CN102602700A - Array-type handling device and handling method - Google Patents
Array-type handling device and handling method Download PDFInfo
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- CN102602700A CN102602700A CN2012100641618A CN201210064161A CN102602700A CN 102602700 A CN102602700 A CN 102602700A CN 2012100641618 A CN2012100641618 A CN 2012100641618A CN 201210064161 A CN201210064161 A CN 201210064161A CN 102602700 A CN102602700 A CN 102602700A
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- 239000000758 substrate Substances 0.000 claims description 127
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- 238000005429 filling process Methods 0.000 claims description 12
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Abstract
The invention discloses an array-type handling device and a handling method. The array-type handling device comprises a body, an operating table, filling bases, a multi-axis drive mechanism and handling head components. The operating table for bearing the filling bases of the handling device is mounted on the body. The multi-axis drive mechanism is mounted on the operating table and is provided with a plurality of rows and columns of handling head components disposed in sequence along an X-axis and a Y-axis. The handling head components are disposed above the filling bases. A plurality of filling heads are installed on each handling head component in the Y-axial direction. The spacing of each two adjacent handling head components in the Y-axial direction is B. The spacing of each two adjacent handling head components in the X-axial direction is C, B = nH + E1, C = nA + E2, H is the spacing of each two adjacent columns of the filling bases in the Y-axial direction, A is the spacing of each two adjacent columns of the filling bases in the X-axial direction, E is an error of actual installation of the handling head components, -50%H </= E1 </= 50%H, -50%A </= E2 </= 50%A, and n is an integer.
Description
Technical field
The present invention relates to a kind of automation stuffing apparatus, particularly relate to a kind of array fetching device and method.
Background technology
In traditional patch device or fetching device, mostly be that single working head is processed, each has the driver train of a up-and-down movement.The oldfashioned fetching device, the notion of not dividing group pattern between head and the head than the array fetching device, when picking and placeing, generally speaking can be lost time and stroke.Because it is different to lay the quantity that is picked and placeed thing in the size that fetching device is loaded substrate and each fetching device filling substrate; Set and change just cumbersome according to the specific requirement of using when picking and placeing; Degree of automation is very low; Equipment attrition and fault rate are high, and production efficiency is low, can't satisfy to enlarge the requirement of producing.And the oldfashioned fetching device, there is not sighting device to rectify a deviation usually, precision and effect are loaded in influence.
Summary of the invention
It is little that the technical matters that the present invention will solve provides a kind of miles of relative movement that picks and places, and equipment attrition and fault rate be low, load high, the effective array fetching device of precision and pick and place method.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of array fetching device; Comprise body, bench board, filling substrate, multi axle drive mechanism, pick and place an assembly, the bench board that is used to carry fetching device filling substrate is installed on the body, multi axle drive mechanism is installed on the bench board; Multi axle drive mechanism upper edge X axle and Y direction set gradually multiple lines and multiple rows and pick and place an assembly; Pick and place an assembly and be positioned at the top of loading substrate, each picks and places an assembly upper edge Y direction a plurality of filling heads is installed, and it is characterized in that:
Setting is B along the adjacent spacing that picks and places between the assembly on the Y direction, and setting along the adjacent spacing that picks and places an assembly of X-direction is C, then B=nH+E1; C=nA+E2, wherein H is for loading substrate along the spacing between adjacent two row of Y direction, and A is for loading substrate along the spacing between adjacent two row of X-direction; E1, E2 are the error when picking and placeing an assembly actual installation ,-50%H≤E1≤50%H;-50%A≤E2≤50%A, n are integer;
The distance of setting between same each filling head that picks and places on the assembly is M, 0＜M≤Y then, and wherein Y is that drive mechanism picks and places the range of an assembly along the Y direction displacement.
The wherein said multi axle drive of array fetching device of the present invention mechanism comprises three-dimensional X axle drive spindle, Y axle drive spindle and Z axle drive spindle; Z axle drive spindle upper edge X-direction is installed a plurality of adapter plate that pick and place, and each picks and places an adapter plate upper edge Y direction an a plurality of said assembly that pick and place are installed.
Array fetching device of the present invention wherein also comprises sighting device, and sighting device is installed in and picks and places on the adapter plate, and sighting device is positioned at the top that picks and places an assembly, comprises camera, camera lens, light source.
The present invention also provides a kind of array to pick and place method, wherein processes a plurality of and opens, load during each sheet is opened the position many and be pick and place an assembly integral multiple be row; With each sheet open by the row arrange along the X forward; Take-off location is positioned at loads the substrate left side, and H is for loading the column pitch of substrate along Y direction, and A is for loading the column pitch of substrate along X-direction; M is the spacing between the filling head, and step is:
(1) driver train moves to take-off location from perch, and each filling head picks up and loaded thing;
(2) driver train will pick and place move right first group of the 1st row of an assembly and load the top of position; Each picks and places the cooresponding first group of filling position of an assembly separately, and each first filling head that picks and places on the assembly will be placed into the upward cooresponding first group of filling position of filling substrate the 1st row respectively by the filling thing;
(3) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed into respectively and load in the substrate cooresponding next group and load position;
(4) repeating step (3) is loaded completion up to first row;
(5) driver train will pick and place an assembly and move A along X axle negative sense; Moving M loads the top, position to first group of next line along y-axis shift; Each picks and places an assembly and loads the position separately for cooresponding first group, and each next filling head that picks and places on the assembly will be placed into cooresponding first group of filling position on this row respectively by the filling thing;
(6) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed on this row cooresponding next group respectively and load position;
(7) repeating step (6) is loaded completion up to this row;
(8) repeating step (5)-(7) then do not have on each filling head and are loaded thing, and driver train is moved to the left take-off location, and each filling head picks up and loaded thing;
(9) repeat said process, up to accomplishing the filling process of all loading substrate;
(10) driver train moves to perch;
(11) loaded thing as if still having in the filling head, be used for loading next fetching device and load substrate.
