CN103203618B - 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 PDFInfo
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- CN103203618B CN103203618B CN201310112831.3A CN201310112831A CN103203618B CN 103203618 B CN103203618 B CN 103203618B CN 201310112831 A CN201310112831 A CN 201310112831A CN 103203618 B CN103203618 B CN 103203618B
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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
Technical field
The invention belongs to high-precision automatic checkout equipment technical field, be specifically related to one and directly drive energy-conservation on-line checkingi and efficient assembly equipment.
Background technology
Three-dimensional measurement technology is widely used in Automated condtrol processing, industry detects automatically, control of product quality etc., especially field of machine vision.CN 102785073A discloses a kind of CCD and detects pressing structure, whether for qualified after testing product assembling, the position of its CCD camera is adjusted by knob, and positioning precision 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.CN 102267274A discloses a kind of micron accuracy three layer plane workpiece contraposition robot system, and its X-axis displacement platform, Y-axis displacement platform, Z axis displacement platform and horizontal rotating table, all adopt the driving stepper motor that open type controls.Owing to being that open type controls, the system position error that the interference of environment causes cannot compensate, and therefore this robot system positioning precision is limited.Secondly, there is rotating speed and the low problem of torque in stepper motor, so this contraposition robot system, response speed is lower.3rd, stepper motor volume weight is large, and energy utilization rate is low, and this must cause this robot system volume weight huge, and the problem that power consumption is larger.
Along with the development of automation and material technology, techniques of linear motor is gradually ripe.Techniques of linear motor, without intermediate conversion mechanism, structure is simple, and mechanical efficiency is high; Next linear electric motors speed, acceleration characteristic are good, and response is fast, and positioning precision is high, and therefore the combination of techniques of linear motor and three-dimensional measurement technology is, the development trend of high precision test equipment.
Summary of the invention
The problem low for existing high precision test device responds speed, environment resistant interference is poor, volume weight is large and power consumption is large, the present invention proposes one and directly drives energy-conservation on-line checkingi and efficient assembly equipment, efficiently solves above-mentioned deficiency.
One directly drives energy-conservation on-line checkingi and efficient assembly equipment comprises linear electric motors platform, pneumatic system and control system, and the output of control system is connected with linear electric motors platform and pneumatic system connects.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 shape 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 X-axis platform 1, and U-shaped linear electric motors I 4 are connected with Y-axis platform 9 with the subpart of U-shaped linear electric motors II 8; Y-axis platform 9, under the driving of U-shaped linear electric motors I 4 and U-shaped linear electric motors II 8, moves back and forth along guide rail I 2 and guide rail II 3; Guide rail III 14 and guide rail IV 19 are installed on 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, U-shaped linear electric motors III 10 are connected with X-axis platform 1 with the subpart of U-shaped linear electric motors IV 15, X-axis platform 1, under the combination of U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15 drives, moves back and forth along guide rail III 14 and guide rail IV 19; The length direction of guide rail I 2 and guide rail II 3 and the projection of length direction in horizontal plane of guide rail III 14 and guide rail IV 19 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 lower workpiece 6 in work stage 12 under the rotation of moment turntable 13, realizes the adjustment of angle orientation; Main basal base 11 is positioned at above steelframe support 7;
Described pneumatic system comprises Pneumatic slid platform 22, set a table 23, suction cup carrier 16 and several sucker 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 sucker 18 are installed in suction cup carrier 16, and setting a table of suction cup carrier 16 and variable-angle 23 is connected, and set a table 23 affixed with Pneumatic slid platform 22, Pneumatic slid platform 22 is connected with Y-axis platform 9 through L shape seat 21; Set a table 23 along with Pneumatic slid platform 22 is along L shape seat 21 in the vertical direction liter or decline; Set a table 23 under the manipulation of control system, the angle orientation of the upper workpiece 5 of adjustment suction cup carrier 16, CCD camera I 17, CCD camera II 20, sucker 18 and adhesive thereof; To set a table 23 tops being positioned at moment turntable 13, the lower workpiece 6 be positioned on moment turntable 13 can be coordinated with the upper workpiece 5 be positioned on sucker 18 and assemble;
Industrial computer 31 controls described linear electric motors platform, pneumatic system and CCD camera, sucker 18 adhesive of upper workpiece 5 and pneumatic system, lower 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 shape seat 21 of described linear electric motors platform, CCD camera I 17 and CCD camera II 20 detect the position relationship of upper workpiece 5 and lower workpiece 6 in real time, and position signalling is fed back on industrial computer 31, realize closed-loop control.Compact integral structure, moving component is few, and the excellent speed characteristics of linear electric motors and energy conservation characteristic, and therefore this checkout equipment fast response time, energy-saving effect are obvious.Secondly have four frees degree with the upper workpiece 5 of sucker 18 adhesive, lower workpiece 6, also can angle adjustment under moment turntable 13 drives, therefore, this device action flexibly, can be handling good.
