Automated printed circuit board processing method with an automatic pin insertion and extraction function

Abstract

The present invention discloses an automatic printed circuit board processing system with an automatic pin insertion and extraction function.It comprises a machine body, an industrial computer, a motion control card, a PLC, an X-axis motion platform, a Y-axis motion platform, a Z-axis motion platform, an X-axis servo drive, a Y-axis servo drive, and a Z-axis servo drive, wherein an electric spindle, a tool magazine robot arm, an automatic pin insertion mechanism, and an automatic pin extraction mechanism are provided on the Z-axis motion platform, wherein a pin magazine and a tool magazine are provided at one end of the machining platform facing the X-axis motion platform, wherein the industrial computer is connected to the motion control card, and the PLC is connected to the motion control card, wherein the PLC is connected to the automatic pin insertion mechanism, the automatic pin extraction mechanism, and the tool magazine robot arm, and wherein the electric spindle is connected to the motion control card.The present invention achieves complete process automation in the insertion and removal of a pin, thereby improving accuracy and significantly increasing the level of automation of a printed circuit board processing system.

Description

Field of invention

[0001] The present invention belongs to the field of printed circuit board processing and specifically relates to an automatic printed circuit board processing technology with automatic pin insertion and extraction function. State of the art

[0002] Currently, in the early stages of printed circuit board (PCB) processing, it is necessary to position the board using a pin. Typically, pins of varying diameters are used, depending on the PCB design, to ensure that the board does not shift during processing.

[0003] In the conventional method of attaching a pin to a printed circuit board (PCB), the pin is manually driven in, primarily as follows: First, a pin hole is drilled into a Bakelite plate on the top of a workbench using an electric spindle. Then, an operator hammers the pins into the pin holes one after the other. Afterward, the PCB, with its positioning hole, is slid onto the pin in the Bakelite plate, ensuring the PCB is secured by the sliding connection with the pin. The PCB is then drilled and milled. In a multi-spindle PCB machining center, several machining units are used, and the aforementioned sliding process is necessary for each of these units.

[0004] After the printed circuit board (PCB) processing is complete, the operator removes the processed board from each processing unit. The pins remaining on the Bakelite board must be manually removed one by one, which is cumbersome and time-consuming. Furthermore, the cumulative number of pin holes on the Bakelite board increases with the variety of PCB types processed, making it difficult or even impossible for the operator to locate a drilled pin hole. Additionally, a pin hole could be drilled in the wrong position, resulting in a pin being inserted into the wrong hole and preventing the PCB from being slid onto it, thus significantly reducing processing efficiency.

[0005] After the pens are removed, different types of pens must then be classified and managed, which significantly impairs work efficiency.

[0006] From DE 10 2007 007 482 A1 a printed circuit board processing device and a drilling method are known, wherein the processing accuracy can be improved without increasing the overall size of the device.

[0007] DE 60 2004 002 165 T2 describes a machining center for machining a workpiece by machine with proper tool changes.

[0008] JP H09 - 252 173 A reveals a pin pull rod guide mechanism.

[0009] CN 2 850 803 Y describes an automatic pin pulling machine in the field of printed circuit board manufacturing, with an upper air cylinder, a piston shaft, a lower air cylinder, a two-stage five-way hand valve and a pin locating device. Disclosure of the invention

[0010] The present invention is based on the objective of providing, in view of the aforementioned disadvantages in the prior art, an automatic printed circuit board processing system and an automatic processing technology, wherein, based on the hardware and software of a printed circuit board processing system, a mechanical mechanism as well as control software and hardware are additionally provided, thereby achieving complete process automation for the insertion and extraction of a pin and improving accuracy, so that the degree of automation of the printed circuit board processing system can be significantly increased and thus production efficiency and the success rate can be improved.

[0011] According to the invention, the problem is solved by the following technical solution: An automatic printed circuit board processing system with automatic pin insertion and extraction function comprises a system body, an industrial computer, a motion control board, a PLC, an X-axis motion platform arranged at one end of the system body and along the horizontal direction, a Y-axis motion platform arranged below the X-axis motion platform and perpendicular to the X-axis motion platform, a Z-axis motion platform arranged along the vertical direction on the X-axis motion platform and perpendicular to the Y-axis motion platform, and an X-axis servo drive connected to the X-axis motion platform and driving the X-axis motion platform for movement.a Y-axis servo drive connected to the Y-axis motion platform and driving the Y-axis motion platform to movement, and a Z-axis servo drive connected to the Z-axis motion platform and driving the Z-axis motion platform to movement, wherein a workbench movable along this Y-axis motion platform is provided, on which a Bakelite plate is provided, wherein an electric spindle, a tool magazine robot arm, an automatic pin insertion mechanism and an automatic pin extraction mechanism are each provided on the Z-axis motion platform, wherein a pin magazine and a tool magazine are provided at one end of the workbench facing the X-axis motion platform, wherein the industrial computer is connected to the motion control card and the PLC is connected to the motion control card, wherein the PLC is connected via a pin insertion control element,a pen extraction control element and a robot arm control element are connected to the automatic pen insertion mechanism, the automatic pen extraction mechanism and the tool magazine robot arm, wherein the motion control card is connected to the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform via the X-axis servo drive, the Y-axis servo drive and the Z-axis servo drive respectively, and wherein the electric spindle is connected to the motion control card.

