CN103203618A - Device for direct-driven and energy-saving online detection and efficient assembly - Google Patents

Device for direct-driven and energy-saving online detection and efficient assembly Download PDF

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Publication number
CN103203618A
CN103203618A CN2013101128313A CN201310112831A CN103203618A CN 103203618 A CN103203618 A CN 103203618A CN 2013101128313 A CN2013101128313 A CN 2013101128313A CN 201310112831 A CN201310112831 A CN 201310112831A CN 103203618 A CN103203618 A CN 103203618A
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China
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linear electric
electric motors
workpiece
platform
guide rail
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CN2013101128313A
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CN103203618B (en
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伍鹏
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Hualingjing machine (Zhejiang) Co.,Ltd.
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JIAXING HUALING MECHATRONICS CO Ltd
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Abstract

The invention relates to a device for direct-driven and energy-saving online detection and efficient assembly, and belongs to the technical field of automated detection devices with high precision. A disc is connected with a Y-axis platform through an L-shaped seat; the Y-axis platform is arranged on an X-axis platform; the X-axis platform and the Y-axis platform are driven by a U-type linear electric motor so as to realize two displacement freedom degrees of a sucking disc in X-axis and Y-axis directions; the displacement of the sucking disc in Z-axis direction is driven by a pneumatic sliding platform; and a placing table is rotated so as to realize the angle adjustment of the sucking disc around the X-axis. The linear electric motor, the placing table, the pneumatic sliding platform, a workpiece, a CCD (Charge-coupled Device) camera and an industrial personal computer form a position closed-loop feedback system. A workpiece table realizes accurate adjustment of angles and azimuths of the workpiece table along with the rotation of a moment rotary table. The device realizes accurate positioning and adjustment of four degrees of freedom of an upper workpiece sucked by the sucking disc, and the angles and azimuths of the upper and a lower workpieces of the workpiece table are accurately adjusted according to requirements, so that the energy utilization rate is effectively improved, and the device is suitable for automated detection and assembly with high precision and high response.

