bottom recognition module, which work together. The gripper recognition module acquires real-time images of the circuit board's position during the gripping process and calculates the gripping offset to assist the gripper assembly in accurate gripping. The bottom recognition module detects the position of the circuit board after gripping. If inaccurate gripping is detected, it can promptly prompt and re-grip, effectively avoiding assembly errors caused by gripping deviations. This greatly improves the accuracy and reliability of circuit board assembly and reduces the product defect rate.

[0024] 4. The structural design is reasonable and highly adaptable: The horizontal, vertical, and longitudinal movement modules of the detection device work together to enable the line scanning module to comprehensively detect PIN pins in different directions and positions. Simultaneously, each module adopts mature structures such as embedded screw slides, ensuring the stability and accuracy of the movement. Furthermore, the feeding platform's feeding fixture, through the design of positioning pillars, positioning steps, positioning protrusions, and guiding ramps, facilitates the feeding and positioning of circuit boards, further improving the gripping accuracy of the gripping device.

[0025] With the above improvements, this utility model can provide an automated device for automatically detecting pins and assembling circuit boards. It accurately detects the position and status of PIN pins through a high-precision line scanning module, and achieves efficient gripping and assembly in conjunction with a SCARA robot and special gripper components. The gripper and bottom recognition module work together to ensure assembly accuracy. The reasonable design of each module improves the versatility and stability of the equipment, and significantly improves production efficiency and product quality.

[0026] 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

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the equipment frame of this utility model;

[0029] Figure 2 This is a schematic diagram of the conveying device and assembly pallet of this utility model;

[0030] Figure 3 This is a schematic diagram of the transverse and longitudinal movement modules of this utility model;

[0031] Figure 4 This is a structural schematic diagram of the vertical movement module and the line scanning module of this utility model;

[0032] Figure 5 This is a structural schematic diagram of the wrist support and gripper recognition module of this utility model;

[0033] Figure 6 This is a schematic diagram of the floating support and single-bar finger of this utility model;

[0034] Figure 7This is a schematic diagram of the bottom recognition module of this utility model;

[0035] Figure 8 This is a schematic diagram of the material feeding platform of this utility model;

[0036] Figure 9 This is a structural schematic diagram of the lifting mechanism of this utility model.

[0037] The reference numerals and names in the figure are as follows:

[0038] 10 Equipment frame; 11 Inspection station; 12 Assembly station; 13 Circuit board; 14 Housing; 15 Assembly tray; 20 Unloading platform; 21 Unloading bracket; 22 Unloading fixture; 23 Positioning column; 24 Positioning step; 25 Positioning protrusion; 26 Guide ramp; 30 Conveying device; 31 Incoming material track; 32 Incoming material motor; 33 Blocking assembly; 34 Lifting mechanism; 35 Lifting base plate; 36 Lifting moving plate; 37 Lifting cylinder; 38 Lifting bearing; 39 Lifting optical axis; 40 Gripping device; 41 Robotic arm; 42 Gripper assembly; 43 Buffer column; 44 Floating bracket; 45 Gripper cylinder; 46 Single-bar finger; 47 Limiting wedge; 50 Wrist support; 51 Pressure sensor; 52 Wrist spring; 53 Wrist bearing; 54 Wrist optical axis; 55. Shaft end baffle; 60. Gripper recognition module; 61. Gripper supplement light; 62. Gripper camera; 63. Gripper lens; 64. Bottom recognition module; 65. Bottom bracket; 66. Bottom supplement light; 67. Bottom camera; 68. Bottom lens; 70. Detection device; 71. U-shaped frame; 72. Linear scanning module; 73. Linear scanning bracket; 74. Linear scanning camera; 75. Pneumatic rotating component; 76. Barcode camera; 80. Vertical movement module; 81. Vertical movement bracket; 82. Lateral slide plate; 83. Vertical movement motor; 84. Vertical movement linear slide; 85. Horizontal movement module; 86. Horizontal movement motor; 87. Horizontal movement linear slide; 88. Horizontal movement slide rail; 89. Horizontal movement slider; 90. Vertical movement module; 91. Vertical movement motor; 92. Vertical movement linear slide; 93. Vertical movement slide rail; 94. Vertical movement slider; 95. Heightening cantilever beam; 96. Heightening column. Detailed Implementation

[0039] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] Please see Figures 1 to 9 In this embodiment of the invention, an automated device for automatically detecting pins and assembling circuit boards includes:

[0041] The feeding platform 20 is used to support the circuit board 13 input for feeding.