The invention provides another kind of array and pick and place method, wherein processing mode is that monolithic is opened, and what the filling position was many during sheet was opened is row; Line number with pick and place an assembly and become integral multiple, sheet is opened by row is arranged along the X forward, take-off location is positioned at loads the substrate left side; A is for loading the column pitch of substrate along X-direction; H is for loading the column pitch of substrate along Y direction, and M is the spacing between the filling head, and step is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain deviation angle a, wherein a is line and kinematic mechanism Y axle or the line of every row filling place-centric and the angle of kinematic mechanism X axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train is loaded the top of position with filling head the 1st row that move right, and each filling head will be loaded thing again be placed into the corresponding position of loading respectively;
(4) calibration of through above-mentioned sighting device substrate being carried out; Obtain the displacement that driver train need move; Driver train moves A*cos a with filling head along X axle negative sense; Load the top, position along moving M+A*sin a of y-axis shift and/or M-A*sin a to next column, each filling head will be loaded thing again and will be placed into the corresponding position of loading respectively;
(5) repeating step (4) does not have on filling head and is loaded thing, and driver train is moved to the left take-off location, and each filling head picks up is loaded the filling of thing continued, up to accomplishing the filling process of all loading substrate;
(6) driver train moves to perch;
(7) loaded thing as if still having in the filling head, be used for loading next fetching device substrate.
Another array of the present invention picks and places method, wherein processes a plurality of and opens, load during each sheet is opened the position many and be pick and place an assembly integral multiple be row; With each sheet open by the row arrange along the X forward; Take-off location is positioned at loads the substrate left side, and A is for loading the column pitch of substrate along X-direction, and H is for loading the column pitch of substrate along Y direction; M is the spacing between the filling head, and step is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain offset angle, wherein β is line and kinematic mechanism X axle or the line of every row filling place-centric and the angle of kinematic mechanism Y axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train will pick and place move right first group of the 1st row of an assembly and load the top of position; Each picks and places the cooresponding first group of filling position of an assembly separately, and each first filling head that picks and places on the assembly will be placed into the upward cooresponding first group of filling position of filling substrate the 1st row respectively by the filling thing;
(4) calibration of through above-mentioned sighting device substrate being carried out; Obtain the displacement that driver train need move; Driver train will pick and place an assembly and move H*sin β along the X axle then; Load position along the moving H*cos β-M of y-axis shift and/or H*cos β+M to next group of this row, each picks and places next filling head on the assembly and will be loaded thing and be placed into respectively and load in the substrate cooresponding next group and load position;
(5) repeating step (4) is loaded completion up to first row;
(6) driver train will pick and place an assembly and move A*cos β to X axle negative sense then; To moving M-A*sin β of y-axis shift and/or M+A*sin β; Load the top, position to first group of next line; Each picks and places an assembly and loads the position separately for cooresponding first group, and each next filling head that picks and places on the assembly will be placed into cooresponding first group of filling position on this row respectively by the filling thing;
(7) driver train will pick and place an assembly and move H*sin β along the X axle then; Load position along the moving H*cos β-M of y-axis shift and/or H*cos β+M to next group of this row, each picks and places next filling head on the assembly and will be loaded thing and be placed on this row cooresponding next group respectively and load position;
(8) repeating step (7) is loaded completion up to this row;
(9) repeating step (6)-(8) then do not have on each filling head and are loaded thing, and driver train is moved to the left take-off location, and each filling head picks up and loaded thing;
(10) repeat said process, up to accomplishing the filling process of all loading substrate;
(11) driver train moves to perch;
(12) loaded thing as if still having in the filling head, be used for loading next fetching device and load substrate.
Array fetching device of the present invention is provided with multiple lines and multiple rows and picks and places an assembly, and each picks and places an assembly upper edge Y direction a plurality of filling heads are installed, and wherein setting along the adjacent spacing that picks and places between the assembly on the Y direction is B; Setting is C along the adjacent spacing that picks and places an assembly of X-direction, B=nH+E1 then, C=nA+E2; Adopt several filling heads of multiple lines and multiple rows to load, during use, loaded thing as long as also have on the filling head to loading substrate; With regard to removable very little distance substrate is proceeded to load; Be reduced in time and the waste of distance in the filling process, improved production efficiency, reduced equipment attrition and fault rate.
