CN202634896U - Visual identification assembly device - Google Patents
Visual identification assembly device Download PDFInfo
- Publication number
- CN202634896U CN202634896U CN 201220241124 CN201220241124U CN202634896U CN 202634896 U CN202634896 U CN 202634896U CN 201220241124 CN201220241124 CN 201220241124 CN 201220241124 U CN201220241124 U CN 201220241124U CN 202634896 U CN202634896 U CN 202634896U
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- materials
- parts
- board
- mechanical arm
- identification
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Abstract
The utility model discloses a visual identification assembly device. The device comprises a machine platform, a plurality of material regulation modules, a mechanical arm, a first identification element and a processing unit, wherein the material regulation modules are arranged on the machine platform to process materials and parts of different shapes; the mechanical arm is arranged on the machine platform to grab the materials and the parts processed by the material regulation modules; the first identification element is arranged on the mechanical arm to identify the shapes of the materials and parts grabbed by the mechanical arm; and the processing unit is arranged on the machine platform, and electrically connected with the mechanical arm and the first identification element.
Description
Technical field
The utility model relates to a kind of equipment, and particularly relevant for a kind of vision identification mounting equipment that can vision identification materials and parts.
Background technology
Present electronic component is assembled into all also need be dependent on artificial assembling on the circuit substrate.In detail; The common electronic component that can install a plurality of abnormity above the circuit substrate; The abnormity here is meant that the shape of electronic component is incomplete same, thus need to use manual work to come these variform electronic components of identification, electronic component is assembled to correct position.In addition, according to electrical relation, it is that fixing pin position is arranged that electronic component is assembled on the circuit substrate again, and the pin position direction that electronic component is plugged on the circuit substrate also need be used the Artificial Cognition.
The utility model content
The utility model provides a kind of vision identification mounting equipment that can be applicable to full-automatic assembling.
The utility model proposes a kind of vision identification mounting equipment, comprises a board, a plurality of material all in one piece module, a mechanical arm, one first identification element and a processing unit.The material all in one piece module is arranged on the board, in order to handle multiple variform materials and parts.Mechanical arm is arranged on the board, in order to grasp the handled materials and parts of material all in one piece module.The first identification element is arranged on the mechanical arm, the shape of the materials and parts that grasped in order to the identification mechanical arm.Processing unit is arranged at board, and is electrically connected with the mechanical arm and the first identification element.
In an embodiment of the vision identification mounting equipment of the utility model; Each material all in one piece module comprises a shake charging tray and a materials and parts integrated element, and the shake charging tray is arranged on the board, and wherein a kind of materials and parts of splendid attire; And the materials and parts integrated element links to each other with the shake charging tray, and between mechanical arm and shake charging tray.
In an embodiment of the vision identification mounting equipment of the utility model, more comprise being arranged at the second identification element of 1 on the board pin position of the materials and parts that this second identification element is grasped in order to the identification mechanical arm.
In an embodiment of the vision identification mounting equipment of the utility model, more comprise a substrate delivery unit of a side that is positioned at the material all in one piece module, this substrate delivery unit and board combines or independently be arranged at by the board is to transport a substrate.The substrate delivery unit can be a conveyer belt.Vision identification mounting equipment more comprises a stop element, is arranged at the substrate delivery unit and transmits on the transfer path of substrate, and in order to the backstop substrate.Vision identification mounting equipment more comprises a setting element, be arranged at by the base board unit, in order to substrate orientation on base board unit, wherein this setting element is a cylinder.
In an embodiment of the vision identification mounting equipment of the utility model, wherein mechanical arm comprises that a rotating seat and grasps arm, and rotating seat is arranged on the board, in order to relative board rotation, is arranged on the rotating seat and grasp arm.
In an embodiment of the vision identification mounting equipment of the utility model, wherein the material all in one piece module is arranged around mechanical arm.
Based on above-mentioned, the vision identification mounting equipment of the utility model has the shape of materials and parts and the discriminating function of pin position, so can be applicable to automatic assembling.
For letting the above-mentioned feature and advantage of the utility model can be more obviously understandable, hereinafter is special lifts embodiment, and cooperates appended graphic elaborating as follows.