[0042] The conveying device 30 conveys the housing 14 that needs to be assembled with the circuit board 13, and stops the housing 14 at the inspection station 11 and the assembly station 12 respectively.

[0043] The gripping device 40 grips and assembles the circuit board 13; and

[0044] The detection device 70 detects the pins inside the housing 14, thereby assisting the gripping device 40 in assembling the circuit board 13.

[0045] The detection device 70 includes a U-shaped frame 71 spanning both sides of the conveying device 30, a transverse moving module 85 mounted on the top of the U-shaped frame 71, a vertical moving module 80 mounted on the drive end of the transverse moving module 85, and a line scanning module 72 mounted on the drive end of the vertical moving module 80. The line scanning module 72 performs three-dimensional measurement on the PIN pins inside the housing 14 that is stopped at the detection station 11.

[0046] Specifically, in the production process of power conversion boards for new energy lithium batteries, it is often necessary to install circuit board 13 inside housing 14. In order to fix circuit board 13 and transmit large current, PIN pins need to be set inside housing 14 and corresponding PIN pin vias need to be set on circuit board 13. During the assembly process, it is necessary to ensure that the PIN pin vias and PIN pins of circuit board 13 are aligned so that when circuit board 13 is pressed down, the PIN pins can accurately pass through the PIN pin vias to complete the correct assembly operation.

[0047] For some specially designed high-power boards, the large number of pins makes it difficult to align the pins with the vias during assembly, leading to misalignment or even damage to the pins. Even manual assembly can only be performed slowly, resulting in low production efficiency. Furthermore, ensuring the precise position of the pins within the housing 14 for accurate assembly of the circuit board 13 when using automated equipment remains a significant challenge in the industry.

[0048] This invention uses a high-precision line scanning module 72 to accurately detect the position and status of PIN pins, and works with a SCARA robot and a special gripper assembly 42 to achieve efficient gripping and assembly. The gripper and the bottom recognition module 64 work together to ensure assembly accuracy. The reasonable design of each module improves the versatility and stability of the equipment, and significantly improves production efficiency and product quality.

[0049] like Figures 2 to 4As shown, preferably, the line scanning module 72 is provided with a line scanning bracket 73, a line scanning camera 74 and a pneumatic rotating component 75. The line scanning bracket 73 is installed on the drive end of the vertical moving module 80, the pneumatic rotating component 75 is installed on the line scanning bracket 73, and the line scanning camera 74 is installed on the rotating shaft of the pneumatic rotating component 75.

[0050] Specifically, in order to drive the line scan camera 74 to rotate, a pneumatic rotating component 75, as used in existing products, can be used. The rotation of the pneumatic rotating component 75 drives the line scan camera 74 to rotate, thereby enabling the detection of PIN pins in different directions. Preferably, the pneumatic rotating component 75 can be a swing cylinder or a pneumatic rotary table, driven by compressed air, to synchronously rotate the line scan camera 74.

[0051] Secondly, the line scan camera 74 can detect whether there are any defects in the assembly of the PIN pins, such as bending or displacement, and can also accurately detect the specific position of the PIN pins. It then feeds back the corresponding detection parameters to the existing automated control system installed inside the automated equipment, so that the automated control system can issue corresponding control signals. The gripping device 40 then uses the control signals to place the PIN pin through-hole of the circuit board 13 onto the PIN pin pin, thus completing an accurate and fast intelligent assembly operation.

[0052] Furthermore, the line scanning module 72 is also equipped with a barcode scanner 76, which is used to identify the barcode on the housing 14 to confirm its specific model, structure, and other parameters, facilitating subsequent PIN pin detection based on the model. For example, the barcode information collected by the barcode scanner 76 is associated with a preset process parameter library to automatically retrieve the pin position tolerance standard for the corresponding model.