[0012] In one embodiment, it is provided that an X-axis displacement sensor, a Y-axis displacement sensor and a Z-axis displacement sensor are each provided on the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform, each of which is connected to the motion control card.

[0013] In one embodiment, it is provided that a pin insertion position sensor, a pin extraction position sensor and a tool magazine robot arm are each provided on the automatic pin insertion mechanism, the automatic pin extraction mechanism and the tool magazine robot arm, each of which is connected to the PLC.

[0014] The present invention further discloses an automatic printed circuit board processing technique with automatic pin insertion and extraction function, comprising the following steps: Step 10. The industrial computer calls up a corresponding pinhole drilling command depending on the position of a pinhole on a printed circuit board to be processed. The pinhole drilling command is output via the motion control card and the PLC to the electric spindle and the tool magazine robot arm, respectively. The electric spindle and the tool magazine robot arm move over the tool magazine. The tool magazine robot arm grips the required drilling tool. The electric spindle clamps the drilling tool and moves it over the Bakelite plate into which a pinhole is to be drilled. Finally, the pinhole drilling operation for the Bakelite plate is completed. Step 20. The industrial computer calls a pin insertion command associated with the pin hole drilling command, the PLC outputs the pin insertion command to the automatic pin insertion mechanism, the automatic pin insertion mechanism moves over the pin magazine, grips a pin and moves over the Bakelite plate for which the pin hole drilling operation is completed in step 10, and completes a pin insertion operation. Step 30. Slide a printed circuit board (PCB) onto the pin on the Bakelite board, mount and secure the PCB, call up a corresponding PCB machining command via the industrial computer, output the PCB machining command via the motion control card and the PLC to the electric spindle and the tool magazine robot arm respectively, move the electric spindle and the tool magazine robot arm until they are over the tool magazine, grip a required machining tool with the tool magazine robot arm, clamp the machining tool with the electric spindle and move it until it is over the PCB to be machined, complete a PCB machining operation and remove the PCB. Step 40. The industrial computer calls a pin extraction command associated with the pin insertion command, outputs the pin extraction command via the PLC to the automatic pin extraction mechanism, moves the automatic pin extraction mechanism over the Bakelite plate in which a pin is inserted, extracts the pin and inserts the extracted pin into the pin magazine, thus completing a pin extraction process and ending the machining operation.

[0015] In one embodiment, step 10 is specifically carried out as follows: Step 101. Calling up a corresponding pinhole drilling command by the industrial computer depending on the position of a pinhole on a circuit board to be processed and outputting the pinhole drilling command via the motion control card and the PLC to the electric spindle or the tool magazine robot arm respectively, Step 102. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform for movement via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle and the tool magazine robot arm up to the tool magazine; grip a required drilling tool by the tool magazine robot arm under PLC control via the robot arm control element; and clamp the drilling tool by the electric spindle under motion control card. Step 103. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle over the Bakelite plate into which a pinhole is to be drilled, and start a pinhole drilling operation using the electric spindle under control from the motion control card. Step 104. Repeat steps 102 and 103, drive the X-axis, Y-axis, and Z-axis motion platforms to move them via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, respectively, after completion of all pinhole drilling operations on the Bakelite plate, to move the electric spindle and the tool magazine robot arm over the tool magazine, open the electric spindle under control from the motion control card, remove the drill bit and insert the removed drill bit into the tool magazine using the tool magazine robot arm under control from the PLC via the robot arm control element, drive the X-axis and Z-axis motion platforms to move them to the starting position afterwards, and initiate step 20.

[0016] In one embodiment, step 20 is specifically carried out as follows: Step 201. The industrial computer calls a pin insertion command associated with the pin hole drilling command and outputs the pin insertion command via the PLC to the automatic pin insertion mechanism. Step 202. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pen insertion mechanism up to the point above the pen magazine, and grip a pen through the automatic pen insertion mechanism under control from the PLC via the pen insertion control element. Step 203. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move them via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pin insertion mechanism over the Bakelite plate for which the pin hole drilling process is completed in step 10, and insert the gripped pin into the pin hole using the automatic pin insertion mechanism under PLC control via the pin insertion control element. Step 204. Repeat steps 202 and 203, drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control board, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, after inserting a pin into all drilled pin holes on the Bakelite plate to move the X-axis motion platform and the Z-axis motion platform to the home position, and initiate step 30.