In order to improve aligning accuracy and the environment resistant interference of this equipment, U-shaped linear electric motors I 4 of the present invention, U-shaped linear electric motors II 8, U-shaped linear electric motors III 10 and U-shaped linear electric motors IV 15, Pneumatic slid platform 22, set a table 23, CCD camera I 17, CCD camera II 20 and described control system form described position closed loop reponse system, CCD camera I 17 and CCD camera II 20 take the orientation of lower workpiece 6, control system calculates according to the orientation of lower workpiece 6 determines X-axis platform 1, the displacement of Y-axis platform 9 and Pneumatic slid platform 22, and set a table 23 angle displacement amount, control X-axis platform 1, Y-axis platform 9, Pneumatic slid platform 22 and setting a table 23 is accurately located, thus the upper workpiece 5 making sucker 18 capture is at the traffic direction of X-axis and X-axis platform 1, Y-axis and Y-axis platform 9 traffic direction, Z axis and Pneumatic slid platform 22 are along the traffic direction of L shape seat 21 and all accurately locate around four frees degree that Y-axis rotates, positioning precision reaches micron order, moment turntable 13, work stage 12 and industrial computer 31 form described position closed loop reponse system, make the angle orientation accurate adjustment of work stage 12 and lower workpiece 6, therefore go up workpiece 5 and reach micron order with the contraposition installation accuracy of lower workpiece 6, and the reliability that contraposition is installed is high.
Equipment display floater 30 of the present invention is furnished with industrial computer 31, on display floater 30, top board 24, Qianmen 28 and Qianmen under 32 to make with lucite, compact visual; Electrical control cubicles 25 is placed on equipment rear, and is connected with left plate 26 and right plate 29; All open operation slot 27 in the middle part of left plate 26 and right plate 29, facilitate pipelining.
The present invention can obtain following beneficial effect:
Upper workpiece 5 is under the drive of linear electric motors platform and pneumatic system, and can realize four-degree-of-freedom and accurately locate, the angle orientation being positioned over the lower workpiece 6 of moment turntable 13 also can accurately adjust, therefore this device action flexibly, can be handling good.
Be fixed on the CCD camera I 17 in suction cup carrier 16 and CCD camera II 20, be synchronized with the movement with the upper workpiece 5 of sucker 18 adhesive, the position relationship of workpiece 5 and lower workpiece 6 in real-time detection, the displacement of linear electric motors platform and Pneumatic slid platform 22 described in described control system On-line Control, and set a table 23 angle displacement amount, make workpiece 5, lower workpiece 6 can fast, accurate contraposition.Because CCD camera scanning accuracy is high, and energy Real-time Feedback is to control system, and therefore this equipment aligning accuracy is high, reaches micron order, and anti-interference is good, and reliability is high.
This equipment compact integral structure, moving component is few, and equipment body employing linear electric motors drive, and response is fast, positioning precision is high, energy-saving effect is obvious, is suitable for the high accuracy of the electronic product such as PCB, liquid crystal flat-panel, fast responsively detection and contraposition and installs occasion.
Accompanying drawing illustrates:
Fig. 1 one directly drives energy-conservation on-line checkingi and efficient assembly equipment (not containing cabinet) structure chart
Fig. 2 one directly drives energy-conservation on-line checkingi and efficient assembly equipment (not containing cabinet and workpiece) front view
Fig. 3 one directly drives energy-conservation on-line checkingi and efficient assembly equipment cabinet
Fig. 4 one directly drives energy-conservation on-line checkingi and efficient assembly equipment principle sketch
In figure: 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 bases; 12. work stage; 13. moment turntables; 14. guide rails III; 15.U type linear electric motors IV; 16. suction cup carrier; 17.CCD camera I; 18. suckers; 19. guide rails IV; 20.CCD camera II; 21.L shape seat; 22. Pneumatic slid platforms; 23. set a table; 24. top boards; 25. electrical control cubicles; 26. left plates; 27. operation slot; On 28. Qianmens; 29. right plates; 30. display floaters; 31. industrial computers; Under 32. Qianmens.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are described.