Array fetching device of the present invention has also been installed sighting device, carries out the vision calibration to loading substrate during filling, has improved the filling precision greatly, loads effective.
The method that picks and places that the present invention also provides multi-disc to open processing mode when the processing multi-disc is opened, moves H-M and/or H+M and can load the substrate with delegation, and mobile A can load next line, and miles of relative movement is little, and filling speed is fast, has improved production efficiency greatly.
The present invention also provides and has carried out the method that picks and places of vision calibration to loading substrate, opens for monolithic, and filling head is moved A*cos a to X axle negative sense; Can arrive next column filling position along moving M+A*sin a of y-axis shift and/or M-A*sin a; Open for multi-disc, miles of relative movement is also very little, adopts the vision calibration; The filling precision is high, and is effective.
Below in conjunction with accompanying drawing array fetching device of the present invention and the method for picking and placeing are described further.
Description of drawings
Fig. 1 is the overall diagram of array fetching device of the present invention;
Fig. 2 picks and places an assembly along the X-direction structural representation in the array fetching device of the present invention;
Fig. 3 picks and places an assembly along the Y direction structural representation in the array fetching device of the present invention;
Fig. 4 is an A place enlarged drawing among Fig. 1;
Fig. 5 opens the structural representation of loading substrate for biplate in the array fetching device of the present invention;
Fig. 6 is the structural representation when the filling substrate is squinted for monolithic Zhang Fasheng in the array fetching device of the present invention.
Fig. 7 is the structural representation when the filling substrate is squinted for multi-disc Zhang Fasheng in the array fetching device of the present invention.
The specific embodiment
With reference to Fig. 1-Fig. 4; Array fetching device of the present invention comprises body 1, bench board 2, loads substrate 3, multi axle drive mechanism, picks and places an assembly 7, sighting device; Be equipped with on the body 1 and be used to carry the bench board 2 that fetching device is loaded substrate 3; Multi axle drive mechanism is installed on the bench board 2, and multi axle drive mechanism upper edge X axle and Y direction set gradually multiple lines and multiple rows and pick and place an assembly 7.Multi axle drive mechanism comprises three-dimensional X axle drive spindle 6, Y axle drive spindle 5 and Z axle drive spindle 4.Z axle drive spindle 4 upper edge X-directions are installed a plurality of adapter plate 10 that pick and place, and each picks and places an adapter plate 10 upper edge Y directions a plurality of assembly 7 that pick and place are installed.Pick and place an assembly 7 and be positioned at the top of loading substrate 3, be used for picking and placeing the filling thing loading in the substrate 3, multi axle drive mechanism is used to control and picks and places the displacement of an assembly 7 in X axle, Y axle, Z-direction.Each picks and places an assembly 7 upper edge Y directions a plurality of filling heads 8 is installed.
Set and samely pick and place that each said line space (driver train Y direction) that picks and places between the assembly 7 is B on the adapter plate 10; Set and adjacently pick and place that the adjacent column pitch (driver train X-direction) that picks and places an assembly 7 is C on the adapter plate 10, B=nH+E1 then, C=nA+E2; Wherein H is for loading substrate along the spacing between adjacent two row of Y direction; A is for loading substrate along the spacing between adjacent two row of X-direction, and E is the error when picking and placeing an assembly actual installation ,-50%H≤E1≤50%H;-50%A≤E2≤50%A, n are integer.
The distance of setting between same each filling head 8 that picks and places on the assembly 7 is M, 0＜M≤Y then, and wherein Y is that drive mechanism picks and places the range of an assembly 7 along the Y direction displacement.
According to line number and the columns of loading substrate, picking and placeing an assembly can be 1 row or multirow, 1 row or multiple row, and picking and placeing an adapter plate shown in the figure is 3, and each picks and places, and 3 of installations pick and place an assembly on the adapter plate, and each picks and places, and 3 of installations pick and place head on the assembly.
Sighting device 9 is installed in and picks and places on the adapter plate 10; Sighting device 9 is positioned at the top that picks and places an assembly 7; Comprise camera 91, camera lens 92, two light sources 93; Camera 91 is installed in the top that picks and places an assembly 7, and camera lens 92 is positioned at the below of camera 91, and two light sources 93 are installed in the both sides of camera lens 92 respectively.
In the array fetching device of the present invention, load substrate 3 and can be coiled strip, single are opened and a plurality of open.
Fetching device is loaded confirming of substrate location and direction to be processed:
Fetching device loads substrate if coiled strip then launches coiled strip to place along X-direction.
Fetching device is loaded substrate if sheet is opened:
(1) fetching device filling substrate row, the column number of loading substrate do not wait, and opens if put a plurality of simultaneously, then selects putting position according to actual conditions, and principle is the shortest with move distance, the filling substrate row of composition or row and pick and place a number of components and should be integral multiple;
(2) filling substrate row, the column number of fetching device filling substrate do not wait; If putting single opens; Then load the many directions in position in row or the row and be made as directions X; But should guarantee that principle is the shortest with move distance under the prerequisite of principle, the filling substrate row of composition or row and pick and place a number of components and should be integral multiple;
(3) load substrate ranks number and equate, then the directions of row or row are appointed and are got one of which as directions X.