[0017] In one embodiment, step 30 is specifically carried out as follows: Step 301. Slide a printed circuit board onto the pin on the Bakelite board, mount and secure the printed circuit board, call up a corresponding printed circuit board processing command by the industrial computer and output the printed circuit board processing command via the motion control card and the PLC to the electric spindle and the tool magazine robot arm respectively. Step 302. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform for movement via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle and the tool magazine robot arm up to the tool magazine; grasp a required machining tool by the tool magazine robot arm under PLC control via the robot arm control element; and clamp the required machining tool by the electric spindle under motion control card. Step 303. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control board, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electrospindle over the circuit board to be machined, and start a circuit board machining operation by the electrospindle under control from the motion control board. Step 304. Repeat steps 302 and 303, drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, after completion of the printed circuit board machining process, to move the electric spindle and the tool magazine robot arm over the tool magazine, open the electric spindle under control from the motion control card, remove the machining tool and insert the removed machining tool into the tool magazine by the tool magazine robot arm under control from the PLC via the robot arm control element, drive the X-axis motion platform and the Z-axis motion platform to move to the starting position afterwards, and initiate step 40.

[0018] In one embodiment, step 40 is specifically carried out as follows: Step 401. The industrial computer calls a pin withdrawal command associated with the pin insertion command and outputs the pin withdrawal command via the PLC to the automatic pin withdrawal mechanism. Step 402. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move them via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pin extraction mechanism beyond the Bakelite plate in which a pin is inserted, and extract the pin via the automatic pin extraction mechanism under control from the PLC via the pin extraction control element. Step 403. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pen extraction mechanism up to the point above the pen magazine, and insert the extracted pen into the pen magazine by the automatic pen extraction mechanism under control from the PLC via the pen extraction control element. Step 404. Repeat steps 402 and 403, drive the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive and the Z-axis servo drive, after removing all pins from the Bakelite plate, to move the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform to the home position, and finish the operation.

[0019] In one embodiment, it is provided that in steps 10 to 40 the automatic pin insertion mechanism, the automatic pin withdrawal mechanism and the tool magazine robot arm each detect a movement position via the pin insertion position sensor, the pin withdrawal position sensor and the tool magazine robot arm position sensor and output the detected movement position information to the PLC.

[0020] In one embodiment, it is provided that in steps 102 to 104, steps 202 to 204, steps 302 to 304 and steps 402 to 404, the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform each detect their motion position via the X-axis displacement sensor, the Y-axis displacement sensor and the Z-axis displacement sensor and output the detected motion position information to the motion control card.

[0021] The present invention is characterized by the following advantageous effects: 1. The X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform are each driven by the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, thus coupling the three axes. Simultaneously, the X-axis displacement sensor, the Y-axis displacement sensor, and the Z-axis displacement sensor detect the motion position in real time, ensuring the accuracy of the motion position of the electric spindle, the tool magazine robot arm, the automatic pin insertion mechanism, and the automatic pin extraction mechanism. 2. The automatic pin insertion mechanism, the automatic pin extraction mechanism, and the tool magazine robot arm are controlled by the PLC and detect the movement position in real time via the pin insertion position sensor, the pin extraction position sensor, and the tool magazine robot arm position sensor, respectively, thus ensuring the accuracy of the machining and clamping assembly of the automatic pin insertion mechanism, the automatic pin extraction mechanism, and the tool magazine robot arm. 3. The entire system is controlled with high accuracy by the motion control card and the PLC, which significantly increases the level of automation of the printed circuit board processing system and thus improves production efficiency and the success rate. Description of the invention Fig. Figure 1 shows a schematic structural representation of the present invention, Fig. Figure 2 shows an enlarged view of point A according to Fig. 1 of the present invention, Fig. Figure 3 shows a block diagram of the logic control of the present invention, Fig. Figure 4 shows a schematic structural representation of a tool magazine robot arm of the present invention, Fig. Figure 5 shows a schematic structural representation of an automatic pen insertion mechanism of the present invention, Fig. Figure 6 shows a schematic structural representation of an automatic pin withdrawal mechanism of the present invention.

[0022] This includes 1 for system body, 2 for industrial computer, 3 for PLC, 4 for motion control card, 5 for X-axis motion platform, 6 for Y-axis motion platform, 7 for Z-axis motion platform, 8 for X-axis servo drive, 9 for Y-axis servo drive, 10 for Z-axis servo drive, 11 for workbench, 12 for Bakelite plate, 13 for electric spindle, 14 for tool magazine robot arm, 15 for automatic pin insertion mechanism, 16 for automatic pin extraction mechanism, 17 for pin magazine, 18 for tool magazine, 19 for X-axis displacement sensor, 20 for Y-axis displacement sensor, 21 for Z-axis displacement sensor, 22 for pin insertion position sensor, 23 for pin extraction position sensor, 24 for tool magazine robot arm position sensor, 25 for pin insertion control element, 26 for pin extraction control element, 27 for robot arm control element, 141 for robot arm body, 142 for robot arm chuck, 143 for robot arm up-down drive part,151 for pin insertion robot arm, 152 for pin insertion chuck, 153 for pin insertion mechanism top-bottom drive part, 154 for pin insertion push-down drive part, 155 for pin insertion mechanism guide part, 156 for pin insertion push-down mechanism, 161 for pin extraction robot arm, 162 for pin extraction chuck, 163 for pin extraction mechanism top-bottom drive part and 164 for pin extraction mechanism guide part. Specific embodiments

[0023] The present invention will now be described in more detail with reference to the accompanying drawings and specific exemplary embodiments.