Description of drawings
Fig. 1 is the sketch map of the vision identification mounting equipment of the utility model one embodiment.
Fig. 2 is the sketch map of the vision identification mounting equipment of another embodiment of the utility model.
[main element symbol description]
100: vision identification mounting equipment
110: board
112: loading floor
114: the side
120: the material all in one piece module
122: the shake charging tray
124: the materials and parts integrated element
130: mechanical arm
132: rotating seat
134: grasp arm
140: the first identification elements
150: processing unit
160: the second identification elements
170,170': substrate delivery unit
180: setting element
190: stop element
200: substrate
202: vision identification datum mark
204: groove
300: materials and parts
N: normal direction
Embodiment
In society now; Factory hopes invariably can promote full-automatic assembling; Can utilizing plant equipment to replace this numerous and diverse and action that repeat of the assembling of product, with so that manpower be used in design and research and development product etc. have more on the aspect of the economic creation of value.In view of this, the applicant has just proposed a kind of vision identification mounting equipment that can be used for full-automatic assembling described as follows.
Fig. 1 is the sketch map of the vision identification mounting equipment of the utility model one embodiment.Please refer to Fig. 1, vision identification mounting equipment 100 comprises a board 110, a plurality of material all in one piece module 120 (illustrating 6 among Fig. 1), a mechanical arm 130, one first identification element 140 and a processing unit 150.Material all in one piece module 120, mechanical arm 130 and processing unit 150 all are arranged at board 110, and wherein material all in one piece module 120 and mechanical arm 130 are positioned on the loading floor 112 of board 110, and material all in one piece module 120 is arranged around mechanical arm 130.Material all in one piece module 120 is in order to handling multiple variform materials and parts, and therefore explanation is for ease represented these materials and parts respectively with common and simple geometric shape in present embodiment, is not the actual shape of the materials and parts that are used to assemble in order to limitation.Mechanical arm 130 is arranged on the board 110, in order to grasp wherein a kind of materials and parts of shape from one of them material all in one piece module 120, is arranged on the shape of the materials and parts that the first identification element 140 on the mechanical arm 130 then grasped in order to identification mechanical arm 130.Processing unit 150 is arranged on the side 114 of board 110, and is electrically connected with the mechanical arm 130 and the first identification element 140, grasps materials and parts with the image data and the control mechanical arm 130 of the materials and parts of handling the passback of the first identification element 140.The position of processing unit 150 can for example be integrated in board 110 inside with processing unit 150 according to actual demand and changing in other embodiments, or processing unit 150 is arranged on the loading floor 112 all can.
In detail; Each material all in one piece module 120 comprises that being arranged at one on the board 110 shakes a charging tray 122 and a materials and parts integrated element 124; Each shake charging tray 122 is in order to wherein a kind of materials and parts of splendid attire, and materials and parts integrated element 124 links to each other with shake charging tray 122, and between mechanical arm 130 and shake charging tray 122; Wherein shake mode that charging tray 122 utilizes vibration the front end of materials and parts integrated element 124 is arranged and be sent to materials and parts in order, grasp for mechanical arm 130.
Mechanical arm 130 comprises that a rotating seat 132 and grasps arm 134; Rotating seat 132 is arranged on the board 110; And rotating seat 132 be axially perpendicular to loading floor 112; In other words rotating seat 132 is parallel to loading floor 112 and board 110 rotations relatively, promptly is to be arranged on the rotating seat 132 and grasp arm 134, can grasp the materials and parts of the material all in one piece module 120 that is arranged in diverse location through the rotation of rotating seat 132 accordingly.
In addition, vision identification mounting equipment 100 more comprises the one second identification element 160 that is arranged on the board 110, and this second identification element 160 is arranged on a side of above-mentioned a plurality of material all in one piece modules 120, the pin position of the materials and parts that grasped in order to identification mechanical arm 130.
Again; Vision identification mounting equipment 100 also comprises a substrate delivery unit 170 of a side that is positioned at material all in one piece module 120; It is other that the substrate delivery unit 170 of present embodiment independently is arranged at board 110, and be that free roller array by multiple row forms, to transport a substrate 200.And in another embodiment, substrate delivery unit 170' also can combine with board 110, and substrate delivery unit 170' can be a conveyer belt, shows like Fig. 2.