It is X axle negative sense that fetching device is loaded the direction that substrate processing carries out, and it is X along the range of X axial translation that drive mechanism picks and places an assembly.
The regulation of direction:
A left side: X axle forward
Right: X axle negative sense
On: Z axle forward
Down: Z axle negative sense
During operation, the staff operates towards Y axle forward.
Array of the present invention picks and places in the method, processes a plurality of when opening, load during each sheet is opened the position many and be pick and place an assembly integral multiple be row; Each sheet is opened by going along the arrangement of X forward, after previous row is loaded one group, moved H-M and/or H+M in Y direction; He loads the position can to load this Xingqi, after filling is accomplished, loads the position by previous row and moves A in X-direction; Move M in Y direction, arrive next line and load the position, can carry out next line and load; Wherein H is for loading the column pitch of substrate along Y direction, and A is for loading the column pitch of substrate along X-direction, and M is the spacing between the filling head.
Setting each picks and places n filling head is installed on the assembly; Take-off location is positioned at loads the substrate left side, and processing mode is that multi-disc is opened, and it is capable to load the total m of substrate; It is the integral multiple that picks and places a component count that sheet is opened total columns, and array fetching device of the present invention picks and places by filling object space method and is:
(1) driver train moves to take-off location from perch, and each filling head picks up and loaded thing;
(2) driver train will pick and place move right first group of the 1st row of an assembly and load the top of position; Each picks and places the cooresponding first group of filling position of an assembly separately, and each first filling head that picks and places on the assembly will be placed into the upward cooresponding first group of filling position of filling substrate the 1st row respectively by the filling thing;
(3) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed into respectively and load in the substrate cooresponding next group and load position;
(4) repeating step (3) is loaded completion up to first row;
(5) driver train will pick and place an assembly and move A along X axle negative sense; Moving M loads the top, position to first group of next line along y-axis shift; Each picks and places an assembly and loads the position separately for cooresponding first group, and each next filling head that picks and places on the assembly will be placed into cooresponding first group of filling position on this row respectively by the filling thing;
(6) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed on this row cooresponding next group respectively and load position;
(7) repeating step (6) is loaded completion up to this row;
(8) repeating step (5)-(7) then do not have on each filling head and are loaded thing, and driver train is moved to the left take-off location, and each filling head picks up and loaded thing;
(9) repeat said process, up to accomplishing the filling process of all loading substrate;
(10) driver train moves to perch;
(11) loaded thing as if still having in the filling head, be used for loading next fetching device and load substrate.
For example the concrete working process of array fetching device of the present invention is done below and specified.
With reference to Fig. 1,5 and following table; The existing filling in the substrate with fetching device has A, B, C, D four lines; 1,2,3,4,5,6,7,8 eight row altogether two the filling substrates that are arranged side by side of arranging of four lines eight row be example, explain that this fetching device loads the filling process of substrate.Wherein, H is for loading substrate along the spacing between adjacent two row of Y direction, and A is for loading substrate along the spacing between adjacent two row of X-direction.
In the embodiment of array fetching device of the present invention, each filling head is got and is loaded thing, loads in order, and the quilt that completes on whole filling heads is loaded thing; Get and loaded thing, load in order ..., load substrate until completing whole fetching device.As complete after whole fetching device loads substrate, filling head also has is loaded thing, when then loading next fetching device and loading substrate, continues to have loaded and is loaded thing in the filling head, gets by filling thing, filling again ...
Pick and place 3 filling heads of installation on the assembly with each; Totally one 4 of rows pick and place an assembly, the fetching device of totally 12 filling heads is an example; In conjunction with shown in Figure 3,, load with a2, b2, c2, d2 again by loading with a1, b1, c1, d1 earlier; The order of loading with a3, b3, c3, d3 is at last loaded, and the order of the course of processing is the following step:
1. take-off location is positioned at the left side of workplatform; (this position is positioned at the right side of workplatform to array fetching device driver train from perch; In the driver train travel range, and in the space of other mechanical parts interference of getting along well) be moved to the left and loaded the thing take-off location.
2.12 picking up, individual filling head loaded thing,
3. driver train moves right filling head a1, b1, c1, d1 to A1, A3, A5, top, A7 filling position,
4.4 individual filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into A1, A3, A5, A7 respectively and load the position, once load four positions, improve production efficiency greatly,
5. driver train moves H-M with filling head a2, b2, c2, d2 to Y axle negative sense, to the top of A2, A4, A6, A8 filling position,
6.4 individual filling head a2, b2, c2, d2 will be loaded thing simultaneously and be placed into A2, A4, A6, A8 respectively and load the position,
7. driver train moves A with filling head a3, b3, c3, d3 to X axle negative sense, moves the top of M to B2, B4, B6, B8 filling position to Y axle forward,
8.4 individual filling head a3, b3, c3, d3 will be loaded thing simultaneously and be placed into B2, B4, B6, B8 respectively and load the position,
9. driver train is moved to the left take-off location,
10.12 picking up, individual filling head loaded thing,
11. driver train moves to the top that B1, B3, B5, B7 load the position with filling head a1, b1, c1, d1,
12.4 individual filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into B1, B3, B5, B7 respectively and load the position,
13. C1, C3, C5, C7 are accomplished in operation successively, the filling action of C2, C4, C6, C8,
14. driver train is moved to the left take-off location,
15.12 picking up, individual filling head loaded thing,
16. driver train moves right, and accomplishes D2, D4, D6, D8 successively, the filling action of D1, D3, D5, D7,
17. driver train moves to perch,
18. still have among filling head a3, b3, c3, the d3 at this moment and loaded thing, be used for loading first row that next fetching device is loaded substrate.