[0024] As can be seen from Fig. 1 to 3, an automatic printed circuit board processing system with automatic pin insertion and extraction function comprises a system body 1, an industrial computer 2, a motion control card 4, a PLC 3, an X-axis motion platform 5 arranged at one end of the system body 1 and along the horizontal direction, a Y-axis motion platform 6 arranged below the X-axis motion platform 5 and perpendicular to the X-axis motion platform 5, a Z-axis motion platform 7 arranged along the vertical direction on the X-axis motion platform 5 and perpendicular to the Y-axis motion platform 6, and an X-axis servo drive 8 connected to the X-axis motion platform 5 and driving the X-axis motion platform 5 for movement.A Y-axis servo drive 9 is connected to the Y-axis motion platform 6 and drives the Y-axis motion platform 6 for movement, and a Z-axis servo drive 10 is connected to the Z-axis motion platform 7 and drives the Z-axis motion platform 7 for movement. A workbench 11, movable along the Y-axis motion platform 6, is provided on the Y-axis motion platform 6, and a Bakelite plate 12 is provided on the workbench. An electric spindle 13, a tool magazine robot arm 14, an automatic pin insertion mechanism 15, and an automatic pin extraction mechanism 16 are provided on the Z-axis motion platform 7. A pin magazine 17 and a tool magazine 18 are provided at one end of the workbench 11 facing the X-axis motion platform 5. The industrial computer 2 is connected to the motion control card 4, and the PLC 3 is connected to the motion control card 4. Each PLC 3 is connected via a pin-in control element 25.A pen extraction control element 26 and a robot arm control element 27 are connected to the automatic pen insertion mechanism 15, the automatic pen extraction mechanism 16, and the tool magazine robot arm 14. The motion control card 4 is connected via the X-axis servo drive 8, the Y-axis servo drive 9, and the Z-axis servo drive 10 to the X-axis motion platform 5, the Y-axis motion platform 6, and the Z-axis motion platform 7, respectively. The electric spindle 13 is connected to the motion control card 4.

[0025] In the present embodiment, it is provided that an X-axis displacement sensor 19, a Y-axis displacement sensor 20 and a Z-axis displacement sensor 21 are each provided on the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7, each of which is connected to the motion control card 4.

[0026] In the present embodiment, it is provided that a pin insertion position sensor 22, a pin extraction position sensor 23 and a tool magazine robot arm 24 are each provided on the automatic pin insertion mechanism 15, the automatic pin extraction mechanism 16 and the tool magazine robot arm 14, each of which is connected to the PLC 3.

[0027] The present invention further discloses an automatic printed circuit board processing technique with automatic pin insertion and extraction function, comprising the following steps: Step 10. The industrial computer 2 calls up a corresponding pinhole drilling command depending on the position of a pinhole on a printed circuit board to be processed. The pinhole drilling command is output via the motion control card 4 and the PLC 3, respectively, to the electric spindle 13 and the tool magazine robot arm 14. The electric spindle 13 and the tool magazine robot arm 14 move beyond the tool magazine 18. The tool magazine robot arm 14 grips a required drilling tool, the electric spindle 13 clamps the drilling tool, and it moves beyond the Bakelite plate 12 into which a pinhole is to be drilled. Finally, a pinhole drilling operation is completed for the Bakelite plate 12. Step 20. The industrial computer 2 calls a pin insertion command associated with the pinhole drilling command, the PLC 3 outputs the pin insertion command to the automatic pin insertion mechanism 15, the automatic pin insertion mechanism 15 moves beyond the pin magazine 17, grips a pin and moves it beyond the Bakelite plate 12, for which the pinhole drilling operation is completed in step 10, and completes a pin insertion operation. Step 30. Slide a printed circuit board onto the pin on the Bakelite board 12, mount and secure the printed circuit board, call up a corresponding printed circuit board machining command via the industrial computer 2, output the printed circuit board machining command via the motion control card 4 and the PLC 3 respectively to the electric spindle 13 and the tool magazine robot arm 14, move the electric spindle 13 and the tool magazine robot arm 14 until they are over the tool magazine 18, grasp a required machining tool with the tool magazine robot arm 14, clamp the machining tool with the electric spindle 13 and move it until it is over the printed circuit board to be machined, complete a printed circuit board machining operation and remove the printed circuit board. Step 40. The industrial computer 2 calls a pin extraction command associated with the pin insertion command, the PLC 3 outputs the pin extraction command to the automatic pin extraction mechanism 16, the automatic pin extraction mechanism 16 moves beyond the Bakelite plate 12 in which a pin is inserted, the pin is extracted and the extracted pin is inserted into the pin magazine 17, thus completing a pin extraction process and ending the machining operation.