[0053] In addition, the 3D line scan camera 74 is a high-precision three-dimensional measurement device that measures the distance to the surface of a target object by emitting one or more laser beams and receiving their reflected light. Its core components include a laser emitter, a scanning mechanism, a high-precision receiver, and a powerful data processing unit. For example, when the laser beam emitted by the 3D line scan camera 74 illuminates the surface of a PIN pin, the reflected light is received by the high-precision receiver. By calculating the time difference between the emission and reception of the laser beam and combining this with the movement of the scanning mechanism, the distance information of various points on the surface of the PIN pin is obtained, thereby constructing a three-dimensional model and realizing the three-dimensional measurement of the PIN pin.

[0054] like Figure 3 and Figure 4As shown, preferably, the vertical movement module 80 is provided with a vertical movement bracket 81, a vertical movement motor 83, and a vertical movement linear slide 84. The vertical movement bracket 81 is installed on the drive end of the horizontal movement module 85. The vertical movement motor 83 and the vertical movement linear slide 84 are respectively installed on the vertical movement bracket 81, and the output shaft of the vertical movement motor 83 is drivenly connected to the input shaft of the vertical movement linear slide 84. The line scan bracket 73 is installed on the slide end of the vertical movement linear slide 84.

[0055] Specifically, to enable vertical linear movement of the line scanning module 72, the vertical movement motor 83 can be operated to drive the vertical linear slide 84 to operate synchronously. This drives the slide end of the vertical linear slide 84 to move vertically in sync with the line scanning module 72, allowing the line scanning module 72 to move downwards a certain distance and then maintain a position close to the PIN pin for detection, thus improving detection accuracy. Alternatively, it can move upwards a certain distance to create conveying space for the conveying device 30, thereby avoiding interference with the assembly tray 15 and the conveying housing.

[0056] Secondly, the vertical linear slide 84, the horizontal linear slide 87, and the longitudinal linear slide 92 can all adopt the embedded screw slide of existing products, thereby driving the corresponding components to move linearly.

[0057] like Figure 2 and Figure 3 As shown, preferably, the transverse module 85 is provided with a transverse motor 86 and a transverse linear slide 87. The transverse motor 86 and the transverse linear slide 87 are respectively installed on the crossbeam of the U-shaped frame 71, and the output shaft of the transverse motor 86 is drivenly connected to the input shaft of the transverse linear slide 87. The vertical support 81 is installed on the slide end of the transverse linear slide 87.

[0058] Specifically, in order to perform horizontal linear movement of the line scan module 72 and the vertical movement module 80, the horizontal movement motor 86 can be turned to drive the horizontal linear slide 87 to move synchronously. This drives the slide end of the horizontal linear slide 87, the vertical movement bracket 81 and the line scan module 72 to move horizontally in a linear fashion, so that the line scan module 72 can detect multiple horizontally arranged PIN pins in sequence.

[0059] like Figure 3 As shown, preferably, the transverse module 85 is further provided with a transverse slide rail 88 and a transverse slider 89. The transverse slide rail 88 is installed on the side of the U-shaped frame 71, and the transverse slider 89 and the transverse slide rail 88 cooperate with each other to form a linear guide rail mechanism that can move in a straight line. The vertical support 81 is provided with a lateral slide plate 82. One end of the lateral slide plate 82 is fixed to the vertical support 81, and the other end is fixed to the transverse slider 89.

[0060] Specifically, the line scanning module 72 is installed on one side of the vertical moving bracket 81. To prevent it from tilting due to gravity, a lateral sliding plate 82 is provided on the other side of the vertical moving bracket 81. The lateral sliding plate 82 cooperates with the horizontal sliding rail 88 and the slider, which can move linearly along the rail and also bear the tilting pull of the vertical moving bracket 81.

[0061] like Figure 2 and Figure 3 As shown, preferably, the detection device 70 is further provided with a longitudinal movement module 90. The longitudinal movement module 90 is provided with a longitudinal movement motor 91, a longitudinal movement linear slide 92 and a longitudinal movement slide rail 93 respectively installed on the equipment frame 10. The longitudinal movement slide rail 93 is also provided with a longitudinal movement slider 94 that cooperates with each other to form a linear guide mechanism. The longitudinal movement slider 94 is also fixed to one side support column of the U-shaped frame 71. The other side support column of the U-shaped frame 71 is installed on the slide end of the longitudinal movement linear slide 92.