Different with embodiment 1 is, by loading with a3, b3, c3, d3 earlier, again with a2, b2, c2, d2 filling, loads with the order of a1, b1, c1, d1 filling at last, and the order of the course of processing is the following step:
1, take-off location is positioned at the left side of workplatform; (this position is positioned at the right side of workplatform to array fetching device driver train from perch; In the driver train travel range, and in the space of other mechanical parts interference of getting along well) be moved to the left and loaded the thing take-off location.
2,12 filling heads pick up and are loaded thing,
3, driver train moves right filling head a3, b3, c3, d3 to A1, A3, A5, top, A7 filling position,
4,4 filling head a3, b3, c3, d3 will be loaded thing simultaneously and be placed into A1, A3, A5, A7 respectively and load the position, once load four positions, improve production efficiency greatly,
5, driver train moves H+M with filling head a2, b2, c2, d2 to Y axle negative sense, to the top of A2, A4, A6, A8 filling position,
6,4 filling head a2, b2, c2, d2 will be loaded thing simultaneously and be placed into A2, A4, A6, A8 respectively and load the position,
7, driver train moves A with filling head a1, b1, c1, d1 to X axle negative sense, moves the top of M to B2, B4, B6, B8 filling position to Y axle negative sense,
8,4 filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into B2, B4, B6, B8 respectively and load the position,
9, driver train is moved to the left take-off location,
10,12 filling heads pick up and are loaded thing,
11, driver train moves to the top that B1, B3, B5, B7 load the position with filling head a3, b3, c3, d3,
12,4 filling head a3, b3, c3, d3 will be loaded thing simultaneously and be placed into B1, B3, B5, B7 respectively and load the position,
13, C1, C3, C5, C7 are accomplished in operation successively, the filling action of C2, C4, C6, C8,
14, driver train is moved to the left take-off location,
15,12 filling heads pick up and are loaded thing,
16, driver train moves right, and accomplishes D2, D4, D6, D8 successively, the filling action of D1, D3, D5, D7,
17, driver train moves to perch,
18. still have among filling head a1, b1, c1, the d1 at this moment and loaded thing, be used for loading first row that next fetching device is loaded substrate.
Pick and place an assembly for many rows, once can load multirow during filling, it is higher to load efficient, no longer gives instantiation at this.
Array fetching device of the present invention has increased sighting device, and whether sighting device carries out the vision calibration to loading substrate when loading, detect the filling substrate and squint, thereby the adjustment drive mechanism picks and places the displacement of an assembly on X axle and Y axle.Like Fig. 1, shown in 6, sighting device carries out the vision calibration to loading substrate, obtains deviation angle a, and a is line and kinematic mechanism Y axle or the line of every row filling place-centric and the angle of kinematic mechanism X axle that every row are loaded place-centric.
For the filling that monolithic as shown in Figure 6 is opened, load during sheet is opened the position many be row, line number with pick and place a component count and equate, sheet is opened by row is arranged along the X forward, then have: at every turn when previous column filling position moves to next column filling position,
Driver train need move X:A*cos a
Driver train need move Y:M+A*sin a or M-A*sin a.Wherein A is for loading the column pitch of substrate along X-direction, and H is for loading the column pitch of substrate along Y direction, and M is the spacing between the filling head.
To pick and place a component count is 4, and each picks and places installs 3 filling heads on the assembly, and the fetching device of totally 12 filling heads is an example, and processing mode is that monolithic is opened; As shown in Figure 6, load the substrate array and have 8 row, line number with pick and place a component count and equate to be 4 capable; Take-off location is positioned at loads the substrate left side, in conjunction with shown in Figure 3, by loading with a1, b1, c1, d1 earlier; Load with a2, b2, c2, d2, the order of loading with a3, b3, c3, d3 is at last loaded again, and its course of processing is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain deviation angle a, wherein a is line and kinematic mechanism Y axle or the line of every row filling place-centric and the angle of kinematic mechanism X axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train is loaded the top of position with filling head a1, b1, c1, d1 the 1st row that move right, and a1, b1, c 1, d1 filling head will be loaded thing again be placed into the corresponding position of loading respectively;
(4) driver train moves A*cos a with filling head a2, b2, c2, d2 to X axle negative sense, and moving M-A*sin a loads the top, position to next column along y-axis shift, and a2, b2, c2, d2 filling head will be loaded thing again and be placed into the corresponding position of loading respectively;
(5) driver train moves A*cos a with filling head a3, b3, c3, d3 to X axle negative sense, and moving M-A*sin a loads the top, position to next column along y-axis shift, and a3, b3, c3, d3 filling head will be loaded thing again and be placed into the corresponding position of loading respectively;
(6) driver train is moved to the left take-off location, and after each filling head picked up and loaded thing, filling head a1, b1, c1, the d1 next column that moves right was loaded the position and continued to load, and operation is successively loaded the filling processes of substrates up to accomplishing all totally 8 row;
(7) driver train moves to perch;
(8) loaded thing as if still having in the filling head, be used for loading next fetching device substrate.
