CN104394656B - Automatic mounting system - Google Patents
Automatic mounting system Download PDFInfo
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- CN104394656B CN104394656B CN201410307703.9A CN201410307703A CN104394656B CN 104394656 B CN104394656 B CN 104394656B CN 201410307703 A CN201410307703 A CN 201410307703A CN 104394656 B CN104394656 B CN 104394656B
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- automatic mounting
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 239000000463 material Substances 0.000 claims abstract description 27
- 239000011159 matrix material Substances 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims abstract description 7
- 230000008901 benefit Effects 0.000 claims abstract description 5
- 238000009792 diffusion process Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000035699 permeability Effects 0.000 abstract description 7
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- 238000010586 diagram Methods 0.000 description 5
- 238000007639 printing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007650 screen-printing Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
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- 238000001179 sorption measurement Methods 0.000 description 2
- 241000599742 Cacopsylla fulguralis Species 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/301—Assembling printed circuits with electric components, e.g. with resistor by means of a mounting structure
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/16—Inspection; Monitoring; Aligning
- H05K2203/163—Monitoring a manufacturing process
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- Microelectronics & Electronic Packaging (AREA)
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Abstract
The present invention proposes a kind of automatic mounting system, including：Feed mechanism, feed mechanism includes material loading platform, and material loading platform is provided with station, and station is used to place workpiece；Workpiece takes attaching mechanism, including sucker and negative pressure system, and sucker is used to taking/putting workpiece, and sucker is provided with multiple dot matrix holes, and negative pressure system is connected with sucker, and the workpiece is inhaled/put to negative pressure system control sucker；Sucker drive mechanism, sucker drive mechanism is used to drive sucker to move；Image acquisition device, image acquisition device is used to gather workpiece image；Controller, for being corrected to workpiece image, sucker drive mechanism is controlled to translate and rotate according to the departure between the workpiece image after correction and target location figure and misalignment angle, until when workpiece is moved to target bearing, control sucker to move up and down, realize the attachment to workpiece.The automatic mounting system of the present invention can automatically be mounted to flexible workpiece in irregular shape or gas permeability workpiece, and have the advantages that placement accuracy is high, mount efficiency high.
Description
Technical field
The present invention relates to sheet-like flexible workpiece, rigid workpiece, gas permeability workpiece surface mounting technology field, more particularly to
A kind of automatic mounting system.
Background technology
In correlation technique, placement equipment is mainly used in the surface mount process of ic component, i.e. SMT (Surface
Mounted Technology).Component normally shape rule, lightweight, surface is rigid plane or curved rigid surfaces, is used
Be traditional vacuum single-point suction type, its positioning method is typically chosen vision positioning, in the art relative maturity.But
For large scale, flexibility, the attachment process of the ventilative workpiece in irregular shape and surface, and do not apply to.
In silk-screen printing industry, conventional automated screen printing device is realized using neck screens or be positioned manually mostly
The positioning and attachment of workpiece, wherein neck screens are used for hard workpiece, and such as plastic products, each shape corresponds to a kind of neck,
Neck need to be positioned manually before.It is by manually or mechanically hand that workpiece is precisely fixed as being realized in neck in operating process
Position.When using Robot actions, feed mechanism is needed to be provided with positioner, to ensure each workpiece after fixed path locus
It can be placed on the neck of station.But it is this to be only applicable to the product that product specification is less and single-piece demand is larger, suitable amount
Production.And it is extremely many for product pattern, work can only be positioned manually using being positioned manually in the little situation of certain independent pattern demand
Work amount is big, and dull in content, correlation technique skilled worker is less；And how toxic oiliness ink is, Long Term Contact is unfavorable to human body.
Screen printing technique is also used in apparel industry, various patterns are such as printed on cloth clothing.Workpiece to be printed is soft
Property and with gas permeability material, general operation be by manually the workpiece such as clothes or cloth are put into printing platen on develop,
Either manually or automatically printed afterwards.This mode of printing is only that pattern is printed into some FX, the position of its pattern
Put and held when manually pasting workpiece entirely with angle, precision is very low.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
Therefore, it is an object of the invention to propose a kind of automatic mounting system.The automatic mounting system can not advised to shape
Flexible workpiece or gas permeability workpiece then is mounted automatically, and has the advantages that placement accuracy is high, mount efficiency high.