[0062] Specifically, the horizontal movement module 85 and the vertical movement module 90 work together to achieve full coverage scanning of the detection area. After detection, the automated control system generates pin position compensation parameters, which are transmitted in real time to the motion controller of the robotic arm 41 via the industrial bus, assisting the robotic arm 41 in driving the gripping device 40 to perform accurate assembly operations. Since the U-shaped frame 71 has a crossbeam and two support columns connected to both ends of the crossbeam, it is necessary to support and move the two support columns separately in order to drive the U-shaped frame 71 longitudinally. First, a linear guide mechanism consisting of a longitudinal slide rail 93 and a longitudinal slider 94 can be set at the lower end of one support column, so that the support column can follow the longitudinal slider 94 to move linearly. The lower end of the support column on the other side can be installed on the slide end of the longitudinal linear slide table 92, so that the longitudinal motor 91 can drive the longitudinal linear slide table 92 to move, thereby driving the slide end and the support column to move synchronously, and thus driving the entire U-shaped frame 71 to move longitudinally. This allows the line scan module 72 to perform detection operations on multiple sets of PIN pins along the vertical direction.

[0063] Secondly, a heightening cantilever beam 95 and a heightening column 96 are provided between the longitudinal slide rail 93 and the equipment frame 10. At least two heightening columns 96 are respectively supported in the middle and one end of the heightening cantilever beam 95, and a certain cantilever space is formed between the other end of the heightening cantilever beam 95 and the equipment frame 10, so that the conveying motor of the conveying device 30 can be installed in the cantilever space, thereby optimizing the installation position of each component on the equipment frame 10 and reducing installation conflicts.

[0064] like Figure 1 and Figure 6As shown, preferably, the gripping device 40 is provided with a robotic arm 41 and a gripper assembly 42. The gripper assembly 42 is installed on the wrist of the robotic arm 41, so that the robotic arm 41 drives the gripper assembly 42 to move. The gripper assembly 42 is provided with a floating bracket 44 installed on the wrist of the robotic arm 41. Multiple gripper cylinders 45 are installed on the floating bracket 44. Each gripper cylinder 45 has a single-bar finger 46 installed on its piston end, so that the multiple gripper cylinders 45 drive the corresponding single-bar finger 46 to move, thereby performing a gripping operation on the circuit board 13.

[0065] Specifically, to enable rapid and precise movement of the gripper assembly 42, the robotic arm 41 preferably employs a SCARA robot, a special type of industrial robot with cylindrical coordinates. A SCARA robot has three rotary joints with parallel axes for positioning and orientation in a plane. The remaining joint is a prismatic joint, used to complete the movement of the end effector perpendicular to the plane. These robots are lightweight, responsive, and several times faster than typical articulated robots. They are best suited for planar positioning and vertical assembly operations. For example, a horizontal multi-joint robot using the Epson LS10-B series is preferred.

[0066] Secondly, the gripper assembly 42 is used to grip and assemble the circuit board 13. Since the circuit board 13 has a large area and a long distance between its length and width, it is not convenient to grip it directly with a finger cylinder. Therefore, a guide-type three-axis three-bar cylinder, similar to those in existing products, can be set at the four corners of the floating bracket 44, and a single-bar finger 46 can be set at the piston end of the cylinder. Under the drive of the gripper cylinder 45, the single-bar finger 46 can move a certain distance towards the center of the circuit board 13, thereby forming a hook-like limiting structure on the side of the circuit board 13. Thus, by cooperating with the four sets of gripper cylinders 45 and the single-bar finger 46, the four corners of the circuit board 13 can be gripped respectively.

[0067] Furthermore, the gripper assembly 42 is also equipped with buffer posts 43, which are installed at the lower part of the floating bracket 44. These buffer posts 43 can cushion the circuit board 13 when the gripper assembly 42 grasps it, preventing damage; they can also apply assembly pressure during the assembly of the circuit board 13, ensuring the circuit board 13 is correctly assembled onto the pins of the housing 14. Understandably, multiple sets of buffer posts 43 can be provided, for example, six sets, to provide cushioning or pressure from six different positions.

[0068] like Figure 6As shown, preferably, one end of the single-bar finger 46 is fixed to the piston end of the gripper cylinder 45, and the other end forms a free end, with a limiting wedge 47 provided at its end. A notch groove is formed between the body of the single-bar finger 46 and the limiting wedge 47, so that the bottom of the notch groove abuts against the side of the circuit board 13.