Different with embodiment 3 is, by loading with a3, b3, c3, d3 earlier, again with a2, b2, c2, d2 filling, loads with the order of a1, b1, c1, d1 filling at last, and its course of processing is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain deviation angle a, wherein a is line and kinematic mechanism Y axle or the line of every row filling place-centric and the angle of kinematic mechanism X axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train is loaded the top of position with filling head a3, b3, c3, d3 the 1st row that move right, and a3, b3, c3, d3 filling head will be loaded thing again be placed into the corresponding position of loading respectively;
(4) driver train moves A*cos a with filling head a2, b2, c2, d2 to X axle negative sense, moves M+A*sin a along Y axle negative sense and loads the top, position to next column, and a2, b2, c2, d2 filling head will be loaded thing again and be placed into the corresponding position of loading respectively;
(5) driver train moves A*cos a with filling head a1, b1, c1, d1 to X axle negative sense, moves M+A*sin a along Y axle negative sense and loads the top, position to next column, and a1, b1, c1, d1 filling head will be loaded thing again and be placed into the corresponding position of loading respectively;
(6) driver train is moved to the left take-off location, and after each filling head picked up and loaded thing, filling head a3, b3, c3, the d3 next column that moves right was loaded the position and continued to load, and operation is successively loaded the filling processes of substrates up to accomplishing all totally 8 row;
(7) driver train moves to perch;
(8) loaded thing as if still having in the filling head, be used for loading next fetching device substrate.
As shown in Figure 7; The existing filling in the substrate with fetching device has A, B, C, D four lines; 1,2,3,4,5,6,7,8 eight row altogether two the filling substrates that are arranged side by side of arranging of four lines eight row be example, explain that this fetching device carries out the filling process that substrate is loaded in vision calibration back.
Pick and place on the assembly with each 3 filling heads are installed, totally one 4 of rows pick and place an assembly, the fetching device of totally 12 filling heads is an example, and A is for loading the column pitch of substrate along X-direction, and H is for loading substrate along the Y direction column pitch, and M is the spacing between the filling head.In conjunction with shown in Figure 3, by loading with a1, b1, c1, d1 earlier, to load with a2, b2, c2, d2 again, the order of loading with a3, b3, c3, d3 is at last loaded, and the order of the course of processing is the following step:
1, driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain offset angle, wherein β is line and kinematic mechanism X axle or the line of every row filling place-centric and the angle of kinematic mechanism Y axle that every row are loaded place-centric
2, take-off location is positioned at the left side of workplatform, and array fetching device driver train is moved to the left from perch and is loaded the thing take-off location, and 12 filling heads pick up is loaded thing,
3, driver train moves right filling head a1, b1, c1, d1 to A1, A3, A5, top, A7 filling position
4,4 filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into A1, A3, A5, A7 respectively and load the position,
5, driver train moves H*sin β with filling head a2, b2, c2, d2 to the X axle, to the moving H*cos β-M of y-axis shift, and to the top of A2, A4, A6, A8 filling position,
6,4 filling head a2, b2, c2, d2 will be loaded thing simultaneously and be placed into A2, A4, A6, A8 respectively and load the position
7, driver train moves A*cos β with filling head a3, b3, c3, d3 to X axle negative sense, to the moving M-A*sin β of y-axis shift, and to the top of B2, B4, B6, B8 filling position,
8,4 filling head a3, b3, c3, d3 will be loaded thing simultaneously and be placed into B2, B4, B6, B8 respectively and load the position,
9, driver train is moved to the left take-off location,
10,12 filling heads pick up and are loaded thing,
11, driver train moves to the top that B1, B3, B5, B7 load the position with filling head a1, b1, c1, d1,
12,4 filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into B1, B3, B5, B7 respectively and load the position,
13, C1, C3, C5, C7 are accomplished in operation successively, the filling action of C2, C4, C6, C8,
14, driver train is moved to the left take-off location,
15,12 filling heads pick up and are loaded thing,
16, driver train moves right, and accomplishes D2, D4, D6, D8 successively, the filling action of D1, D3, D5, D7,
17, driver train moves to perch,
18. still have among filling head a3, b3, c3, the d3 at this moment and loaded thing, be used for loading first row that next fetching device is loaded substrate.