[0028] In the present embodiment, step 10 is specifically carried out as follows: Step 101. The industrial computer 2 calls up a corresponding pinhole drilling command depending on the position of a pinhole on a circuit board to be processed and outputs the pinhole drilling command via the motion control card 4 and the PLC 3 to the electric spindle 13 and the tool magazine robot arm 14, respectively. Step 102. Drive the X-axis motion platform 5, the Y-axis motion platform 6, and the Z-axis motion platform 7 for movement by the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9, and the Z-axis servo drive 10, to move the electric spindle 13 and the tool magazine robot arm 14 up to and including the tool magazine 18, grasp a required drilling tool by the tool magazine robot arm 14 under control by the PLC 3 via the robot arm control element 27, and clamp the drilling tool by the electric spindle 13 under control by the motion control card 4. Step 103. Drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the electric spindle 13 over the Bakelite plate 12, into which a pin hole is to be drilled, and start a pin hole drilling operation by the electric spindle 13 under control from the motion control card 4. Step 104. Repeat steps 102 and 103, drive the X-axis motion platform 5, the Y-axis motion platform 6, and the Z-axis motion platform 7 for movement by the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9, and the Z-axis servo drive 10, respectively, after completion of all pinhole drilling operations on the Bakelite plate 12, to move the electric spindle 13 and the tool magazine robot arm 14 beyond the tool magazine 18, open the electric spindle 13 under control by the motion control card 4, remove the drill bit and insert the removed drill bit into the tool magazine 18 by the tool magazine robot arm 14 under control by the PLC 3 via the robot arm control element 27, drive the X-axis motion platform 5 and the Z-axis motion platform 7 to move to the starting position afterwards and initiate step 20.

[0029] In the present embodiment, step 20 is specifically carried out as follows: Step 201. The industrial computer 2 calls a pin insertion command associated with the pin hole drilling command and outputs the pin insertion command via the PLC 3 to the automatic pin insertion mechanism 15. Step 202. Drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the automatic pen insertion mechanism 15 beyond the pen magazine 17, and grip a pen through the automatic pen insertion mechanism 15 under control from the PLC 3 via the pen insertion control element 25. Step 203. Driving the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move them via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the automatic pin insertion mechanism 15 over the Bakelite plate 12, for which the pin hole drilling process is completed in step 10, and inserting the gripped pin into the pin hole by the automatic pin insertion mechanism 15 under control from the PLC 3 via the pin insertion control element 25. Step 204. Repeat steps 202 and 203, drive the X-axis motion platform 5, the Y-axis motion platform 6, and the Z-axis motion platform 7 to move via the motion control board 4, each via the X-axis servo drive 8, the Y-axis servo drive 9, and the Z-axis servo drive 10, after inserting a pin into all drilled pin holes on the Bakelite plate 12 to move the X-axis motion platform 5 and the Z-axis motion platform 7 to the starting position, and initiate step 30.

[0030] In the present embodiment, step 30 is specifically carried out as follows: Step 301. Slide a circuit board onto the pin on the Bakelite board 12, mount and secure the circuit board, call up a corresponding circuit board processing command by the industrial computer 2 and output the circuit board processing command via the motion control card 4 and the PLC 3 to the electric spindle 13 and the tool magazine robot arm 14 respectively, Step 302.Driving the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 for movement by the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the electric spindle 13 and the tool magazine robot arm 14 up to and including the tool magazine 18, gripping a required machining tool by the tool magazine robot arm 14 under control by the PLC 3 via the robot arm control element 27 and clamping the required machining tool by the electric spindle 13 under control by the motion control card 4. Step 303. Drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the electric spindle 13 over the circuit board to be machined, and start a circuit board machining operation by the electric spindle 13 under control from the motion control card 4. Step 304. Repeat steps 302 and 303, drive the X-axis motion platform 5, the Y-axis motion platform 6, and the Z-axis motion platform 7 for movement by the motion control card 4 via the X-axis servo drive 8, the Y-axis servo drive 9, and the Z-axis servo drive 10, respectively, after completion of the printed circuit board machining process, to move the electric spindle 13 and the tool magazine robot arm 14 beyond the tool magazine 18, open the electric spindle 13 under control by the motion control card 4, remove the machining tool and insert the removed machining tool into the tool magazine 18 by the tool magazine robot arm 14 under control by the PLC 3 via the robot arm control element 27, drive the X-axis motion platform 5 and the Z-axis motion platform 7 to move to the starting position afterwards and initiate step 40.