[0069] Specifically, in order to facilitate the gripping of the circuit board 13, a limiting wedge 47 is preferably provided at the free end of the single-bar finger 46. The tip of the limiting wedge 47 is easily inserted into the bottom surface of the circuit board 13, so that the side of the circuit board 13 abuts against the bottom of the notch groove, and the limiting wedge 47 supports the bottom surface of the circuit board 13, thus completing the gripping operation of the circuit board 13.

[0070] like Figure 5 As shown, preferably, the gripper assembly 42 further includes a wrist support 50, a pressure sensor 51, a wrist spring 52, a wrist bearing 53, a wrist optical axis 54, and an end plate 55. The upper end of the wrist support 50 is connected to the wrist of the robotic arm 41, and its lower end is used to install the floating support 44. The wrist bearing 53 is fixed to the wrist support 50. The upper end of the wrist optical axis 54 passes through the wrist bearing 53 and is fixedly connected to the end plate 55, and its lower end is fixed to the floating support 44. The pressure sensor 51 is installed at the bottom of the wrist support 50. One end of the wrist spring 52 abuts against the pressure sensor 51, and the other end abuts against the floating support 44.

[0071] Specifically, since the gripper assembly 42 not only needs to grasp the circuit board 13 but also needs to assemble the circuit board 13 into the housing 14, a certain pressure needs to be applied to the circuit board 13 during the assembly operation so that the pin pins of the circuit board 13 can pass through the pin pins inside the housing 14. However, since the circuit board 13 is relatively thin and easily cracked, it is necessary to ensure that the applied pressure is both sufficient and does not exceed a certain limit. Therefore, a pressure sensor 51 can be set between the wrist support 50 and the floating support 44, and the wrist spring 52 can transmit the pressing pressure to the pressure sensor 51, so that it can detect the corresponding pressure value and feed it back to the automated control system for corresponding calculations and control. For example, when the pressure sensor 51 value reaches 80% of the preset threshold, the robotic arm 41 automatically switches to a low-speed pressing mode to avoid damaging the circuit board 13.

[0072] Secondly, to make the movement between the floating support 44 and the wrist support 50 more accurate and stable, a wrist bearing 53 and a wrist optical axis 54 can be set up to form a linear motion system, ensuring the smoothness of the up-and-down movement of the floating support 44. The shaft end baffle 55 is fixed to the upper end of the wrist optical axis 54 that passes through the wrist bearing 53, thereby bearing the weight of the wrist optical axis 54 and the floating support 44.

[0073] like Figure 1 and Figure 5 As shown, preferably, the gripping device 40 is further provided with a gripper recognition module 60, which is used to intelligently recognize the parts that the gripping device 40 needs to process; the gripper recognition module 60 is provided with a gripper fill light 61, a gripper camera 62 and a gripper lens 63, the gripper fill light 61 and the gripper camera 62 are respectively mounted on the wrist bracket 50, and the gripper lens 63 is mounted on the gripper camera 62.

[0074] Specifically, the gripper recognition module 60 consists of an industrial camera, a supplementary light, and an adjustable focus lens mounted on the side of the wrist support 50. It is used to acquire real-time positional images of the circuit board 13 during the gripping process and calculate the gripping offset using a visual algorithm, thereby assisting the gripper assembly 42 in gripping the circuit board 13. The gripper supplementary light 61 and the gripper camera 62 are preferably mounted on the side of the wrist support 50 to facilitate automatic visual detection of the part to be gripped, detecting the specific positional parameters of the part, so that the gripping device 40 can grip the part according to the specific positional parameters. Similarly, the gripper supplementary light 61 can provide supplementary lighting for the part to be photographed, the gripper camera 62 can perform optical imaging, and the gripper lens 63 can perform optical adjustments, making the automatic detection of the gripper recognition module 60 more accurate.

[0075] like Figure 1 and Figure 7 As shown, preferably, it also includes a bottom recognition module 64, which is provided with a bottom bracket 65, a bottom fill light 66, a bottom camera 67 and a bottom lens 68. The bottom bracket 65 is mounted on the device frame 10, the bottom fill light 66 is mounted on the top of the bottom bracket 65, the bottom camera 67 is mounted on the bottom bracket 65, and the bottom lens 68 is mounted on the bottom camera 67.