Description

A kind of energy-conservation online detection and efficient assembly equipment of directly driving
Technical field
The invention belongs to high-precision automatic checkout equipment technical field, be specifically related to a kind of energy-conservation online detection and efficient assembly equipment of directly driving.
Background technology
The three-dimensional measurement technology is widely used in that automation control processing, industry detect automatically, control of product quality etc., especially field of machine vision.CN102785073A discloses a kind of CCD and has detected pressing structure, whether for detection of qualified after the product assembling, the position of its CCD camera is by the knob adjustment, and positioning accuracy is not high and automaticity is low, secondly moving range is confined in the mounting hole of CCD sliding panel, and detection efficiency is lower.CN102267274A discloses a kind of micron precision three layer plane workpiece contraposition robot systems, and its X-axis displacement platform, Y-axis displacement platform, Z axial displacement platform and horizontal rotating table all adopt the stepper motor of open type control to drive.Because be open type control, system's position error that the interference of environment causes can't compensate, so this robot system positioning accuracy is limited.Secondly, stepper motor exists rotating speed and the low problem of torque, so this contraposition robot system, response speed is lower.The 3rd, the stepper motor volume weight is big, and energy utilization rate is low, and this must cause that this robot system volume weight is huge, and the bigger problem of power consumption.
Along with automation and development of material technology, techniques of linear motor is gradually ripe.Techniques of linear motor, no intermediate conversion mechanism, simple in structure, the mechanical efficiency height; Secondly linear electric motors speed, acceleration characteristic are good, and response is fast, the positioning accuracy height, so the combination of techniques of linear motor and three-dimensional measurement technology is the development trend of high accuracy checkout equipment.
Summary of the invention
At the existing problem that low, the anti-environmental disturbances of high accuracy checkout equipment response speed is poor, volume weight is big and power consumption is big, the present invention proposes a kind of energy-conservation online detection and efficient assembly equipment of directly driving, and efficiently solves above-mentioned deficiency.
A kind ofly directly drive energy-conservation online detection and efficient assembly equipment comprises linear electric motors platform, pneumatic system and control system, the output of control system is connected with pneumatic system with the linear electric motors platform and is connected.Described linear electric motors platform comprises X-axis platform 1, Y-axis platform 9, work stage 12, moment turntable 13, U-shaped linear electric motors I 4, U-shaped linear electric motors II 8, U-shaped linear electric motors III 10, U-shaped linear electric motors IV 15, guide rail I 2, guide rail II 3, guide rail III 14, guide rail IV 19, L shaped seat 21, main basal base 11 and steelframe support 7; The stationary part of U-shaped linear electric motors I 4 and U-shaped linear electric motors II 8, guide rail I 2 and guide rail II 3 are positioned on the X-axis platform 1, and the mover part of U-shaped linear electric motors I 4 and U-shaped linear electric motors II 8 is connected with Y-axis platform 9; Y-axis platform 9 moves back and forth along guide rail I 2 and guide rail II 3 under the driving of U-shaped linear electric motors I 4 and U-shaped linear electric motors II 8; Guide rail III 14 and guide rail IV 19 are installed on the main basal base 11, the stationary part of U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15 is fixed on the both sides of main basal base 11, the mover part of U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15 is connected with X-axis platform 1, X-axis platform 1 moves back and forth along guide rail III 14 and guide rail IV 19 under the combination of U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15 drives; The projection of length direction in horizontal plane of the length direction of guide rail I 2 and guide rail II 3 and guide rail III 14 and guide rail IV 19 is orthogonal; The stator of moment turntable 13 is fixed on the center of main basal base 11, and work stage 12 is positioned on the mover of moment turntable 13, is positioned over following workpiece 6 on the work stage 12 under the rotation of moment turntable 13, realizes the adjustment of angle orientation; Main basal base 11 is positioned at steelframe support 7 tops;
Described pneumatic system comprises pneumatic slide unit 22, set a table 23, suction cup carrier 16 and several suckers 18;