[0031] In the present embodiment, step 40 is specifically carried out as follows: Step 401. The industrial computer 2 calls a pin withdrawal command associated with the pin insertion command and outputs the pin withdrawal command via the PLC 3 to the automatic pin withdrawal mechanism 16. Step 402. Drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the automatic pin extraction mechanism 16 above the Bakelite plate 12 in which a pin is inserted, and extract the pin by the automatic pin extraction mechanism 16 under control from the PLC 3 via the pin extraction control element 26. Step 403. Drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move via the motion control card 4, each via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, to move the automatic pen withdrawal mechanism 16 beyond the pen magazine 17, and insert the withdrawn pen into the pen magazine 17 by the automatic pen withdrawal mechanism 16 under control from the PLC 3 via the pen withdrawal control element 26. Step 404. Repeat steps 402 and 403, drive the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to move by the motion control card 4 via the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10 respectively after removing all pins from the Bakelite plate 12, to move the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 to the starting position, and finish the operation.

[0032] In the present embodiment, it is provided that in steps 10 to 40 the automatic pin insertion mechanism 15, the automatic pin withdrawal mechanism 16 and the tool magazine robot arm 14 each detect a movement position via the pin insertion position sensor 22, the pin withdrawal position sensor 23 and the tool magazine robot arm position sensor 24 and output the detected movement position information to the PLC 3.

[0033] In the present embodiment, it is provided that in steps 102 to 104, steps 202 to 204, steps 302 to 304 and steps 402 to 404, the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 each detect their motion position via the X-axis displacement sensor 19, the Y-axis displacement sensor 20 and the Z-axis displacement sensor 21 and output the detected motion position information to the motion control card 4.

[0034] The pin insertion control element 25, the pin withdrawal control element 26 and the robot arm control element 27 according to the present invention can be different control elements, such as a solenoid valve and a hydraulic station, which is determined depending on the specific circumstances.

[0035] As from Fig. As can be seen from Figure 4, the tool magazine robot arm 14 according to the present invention comprises a robot arm body 141, a robot arm chuck 142, and a robot arm up-down drive unit 143. The robot arm body 141 receives a command sent by the PLC 3 to the robot arm control unit 27 and controls the opening and closing of the robot arm chuck 142. The robot arm chuck 142 serves to clamp a tool from the tool magazine 18. The robot arm up-down drive unit 143 receives a command sent by the PLC 3 to the robot arm control unit 27 and drives the robot arm body 141 and the robot arm chuck 142 to move downwards.

[0036] As can be seen from Fig. As shown in Figure 5, the automatic pin-driving mechanism 15 according to the present invention comprises a pin-driving robot arm 151, a pin-driving chuck 152, a pin-driving mechanism up-down drive part 153, a pin-driving push-down drive part 154, a pin-driving mechanism guide part 155, and a pin-driving push-down mechanism 156. The pin-driving robot arm 151 receives a command sent by the PLC 3 to the pin-driving control element 25 and controls the opening or closing of the pin-driving chuck 152. The pin-driving robot arm 151 can be provided with various power sources, such as an electrical, a hydraulic, or a pneumatic power source, and is equipped with corresponding electrical control and execution elements depending on the power source. The pin insertion chuck 152 serves to hold a pin from the pin magazine 17 in a clamping position.The up-down pin-punching mechanism drive 153 receives a command sent by the PLC 3 to the pin-punching control 25, moves up and down along the pin-punching mechanism guide 155, and uses the provided pin-punching position sensor 22 to determine whether it is moving up or down into a desired position. The pin-punching down drive 154 receives a command sent by the PLC 3 to the pin-punching control 25 and drives the pin-punching down mechanism 156 to perform a striking motion to complete a pin-punching operation. The entire automatic pin-punching mechanism 15 enables a pin-punching operation via the PLC 3 and the pin-punching control 25 according to a control command sent by the industrial computer 2, and the operation of the entire mechanism is realized using the pin-punching position sensor 22.

[0037] As can be seen from Fig.As shown in Figure 6, the automatic pin extraction mechanism 16 according to the present invention comprises a pin extraction robot arm 161, a pin extraction chuck 162, an upper-lower pin extraction mechanism drive element 163, and a pin extraction mechanism guide element 164. The pin extraction robot arm 161 receives a command sent by the PLC 3 to the pin extraction control element 26 and controls the opening or closing of the pin extraction chuck 162. The drive element of the pin extraction robot arm 161 can be of various power sources, such as an electrical, hydraulic, or pneumatic power source, and corresponding electrical control and execution elements are provided depending on the power source. The pin extraction chuck 162 serves to clamp a pin to the Bakelite plate 12.The pin extraction mechanism's up-down drive element 163 receives a command sent by the PLC 3 to the pin extraction control element 26, moves up and down along the pin extraction mechanism's guide element 164, and uses the pin extraction position sensor 23 to determine whether it is moving up or down into the desired position. The entire automatic pin extraction mechanism 16 enables a pin extraction process via the PLC 3 and the pin extraction control element 26 according to a control command sent by the industrial computer 2, and the operation of the entire mechanism is achieved using the pin extraction position sensor 23.