[0076] Specifically, the bottom recognition module 64 is installed on the frame on the side of the conveyor 30. It performs automatic visual inspection on the circuit board 13 gripped by the gripping device 40 to check if the gripping position is accurate. If the gripping is accurate, the gripped circuit board 13 is assembled into the housing 14. If the gripping position is detected to be inaccurate, a corresponding prompt sound can be issued, and the circuit board 13 is returned to the feeding platform 20. Then, the gripper recognition module 60 re-inspects the circuit board 13, and then the gripping operation is repeated. It is understandable that the feeding operation of the feeding platform 20 requires waiting for the bottom recognition module 64 to pass the inspection before the gripping device 40 is ready to assemble the circuit board 13 before placing another circuit board 13 on the feeding platform 20 to complete the feeding operation. If the inspection fails, the feeding platform 20 needs to be used again for secondary positioning. In addition, the bottom fill light 66 can provide supplementary lighting for the circuit board 13 and the gripper assembly 42, the bottom camera 67 can perform optical shooting, and the bottom lens 68 can perform optical adjustment, making the automatic detection of the bottom recognition module 64 more accurate.

[0077] Secondly, the gripper recognition module 60 and the bottom recognition module 64 work together during the operation of the equipment. The gripper recognition module 60 can assist the gripping device 40 in accurately positioning the circuit board 13 to be gripped, while the bottom recognition module 64 detects the position of the circuit board 13 after gripping. Together, they ensure the accuracy and reliability of gripping and assembling the circuit board 13.

[0078] like Figure 1 and Figure 8 As shown, preferably, the feeding platform 20 includes a feeding bracket 21 and a feeding fixture 22. The feeding bracket 21 is installed on the equipment frame 10, and the feeding fixture 22 is installed on the top of the feeding bracket 21 for feeding and positioning the circuit board 13. The feeding fixture 22 is provided with multiple positioning posts 23 around its perimeter. The lower end of the positioning post 23 is fixed to the feeding fixture 22, and the upper end of the post is provided with a positioning step 24. A positioning protrusion 25 is provided at the junction of the positioning step 24 and the positioning post 23. A guide slope 26 is provided on the side of the top of the positioning protrusion 25 facing the inside of the positioning fixture.

[0079] Specifically, the feeding platform 20 can place the circuit board 13 on the feeding fixture 22 by manual feeding or automatic feeding by external feeding machinery, so that the gripping device 40 can grip the circuit board 13 on the feeding fixture 22. In order to place and position the circuit board 13, it is preferable to set multiple positioning posts 23 around the feeding fixture 22. The positioning steps 24 of the positioning posts 23 support the circuit board 13, and the positioning protrusions 25 limit and position the circuit board 13, thereby facilitating the gripping device 40 to accurately grip the circuit board 13.

[0080] Secondly, in order to facilitate the placement of the circuit board 13 on the positioning step 24 of the feeding platform 20, a guide slope 26 can be provided on the top of the positioning protrusion 25 so that the guide slope 26 can guide the placed circuit board 13, so that the circuit board 13 can be smoothly placed in the preset position of the feeding fixture 22, making it easier for the gripping device 40 to perform a more accurate gripping operation.

[0081] like Figure 2 As shown, preferably, the conveying device 30 is provided with a material inlet track 31, a material inlet motor 32 and a blocking component 33 respectively installed on the frame. The output shaft of the material inlet motor 32 is drivenly connected to the input shaft of the material inlet track 31. The material inlet track 31 is used to convey the assembly tray 15. The assembly tray 15 has a housing 14 for the circuit board 13 waiting to be assembled fixed on it. The blocking component 33 is used to block the assembly tray 15 and stop it at the inspection station 11 or the assembly station 12.

[0082] Specifically, to transport the housing 14, a conveying track, as used in the prior art, can be set up. The material receiving motor 32 drives the material receiving track 31 to operate, thus transporting the assembly pallet 15. In order to ensure that the assembly pallet 15 stops precisely at the inspection station 11 or the assembly station 12, a blocking component 33 is preferably provided, such as a blocking cylinder or a pneumatic buffer stop, as used in the prior art. For example, the blocking component 33 detects the position of the assembly pallet 15 through a photoelectric sensor. Upon receiving a signal, the cylinder extends a baffle to intercept the pallet, thus blocking the assembly pallet 15.