Described control system comprises industrial computer 31, controller, driver, connecting circuit, CCD camera I 17 and CCD camera II 20; CCD camera I 17, CCD camera II 20 and several suckers 18 are installed on the suction cup carrier 16, and setting a table of suction cup carrier 16 and variable-angle 23 is connected, and it is 23 affixed with pneumatic slide unit 22 to set a table, and pneumatic slide unit 22 is connected with Y-axis platform 9 through L shaped seat 21; Set a table 23 along with pneumatic slide unit 22 rises or decline along L shaped seat 21 in the vertical directions; Set a table 23 under the controlling of control system, adjust the angle orientation of the last workpiece 5 of suction cup carrier 16, CCD camera I 17, CCD camera II 20, sucker 18 and adhesive thereof; 23 tops that are positioned at moment turntable 13 of setting a table, make be positioned on the moment turntable 13 following workpiece 6 can be positioned at sucker 18 on last workpiece 5 cooperate assembling;
Industrial computer 31 control described linear electric motors platform, pneumatic system and CCD cameras, sucker 18 adhesives of last workpiece 5 and pneumatic system, following workpiece 6 is fixed on the moment turntable 13 of described linear electric motors platform, setting a table of described pneumatic system 23 is connected with the L shaped seat 21 of described linear electric motors platform, CCD camera I 15 and CCD camera II 20 detect the position relation that goes up workpiece 5 and following workpiece 6 in real time, and position signalling fed back on the industrial computer 31, realize closed-loop control.Compact integral structure, moving component is few, and good speed characteristics and the energy conservation characteristic of linear electric motors, so this checkout equipment response speed is fast, energy-saving effect is obvious.Secondly the last workpiece 5 with sucker 18 adhesives has four frees degree, and following workpiece 6 also can angle adjustment under 13 drives of moment turntable, therefore, and this equipment flexible movements, can be handling good.
For aligning accuracy and the anti-environmental disturbances that improves this equipment, the invention of claim 2 is U-shaped linear electric motors I 4, U-shaped linear electric motors II 8, U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15, pneumatic slide unit 22, set a table 23, CCD camera I 17, CCD camera II 20 is formed described position closed loop reponse system with described control system, CCD camera I 17 and CCD camera II 20 are taken the orientation of workpiece 6 down, the control system basis orientation of workpiece 6 is down calculated definite X-axis platform 1, the displacement of Y-axis platform 9 and pneumatic slide unit 22, and 23 the angle displacement amount of setting a table, control X-axis platform 1, Y-axis platform 9, pneumatic slide unit 22 and the 23 accurate location of setting a table, thereby the last workpiece 5 that sucker 18 is grasped is the traffic direction of X-axis platform 1 in X-axis, Y-axis is Y-axis platform 9 traffic directions, the Z axle is that pneumatic slide unit 13 is all accurately located along the traffic direction of L shaped seat 12 with around four frees degree that Y-axis is rotated, and positioning accuracy reaches micron order; Moment turntable 13, work stage 12 and industrial computer 31 are formed described position closed loop reponse system, the angle orientation of work stage 12 and following workpiece 6 is accurately adjusted, therefore the contraposition installation accuracy that goes up workpiece 5 and following workpiece 6 reaches micron order, and the reliability height of contraposition installation.
The invention of claim 3 is to be furnished with industrial computer 31 on the equipment display floater 30, on display floater 30, top board 24, the Qianmen 28 and the Qianmen under 32 make with lucite, succinctly visual; Electrical control cubicles 25 is placed on the equipment rear, and is connected with right plate 29 with left plate 26; Operation slot 27 is all opened at left plate 26 and right plate 29 middle parts, makes things convenient for pipelining.
The present invention can obtain following beneficial effect:
Last workpiece 5 can realize that four-degree-of-freedom accurately locatees under the drive of linear electric motors platform and pneumatic system, the angle orientation that is positioned over the following workpiece 6 of moment turntable 13 also can accurately be adjusted, thus these equipment flexible movements, can be handling good.
Be fixed in CCD camera I 17 and CCD camera II 20 on the suction cup carrier 16, be synchronized with the movement with the last workpiece 5 of sucker 18 adhesives, detect the position relation that goes up workpiece 5 and following workpiece 6 in real time, the displacement of the described linear electric motors platform of described control system On-line Control and pneumatic slide unit 22, and 23 the angle displacement amount of setting a table, make workpiece 5, down workpiece 6 can be fast, accurately contraposition.Since CCD camera scanning accuracy height, and can feed back to control system in real time, so this equipment aligning accuracy height, reach micron order, and anti-interference is good, the reliability height.