After upper workpiece 5 is positioned in work stage 12, if there is angular misalignment in the adhesive face of sucker 18 with the adhesive face of upper workpiece 5, moment turntable 13 rotates, and drives work stage 12 and upper workpiece 5 to rotate, can realize workpiece 5 angle orientation consistent with the working face of sucker 18.
Thereupon, suction cup carrier 16 and sucker 18 set a table 23 driving under, make the adhesive face of sucker 18 parallel with upper workpiece 5 adhesive face.
Then Pneumatic slid platform 22 is transferred, and drives sucker 18 and the adhesive of upper workpiece 5.After sucker 18 and the adhesive of upper workpiece 5, Pneumatic slid platform 22 rises, and upper workpiece 5 is promoted certain distance.To set a table 23 change angles, make workpiece 5 and work stage 12 present certain angle, to facilitate, purging dust removal is carried out to the working face of upper workpiece 5.
Next the location and installation of two coupling workpiece will be carried out.First target location and the angular relationship of workpiece 5 and lower workpiece 6 are set on 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 form, the traffic direction at X-axis and X-axis platform 1 between workpiece 5, lower workpiece 6 in detection, Y-axis and Y-axis platform 9 traffic direction, Z axis and Pneumatic slid platform 22 are along the traffic direction of L shape seat 21 and the physical location in Y-axis anglec of rotation orientation and angular relationship.Sucker 18 is first by upper workpiece 5 adhesive of place work piece platform 12, and promote certain distance, X-axis and the Y-axis orientation of upper workpiece 5 also can adjust through linear electric motors as required, then are fixed in work stage 12 by lower workpiece 6.Then, start linear electric motors and moment turntable 13, make the angle orientation of workpiece 5 and lower workpiece 6 unanimous on the whole.Described position closed loop reponse system drives X-axis platform 1, Y-axis platform 9, move, and feed back to described control system to real time position relation, the location matches of workpiece 5 and lower workpiece 6 in realization in set a table 23 and Pneumatic slid platform 22 and moment turntable 13.Subsequently, Pneumatic slid platform 22 declines, and is accurately installed on lower workpiece 6 by upper workpiece 5.Sucker 18 and upper workpiece 5 depart from adhesive, and namely the accurate location and installation operation of two coupling workpiece has accused.
Repeat aforesaid operations, the assembling of contraposition quickly and accurately of multiple workpiece can be carried out.
Claims (3)
1. directly drive energy-conservation on-line checkingi and an 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 linear electric motors platform and pneumatic system connects;
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 shape 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 X-axis platform (1), and U-shaped linear electric motors I (4) are connected with Y-axis platform (9) with the subpart of U-shaped linear electric motors II (8); Y-axis platform (9), under the driving of U-shaped linear electric motors I (4) and U-shaped linear electric motors II (8), moves back and forth along guide rail I (2) and guide rail II (3); Guide rail III (14) and guide rail IV (19) are installed on 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), U-shaped linear electric motors III (10) are connected with X-axis platform (1) with the subpart of U-shaped linear electric motors IV (15), X-axis platform (1) under the combination of U-shaped linear electric motors III (10) and U-shaped linear electric motors IV (15) drives, along guide rail III (14) and guide rail IV (19) reciprocating motion; The length direction of guide rail I (2) and guide rail II (3) and the projection of length direction in horizontal plane of guide rail III (14) and guide rail IV (19) 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 lower workpiece (6) in 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 slid platform (22), set a table (23), suction cup carrier (16) and several sucker (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 sucker (18) are installed in suction cup carrier (16), suction cup carrier (16) is connected with set a table (23) of variable-angle, set a table (23) and Pneumatic slid platform (22) is affixed, and Pneumatic slid platform (22) is connected with Y-axis platform (9) through L shape seat (21); Set a table (23) along with Pneumatic slid platform (22) is along L shape seat (21) in the vertical direction liter or decline; Set a table (23) under the manipulation of control system, the angle orientation of the upper workpiece (5) of adjustment 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), the lower workpiece (6) be positioned on moment turntable (13) can be coordinated with the upper workpiece (5) be positioned on sucker (18) and assembles;
Industrial computer (31) controls described linear electric motors platform, pneumatic system and CCD camera, sucker (18) adhesive of upper workpiece (5) and pneumatic system, lower 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 shape seat (21) of described linear electric motors platform, CCD camera I (17) and CCD camera II (20) detect the position relationship of upper workpiece (5) and lower workpiece (6) in real time, and position signalling is fed back on industrial computer (31), realize closed-loop control.