Please continue with reference to figure 1, for substrate 200 is located on the substrate delivery units 170, vision identification mounting equipment 100 also comprises a setting element 180, is arranged at base board unit 170 and transmits by the transfer path of substrates 200, and wherein this setting element 180 can be a cylinder.In addition,, be arranged at substrate delivery unit 170 and transmit on the transfer path of substrate 200 for vision identification mounting equipment 100 can more comprise a stop element 190, with when substrate 200 arrives assembling position, stop element 190 backstop substrates 200.This stop element 190 can be with along the normal direction N of loading floor 112 and move back and forth to protrude in substrate delivery unit 170 or to be lower than substrate delivery unit 170; Perhaps also can be in rotary manner to protrude in substrate delivery unit 170 or to be lower than substrate delivery unit 170.
To explain that below the vision identification mounting equipment 100 that how to use present embodiment assembles.Please continue with reference to figure 1; Using this vision identification mounting equipment 100 when desire begins to assemble; Materials and parts 300 can be via the shake charging tray 122 whole prefaces of material all in one piece module 120; The mode of wherein shaking charging tray 122 and be via slight vibrations lets materials and parts 300 in shake charging tray 122, arrange in regular turn, and the front end that is sent to materials and parts integrated element 124 is for mechanical arm 130 convenient extractings.Show like Fig. 1, in 6 different material all in one piece modules 120 splendid attire 6 kinds of difform materials and parts 300, like triangle, square, circle, prismatic, star and pentagon.As aforementioned, the shape of these materials and parts 300 is merely convenient explanation and selects these shapes to illustrate among Fig. 1, and the electronic component that the original shape of materials and parts 300 uses with reality is shaped as the master.
Hold above-mentionedly, stored the shape of the materials and parts 300 of the position of each material all in one piece module 120 on board 110,120 splendid attires of each material all in one piece module, data such as correct pin position when being assembled to substrate 200 in the processing unit 150 in advance.Processing unit 150 transmits signal and gives mechanical arm 130; Grasp the materials and parts in which material all in one piece module 120 with notice mechanical arm 130, so this signal has comprised the shape of the materials and parts 300 that relational coordinate position and the institute desire of material all in one piece module 120 on board 110 grasp at least.To grasp circular materials and parts 300; The shape signal of the materials and parts 300 that relational coordinate position and the institute desire of the material all in one piece module 120 that processing unit 150 transmits the circular materials and parts 300 of splendid attires on board 110 grasps; Mechanical arm 130 receives after the signal; Rotating seat 132 can rotate according to the relational coordinate position of material all in one piece module 120 on board 110, grasps the materials and parts 300 that arm 134 just can grasp the front end that is positioned at materials and parts integrated element 124 then.With present embodiment, grasping arm 134 is with the mode of drawing materials and parts 300 to be grasped.Certainly, the mode that grasps arm 134 extracting materials and parts 300 is not limited thereto kind of a method, and those skilled in the art can change the design of grasping arm 134 according to the actual requirements.
When grasping arm 134 extracting materials and parts 300; Be installed in signal that the first identification element 140 on the mechanical arm 130 can will grasp the materials and parts 300 that arm 134 grabs and be back to the processing unit 150 and the shape of the crawled materials and parts 300 of identification in addition, wherein the first identification element 140 is the shapes of coming identification materials and parts 300 via the mode of image (image) processing.When the first identification element 140 recognized the shape errors of crawled materials and parts 300, processing unit 150 was controlled mechanical arm 130 again the materials and parts 300 of mistake is put back in the correct shake charging tray 122, and grasped materials and parts 300 again.When the first identification element 140 recognizes the shape of crawled materials and parts 300 when correct, processing unit 150 notice mechanical arms 130 carry out next step number of assembling steps.
Subsidiary one carry, and also stored substrate 200 in the processing unit 150 in advance in data such as the size of the assembling position on the substrate delivery unit 170, substrate 200 and each materials and parts 300 corresponding assembling position and the pin positions on substrate 200.What need pay special attention to is, the data of desiring to store earlier in the processing unit 150 are as with reference to usefulness, the first identification element 140 and the second identification element 160 can be again notifier processes unit 150 adjustment of arm 130 when assembling of operating machine according to actual conditions.