This equipment compact integral structure, moving component is few, and equipment body adopts linear electric motors to drive, and response is fast, positioning accuracy is high, energy-saving effect is obvious, is suitable for the high accuracy of electronic products such as PCB, liquid crystal flat-panel, responsively detects fast and occasion is installed in contraposition.
Description of drawings:
A kind of energy-conservation online detection and efficient assembly equipment (not containing cabinet) structure chart of directly driving of Fig. 1
A kind of energy-conservation online detection and efficient assembly equipment (not containing cabinet and workpiece) front view of directly driving of Fig. 2
A kind of energy-conservation online detection and efficient assembly equipment cabinet of directly driving of Fig. 3
A kind of energy-conservation online detection and efficient assembly equipment principle sketch of directly driving of Fig. 4
Among the figure: the 1.X shaft platform; 2. guide rail I; 3. guide rail II; 4.U type linear electric motors I; 5. go up workpiece; 6. play workpiece; 7. steelframe support; 8.U type linear electric motors II; 9.Y shaft platform; 10.U type linear electric motors III; 11. main basal base; 12. work stage; 13. moment turntable; 14. guide rail III; 15.U type linear electric motors IV; 16. suction cup carrier; 17.CCD camera I; 18. sucker; 19. guide rail IV; 20.CCD camera II; 21.L shape seat; 22. pneumatic slide unit; 23. set a table; 24. top board; 25. electrical control cubicles; 26. left plate; 27. operation slot; 28. on the Qianmen; 29. right plate; 30. display floater; 31. industrial computer; 32. under the Qianmen.
The specific embodiment
Below in conjunction with accompanying drawing specific embodiments of the invention are described.
After last workpiece 5 is positioned on the work stage 12, if the adhesive face of sucker 18 has angular misalignment with the adhesive face of last workpiece 5,13 rotations of moment turntable drive work stage 12 and go up workpiece 5 rotations, can realize that workpiece 5 angle orientations are consistent with the working face of sucker 18.
Thereupon, suction cup carrier 16 and sucker 18 make the adhesive face of sucker 18 parallel with last workpiece 5 adhesive faces under 23 the driving of setting a table.
Follow pneumatic slide unit 22 and transfer, drive sucker 18 and last workpiece 5 adhesives.After sucker 18 and last workpiece 5 adhesives, pneumatic slide unit 22 rises, and will go up workpiece 5 and promote certain distances.Setting a table 23 changes angles, makes workpiece 5 and work stage 12 present certain angle, purges dust removal to make things convenient for the working face to last workpiece 5.
Next will carry out the location and installation of two coupling workpiece.Target location and the angular relationship of workpiece 5 and following workpiece 6 at first are set at industrial computer 31.By U-shaped linear electric motors I 4, U-shaped linear electric motors II 8, U-shaped linear electric motors III 10, U-shaped linear electric motors IV 15, set a table 23, position closed loop reponse system that CCD camera I 17, II 20 and industrial computer 31 are formed, 6 of workpiece 5 detections in, time workpiece are that traffic direction, the Y-axis of X-axis platform 1 is that Y-axis platform 9 traffic directions, Z axle are pneumatic slide unit 22 along L shaped 21 traffic direction and physical location and angular relationship on Y-axis anglec of rotation orientation in X-axis.Sucker 18 with last workpiece 5 adhesives of place work piece platform 12, promotes certain distance earlier, and the X-axis of last workpiece 5 and Y-axis orientation also can be adjusted as required through linear electric motors, will play workpiece 6 to be fixed on the work stage 12 again.Then, start linear electric motors and moment turntable 13, make the angle orientation of workpiece 5 and following workpiece 6 unanimous on the whole.Described position closed loop reponse system drives X-axis platform 1, Y-axis platform 9, set a table 23 and pneumatic slide unit 22 and 13 motions of moment turntable, and the real time position relation is fed back to described control system, the location matches of workpiece 5 and following workpiece 6 in realizations.Subsequently, pneumatic slide unit 22 descends, and will go up workpiece 5 and accurately be installed on down on the workpiece 6.Sucker 18 breaks away from adhesive with last workpiece 5, and the accurate location and installation operation of two coupling workpiece is namely accused and finished.
Repeat aforesaid operations, can carry out the assembling of contraposition quickly and accurately of a plurality of workpiece.