[0038] In the present invention, the X-axis motion platform 5, the Y-axis motion platform 6 and the Z-axis motion platform 7 are each driven by the X-axis servo drive 8, the Y-axis servo drive 9 and the Z-axis servo drive 10, thereby coupling the three axes, with the motion position being simultaneously detected in real time via the X-axis displacement sensor 19, the Y-axis displacement sensor 20 and the Z-axis displacement sensor 21, thus ensuring the accuracy of the motion position of the electric spindle 13, the tool magazine robot arm 14, the automatic pin insertion mechanism 15 and the automatic pin extraction mechanism 16.The automatic pin insertion mechanism 15, the automatic pin extraction mechanism 16, and the tool magazine robot arm 14 are controlled by the PLC 3 and detect their movement positions in real time via the pin insertion position sensor 22, the pin extraction position sensor 23, and the tool magazine robot arm position sensor 24, respectively. This ensures the accuracy of the machining and clamping assembly of the automatic pin insertion mechanism 15, the automatic pin extraction mechanism 16, and the tool magazine robot arm 14. The entire system is controlled with high accuracy by the motion control board 4 and the PLC 3, which significantly increases the level of automation of the printed circuit board processing system and thus improves production efficiency and the success rate.

[0039] The exemplary embodiments mentioned above describe in detail only specific embodiments of the invention and should therefore not be interpreted as limiting the scope of the invention. It should be noted that, for a person skilled in the art in this field, various variants and further developments are possible without departing from the basic idea of ​​the present invention, and these are intended to be included within the scope of protection of the invention.