When mechanical arm 130 grasps materials and parts 300; Place substrate 200 on the substrate delivery unit 170 to receive seizing on both sides by the arms of setting element 180 and be transferred into assembling position along the transfer path of substrate delivery unit 170 reposefully; And miss assembling position for fear of substrate 200; Stop element 190 can protrude from substrate delivery unit 170 and continued to move along transfer path with backstop substrate 200 this moment, and substrate delivery unit 170 also stops to transport substrate 200.What deserves to be mentioned is that substrate 200 has a vision identification datum mark 202, in order to let the second identification element 160 come identification substrate 200 whether to be positioned at correct assembling position and angle through this vision identification datum mark 202; If substrate 200 is not positioned at correct assembling position and angle; Then the second identification element 160 passes signal to processing unit 150 back; And correct assembling position and angle that processing unit 150 can notify mechanical arm 130 to adjust substrate 200; Or processing unit 150 personnel on the alarm signal notice line of transmitting again adjust the correct assembling position and the angle of substrate 200 with the mode of manual work, and wherein this alarm signal can be that warning lamp is luminous, loud speaker sends the sound or demonstrations of monitoring panel needs to adjust the printed words such as assembling position and angle of substrate 200.
Please continue with reference to figure 1, the corresponding assembling position of a plurality of materials and parts 300 is arranged on the substrate 200, wherein expression for ease, so among Fig. 1 with 204 expressions of the corresponding groove of these materials and parts 300 shapes.And return to processing unit 150 through the position of the second identification element, 160 identification vision identification datum marks 202 and with signal; Owing to have assembling tolerance during the location unavoidably; This moment, processing unit 150 data that can more be returned through assembling data and the second identification element 160 relevant for substrate 200 that is stored in were wherein passed through handling procedures such as calculating, comparison and adjustment again, and the signal of the relative position of these grooves 204 on substrate 200 (angle and the pin position of assembling like materials and parts) is passed to mechanical arm 130.
Specifically, when mechanical arm 130 grasped materials and parts 300 through the second identification element 160, the second identification element 160 can be through image processing to come out the pin position identification of materials and parts 300 more accurately.For example, the SMT element is to utilize the assembling that matches with polarity on the substrate 200 of the length of stitch.When the second identification element 160 picks out the mounting direction according to mechanical arm 130; The pin position of materials and parts 300 is wrong to cause materials and parts to be assembled on the substrate 200 can can't doing the time spent; The second identification element 160 can be passed to processing unit 150 with signal; And rotating seat 132 rotations of processing unit 150 may command mechanical arms 130, and then drive the mounting direction that extracting arm 134 changes the pin position of materials and parts 300, can let materials and parts 300 correctly be assembled on the substrate 200.
When materials and parts on the substrate 200 300 all correctly after the assembled, stop element 190 moves to be lower than substrate delivery unit 170, and substrate delivery unit 170 remains in operation so that substrate 200 is sent to the next stop.
Subsidiary one carry be; Though the first identification element 140 of the foregoing description, the second identification element 160 are the shapes of coming identification materials and parts 300 via the mode that image (image) is handled, this field personnel also can select for use the sensing element of other kinds as the identification element.For example; Can select for use the tactile sensing element as the first identification element 140 or the second identification element 160; When utilizing mechanical arm 130 to grasp materials and parts 300; The tactile sensing element that is arranged on mechanical arm 130 can contact with materials and parts 300, to confirm the correctness of the materials and parts 300 that mechanical arm 130 is grasped through the hard degree of tactile sensing element sensing materials and parts 300.Certainly, also can also be the sensing element of other kinds, select for use according to actual demand.
In sum, use identification element collocation mechanical arm in the vision identification mounting equipment of the utility model, so in the assembling processing procedure that materials and parts is assembled to substrate, can not need artificial use and reach full-automatic assembling.
Though the utility model discloses as above with embodiment; Right its is not in order to limit the utility model; Has common knowledge the knowledgeable in the technical field under any; In spirit that does not break away from the utility model and scope, when doing a little change and retouching, so the protection range of the utility model is when being as the criterion with what claim defined.