To achieve these goals, embodiment of the invention discloses that a kind of automatic mounting system, including：Feed mechanism,
The feed mechanism includes material loading platform, and the material loading platform is provided with station, and the station is used to place workpiece；Workpiece takes patch
Mechanism, the workpiece takes attaching mechanism to include sucker and negative pressure system, and the sucker is used to taking/putting the workpiece, and the sucker is set
There is the dot matrix hole of specific standard, the negative pressure system is connected with the sucker, the negative pressure system is controlled by the dot matrix hole
The workpiece is inhaled/put to the sucker in the way of air pressure principle；Sucker drive mechanism, the sucker drive mechanism is used to drive institute
State sucker motion；Image acquisition device, described image collector is used to gather workpiece image；And controller, the controller point
Attaching mechanism, the sucker drive mechanism and described image collector is not taken to be connected with the workpiece, the controller is used for institute
State negative pressure system and be controlled such that the workpiece is inhaled/put to the sucker, and to the workpiece image of described image collector collection
It is corrected, and according to the departure between the workpiece image after correction and target location figure and misalignment angle control
Sucker drive mechanism is translated and rotated, until when the workpiece is moved to target bearing, control sucker moves up and down, and realizes to work
The attachment of part.
Automatic mounting system according to embodiments of the present invention, hard workpiece and shape can only be directed to by overcoming traditional mounting device
The limitation that the workpiece of shape rule is mounted automatically, can not only have good adsorption effect, for gas permeability to flexible workpiece
Workpiece is similarly applicable, and can be mounted automatically on this basis, and to workpiece shapes without particular/special requirement, can replace artificial patch
Dress mode, realizes automation, reduces cost.In addition, the automatic mounting system has placement accuracy high, attachment efficiency high excellent
Point.
In addition, automatic mounting system according to the above embodiment of the present invention can also have technical characteristic additional as follows：
In some instances, the material loading platform is provided with multiple stations, and the multiple station can be preset correspondingly
The workpiece of same specification.
In some instances, the feed mechanism also includes：Feed mechanism driver, the feed mechanism driver is used for
The material loading platform is driven to rotate and lift.
In some instances, the sucker can be circular or rectangle, and the dot matrix hole is alternatively circular, rectangle or other shapes
Shape, the dot matrix hole is with the center of the sucker to the edge-diffusion of the sucker and the aperture in the dot matrix hole along the sucker
Edge from center to the sucker extend direction be gradually reduced.
In some instances, the negative pressure system includes：High-power blower；Valve, the valve is arranged on the big work(
The air inlet of rate blower fan, the valve switches for gas circuit；Tracheae, one end of the tracheae is connected with the valve, the gas
The other end of pipe is connected with the sucker.
In some instances, the negative pressure system also includes：Muffler, the muffler is arranged at the high-power blower
Outlet port, to reduce the operating noise of the high-power blower.
In some instances, the sucker drive mechanism includes：Motor, the motor be used to driving sucker translation and
Rotation；With cylinder or leading screw slide unit, cylinder or the leading screw slide unit is used to drive the sucker to lift.
In some instances, the workpiece takes attaching mechanism also to include：Buffer unit, the buffer unit is arranged on the suction
On disk, for being taken in the sucker/when putting workpiece, it is to avoid the sucker occurs rigidity with the material loading platform and attachment platen and connect
Touch.
In some instances, in addition to：Illuminating lamp, the illuminating lamp is used to gather workpiece image for described image collector
Photo environment is provided；And background board, the background board for described image collector collection workpiece image for providing background.
In some instances, the controller is used for：Distortion compensation correction is carried out to the workpiece image；According to prefabricated
Template carries out geometric match to target location figure to obtain the first misalignment angle of the template and target location figure and the
One center point coordinate；Carry out geometric match to the workpiece image to obtain the template and workpiece image according to prefabricated template
The second misalignment angle and the second center point coordinate；Compare first misalignment angle and the second misalignment angle and described in being compared
Angle and mobile displacement that first nodal point coordinate and the second center point coordinate are rotated with obtaining workpiece to need；According to the work
Part needs sucker drive mechanism translation described in the angle rotated and mobile Bit andits control and rotated, until the workpiece is moved to
Target bearing；Control the sucker to move up and down, realize the attachment to workpiece.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the schematic diagram of automatic mounting system according to an embodiment of the invention；
Fig. 2 is the structure chart of the sucker of automatic mounting system according to an embodiment of the invention；
Fig. 3 is the job step schematic diagram of automatic mounting system according to an embodiment of the invention；
Fig. 4 is the engineering drawing of silk screen plate according to an embodiment of the invention；
Fig. 5 is silk screen plate pictorial diagram according to an embodiment of the invention；
Fig. 6 is the schematic diagram of Standard adjustable board according to an embodiment of the invention；
Fig. 7 is coordinate transformation figure according to an embodiment of the invention,
Wherein, in Fig. 7, d1 points are workpiece centre point, and d2 is physical identification point, and d3 points are the center of i-th targeted graphical
Point, coordinates of the O2 in A coordinate systems is (a, b).
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only merely illustrative, and
Purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the invention provides various specific techniques and the example of material, but those of ordinary skill in the art can be appreciated that it
The applicable property of his technique and/or the use of other materials.In addition, fisrt feature described below second feature it " on "
Structure can include the first and second features and be formed as the embodiment that directly contacts, other feature formation can also be included and be existed
Embodiment between first and second features, such first and second feature may not be direct contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection or the connection of two element internals, can
To be to be joined directly together, it can also be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
Automatic mounting system according to embodiments of the present invention is described below in conjunction with accompanying drawing.
Fig. 1 is the structured flowchart of automatic mounting system according to an embodiment of the invention.As shown in figure 1, according to this hair
The automatic mounting system of bright one embodiment, including：Feed mechanism, workpiece take attaching mechanism, sucker drive mechanism, image acquisition device
8 and controller.
Wherein, as shown in figure 1, feed mechanism includes material loading platform 9, material loading platform 9 is provided with station, and station is used to place
Workpiece, in one embodiment of the invention, material loading platform 9 are provided with multiple stations, and multiple stations can be preset correspondingly
The workpiece of same specification.Workpiece takes attaching mechanism to include sucker 17 and negative pressure system, and sucker 17 is used to taking/putting workpiece, and sucker 17 is set
There is the dot matrix hole of specific standard, wherein, sucker 17 can be but be not limited to：Circular or rectangle, dot matrix hole is alternatively but is not limited to：Circle
Shape, rectangle or other shapes, dot matrix hole is with the center of sucker to the edge-diffusion of sucker 17 and the aperture in dot matrix hole along sucker 17
Edge from center to sucker 17 extend direction be gradually reduced, negative pressure system is connected with sucker 17, and negative pressure system passes through dot matrix
Hole control sucker 17 inhaled in the way of air pressure principle/workpiece is put, in addition, workpiece takes attaching mechanism to may also include buffer unit, and buffering
Device is arranged on sucker 17, for being taken in sucker 17/when putting workpiece, it is to avoid and sucker 17 is sent out with material loading platform 9 and attachment platen
Raw rigid contact.Sucker drive mechanism is used to drive sucker 17 to move.Image acquisition device 8 is used to gather workpiece image.
Controller takes attaching mechanism, sucker drive mechanism and image acquisition device to be connected with workpiece respectively, and controller is used for negative
Pressure system is controlled such that workpiece is inhaled/put to sucker 17, and the workpiece image gathered to image acquisition device is corrected, Yi Jigen
According to the departure between the workpiece image after correction and target location figure and misalignment angle control sucker 17 drive mechanism translation
And rotation, until when workpiece is moved to target bearing, being mounted to workpiece.Specifically, controller is carried out to workpiece image
Distortion compensation is corrected；Carry out geometric match to target location figure to obtain template and target location figure according to prefabricated template
The first misalignment angle and first nodal point coordinate；Carry out geometric match to workpiece image to obtain template according to prefabricated template
With the second misalignment angle and the second center point coordinate of workpiece image；Compare the first misalignment angle and the second misalignment angle and ratio
The angle rotated compared with first nodal point coordinate and the second center point coordinate with obtaining workpiece to need and mobile displacement；According to workpiece
Angle and mobile Bit andits control sucker drive mechanism translation and the rotation of rotation are needed, until workpiece is moved to target bearing；
Control sucker 17 moves up and down, and realizes the attachment to workpiece.
In one embodiment of the invention, feed mechanism also includes：Feed mechanism driver, feed mechanism driver is used
Rotate and lift in driving material loading platform 9.
In one embodiment of the invention, negative pressure system includes：High-power blower 14, tracheae 15 and valve 16.Tracheae
15 one end is connected with valve 16, and the other end of tracheae is connected with sucker 17.Valve 16 is arranged between tracheae 15 and blower fan 14
(air inlet for being for example arranged on high-power blower 14), for switching gas circuit.
Further, negative pressure system may also include：Muffler, muffler is arranged at the outlet port of high-power blower 14,
To reduce the operating noise of high-power blower 14.
In one embodiment of the invention, sucker drive mechanism includes：Motor and cylinder.Wherein, motor is used to drive
Sucker 17 is translated and rotated.Cylinder is used to drive sucker 17 to lift.Wherein, cylinder can also be replaced with leading screw slide unit, that is, pass through silk
Thick stick slide unit driving sucker 17 is lifted.
In one embodiment of the invention, in addition to：Illuminating lamp 7 and background board, illuminating lamp 7 are used to be image acquisition device
8 collection workpiece images provide photo environment.Background board is used to provide background for the collection workpiece image of image acquisition device 8.
The structure of the automatic mounting system of the embodiment of the present invention is introduced in more detail below in conjunction with accompanying drawing 1.Tool
For body, placement equipment is automated the invention provides one kind, including：Feed mechanism, feed mechanism is rotatable and lifting flat
Platform；Workpiece takes attaching mechanism, and workpiece takes attaching mechanism to include workpiece taking sucker, buffer unit and born and pressure system, and buffer unit is used to protect
Body, when avoiding taking patch and contact surface rigid contact, negative pressure system provides by high-power blower；Motion control mechanism is (i.e.
Sucker drive mechanism), motion control mechanism includes motion control card (i.e. controller), and control sucker is moved along tri- directions of XYZ
Platform, the rotating mechanism of sucker；Vision system, vision system hardware includes camera and illuminating lamp, and software is known including image
Not, the imaging distortion compensation of camera, the mutual conversion between the demarcation of camera coordinate and coordinate system.This automatic mounting system
The limitation of hard workpiece can only be directed to by overcoming traditional placement equipment, not only had good absorption affinity to flexible workpiece, be directed to
Gas permeability workpiece is similarly applicable, and to workpiece shapes no requirement (NR).
As shown in figure 1, feed mechanism includes having one or more station, Mei Gegong on a material loading platform 9, the platform
Position can the preset same specification of a pile workpiece.Rotate to switch different rule by the motor for controlling to be arranged on below material loading platform 9
The workpiece of lattice, passes through lifting to keep the relative distance of workpiece and workpiece taking sucker to ensure the normal of each pickup for correspondence station
Carry out.
Workpiece takes attaching mechanism by blower fan 14, valve 16, tracheae 15, sucker 17 and buffer unit composition.High-power blower 14
Subnormal ambient is provided for the system, muffler reduction noise is installed in the gas outlet of blower fan 14, and valve 16 is used to switch when taking patch workpiece
Gas circuit, tracheae 15 is used for connecting sucker 17 and blower fan 14, and sucker has buffer unit with executing agency junction, and sucker bottom is point
Battle array hole, the shape in hole can use circular, square, triangle etc..The size in hole, position is to adapt to the design that the system is individually carried out.
The example of a sucker 17 is illustrated in figure 2, with centre bore to external diffusion, and is gradually reduced with diffusion aperture, pitch of holes gradually increases
Greatly..
In kinetic control system, gantry that horizontal displacement XY directions are made up of 3,4,5 three independent timing belt slide units is tied
Structure is constituted, and matched also includes two sets of motors and driver, and connects the kinematic link of slide unit 3 and 4.While the part
Also cantilevered may be selected, but cantilever structure is higher to slide unit intensity requirement.The displacement of vertical Z-direction (can also by cylinder 11
Use motor control lead screw guide rails) complete, the rotation of sucker 17 completes by high-precision motor 12.Specific motion control is by transporting
Dynamic control card is completed, and motion control card is connected with computer by pci interface.
Hardware components include camera 8, illuminating lamp 7, background board (not shown) in vision system.Camera can be used
Industrial CCD, CMOS cameras, common family expenses USB camera can also be used in the case where meeting required precision, to reduce into
This.Illuminating lamp 7 provides a uniform light source for whole photo environment, is disturbed against ambient, and background board, which is arranged on, to be inhaled
Above disk, a clean background is provided to image, is easy to successive image to handle.
Distortion compensation correction is carried out to the image of acquisition first.The mode of the identification selection geometric templates matching of workpiece comes real
It is existing, misalignment angle and center that geometric match obtains template and targeted graphical are carried out to target location figure by prefabricated template
Point coordinates, then template and the misalignment angle and center point coordinate of workpiece are obtained with the workpiece progress geometric match on sucker, finally
The difference for comparing the two angles draws the angle of workpiece needs rotation, compares two center point coordinates and show that workpiece reaches target
Position needs mobile distance.
Compared with prior art, it is of the invention that there is advantages below：
Workpiece takes attaching mechanism to select the combination of big capacity negative-pressure air fan and dot matrix sucker to overcome traditional suction type only
The technological deficiency of rigid workpiece or regular shape workpiece can be directed to, it is alternative to be accomplished manually automated production.By to camera lens
The compensation of distortion, can use normal domestic use camera to replace industrial camera, greatly reduce use cost.
【Embodiment】
The present invention coordinates rotating disc type full-automatic screen printer to realize full-automatic feeding, positions, and mounts, and prints, and air-dries, right
It can increase print engine head in multi-color systems and implement chromatography operation.The job step figure of the automatic mounting system shown in Fig. 3, for convenience
Description, it is same specification that the workpiece in each silk screen plate is assumed below (i.e. shape and size are consistent).
1st, preparation.
(1) template construct：Using the electronic engineering drawing of original silk screen plate, when being that workpiece to be printed makes image procossing
Required template, and template is stored in computer called when successive image is handled.As an example, engineering drawing is as schemed
Shown in 4,18 be that the pattern of printing is needed on workpiece, and 19 be workpiece profile.Silk screen plate is as shown in figure 5,20 be framework, and 21 be silk
Net, silk screen is fixed on the side of framework, and 22 be hollow out site in silk screen, and the hollow out scope of site is corresponding with Fig. 4 18,19,
Remaining position is sealed.
(2) the distortion demarcation of camera：The distortion demarcation of camera, is used herein as a kind of Standard adjustable board to image fault
Demarcated.Standard adjustable board as shown in fig. 6, be evenly distributed with the black of formed objects in a grid-like fashion on white material surface
Color round dot, round dot diameter 10mm, line-spacing is with row away from being 20mm.Concrete methods of realizing is as follows：Standard adjustable board is placed in and waits to clap
Take the photograph in plane, and rectangular lattice is parallel with the right angle that timing belt slide unit 3,5 is constituted in correcting plate.Correcting plate is carried out using camera
Take pictures, gained photo is then distortion model of the Current camera in the camera plane.The distortion model and Standard adjustable board are carried out
Compare, draw the offset in each round dot center of circle.The offset and coordinate value of these points are inputted into three b spline function marches
Face interpolation, draws the distortion curved surface of view picture figure.The corresponding compensation rate of each pixel, institute in this surface description image that distorts
Obtain the image fault compensation that compensation rate can be used in subsequent step 5.
(3) coordinate system is demarcated.Whole system as shown in Figure 7 is made up of three coordinate systems, and wherein XOY is global coordinate system,
Represented with A；X1O1Y1For camera coordinate system, represented with B；X2O2Y2For silk screen plate coordinate system, represented with C.In C coordinate systems are parallel
It is embedded in A coordinate systems.B coordinate systems are likely to result in B coordinate systems and A coordinate systems are not parallel, for not due to the installation question of camera
There is classical method to carry out coordinate transform in the parallel differential seat angle caused.For convenience, it is assumed here that three coordinates
Tie up on XY directions is parallel relation.
(4) cylinder stroke of Z axis is determined.Because the motion of cylinder only has two positions of beginning and end, no centre position,
So determining the stroke of cylinder here according to the thickness of pasted workpiece, and the trip is locked by adjusting corresponding limit switch.
2nd, sucker position initialization.Slowly run by control card controlled motor 1 and 6 and drive sucker to the XY platforms lower left corner
Position is moved, and is stopped after triggering zero point limit switch, then the point is A coordinate origins.The magnetic valve on cylinder 11 is controlled, order is inhaled
Disk 17 is above carried to trouble free service distance.
3rd, positional information to be pasted is obtained.The template loading system that will be made in step 1- (1), computer calls template to silk
Figure in web plate engineering drawing carries out geometric templates matching, and the matching is matched according to pattern edge in template, automatically in silk
The figure that marginal information matches therewith is found in web plate engineering drawing, it is contemplated that the presence of image error and external interference, herein
Matching precision can be adjusted as needed, finally calculate in engineering drawing each figure that the match is successful and deposited between Prototype drawing
Angle difference θ i, and the matching figure central point be located at C coordinate systems in position (Xi, Yi).What the step was obtained
Matching result includes following components altogether：
(1) it is, all in profile diagram can be by the total number N of the figure in template matches；
(2), the center position (Xi, Yi) (i=1,2 ..., N) of each figure；
(3), each figure and the misalignment angle θ i of corresponding templates (i=1,2 ..., N).
These data are stored in computer, are that subsequent operation prepares data.
4th, sucker feeding.It is moved to by way of motion control card controlled motor 1 and 6 drives sucker 17 with path optimization
The feeding point of the top of material loading platform 9.Wind path is switched to sucker by control valve 16 again, " suction " function activation.Pass through control simultaneously
The opening and closing of the solenoid of cylinder 11 realizes that the up and down motion of sucker 17 completes the grasping movement of workpiece.And often complete once to capture,
The lifting device of correspondence station on a material loading platform 9 will be activated, a distance equivalent to thickness of workpiece is lifted.
5th, image recognition and motion control.The purpose of this step is to obtain the angle of workpiece needs deflection on sucker, with
And workpiece needs mobile distance to target location.Workpiece taking sucker is in rotary course, pivot and the sucker 17 of sucker 17
Center there may be decentraction due to technological problemses, result in the need for mobile range information before and after workpiece rotation without fixed pair
It should be related to, to solve this problem, embodiments of the invention propose image secondary acquisition, and the workpiece that rotation is finished is repositioned,
Mobile distance is needed accurately to calculate.When rotating mechanism technique meets pivot with sucker center superposition, once scheme
As collection.
(1) angle recognition of workpiece and motion control.Absorption of workpieces passes through motion control control after the bottom of sucker 17
Motor 1 and 6 processed drives sucker 17 to be moved to directly over camera 8, calls camera to be taken pictures after coming to a complete stop, utilizes step 1- (2)
The distortion curved surface of middle gained carries out the image that distortion compensation is corrected to clapped workpiece figure, and gray scale is carried out to corrected image
Processing, the template then loaded in invocation step 3 obtains corresponding with the workpiece figure progress geometric templates matching after currently processed
Angular deviation θ h.The purpose angle-data θ i for No. i-th figure that template matches in step 3 are obtained are transferred, then No. i-th workpiece is being inhaled
The deviation θ of existing angle and purpose angle on disk=(θ h- θ i).Angle, θ is converted into corresponding controlled quentity controlled variable, electric rotating is controlled
Machine 12 drives sucker rotation.
(2) the secondary positioning and motion control of workpiece.Postrotational workpiece is taken pictures first, utilized step 1- (2)
The distortion curved surface of middle gained carries out the image that distortion compensation is corrected to clapped workpiece figure.Postrotational image is carried out afterwards
Gray proces, find physical identification point d2 as shown in Figure 7 in the visual field (mark point position in A coordinate systems be predisposed to (Xm1,
Ym1)), position (Xm, Ym) of its central point in B coordinate systems, the template then loaded in invocation step 3, with current place are obtained
Workpiece figure after reason carries out geometric templates matching and obtains positions (Xn, Yn) of the workpiece centre point d1 in B coordinate systems, then d1 points exist
A coordinate system middle positions are set to (Xn1, Yn1)
Xn1=Xm1+k (Xm-Xn)；
Yn1=Ym1+k (Ym-Yn).
Wherein, k is constant, represents the corresponding actual physical distance of an image pixel, its value and A, B coordinate system unit
The corresponding actual size of scale is relevant.
The purpose centre data (Xi, Yi) of No. i-th figure obtained in step 3 is transferred, then No. i-th workpiece is on sucker
Axial distance of the position with destination locations in A coordinate systems be
X=(k*Xi+a)-Xn1；
Y=(k*Yi+b)-Yn1.
Wherein (a, b) is the position in A coordinate systems where C coordinate origins.
Obtained range information is converted into the motion control amount of X-direction and Y-direction, passes through motion control card controlled motor
1 and 6 drive sucker 17 to reach target location.
6th, workpiece is mounted.System is by controlling the solenoid-driven sucker 17 on cylinder 11 to move downward, while controlling wind
Machine valve 16 realizes that gas circuit switches, and the suction of sucker 17 is gradually reduced in handoff procedure.After the completion of to be switched, whole gas circuit is switched to
Bypass, then by the viscous force of the table glue on rotary table, workpiece is firmly attached on platen.It is now electric on control cylinder 11
Magnet valve driving sucker 17 is moved upwards, completes the mounting operation of current workpiece.
7th, return feeding point and calculate and mount quantity.Sucker current location information is read, and calculates current location to taking
The distance between shots, are converted into the motion control amount of correspondence direction afterwards, drive sucker to return by control card motor 1 and 6
To feeding point.Update simultaneously and currently mounted quantity i, if i<N (N is the data that step 3 has been obtained), system return to step 4
Operated；As i=N, current silk screen plate attachment is completed, and rotary table rotates a station.
8th, by rotating disc type full-automatic screen printer or artificially print machine after station comes to a complete stop and complete printing, and in follow-up work
The follow-up functions such as air-dried, blanking are realized in position, and at the same time automatic mounting system return to step 4 is operated.Screen process press
Printing, air-dried, blanking can simultaneously be run with the attachment action of automatic mounting system, improve production efficiency.
It is right if in silk screen plate during specification of workpieces more than one, as i=N, switching workpiece by rotary loading platform 9
Another workpiece is carried out taking patch by step 4-7, has been pasted when the workpiece of all specifications in one piece of silk screen plate is whole, then perform the 8th step.
Automatic mounting system according to embodiments of the present invention, hard workpiece and shape can only be directed to by overcoming traditional mounting device
The limitation that the workpiece of shape rule is mounted automatically, can not only have good adsorption effect, for gas permeability to flexible workpiece
Workpiece is similarly applicable, and can be mounted automatically on this basis, and to workpiece shapes without particular/special requirement, can replace artificial patch
Dress mode, realizes automation, reduces cost.In addition, the automatic mounting system has placement accuracy high, attachment efficiency high excellent
Point.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (7)
1. a kind of automatic mounting system, it is characterised in that including：
Feed mechanism, the feed mechanism includes material loading platform, and the material loading platform is provided with station, and the station is used to place
Workpiece, wherein, the material loading platform be provided with multiple stations, the multiple station can same specification preset correspondingly work
Part；
Workpiece takes attaching mechanism, and the workpiece takes attaching mechanism to include sucker and negative pressure system, and the sucker is used to taking/putting the work
Part, the sucker is provided with the dot matrix hole of specific standard, and the negative pressure system is connected with the sucker, and the negative pressure system passes through institute
Stating dot matrix hole controls the sucker that the workpiece is inhaled/put in the way of air pressure principle, and the sucker can be circular or rectangle,
The dot matrix hole is alternatively circular, rectangle or other shapes, and the dot matrix hole is with the center of the sucker to the side of the sucker
Center of the aperture in edge diffusion and the dot matrix hole along the sucker is gradually reduced to the direction that the edge of the sucker extends；
Sucker drive mechanism, the sucker drive mechanism is used to drive the sucker to move；
Image acquisition device, described image collector is used to gather workpiece image；And
Controller, the controller takes attaching mechanism, the sucker drive mechanism and described image collector with the workpiece respectively
It is connected, the controller is used to be controlled such that the negative pressure system workpiece is inhaled/put to the sucker, and to the figure
As the workpiece image that collector is gathered is corrected, and according to inclined between the workpiece image after correction and target location figure
Residual quantity and misalignment angle control the sucker drive mechanism translation and rotated, until when the workpiece is moved to target bearing, control
Sucker processed moves up and down, and realizes the attachment to workpiece, wherein, the controller is used for：Enter line distortion benefit to the workpiece image
Repay correction；Carry out geometric match to target location figure to obtain the template and target location figure according to prefabricated template
First misalignment angle and first nodal point coordinate；Geometric match is carried out to the workpiece image to obtain according to prefabricated template
State template and the second misalignment angle and the second center point coordinate of workpiece image；Compare first misalignment angle and the second deviation
Angle and movement that first nodal point coordinate described in angle and comparison and the second center point coordinate are rotated with obtaining workpiece to need
Displacement；The sucker drive mechanism according to the workpiece needs the Bit andits control of the angle and movement rotated is translated and rotated,
Until the workpiece is moved to target bearing；Control the sucker to move up and down, realize the attachment to workpiece.
2. automatic mounting system according to claim 1, it is characterised in that the feed mechanism also includes：Feed mechanism
Driver, the feed mechanism driver is used to drive the material loading platform to rotate and lift.
3. automatic mounting system according to claim 1, it is characterised in that the negative pressure system includes：
High-power blower；
Valve, the valve is arranged on the air inlet of the high-power blower, and the valve switches for gas circuit；
Tracheae, one end of the tracheae is connected with the valve, and the other end of the tracheae is connected with the sucker.
4. automatic mounting system according to claim 3, it is characterised in that the negative pressure system also includes：
Muffler, the muffler is arranged at the outlet port of the high-power blower, to reduce the work of the high-power blower
Make noise.
5. automatic mounting system according to claim 1, it is characterised in that the sucker drive mechanism includes：
Motor, the motor is used to drive the sucker to translate and rotate；With
Cylinder or leading screw slide unit, cylinder or the leading screw slide unit are used to drive the sucker to lift.
6. automatic mounting system according to claim 1, it is characterised in that the workpiece takes attaching mechanism also to include：Buffering
Device, the buffer unit is arranged on the sucker, for being taken in the sucker/when putting workpiece, it is to avoid and the sucker and institute
State material loading platform and rigid contact occurs for attachment platen.
7. the automatic mounting system according to claim any one of 1-6, it is characterised in that also include：
Illuminating lamp, the illuminating lamp is used to provide photo environment for described image collector collection workpiece image；And
Background board, the background board is used to provide background for described image collector collection workpiece image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410307703.9A CN104394656B (en) | 2014-06-30 | 2014-06-30 | Automatic mounting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410307703.9A CN104394656B (en) | 2014-06-30 | 2014-06-30 | Automatic mounting system |
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| CN104394656A CN104394656A (en) | 2015-03-04 |
| CN104394656B true CN104394656B (en) | 2017-10-24 |
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| CN108202996A (en) * | 2016-12-16 | 2018-06-26 | 中国科学院沈阳自动化研究所 | A kind of feeding device and its control method with angle positioning |
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| CN110649298B (en) * | 2019-10-01 | 2023-10-31 | 深圳市世椿智能装备股份有限公司 | Preparation system and preparation method of membrane electrode assembly of hydrogen fuel cell |
| CN112894642A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Control method of pneumatic clamp |
| CN111182727A (en) * | 2020-01-17 | 2020-05-19 | Oppo（重庆）智能科技有限公司 | A frock for FPC pastes dress |
| CN112261865B (en) * | 2020-10-13 | 2023-06-20 | 常州铭赛机器人科技股份有限公司 | Surface mounting apparatus and surface mounting method |
| CN113879593A (en) * | 2021-12-06 | 2022-01-04 | 常州铭赛机器人科技股份有限公司 | Paste dress carousel buffer memory device |
| CN114322780B (en) * | 2022-03-07 | 2022-05-24 | 常州铭赛机器人科技股份有限公司 | Method for monitoring mounting repeated precision on line |
| CN115038326B (en) * | 2022-06-28 | 2023-05-16 | 深圳市菲昂机电有限公司 | Roller type high-speed automatic patch device |
| CN116887598B (en) * | 2023-09-06 | 2023-11-17 | 常州星宇车灯股份有限公司 | Method for improving SMT high-precision mounting black outer edge LED efficiency and mounting system |
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