Different with embodiment 5 is, by loading with a3, b3, c3, d3 earlier, again with a2, b2, c2, d2 filling, loads with the order of a1, b1, c1, d1 filling at last, and the order of the course of processing is the following step:
1, driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain offset angle, wherein β is line and kinematic mechanism X axle or the line of every row filling place-centric and the angle of kinematic mechanism Y axle that every row are loaded place-centric
2, take-off location is positioned at the left side of workplatform, and array fetching device driver train is moved to the left from perch and is loaded the thing take-off location, and 12 filling heads pick up is loaded thing,
3, move right filling head a3, b3, c3, d3 of driver train loads 4,4 the filling head a3 in top, position, b3, c3, d3 to A1, A3, A5, A7 and will be loaded thing simultaneously and be placed into A1, A3, A5, A7 respectively and load the position,
5, driver train moves H*sin β with filling head a2, b2, c2, d2 to the X axle, to the moving H*cos β+M of y-axis shift, and to the top of A2, A4, A6, A8 filling position,
6,4 filling head a2, b2, c2, d2 will be loaded thing simultaneously and be placed into A2, A4, A6, A8 respectively and load the position
7, driver train moves A*cos β with filling head a1, b1, c1, d1 to X axle negative sense, to the moving M+A*sin β of y-axis shift, and to the top of B2, B4, B6, B8 filling position,
8,4 filling head a1, b1, c1, d1 will be loaded thing simultaneously and be placed into B2, B4, B6, B8 respectively and load the position
9, driver train is moved to the left take-off location
10,12 filling heads pick up and are loaded thing
11, driver train moves to filling head a3, b3, c3, d3 the top of B1, B3, B5, B7 filling position
12,4 filling head a3, b3, c3, d3 will be loaded thing simultaneously and be placed into B1, B3, B5, B7 respectively and load the position
13, C1, C3, C5, C7 are accomplished in operation successively, the filling action of C2, C4, C6, C8
14, driver train is moved to the left take-off location
15,12 filling heads pick up and are loaded thing
16, driver train moves right, and accomplishes D2, D4, D6, D8 successively, the filling action of D1, D3, D5, D7
17, driver train moves to perch
18. still have among filling head a1, b1, c1, the d1 at this moment and loaded thing, be used for loading first row that next fetching device is loaded substrate.
Through sighting device is set, carry out the vision calibration to loading substrate, can improve the filling precision greatly, avoid the generation of useless card, improve output and yields.
What above-mentioned 6 embodiment provided is by loading with a1, b1, c1, d1 earlier, and again with a2, b2, c2, d2 filling, the order with a3, b3, c3, d3 filling is that order one is loaded at last; Perhaps load with a3, b3, c3, d3 by elder generation, load with a2, b2, c2, d2, the order of loading with a1, b1, c1, d1 at last promptly two is loaded in proper order; When loading same substrate; The order of employing earlier one is loaded, and then two fillings of employing order, during promptly actual the filling; Which kind of adopts load in proper order can freely select, and provides instance no longer one by one at this.
Above-described embodiment describes preferred implementation of the present invention; Be not that scope of the present invention is limited; Design under the prerequisite of spirit not breaking away from the present invention; Various distortion and improvement that those of ordinary skills make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (6)
1. array fetching device; Comprise body, bench board, filling substrate, multi axle drive mechanism, pick and place an assembly, the bench board that is used to carry fetching device filling substrate is installed on the body, multi axle drive mechanism is installed on the bench board; Multi axle drive mechanism upper edge X axle and Y direction set gradually multiple lines and multiple rows and pick and place an assembly; Pick and place an assembly and be positioned at the top of loading substrate, each picks and places an assembly upper edge Y direction a plurality of filling heads is installed, and it is characterized in that:
Setting is B along the adjacent spacing that picks and places between the assembly on the Y direction, and setting along the adjacent spacing that picks and places an assembly of X-direction is C, then B=nH+E1; C=nA+E2, wherein H is for loading substrate along the spacing between adjacent two row of Y direction, and A is for loading substrate along the spacing between adjacent two row of X-direction; E1, E2 are the error when picking and placeing an assembly actual installation ,-50%H≤E1≤50%H;-50%A≤E2≤50%A, n are integer;
The distance of setting between same each filling head that picks and places on the assembly is M, 0＜M≤Y then, and wherein Y is that drive mechanism picks and places the range of an assembly along the Y direction displacement.
2. array fetching device according to claim 1; It is characterized in that: said multi axle drive mechanism comprises three-dimensional X axle drive spindle, Y axle drive spindle and Z axle drive spindle; Z axle drive spindle upper edge X-direction is installed a plurality of adapter plate that pick and place, and each picks and places an adapter plate upper edge Y direction an a plurality of said assembly that pick and place are installed.
3. array fetching device according to claim 2 is characterized in that: comprising also that sighting device, sighting device are installed in picks and places on the adapter plate, and sighting device is positioned at the top that picks and places an assembly, comprises camera, camera lens, light source.