Claims (3)

1. one kind is directly driven energy-conservation online detection and efficient assembly equipment, it is characterized in that: comprise linear electric motors platform, pneumatic system and control system, the output of control system is connected with pneumatic system with the linear electric motors platform and is connected;
Described linear electric motors platform comprises X-axis platform (1), Y-axis platform (9), work stage (12), moment turntable (13), U-shaped linear electric motors I (4), U-shaped linear electric motors II (8), U-shaped linear electric motors III (10), U-shaped linear electric motors IV (15), guide rail I (2), guide rail II (3), guide rail III (14), guide rail IV (19), L shaped seat (21), main basal base (11) and steelframe support (7); The stationary part of U-shaped linear electric motors I (4) and U-shaped linear electric motors II (8), guide rail I (2) and guide rail II (3) are positioned on the X-axis platform (1), and the mover part of U-shaped linear electric motors I (4) and U-shaped linear electric motors II (8) is connected with Y-axis platform (9); Y-axis platform (9) moves back and forth along guide rail I (2) and guide rail II (3) under the driving of U-shaped linear electric motors I (4) and U-shaped linear electric motors II (8); Guide rail III (14) and guide rail IV (19) are installed on the main basal base (11), the stationary part of U-shaped linear electric motors III (10) and U-shaped linear electric motors IV (15) is fixed on the both sides of main basal base (11), the mover part of U-shaped linear electric motors III (10) and U-shaped linear electric motors IV (15) is connected with X-axis platform (1), X-axis platform (1) moves back and forth along guide rail III (14) and guide rail IV (19) under the combination of U-shaped linear electric motors III (10) and U-shaped linear electric motors IV (15) drives; The projection of length direction in horizontal plane of the length direction of guide rail I (2) and guide rail II (3) and guide rail III (14) and guide rail IV (19) is orthogonal; The stator of moment turntable (13) is fixed on the center of main basal base (11), work stage (12) is positioned on the mover of moment turntable (13), be positioned over following workpiece (6) on the work stage (12) under the rotation of moment turntable (13), realize the adjustment of angle orientation; Main basal base (11) is positioned at steelframe support (7) top;
Described pneumatic system comprises pneumatic slide unit (22), set a table (23), suction cup carrier (16) and several suckers (18);
Described control system comprises industrial computer (31), controller, driver, connecting circuit, CCD camera I (17) and CCD camera II (20); CCD camera I (17), CCD camera II (20) and several suckers (18) are installed on the suction cup carrier (16), suction cup carrier (16) is connected with set a table (23) of variable-angle, set a table (23) and pneumatic slide unit (22) is affixed, and pneumatic slide unit (22) is connected with Y-axis platform (9) through L shaped seat (21); Set a table (23) along with pneumatic slide unit (22) rises or decline along L shaped seat (21) in the vertical direction; Set a table (23) under the controlling of control system, adjust the angle orientation of the last workpiece (5) of suction cup carrier (16), CCD camera I (17), CCD camera II (20), sucker (18) and adhesive thereof; Set a table (23) be positioned at the top of moment turntable (13), make be positioned on the moment turntable (13) following workpiece (6) can be positioned at sucker (18) on last workpiece (5) cooperate assembling;
Industrial computer (31) control described linear electric motors platform, pneumatic system and CCD camera, sucker (18) adhesive of last workpiece (5) and pneumatic system, following workpiece (6) is fixed on the moment turntable (13) of described linear electric motors platform, set a table (23) of described pneumatic system are connected with the L shaped seat (21) of described linear electric motors platform, CCD camera I (15) and CCD camera II (20) detect the position relation that goes up workpiece (5) and following workpiece (6) in real time, and position signalling fed back on the industrial computer (31), realize closed-loop control.
2. a kind of energy-conservation online detection and efficient assembly equipment of directly driving according to claim 1, it is characterized in that: U-shaped linear electric motors I (4), U-shaped linear electric motors II (8), U-shaped linear electric motors III (10) and U-shaped linear electric motors IV (15), pneumatic slide unit (22), set a table (23), CCD camera I (17), CCD camera II (20) is formed the position closed loop reponse system with control system, CCD camera I (17) and CCD camera II (20) are taken the orientation of workpiece, the control system basis orientation of workpiece (6) is down calculated definite X-axis platform (1), the displacement of Y-axis platform (9) and pneumatic slide unit (22), and the angle displacement amount of set a table (23), control X-axis platform (1), Y-axis platform (9), pneumatic slide unit (22) and (23) the accurately location of setting a table, thereby the last workpiece (5) that sucker (18) is grasped is the traffic direction of X-axis platform (1) in X-axis, Y-axis is Y-axis platform (9) traffic direction, the Z axle is that pneumatic slide unit (13) is all accurately located along the traffic direction of L shaped seat (12) with around four frees degree that Y-axis is rotated, and positioning accuracy reaches micron order; Moment turntable (13), work stage (12) and industrial computer (31) are formed the position closed loop reponse system, and the angle orientation of work stage (12) and following workpiece (6) is accurately adjusted.
3. a kind of energy-conservation online detection and efficient assembly equipment of directly driving according to claim 1, it is characterized in that: be furnished with industrial computer (31) on the equipment display floater (30), on display floater (30), top board (24), the Qianmen under (28) and the Qianmen (32) make with lucite, succinctly visual; Electrical control cubicles (25) is placed on the equipment rear, and is connected with right plate (29) with left plate (26); Operation slot (27) is all opened at left plate (26) and right plate (29) middle part, makes things convenient for pipelining.
CN201310112831.3A 2013-04-02 2013-04-02 Device for direct-driven and energy-saving online detection and efficient assembly Active CN103203618B (en)