[0083] like Figure 2 and Figure 9 As shown, preferably, the conveying device 30 is further provided with a lifting mechanism 34, which is installed on the equipment frame 10 and performs a lifting operation on the assembly tray 15 stopped at the inspection station 11 or the assembly station 12. The lifting mechanism 34 is provided with a lifting base plate 35, a lifting moving plate 36, a lifting cylinder 37, a lifting bearing 38, and a lifting optical shaft 39. The lifting base plate 35 is installed on the equipment frame 10, the lifting moving plate 36 is slidably connected above the lifting base plate 35, the lifting cylinder 37 and the lifting bearing 38 are respectively installed on the lifting base plate 35, one end of the lifting optical shaft 39 is fixed to the lifting moving plate 36, and the other end passes through the lifting bearing 38. The piston rod of the lifting cylinder 37 is drivenly connected to the lifting moving plate 36, thereby driving the lifting moving plate 36 to perform a lifting operation.

[0084] Specifically, when assembling the circuit board 13, the gripping device 40 needs to apply a certain force to press the circuit board 13 downwards a certain distance, requiring a certain pressing force to allow the PIN pin vias of the circuit board 13 to pass through the PIN pin pins inside the housing 14. However, this pressing process may damage the material receiving track 31. Therefore, a lifting mechanism 34 can be provided to lift the assembly tray 15 upwards a certain distance, thereby detaching it from the material receiving track 31, ensuring that the pressing operation of the gripping device 40 does not damage the material receiving track 31.

[0085] Secondly, after the blocking component 33 intercepts the pallet, the lifting mechanism 34 starts after a delay of 0.5-1 seconds to ensure that the pallet is completely stationary before lifting. The lifting mechanism 34 can be installed on the equipment frame 10 between the two side rails of the material receiving rail 31, and the installation position is lower than the material receiving rail 31, so as to facilitate the lifting operation of the assembly pallet 15 conveyed on the material receiving rail 31.

[0086] Furthermore, the lifting bearing 38 and the lifting optical shaft 39 cooperate to form a linear motion system, thereby making the up-and-down sliding of the lifting moving plate 36 more stable. The top of the lifting moving plate 36 is provided with a limiting post, and the assembly tray 15 is provided with a limiting hole corresponding to the position of the limiting post. When the lifting mechanism 34 lifts the assembly tray 15, the limiting post on the lifting moving plate 36 has a conical structure, guiding the assembly tray 15 to a preset position via an inclined surface. That is, it first passes into the limiting hole, so that the assembly tray 15 is limited to the preset position of the lifting moving plate 36, making it easier for the gripping device 40 to pre-judge the position of the housing 14 on the assembly tray 15, thereby performing the assembly operation of the circuit board 13 more accurately.

[0087] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. An automated device for automatically detecting pins and assembling circuit boards, characterized in that, include: The feeding platform (20) is used to support the circuit board (13) input for feeding; The conveying device (30) conveys the housing (14) that needs to be assembled with the circuit board (13) and stops the housing (14) at the inspection station (11) and the assembly station (12) respectively. The gripping device (40) grips and assembles the circuit board (13); and The detection device (70) detects the pin pins inside the housing (14), thereby assisting the gripping device (40) in assembling the circuit board (13); The detection device (70) includes a U-shaped frame (71) spanning both sides of the conveying device (30), a transverse module (85) mounted on the top of the U-shaped frame (71), a vertical module (80) mounted on the drive end of the transverse module (85), and a line scan module (72) mounted on the drive end of the vertical module (80). The line scan module (72) performs three-dimensional measurement on the PIN pins inside the housing (14) that is stopped at the detection station (11).

2. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 1, characterized in that, The line scanning module (72) is provided with a line scanning bracket (73), a line scanning camera (74) and a pneumatic rotating component (75). The line scanning bracket (73) is installed on the drive end of the vertical moving module (80), the pneumatic rotating component (75) is installed on the line scanning bracket (73), and the line scanning camera (74) is installed on the rotating shaft of the pneumatic rotating component (75).

3. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 2, characterized in that, The vertical movement module (80) is provided with a vertical movement bracket (81), a vertical movement motor (83) and a vertical movement linear slide (84). The vertical movement bracket (81) is installed on the drive end of the horizontal movement module (85). The vertical movement motor (83) and the vertical movement linear slide (84) are respectively installed on the vertical movement bracket (81), and the output shaft of the vertical movement motor (83) is connected to the input shaft of the vertical movement linear slide (84). The line scan bracket (73) is installed on the slide end of the vertical movement linear slide (84).

4. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 3, characterized in that, The transverse module (85) is equipped with a transverse motor (86) and a transverse linear slide (87). The transverse motor (86) and the transverse linear slide (87) are respectively installed on the crossbeam of the U-shaped frame (71), and the output shaft of the transverse motor (86) is connected to the input shaft of the transverse linear slide (87). The vertical support (81) is installed on the slide end of the transverse linear slide (87).

5. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 4, characterized in that, The detection device (70) is also provided with a longitudinal movement module (90). The longitudinal movement module (90) is provided with a longitudinal movement motor (91), a longitudinal movement linear slide (92) and a longitudinal movement slide rail (93) respectively installed on the equipment frame (10). The longitudinal movement slide rail (93) is also provided with a longitudinal movement slider (94) that cooperates with each other to form a linear guide mechanism. The longitudinal movement slider (94) is also fixed to one side support column of the U-shaped frame (71). The other side support column of the U-shaped frame (71) is installed on the slide end of the longitudinal movement linear slide (92).

6. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 1, characterized in that, The gripping device (40) is equipped with a robotic arm (41) and a gripper assembly (42). The gripper assembly (42) is installed on the wrist of the robotic arm (41), so that the robotic arm (41) drives the gripper assembly (42) to move. The gripper assembly (42) is equipped with a floating bracket (44) installed on the wrist of the robotic arm (41). Multiple gripper cylinders (45) are installed on the floating bracket (44). Each gripper cylinder (45) has a single-bar finger (46) installed on its piston end, so that the multiple gripper cylinders (45) drive the corresponding single-bar finger (46) to move, thereby performing a gripping operation on the circuit board (13).

7. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 6, characterized in that, One end of the single-bar finger (46) is fixed to the piston end of the gripper cylinder (45), and the other end forms a free end, with a limiting wedge (47) at its end. A notch groove is formed between the body of the single-bar finger (46) and the limiting wedge (47), so that the bottom of the notch groove abuts against the side of the circuit board (13).

8. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 6, characterized in that, The gripper assembly (42) is also provided with a wrist support (50), a pressure sensor (51), a wrist spring (52), a wrist bearing (53), a wrist optical axis (54), and a shaft end baffle (55). The upper end of the wrist support (50) is connected to the wrist of the robotic arm (41), and its lower end is used to install the floating support (44). The wrist bearing (53) is fixed to the wrist support (50). The upper end of the wrist optical axis (54) passes through the wrist bearing (53) and is fixed to the shaft end baffle (55), and its lower end is fixed to the floating support (44). The pressure sensor (51) is installed at the bottom of the wrist support (50). One end of the wrist spring (52) abuts against the pressure sensor (51), and the other end abuts against the floating support (44).

9. The automated equipment for automatically detecting pins and assembling circuit boards according to claim 1, characterized in that, The gripping device (40) is also equipped with a gripper recognition module (60) for intelligent recognition of the parts that the gripping device (40) needs to process; the gripper recognition module (60) is equipped with a gripper fill light (61), a gripper camera (62) and a gripper lens (63). The gripper fill light (61) and the gripper camera (62) are respectively installed on the wrist bracket (50), and the gripper lens (63) is installed on the gripper camera (62).

10. An automated device for automatically detecting pins and assembling circuit boards according to claim 1, characterized in that, It also includes a bottom recognition module (64), which is provided with a bottom bracket (65), a bottom fill light (66), a bottom camera (67) and a bottom lens (68). The bottom bracket (65) is mounted on the equipment frame (10), the bottom fill light (66) is mounted on the top of the bottom bracket (65), the bottom camera (67) is mounted on the bottom bracket (65), and the bottom lens (68) is mounted on the bottom camera (67).

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