Claims (11)
1. a vision identification mounting equipment is characterized in that, comprising:
One board;
A plurality of material all in one piece modules are arranged on this board, in order to handle multiple variform materials and parts;
One mechanical arm is arranged on this board, in order to grasp the handled said a plurality of materials and parts of said a plurality of material all in one piece module;
One first identification element is arranged on this mechanical arm, the shape of these materials and parts that grasped in order to this mechanical arm of identification; And
One processing unit is arranged at this board, and is electrically connected with this mechanical arm and this first identification element.
2. vision identification mounting equipment as claimed in claim 1 is characterized in that, each material all in one piece module comprises:
One shake charging tray be arranged on this board, and the said a plurality of materials and parts of splendid attire is wherein a kind of; And
One materials and parts integrated element links to each other with this shake charging tray, and reaches and should shake between the charging tray at this mechanical arm.
3. vision identification mounting equipment as claimed in claim 1 is characterized in that, more comprises one second identification element, is arranged on this board the pin position of these materials and parts that grasped in order to this mechanical arm of identification.
4. vision identification mounting equipment as claimed in claim 1 is characterized in that, more comprises a substrate delivery unit, is positioned at a side of said a plurality of material all in one piece modules, in order to transport a substrate.
5. vision identification mounting equipment as claimed in claim 4 is characterized in that this substrate delivery unit is a conveyer belt.
6. vision identification mounting equipment as claimed in claim 4 is characterized in that, more comprises a stop element, is arranged at this substrate delivery unit and transmits on the transfer path of this substrate, in order to this substrate of backstop.
7. vision identification mounting equipment as claimed in claim 4 is characterized in that, more comprises a setting element, be arranged at by this base board unit, in order to this substrate orientation on this base board unit.
8. vision identification mounting equipment as claimed in claim 7 is characterized in that this setting element is a cylinder.
9. vision identification mounting equipment as claimed in claim 4 is characterized in that, this substrate delivery unit and this board combines or independently be arranged at by this board.
10. vision identification mounting equipment as claimed in claim 1 is characterized in that this mechanical arm comprises:
One rotating seat is arranged on this board, in order to this board rotation relatively; And
One grasps arm, is arranged on this rotating seat.
11. vision identification mounting equipment as claimed in claim 1 is characterized in that, said a plurality of material all in one piece modules are arranged around this mechanical arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220241124 CN202634896U (en) | 2012-05-25 | 2012-05-25 | Visual identification assembly device |
| TW101210846U TWM451226U (en) | 2012-05-25 | 2012-06-05 | Visual recognition grabbing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220241124 CN202634896U (en) | 2012-05-25 | 2012-05-25 | Visual identification assembly device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202634896U true CN202634896U (en) | 2012-12-26 |
Family
ID=47388028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220241124 Expired - Fee Related CN202634896U (en) | 2012-05-25 | 2012-05-25 | Visual identification assembly device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN202634896U (en) |
| TW (1) | TWM451226U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103917055A (en) * | 2014-03-31 | 2014-07-09 | 广州超音速自动化科技有限公司 | Touchpad fitting alignment system based on machine vision |
| CN113015346A (en) * | 2019-12-19 | 2021-06-22 | 鸿劲精密股份有限公司 | Thin platform and operation equipment applying same |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI658345B (en) * | 2017-04-05 | 2019-05-01 | Southern Taiwan University Of Science And Technology | Modular machine control device based on image correction |
-
2012
- 2012-05-25 CN CN 201220241124 patent/CN202634896U/en not_active Expired - Fee Related
- 2012-06-05 TW TW101210846U patent/TWM451226U/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103917055A (en) * | 2014-03-31 | 2014-07-09 | 广州超音速自动化科技有限公司 | Touchpad fitting alignment system based on machine vision |
| CN113015346A (en) * | 2019-12-19 | 2021-06-22 | 鸿劲精密股份有限公司 | Thin platform and operation equipment applying same |
Also Published As
| Publication number | Publication date |
|---|---|
| TWM451226U (en) | 2013-04-21 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20160525 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |