CN103313591A - Part identification system and part identification method - Google Patents
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- CN103313591A CN103313591A CN2012101895077A CN201210189507A CN103313591A CN 103313591 A CN103313591 A CN 103313591A CN 2012101895077 A CN2012101895077 A CN 2012101895077A CN 201210189507 A CN201210189507 A CN 201210189507A CN 103313591 A CN103313591 A CN 103313591A
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Abstract
The invention relates to a part identification system, which is used for driving an automatic device to pick up a part and adjust a pin of the part to a preset position. The part comprises a top part, a bottom part and at least one group of pins, wherein the pins are arranged at the bottom part, and the top part at least comprises a positioning feature. The part identification system comprises a feeding device, an optical sensor and a data processing device. The feeding device adjusts the parts to a preset placing state for the automatic device to pick up. The optical sensor is arranged on one side of the feeding device and captures sampling data from the top of the part in a preset placing state. The data processing device is electrically connected with the optical sensor and the automation device. The data processing device receives the sampling data, generates an instruction according to the positioning characteristics in the sampling data, and transmits the instruction to the automation device so as to drive the automation device to pick up the part and then rotate the part according to the instruction.
Description
[technical field]
The present invention relates to a kind of automatic assembling of part, particularly relevant a kind of part identification system and part discrimination method.
[background technology]
In making a circuit board, for example during a computer main frame panel, many electronic components must be positioned on the printing Electricity base board (PCB) one by one, and are welded.Aforesaid electronic component comprises two pins at least.For example, except columned external, electric capacity also comprises two pins, two pins have the difference of positive pole and negative pole.The PCB substrate comprises the jack that sets in advance, and corresponds respectively to two pins.Two pins must insert correct jack according to the difference of positive pole and negative pole, just can carry out welding job.
Being positioned on the substrate aforementioned electronic part and the operation of pin being inserted correct jack, is as main at present take manpower.Although automation equipment can be positioned over part on the circuit board rapidly, after automation equipment gets up the plug-in unit part pickup, and can't judge the difference of the relative position of the relative position of pin and jack.Therefore, be to arrange the plug-in unit part with manpower on the practice, adjust in advance the relative position of pin, so that automation equipment only needs translation plug-in unit part, just can make pin insert correct jack.Arrange the plug-in unit part with manpower, so that the making of the circuit board products such as motherboard becomes the operation of high manpower demand, cause human cost to be difficult to descend.
[summary of the invention]
In the background technology, after automation equipment gets up the plug-in unit part pickup, and can't judge the difference of the relative position of the relative position of pin and jack.Therefore need to arrange the plug-in unit part with a large amount of manpowers in advance, and adjust the relative position of pin.Therefore, the making of the circuit board product such as motherboard becomes the operation of high manpower demand.
In view of this, the invention provides a kind of part identification system and part discrimination method, can provide the anglec of rotation to automation equipment, make automation equipment automatically adjust the pin position of part to correct relative position.
Part identification system of the present invention, in order to producing an instruction, driving an automation equipment in picking up a part, and the pin of adjusting part is to a predeterminated position.Part comprises a top, a bottom and one group of pin, and pin is arranged at the bottom.The top comprises a location feature at least.The part identification system comprises a pay-off, an optical sensor and data processing equipment.
Pay-off is adjusted the predetermined laying state of part to and is picked up for automation equipment.Optical sensor is located at a side of pay-off, and the top that certainly is positioned at the part of predetermined laying state captures a sampled data.Data processing equipment is electrically connected optical sensor and automation equipment.Data processing equipment receives sampled data, and according to the location feature in the sampled data produce instruction, with command to automation equipment, with after driving automation equipment and picking up part, according to the instruction rotating part.
Part identification system of the present invention, wherein predetermined laying state is for being adjusted to pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.
Part identification system of the present invention, wherein pay-off comprises vibrations sorting machine and a feed track one by one, the vibrations sorting machine is adjusted part to predetermined laying state, and the feed track receives part from shaking sorting machine, and the end that part is transported to the feed track picks up for automation equipment.
Part identification system of the present invention wherein shakes sorting machine and comprises a pallet and a shaking device, the accommodating at least one part of pallet, and feed track connecting trays, and shaking device is connected in pallet, shakes pallet along center to the circumferencial direction of pallet.
Part identification system of the present invention, wherein optical sensor is a pick-up lens, the image at the top of its acquisition part is with the generation sampled data.
Part identification system of the present invention, wherein store predeterminated position data in the data processing equipment, represent location feature and need corresponding position in the top, and data processing equipment receives sampled data, the position of analyzing and positioning feature, and comparison position and predeterminated position data, thereby judge the needed anglec of rotation of part and produce a corresponding instruction.
Part identification system of the present invention, wherein optical sensor is arranged at automation equipment.
Part identification system of the present invention, wherein more comprise a specified wavelength light source, in order to throw specified wavelength light to the predeterminated position of location feature, and optical sensor obtains specified wavelength reflection of light intensity as sampled data, data processing equipment judges according to reflected intensity whether part is in the correct state of pin relative position, and produce instruction with rotating part to the angle that is suitable for plug-in unit.
The present invention also discloses a kind of part discrimination method, and in order to driving an automation equipment after picking up a part, rotating part is also adjusted pin to a predeterminated position of part.Part comprises a top, a bottom and at least one group of pin, and pin is arranged at the bottom, and the top comprises a location feature at least.
The part discrimination method comprises the following step:
With the front end of pay-off conveying parts to a feed track, and adjust the predetermined laying state of part to;
Capture a sampled data with an optical sensor from the top of part;
Load predeterminated position to a data processing equipment, represent location feature and need corresponding position in the top;
Receive sampled data with data processing equipment, the analyzing and positioning feature is in the position at top;
Compare location feature in position and the predeterminated position data at top with data processing equipment;
, locate material processing device and judge that part is according to the needed anglec of rotation of its long axis direction in the position at top based on predeterminated position and location feature; And
Transmit the anglec of rotation to automation equipment with data processing equipment.
Part discrimination method of the present invention, wherein predetermined laying state is for being adjusted to pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.
Effect of the present invention is, automation equipment is further rotated part after picking up part, so that the pin of part can cooperate the jack of mainboard.Therefore, part does not need to arrange by manpower, has saved the demand of manpower, promotes the efficient of part installation exercise simultaneously yet.
[description of drawings]
The present invention is further detailed explanation below in conjunction with drawings and embodiments.
Fig. 1 is the schematic perspective view of first embodiment of the invention.
Fig. 2 is the part of first embodiment of the invention and the schematic perspective view of printed circuit board (PCB).
Fig. 3 is the schematic perspective view of the pay-off of first embodiment of the invention.
Fig. 4 is the part of first embodiment of the invention and the schematic perspective view of printed circuit board (PCB).
Fig. 5 is the schematic diagram of the part identification system of first embodiment of the invention.
Fig. 6 is the automation equipment of second embodiment of the invention and the schematic perspective view of optical sensor.
Fig. 7 is the schematic diagram of the part identification system of third embodiment of the invention.
Fig. 8 is the flow chart of steps of the part discrimination method of one embodiment of the invention.
The primary clustering symbol description:
100 pay-offs, 110 vibrations sorting machines
111 pallets, 112 shaking devices
120 feed tracks, 200 optical sensor
300 data processing equipments, 600 conveying equipments
700 printed circuit board (PCB)s, 710 jacks
800 parts, 810 tops
811 location features, 820 bottoms
830 pins, 900 automation equipments
910 pickup units
[embodiment]
See also shown in Figure 1, be the disclosed part identification system of first embodiment of the invention, in order to produce an instruction, to drive an automation equipment 900 in picking up (Pick-up) part 800(insertion-part) after, adjust pin 830 to one predeterminated positions of part 800, and part 800 is positioned on the printed circuit board (PCB) 700.
Consult shown in Figure 2ly, part 800 comprises a top 810, a bottom 820 and is arranged at least one group pin 830 of bottom on 820.The top 810 of part 800 comprises a location feature 811 at least.Printed circuit board (PCB) 700 comprises jack 710, inserts for corresponding pin 830 respectively.Automation equipment 900 picks up part 800, and printed circuit board (PCB) 700 is put in part 800 installations, makes each pin 830 insert respectively corresponding jack 710.
Four-axial comprises three linear axial and an axial rotary.Three linear axial be contained in translation on the printed circuit board (PCB) 700 first axially and second axial, and vertically approach or the 3rd axial away from printed circuit board (PCB) 700 surfaces.It is the 3rd axial that axial rotary is parallel to, so that part 800 is rotated.
As shown in Figure 1, the part identification system comprises a pay-off 100, an optical sensor 200 and a data processing equipment 300.
As shown in Figure 1, it is other that pay-off 100 is arranged at a conveying equipment 600, and conveying equipment 600 is in order to carry printed circuit board (PCB) 700 to one precalculated positions.Pay-off 100 is adjusted part 800 to one predetermined laying states in order to part 800 to be provided.Predetermined laying state picks up part 800 for automation equipment 900, and part 800 is positioned on the printed circuit board (PCB) 700 for pin 830 being adjusted to the direction placement that is suitable for inserting printed circuit board (PCB) 700 jacks 710.
Such as Fig. 1 and shown in Figure 3, pay-off 100 is in order to feeding parts 800, and adjusts part 800 to one predetermined laying states, and all downward state of pin 830 for example so that a plurality of part 800 sequentially arranges, and all presents predetermined laying state.
As shown in Figure 3, pay-off 100 comprises vibrations sorting machine 110 and a feed track 120.Vibrations sorting machine 110 is in order to adjust part 800 to predetermined laying state.Vibrations sorting machine 110 comprises a pallet 111 and a shaking device 112.
As shown in Figure 4, pallet 111 is in order to accommodating at least one part 800.Shaking device 112 is connected in pallet 111, shake in the circumferential direction of the circle pallet 111 with the center of pallet 111, use so that part 800 moves towards holding pallet 111a edge, and rely on the edge of pallet 111 and mobile in the circumferential direction of the circle, and make its state change into gradually predetermined laying state, the downward state of pin 830 for example.
As shown in Figure 3, feed track 120 is connected in pallet 111, receives parts 800 in order to the pallet 111 that certainly shakes sorting machine 110, and these parts 800 are adjusted to predetermined laying state, and the end that is transported to feed track 120 picks up for automation equipment 900.800 of parts that are arranged in feed track 120 not uprightly and are seriatim arranged.Bottom 820 and the pin 830 of each part 800 are positioned on the feed track 120, and the top 810 of each part 800 is outside feed track 120.
Such as Fig. 2 and shown in Figure 4, when part 800 is positioned on the pay-off 100, the uninevitable relative position corresponding to jack 710 on the printed circuit board (PCB) 700 of the relative position of pin 830, therefore after automation equipment 900 picks up part 800, must be along the bottom 820 central point rotating part 800, so that pin 830 moves to correct allocation position, with the jack 710 corresponding to printed circuit board (PCB) 700.Thus, automation equipment 900 is with after translation mode moving parts 800 is to the printed circuit board (PCB) 700, and pin 830 could insert in the correct jack 710.
Such as Fig. 2 and shown in Figure 4, in the first embodiment, if part 800 is electric capacity, and when the bottom 820 of feed track 120 only arranges the slit that can slide through for single pin 830, then the laying state of part 800 is the correct states of pin 830 relative positions, or the state that is inverted each other of two pins 830.Therefore part 800 is zero degree or 180 degree according to the needed anglec of rotation of its long axis direction.At this moment, in sampled data, location feature 811 may be positioned at predeterminated position, so the angle that part 800 need to be rotated is zero degree; Location feature 811 may depart from predeterminated position fully, so the angle that part 800 need to be rotated is 180 degree.
Such as Fig. 2 and shown in Figure 4, be the enforcement aspect of electric capacity in part 800, part 800 comprises two pins 830.Two pins 830 correspond respectively to positive pole and the negative pole of electric capacity.And common situation is after to be part 800 by vibrations sorting machine 110 move to feed track 120, and positive pole and the negative pole of electric capacity are inverted; Directly this part 800 of translation will be so that the jack 710 of two pins, 830 inserting errors to the printed circuit board (PCB) 700.
Such as Fig. 2 and shown in Figure 4, the location feature 811 of part 800 can be the mark that specially adds, for example the top 810 of part 800 is circular, and circular half is coated with paint, and form a semicircular location feature 811, and location feature 811 is corresponding to the pin 830 of part 800 positive poles.In other specific embodiment, top 810 can comprise the part of breach or the evagination of indent, with as location feature 811.
Such as Fig. 1 and shown in Figure 5, optical sensor 200 is installed in a side of pay-off 100, in order to the top 810 acquisitions one sampling data that certainly is positioned at the part 800 of being scheduled to laying state.Sampled part 800 is feed track 120 part 800 foremost, and this part 800 also is the object that is soon picked up by automation equipment 900.In a concrete application examples, optical sensor 200 is a pick-up lens, and for example Charged Coupled Device (CCD) or CMOS (Complementary Metal Oxide Semiconductor) assembly (CMOS) arrange corresponding to feed track 120, in order to the image at the top 810 that captures part 800, and produce a sampled data.
After automation equipment 900 receives this instruction by data processing equipment 300, except to feed track 120, picking up (Pick-Up) part 800, and further according to the anglec of rotation, rotational parts 800.For example along the long axis direction Rotate 180 degree of part 800, so that the pin 830 of part 800 can cooperate the jack 710 of mainboard.Follow the position of automation equipment 900 translation parts 800 corresponding jack 710 to printed circuit board (PCB) 700 tops, and place part 800 downwards on printed circuit board (PCB) 700.Automation equipment 900 is adjusted part 800 according to the anglec of rotation, so that each pin 830 of part 800 can correctly insert in the corresponding jack 710.
See also shown in Figure 6ly, be the disclosed part identification system of second embodiment of the invention.In the second embodiment, optical sensor 200 is to be arranged at automation equipment 900, and is roughly arranged side by side with pickup unit 910.When the anchor clamps of automation equipment 900 moved to part 800 top to be picked up, optical sensor 200 moved to part 800 tops in the lump, and the image at acquisition top 810 is with as sampled data.
See also shown in Figure 7ly, be the disclosed part identification system of third embodiment of the invention.In the 3rd embodiment, the part identification system comprises an optical sensor 200, a specified wavelength light source 210 and a data processing equipment 300.As previously mentioned, for the parts such as electric capacity 800, part 800 comprises the correct state of pin 830 relative positions, and the state that is inverted each other of two pins 830.In this embodiment, during the correct state of pin 830 relative positions, specified wavelength light source 210 is directly to throw specified wavelength light to the predeterminated position of location feature 811, for example throws a red laser (laser) to location feature 811 with optical fiber.And location feature 811 is for specified wavelength reflection of light rate, to be different from the reflectivity of top 810 other parts.
During state that two pins 830 are inverted each other, specified wavelength light is projected to the other parts at the top 810 of part 800, so that its specified wavelength reflection of light intensity is different from the reflected intensity of location feature 811; For example location feature 811 can be the formed mark of coating that absorbs specified wavelength light, so the reflected intensity that the other parts at top 810 produce will be far above the reflected intensity of location feature 811.
Obtain specified wavelength reflection of light intensity as sampled data by optical sensor 200, with specified wavelength light after reflected intensity compares on the location feature 811, data processing equipment 300 can judge whether part 800 is in the correct state of pin 830 relative positions, and produce instruction with rotating part 800 to the angle that is suitable for plug-in unit.In the 3rd embodiment, optical sensor 200 does not need to add specific filter for the CCD of fechtable complete image or CMOS and can be optoelectronic switch, makes optoelectronic switch only can receive specified wavelength light, and trigger after reflected intensity is greater than a special value.
As shown in Figure 8, based on above-mentioned part identification system, the present invention more proposes a kind of part discrimination method, in order to produce an anglec of rotation, to drive an automation equipment 900 in picking up (Pick-up) part 800(insertion-part) after, automatic rotation part 800, with the pin 830 of adjusting part 800 to a predeterminated position.
According to this method, be to provide at least one part 800 with pay-off 100 first, shown in Step 110.Part 800 comprises a top 810, a bottom 820 and at least one group of pin 830, and pin 830 is arranged at bottom 820, and corresponding to a plurality of jacks 710 of a printed circuit board (PCB) 700, and the top 810 of part 800 arranges at least one location feature 811.
Then, carry the front end of plug-in unit 800 to one feed tracks 120 with pay-off 100, and adjust part 800 to and be scheduled to laying states, for example the bottom 820 of part 800 and pin 830 are positioned on the feed track 120 and downward state, and the top 810 of each part 800 is outside feed track 120, and so that a plurality of part 800 sequentially arranges, shown in Step 120.
Then, capture a sampling data with an optical sensor 200 from the top 810 of feed track 120 part 800 foremost, shown in Step 130.
Load predeterminated position data to a data processing equipment 300, represent location feature 811 and need corresponding position in the top 810 of part 800, shown in Step 140.
Then, data processing equipment 300 receives sampled data, analyzing and positioning feature 811 is in the position at the top 810 of part 800, data processing equipment 300 and compare location feature 811 in the top 810 position and predeterminated position data, shown in Step 152 and Step 154.
At last, based on predeterminated position data and location feature 811 in the top 810 position, data processing equipment 300 is judged part 800 according to the needed anglec of rotation of its long axis direction, and the relevant information of the transmission anglec of rotation is to automation equipment 900, shown in Step 160 and Step 170.
Carry out before the installation exercise of part 800 of new specification, data processing equipment 300 carries out first a learning process, with the reference image data at the top 810 of setting up this part 800, and sets the predeterminated position data.In learning process, data processing equipment 300 is obtained first the image at the top 810 of part 800, and part 800 is to be adjusted to manually correct laying state, so that the relative position of the relative position of pin 830 coupling jack 710.That is 900 of automation equipments need translation part 800 just can correctly each pin 830 be inserted corresponding jack 710.Then, data processing equipment 300 drives optical sensor 200 acquisitions one sampling data, and frame selects the location feature 811 in the sampled data, to determine location feature 811 needed predeterminated positions.
After study, can store top 810 images and the location feature 811 needed predeterminated positions of various parts 800 in the data processing equipment 300.When automation equipment each time 900 receives new instruction so that different parts 800 to be installed, data processing equipment 300 can be by judging part 800 kinds in the instruction, or by top 810 images judgement part 800 kinds, and then load location feature 811 needed predeterminated positions.
After automation equipment 900 receives the anglec of rotation, after to feed track 120, picking up (Pick-Up) part 800, further according to anglec of rotation rotating part 800, so that the pin 830 of part 800 can cooperate the jack 710 of mainboard.Therefore, part 800 can be supplied to feed track 120 by vibrations sorting machine 110, does not need to consider whether pin 830 is positioned at correct relative position.Therefore, part 800 does not need to be arranged in feed track 120 by manpower, has saved the demand of manpower, promotes the efficient of part 800 installation exercises simultaneously yet.
Although embodiments of the invention disclose as mentioned above; so be not to limit the present invention; anyly have the knack of related art techniques person; without departing from the spirit and scope of the present invention; such as according to the described shape of the present patent application scope, structure, feature and quantity when can doing a little change, therefore scope of patent protection of the present invention must be looked the appended claim person of defining of this specification and is as the criterion.
Claims (10)
1. part identification system, pick up a part and adjust described part to a predeterminated position in order to drive an automation equipment, wherein said part comprises a top, a bottom and at least one group of pin, described at least one group of pin is arranged at described bottom, and described top comprises a location feature, it is characterized in that, described part identification system includes:
One pay-off is adjusted the predetermined laying state of described part to and is picked up for described automation equipment;
One optical sensor is installed in a side of described pay-off, and the described top that certainly is positioned at the described part of described predetermined laying state captures a sampling data; And
One data processing equipment is electrically connected described optical sensor and described automation equipment;
Wherein, described data processing equipment receive described sampled data, according to the described location feature in the described sampled data produce an instruction, with described command to described automation equipment, with after driving described automation equipment and picking up described part, rotate described part according to described instruction.
2. part identification system according to claim 1 is characterized in that, described predetermined laying state is for being adjusted to described pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.
3. part identification system according to claim 1 is characterized in that, described pay-off comprises:
One vibrations sorting machine is adjusted described part to described predetermined laying state; And
One feed track receives described part from described vibrations sorting machine, and the end that described part is transported to described feed track picks up for described automation equipment.
4. part identification system according to claim 3 is characterized in that, described vibrations sorting machine comprises:
One pallet, accommodating at least one part, and described feed track connects described pallet; And
One shaking device is connected in described pallet, shakes described pallet along center to the circumferencial direction of described pallet.
5. part identification system according to claim 1 is characterized in that, described optical sensor is a pick-up lens, and it captures the image at the top of described part, with the described sampled data of generation.
6. part identification system according to claim 5, it is characterized in that, store predeterminated position data in the described data processing equipment, represent described location feature and need corresponding position in described top, and described data processing equipment receives described sampled data, analyze the position of described location feature, and compare described position and described predeterminated position data, thereby judge the needed anglec of rotation of described part and produce a corresponding instruction.
7. part identification system according to claim 1 is characterized in that, described optical sensor is arranged at described automation equipment.
8. part identification system according to claim 1, it is characterized in that, more comprise a specified wavelength light source, in order to throw described specified wavelength light to the described predeterminated position of described location feature, and described optical sensor obtains described specified wavelength reflection of light intensity as sampled data, described data processing equipment judges according to described reflected intensity whether described part is in the correct state of described pin relative position, and produces described instruction to rotate described part to the angle that is suitable for plug-in unit.
9. part discrimination method, in order to drive an automation equipment in picking up a part, rotate described part and adjust pin to a predeterminated position of described part, wherein said part comprises a top, a bottom and at least one group of pin, described at least one group of pin is arranged at the bottom, and described top comprises a location feature at least, it is characterized in that, described part discrimination method may further comprise the steps:
Carry the front end of described part to feed track with a pay-off, and adjust the predetermined laying state of described part to;
Capture a sampled data with an optical sensor from the top of described part;
Load predeterminated position data to a data processing equipment, described predeterminated position data represent described location feature and need corresponding position in described top;
Receive described sampled data with described data processing equipment, and analyze described location feature in the position at described top;
Compare described location feature in position and the described predeterminated position data at described top with described data processing equipment;
In the position at described top, described place material processing device judges that described part is according to the needed anglec of rotation of its long axis direction based on described predeterminated position data and described location feature; And
Transmit the relevant information of the described anglec of rotation with described data processing equipment to described automation equipment.
10. part discrimination method according to claim 9 is characterized in that, described predetermined laying state is for being adjusted to described pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101108750A TWI459165B (en) | 2012-03-14 | 2012-03-14 | Insertion part recognition system and insertion part recognition method |
| TW101108750 | 2012-03-14 |
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| Publication Number | Publication Date |
|---|---|
| CN103313591A true CN103313591A (en) | 2013-09-18 |
| CN103313591B CN103313591B (en) | 2017-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210189507.7A Active CN103313591B (en) | 2012-03-14 | 2012-06-08 | Part identification system and part identification method |
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| CN (1) | CN103313591B (en) |
| TW (1) | TWI459165B (en) |
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| CN104827472A (en) * | 2013-10-31 | 2015-08-12 | 精工爱普生株式会社 | Control device, robot, robot system, and control method |
| US9555549B2 (en) | 2013-10-31 | 2017-01-31 | Seiko Epson Corporation | Control device, robot, robot system, and control method |
| CN104827472B (en) * | 2013-10-31 | 2017-08-04 | 精工爱普生株式会社 | Control device, robot, robot system and control method |
| CN110463376A (en) * | 2018-04-02 | 2019-11-15 | 鲁班嫡系机器人（深圳）有限公司 | A kind of plug in machine method and slotting machine equipment |
| CN110463376B (en) * | 2018-04-02 | 2021-10-29 | 鲁班嫡系机器人（深圳）有限公司 | Machine plugging method and machine plugging equipment |
| TWI692730B (en) * | 2019-04-17 | 2020-05-01 | 台達電子工業股份有限公司 | System and method for detecting electronic components |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103313591B (en) | 2017-06-30 |
| TW201337486A (en) | 2013-09-16 |
| TWI459165B (en) | 2014-11-01 |
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