4. an array picks and places method, it is characterized in that:
Processing a plurality of opens; Load during each sheet is opened the position many and be pick and place an assembly integral multiple be row, each sheet is opened by row is arranged along the X forward, take-off location is positioned at loads the substrate left side; H is for loading the column pitch of substrate along Y direction; A is for loading the column pitch of substrate along X-direction, and M is the spacing between the filling head, and step is:
(1) driver train moves to take-off location from perch, and each filling head picks up and loaded thing;
(2) driver train will pick and place move right first group of the 1st row of an assembly and load the top of position; Each picks and places the cooresponding first group of filling position of an assembly separately, and each first filling head that picks and places on the assembly will be placed into the upward cooresponding first group of filling position of filling substrate the 1st row respectively by the filling thing;
(3) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed into respectively and load in the substrate cooresponding next group and load position;
(4) repeating step (3) is loaded completion up to first row;
(5) driver train will pick and place an assembly and move A along X axle negative sense; Moving M loads the top, position to first group of next line along y-axis shift; Each picks and places an assembly and loads the position separately for cooresponding first group, and each next filling head that picks and places on the assembly will be placed into cooresponding first group of filling position on this row respectively by the filling thing;
(6) driver train will pick and place an assembly and load position along moving H-M of y-axis shift and/or H+M to next group of this row then, and each picks and places next filling head on the assembly and will be loaded thing and be placed on this row cooresponding next group respectively and load position;
(7) repeating step (6) is loaded completion up to this row;
(8) repeating step (5)-(7) then do not have on each filling head and are loaded thing, and driver train is moved to the left take-off location, and each filling head picks up and loaded thing;
(9) repeat said process, up to accomplishing the filling process of all loading substrate;
(10) driver train moves to perch;
(11) loaded thing as if still having in the filling head, be used for loading next fetching device and load substrate.
5. an array picks and places method, it is characterized in that:
Processing mode is that monolithic is opened, load during sheet is opened the position many be row, line number with pick and place an assembly and become integral multiple; With sheet open by row arrange along the X forward; Take-off location is positioned at loads the substrate left side, and A is for loading the column pitch of substrate along X-direction, and H is for loading the column pitch of substrate along Y direction; M is the spacing between the filling head, and step is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain deviation angle a, wherein a is line and kinematic mechanism Y axle or the line of every row filling place-centric and the angle of kinematic mechanism X axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train is loaded the top of position with filling head the 1st row that move right, and each filling head will be loaded thing again be placed into the corresponding position of loading respectively;
(4) calibration of through above-mentioned sighting device substrate being carried out; Obtain the displacement that driver train need move; Driver train moves A*cos a with filling head along X axle negative sense; Load the top, position along moving M+A*sin a of y-axis shift and/or M-A*sin a to next column, each filling head will be loaded thing again and will be placed into the corresponding position of loading respectively;
(5) repeating step (4) does not have on filling head and is loaded thing, and driver train is moved to the left take-off location, and each filling head picks up is loaded the filling of thing continued, up to accomplishing the filling process of all loading substrate;
(6) driver train moves to perch;
(7) loaded thing as if still having in the filling head, be used for loading next fetching device substrate.
6. an array picks and places method, it is characterized in that:
Processing a plurality of opens; Load during each sheet is opened the position many and be pick and place an assembly integral multiple be row, each sheet is opened by row is arranged along the X forward, take-off location is positioned at loads the substrate left side; A is for loading the column pitch of substrate along X-direction; H is for loading the column pitch of substrate along Y direction, and M is the spacing between the filling head, and step is:
(1) driver train moves to the vision calibrating position from perch; Sighting device is calibrated substrate; Obtain offset angle, wherein β is line and kinematic mechanism X axle or the line of every row filling place-centric and the angle of kinematic mechanism Y axle that every row are loaded place-centric
(2) driver train moves to take-off location from the vision calibrating position, and each filling head picks up and loaded thing;
(3) driver train will pick and place move right first group of the 1st row of an assembly and load the top of position; Each picks and places the cooresponding first group of filling position of an assembly separately, and each first filling head that picks and places on the assembly will be placed into the upward cooresponding first group of filling position of filling substrate the 1st row respectively by the filling thing;
(4) calibration of through above-mentioned sighting device substrate being carried out; Obtain the displacement that driver train need move; Driver train will pick and place an assembly and move H*sin β along the X axle then; Load position along the moving H*cos β-M of y-axis shift and/or H*cos β+M to next group of this row, each picks and places next filling head on the assembly and will be loaded thing and be placed into respectively and load in the substrate cooresponding next group and load position;
(5) repeating step (4) is loaded completion up to first row;
(6) driver train will pick and place an assembly and move A*cos β to X axle negative sense then; To moving M-A*sin β of y-axis shift and/or M+A*sin β; Load the top, position to first group of next line; Each picks and places an assembly and loads the position separately for cooresponding first group, and each next filling head that picks and places on the assembly will be placed into cooresponding first group of filling position on this row respectively by the filling thing;
(7) driver train will pick and place an assembly and move H*sin β along the X axle then; Load position along the moving H*cos β-M of y-axis shift and/or H*cos β+M to next group of this row, each picks and places next filling head on the assembly and will be loaded thing and be placed on this row cooresponding next group respectively and load position;
(8) repeating step (7) is loaded completion up to this row;
(9) repeating step (6)-(8) then do not have on each filling head and are loaded thing, and driver train is moved to the left take-off location, and each filling head picks up and loaded thing;
(10) repeat said process, up to accomplishing the filling process of all loading substrate;
(11) driver train moves to perch;
(12) loaded thing as if still having in the filling head, be used for loading next fetching device and load substrate.
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