Claims

[1] Automatic printed circuit board processing technology with automatic pin insertion and extraction function, comprising an automatic printed circuit board processing system with automatic pin insertion and extraction function, wherein the automatic printed circuit board processing system with automatic pin insertion and extraction function comprises a system body, an industrial computer, a motion control board, a PLC, an X-axis motion platform arranged at one end of the system body and along a horizontal direction, a Y-axis motion platform arranged below the X-axis motion platform and perpendicular to the X-axis motion platform, a Z-axis motion platform arranged along a vertical direction on the X-axis motion platform and perpendicular to the Y-axis motion platform, an X-axis servo drive connected to the X-axis motion platform and driving the X-axis motion platform to motion,comprising a Y-axis servo drive connected to the Y-axis motion platform and driving the Y-axis motion platform for movement, and a Z-axis servo drive connected to the Z-axis motion platform and driving the Z-axis motion platform for movement, wherein a workbench movable along this Y-axis motion platform is provided, on which a Bakelite plate is provided, wherein an electric spindle, a tool magazine robot arm, an automatic pin insertion mechanism and an automatic pin extraction mechanism are each provided on the Z-axis motion platform, wherein a pin magazine and a tool magazine are provided at one end of the workbench facing the X-axis motion platform, wherein the industrial computer is connected to the motion control card and the PLC is connected to the motion control card, wherein the PLC is connected via a pin insertion control element,a pen extraction control element and a robot arm control element are connected to the automatic pen insertion mechanism, the automatic pen extraction mechanism, and the tool magazine robot arm, wherein the motion control card is connected to the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, wherein the electric spindle is connected to the motion control card, wherein an X-axis displacement sensor, a Y-axis displacement sensor, and a Z-axis displacement sensor are provided on the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform, each of which is connected to the motion control card, wherein a pen insertion position sensor is provided on the automatic pen insertion mechanism, the automatic pen extraction mechanism, and the tool magazine robot arm.a pin extraction position sensor and a tool magazine robot arm position sensor are provided, each connected to the PLC, . characterized by that it includes the following steps: Step 10. The industrial computer calls up a corresponding pinhole drilling command depending on the position of a pinhole on a printed circuit board to be processed. The pinhole drilling command is output via the motion control card and the PLC to the electric spindle and the tool magazine robot arm, respectively. The electric spindle and the tool magazine robot arm move over the tool magazine. The tool magazine robot arm grips the required drilling tool. The electric spindle clamps the drilling tool and moves it over the Bakelite plate into which a pinhole is to be drilled. Finally, the pinhole drilling operation for the Bakelite plate is completed. Step 20. The industrial computer calls a pin insertion command associated with the pin hole drilling command, the PLC outputs the pin insertion command to the automatic pin insertion mechanism, the automatic pin insertion mechanism moves over the pin magazine, grips a pin and moves over the Bakelite plate for which the pin hole drilling operation is completed in step 10, and completes a pin insertion operation. Step 30. Slide a printed circuit board (PCB) onto the pin on the Bakelite board, mount and secure the PCB, call up a corresponding PCB machining command via the industrial computer, output the PCB machining command via the motion control card and the PLC to the electric spindle and the tool magazine robot arm, respectively, move the electric spindle and the tool magazine robot arm until they are over the tool magazine, grasp a required machining tool with the tool magazine robot arm, clamp the machining tool with the electric spindle and move it until it is over the PCB to be machined, complete a PCB machining operation and remove the PCB. Step 40. The industrial computer calls a pin extraction command associated with the pin insertion command, outputs the pin extraction command via the PLC to the automatic pin extraction mechanism, moves the automatic pin extraction mechanism over the Bakelite plate in which a pin is inserted, extracts the pin and inserts the extracted pin into the pin magazine, thus completing a pin extraction process and ending the machining operation. [2] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 1, characterized by , that step 10 is carried out specifically as follows: Step 101. Calling up a corresponding pinhole drilling command by the industrial computer depending on the position of a pinhole on a circuit board to be processed and outputting the pinhole drilling command via the motion control card and the PLC to the electric spindle or the tool magazine robot arm respectively, Step 102. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform for movement via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle and the tool magazine robot arm up to the tool magazine; grasp a required drilling tool by the tool magazine robot arm under PLC control via the robot arm control element; and clamp the drilling tool by the electric spindle under motion control card. Step 103. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle over the Bakelite plate into which a pinhole is to be drilled, and start a pinhole drilling operation using the electric spindle under control from the motion control card. Step 104. Repeat steps 102 and 103, drive the X-axis, Y-axis, and Z-axis motion platforms to move them via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, respectively, after completion of all pinhole drilling operations on the Bakelite plate, to move the electric spindle and the tool magazine robot arm over the tool magazine, open the electric spindle under control from the motion control card, remove the drill bit and insert the removed drill bit into the tool magazine using the tool magazine robot arm under control from the PLC via the robot arm control element, drive the X-axis and Z-axis motion platforms to move them to the starting position afterwards, and initiate step 20. [3] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 2, characterized by , that step 20 is carried out specifically as follows: Step 201. The industrial computer calls a pin insertion command associated with the pin hole drilling command and outputs the pin insertion command via the PLC to the automatic pin insertion mechanism. Step 202. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pen insertion mechanism up to the point above the pen magazine, and grip a pen through the automatic pen insertion mechanism under control from the PLC via the pen insertion control element. Step 203. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move them via the motion control card, each using the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pin insertion mechanism over the Bakelite plate for which the pin hole drilling process is completed in step 10, and insert the gripped pin into the pin hole using the automatic pin insertion mechanism under PLC control via the pin insertion control element. Step 204. Repeat steps 202 and 203, drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control board, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, after inserting a pin into all drilled pin holes on the Bakelite plate to move the X-axis motion platform and the Z-axis motion platform to the home position, and initiate step 30. [4] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 3, characterized by , that step 30 is carried out specifically as follows: Step 301. Slide a printed circuit board onto the pin on the Bakelite board, mount and secure the printed circuit board, call up a corresponding printed circuit board processing command by the industrial computer and output the printed circuit board processing command via the motion control card and the PLC to the electric spindle and the tool magazine robot arm respectively. Step 302. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform for movement via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electric spindle and the tool magazine robot arm up to the tool magazine; grasp a required machining tool by the tool magazine robot arm under PLC control via the robot arm control element; and clamp the required machining tool by the electric spindle under motion control card. Step 303. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control board, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the electrospindle over the circuit board to be machined, and start a circuit board machining operation by the electrospindle under control from the motion control board. Step 304. Repeat steps 302 and 303, drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, after completion of the printed circuit board machining process, to move the electric spindle and the tool magazine robot arm over the tool magazine, open the electric spindle under control from the motion control card, remove the machining tool and insert the removed machining tool into the tool magazine by the tool magazine robot arm under control from the PLC via the robot arm control element, drive the X-axis motion platform and the Z-axis motion platform to move to the starting position afterwards, and initiate step 40. [5] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 4, characterized by , that step 40 is carried out specifically as follows: Step 401. The industrial computer calls a pin withdrawal command associated with the pin insertion command and outputs the pin withdrawal command via the PLC to the automatic pin withdrawal mechanism. Step 402. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move them via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pin extraction mechanism beyond the Bakelite plate in which a pin is inserted, and extract the pin via the automatic pin extraction mechanism under control from the PLC via the pin extraction control element. Step 403. Drive the X-axis motion platform, the Y-axis motion platform, and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive, and the Z-axis servo drive, to move the automatic pen extraction mechanism up to the point above the pen magazine, and insert the extracted pen into the pen magazine by the automatic pen extraction mechanism under control from the PLC via the pen extraction control element. Step 404. Repeat steps 402 and 403, drive the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform to move via the motion control card, each via the X-axis servo drive, the Y-axis servo drive and the Z-axis servo drive, after removing all pins from the Bakelite plate, to move the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform to the home position, and finish the operation. [6] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 5, characterized by, that in steps 10 to 40 the automatic pin insertion mechanism, the automatic pin withdrawal mechanism and the tool magazine robot arm each detect a movement position via the pin insertion position sensor, the pin withdrawal position sensor and the tool magazine robot arm position sensor and output the detected movement position information to the PLC. [7] Automatic printed circuit board processing technology with automatic pin insertion and extraction function according to claim 6, characterized by , that in steps 102 to 104, steps 202 to 204, steps 302 to 304 and steps 402 to 404 the X-axis motion platform, the Y-axis motion platform and the Z-axis motion platform each detect their motion position via the X-axis displacement sensor, the Y-axis displacement sensor and the Z-axis displacement sensor and output the detected motion position information to the motion control card.

Images