2. one according to claim 1 directly drives energy-conservation on-line checkingi and efficient assembly equipment, 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 slid platform (22), set a table (23), CCD camera I (17), CCD camera II (20) and control system form position closed loop reponse system, CCD camera I (17) and CCD camera II (20) take the orientation of workpiece, control system calculates according to the orientation of lower workpiece (6) determines X-axis platform (1), the displacement of Y-axis platform (9) and Pneumatic slid platform (22), and the angle displacement amount of set a table (23), control X-axis platform (1), Y-axis platform (9), Pneumatic slid platform (22) and set a table (23) are accurately located, thus the upper workpiece (5) making sucker (18) capture is at the traffic direction of X-axis and X-axis platform (1), Y-axis and Y-axis platform (9) traffic direction, Z axis and Pneumatic slid platform (22) are along the traffic direction of L shape seat (21) and all accurately locate around four frees degree that Y-axis rotates, positioning precision reaches micron order, moment turntable (13), work stage (12) and industrial computer (31) composition position closed loop reponse system, makes the angle orientation accurate adjustment of work stage (12) and lower workpiece (6).
3. one according to claim 1 directly drives energy-conservation on-line checkingi and efficient assembly equipment, it is characterized in that: equipment display floater (30) is furnished with industrial computer (31), on display floater (30), top board (24), Qianmen, under (28) and Qianmen, (32) make with lucite, compact visual; Electrical control cubicles (25) is placed on equipment rear, and is connected with left plate (26) and right plate (29); Operation slot (27) is all opened at left plate (26) and right plate (29) middle part, facilitates pipelining.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310112831.3A CN103203618B (en) | 2013-04-02 | 2013-04-02 | Device for direct-driven and energy-saving online detection and efficient assembly |
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| CN201310112831.3A CN103203618B (en) | 2013-04-02 | 2013-04-02 | Device for direct-driven and energy-saving online detection and efficient assembly |
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| CN103203618A CN103203618A (en) | 2013-07-17 |
| CN103203618B true CN103203618B (en) | 2015-05-27 |
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| CN105397462B (en) * | 2015-12-30 | 2018-08-28 | 深圳连硕自动化科技有限公司 | A kind of accurate retarding machine bearing assembling device |
| 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 |
| CN107584258B (en) * | 2016-07-07 | 2024-02-23 | 浙江正泰电器股份有限公司 | Inclined runner assembly device |
| 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 |
| CN107336991B (en) * | 2017-07-25 | 2019-06-18 | 纳恩博（天津）科技有限公司 | Feeder apparatus |
| CN110170785A (en) * | 2019-05-31 | 2019-08-27 | 广东瑞谷光网通信股份有限公司 | A kind of LD chip positioning device |
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| 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 automatic alignment laminating 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 |
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2013
- 2013-04-02 CN CN201310112831.3A patent/CN103203618B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 automatic alignment laminating 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 |
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Denomination of invention: Device for direct-driven and energy-saving online detection and efficient assembly Effective date of registration: 20161019 Granted publication date: 20150527 Pledgee: Bank of Hangzhou, Limited by Share Ltd, Jiaxing branch Pledgor: Jiaxing Hualing Mechatronics Co., Ltd. Registration number: 2016990000881 |
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Address after: 314000 No. 959, Kexing Road, Daqiao Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee after: Hualingjing machine (Zhejiang) Co.,Ltd. Address before: 314006 floor 1, building 6, No. 3339, linggongtang Road, Jiaxing City, Zhejiang Province Patentee before: JIAXING HUALING MECHATRONICS Co.,Ltd. |