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CN103203618B CN103203618B (en) 2015-05-27

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397462A (en) * 2015-12-30 2016-03-16 深圳连硕自动化科技有限公司 Precise speed reducer bearing assembling device
CN106956258A (en) * 2016-01-08 2017-07-18 上银科技股份有限公司 Paths planning method and compensator that array is picked and placeed are carried out using mechanical arm
CN107336991A (en) * 2017-07-25 2017-11-10 纳恩博(天津)科技有限公司 Feeder apparatus
WO2018205139A1 (en) * 2017-05-09 2018-11-15 深圳市兴华炜科技有限公司 Split-type pcb board transportation rail detecting platform

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06125198A (en) * 1992-10-12 1994-05-06 Yamatake Honeywell Co Ltd Surface mount machine
CN201955592U (en) * 2010-12-09 2011-08-31 郑春晓 Multifunctional visual sense automatic contraposition applying machine
CN102267274A (en) * 2011-08-02 2011-12-07 上海交通大学 Micro precision three-layer plane workpiece aligning robot system
CN102785073A (en) * 2012-08-06 2012-11-21 吴江市博众精工科技有限公司 CCD (Charge Coupled Device) detection pressing mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06125198A (en) * 1992-10-12 1994-05-06 Yamatake Honeywell Co Ltd Surface mount machine
CN201955592U (en) * 2010-12-09 2011-08-31 郑春晓 Multifunctional visual sense automatic contraposition applying machine
CN102267274A (en) * 2011-08-02 2011-12-07 上海交通大学 Micro precision three-layer plane workpiece aligning robot system
CN102785073A (en) * 2012-08-06 2012-11-21 吴江市博众精工科技有限公司 CCD (Charge Coupled Device) detection pressing mechanism

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397462A (en) * 2015-12-30 2016-03-16 深圳连硕自动化科技有限公司 Precise speed reducer bearing assembling device
CN106956258A (en) * 2016-01-08 2017-07-18 上银科技股份有限公司 Paths planning method and compensator that array is picked and placeed are carried out using mechanical arm
CN106956258B (en) * 2016-01-08 2020-06-30 上银科技股份有限公司 Path planning method and compensator for array pick-and-place by using mechanical arm
WO2018205139A1 (en) * 2017-05-09 2018-11-15 深圳市兴华炜科技有限公司 Split-type pcb board transportation rail detecting platform
CN107336991A (en) * 2017-07-25 2017-11-10 纳恩博(天津)科技有限公司 Feeder apparatus
CN107336991B (en) * 2017-07-25 2019-06-18 纳恩博(天津)科技有限公司 Feeder apparatus

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Denomination of invention: Device for direct-driven and energy-saving online detection and efficient assembly

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