CN104841647A - PCB (printed circuit board) automatic sorting machine based on machine vision - Google Patents

PCB (printed circuit board) automatic sorting machine based on machine vision Download PDF

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Publication number
CN104841647A
CN104841647A CN201510260559.2A CN201510260559A CN104841647A CN 104841647 A CN104841647 A CN 104841647A CN 201510260559 A CN201510260559 A CN 201510260559A CN 104841647 A CN104841647 A CN 104841647A
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China
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pcb board
push
pull cylinder
conveyer belt
slide rail
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CN201510260559.2A
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CN104841647B (en
Inventor
马振鹤
姚学练
苗立刚
张成龙
孙明理
刘梦醒
徐兴鑫
王二涛
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Northeastern University China
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Northeastern University China
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Abstract

The invention discloses a PCB (printed circuit board) automatic sorting machine based on machine vision. The PCB automatic sorting machine comprises a machine case (1), wherein a feeding opening (2) and a waste material outlet (3) are formed in the machine case (1); a feeding mechanism (4), a rolling separation mechanism (5), a waste material removing mechanism (6), a turntable removing mechanism (7) and a stacking transfer mechanism (8) which are in sequential connection are arranged in the machine case (1); the feeding mechanism (4) is connected with the feeding opening (2); the waste material removing mechanism (6) is connected with the waste material outlet (3). The PCB automatic sorting machine can be applicable to PCBs in various specifications, and has the advantages of high automation degree, high recognition efficiency and high sorting speed.

Description

A kind of pcb board automatic letter sorting machine based on machine vision
Technical field
The present invention relates to a kind of automatic letter sorting machine, particularly a kind of pcb board automatic letter sorting machine based on machine vision, belongs to technical field of mechanical equipment.
Background technology
Pcb board is as the necessity of electron trade, traditional detection pcb board is generally manual detection, manual detection is visually observed by people to detect classification, detection efficiency is extremely low, and need a large amount of labours, at the automated workshop of High-efficient Production, traditional detection mode cannot meet the demand in epoch.Machine detection replacement manual detection has become a large trend.Machine etection theory, according to being image procossing, is at least taken pictures to the two sides of pcb board.
Pcb board is transported with a conveyer belt, be difficult to realize carrying out IMAQ to it, therefore conventional conveyor can adopt two conveyer belts, the transport pcb board of bridging type, the lower surface that can meet pcb board can be taken pictures by camera except edge does not relate to other parts except detection, in order to make collection image stabilization, industrial meeting utilizes a driven by motor two conveyer belts, while achieving transport, take pictures to below plate, such as gear synchronous band, its synchronism is good especially, but also there is limitation simultaneously, the pcb board detecting same size specification can only be confined to, the plate being greater than or less than specification can not normal picture collection, large plate portion area IMAQ is not, platelet is less than the spacing of two conveyer belts and falls down and cannot carry out IMAQ.
Therefore occurred utilizing two motor to drive two conveyer belts respectively, and under conveyer belt installing space adjusting device, the distance between two bands can be adjusted, to adapt to all size plate; But two motor in synchrony are poor, being difficult to the error of elimination system, as there being one slightly to postpone to cause two band travelling speeds different in motor during start electric motor starting, causing plate can bend above, unfavorable IMAQ; The best way utilizes a control device, drives two conveyer belts.
The mode that tradition is separated a pile plate has two kinds, one is artificial separation, another kind utilizes vacuum cup to pass through to draw pcb board to be separated, vacuum cup is connected by adapter and vacuum equipment, then contact with thing to be hoisted such as glass, paper etc., start vacuum equipment suction, make to produce negative pressure in sucker, thus thing to be hoisted is sucked, can start to transport thing to be hoisted.Just can not draw for porose pcb board vacuum cup.
Summary of the invention
The object of the invention is to, provide a kind of pcb board automatic letter sorting machine based on machine vision, it can be applicable to the pcb board of all size, and has the advantage that automaticity is high, recognition efficiency is high and sorting speed is fast.
Technical scheme of the present invention: a kind of pcb board automatic letter sorting machine based on machine vision, comprise casing, casing is provided with charging aperture and waste outlet, is provided with the feed mechanism, rolling separating mechanism, waste material rejecting mechanism, the rotating disk rejecting mechanism that connect in turn and piles up transshipment acitivity in casing; Feed mechanism is connected with charging aperture, and waste material rejecting mechanism is connected with waste outlet.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, feed mechanism comprises the first conveyer belt, walking track and manipulator, walking track is arranged on the top in casing by track fixed frame, the top of walking track is provided with leading screw and the first drive motors, walking track is socketed with slide block, and slide block is connected with the top of manipulator by connecting rod, and leading screw is fixedly connected with the output shaft of the first drive motors, slide block is provided with screw, and screw and leading screw are threaded connection.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, described manipulator comprises top board, clamping plate and electric push rod, the top of top board is connected with connecting rod, the bottom of top board is provided with manipulator walking track, the top of 2 clamping plate to be installed on manipulator walking track and to be slidably connected with it, the bottom of top board is provided with 2 electric push rods, and 2 electric push rods respectively connect clamping plate.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, the below of track fixed frame is located at by described rolling separating mechanism, rolling separating mechanism comprises T-shape base, connecting plate, second slide rail, separator holder, double acting gas pawl, separator connecting rod, separate roller and the second drive motors, connecting plate is vertically fixed on T-shape base, the plate face of connecting plate is provided with the second slide rail, 2 separator holders to be arranged on the second slide rail and to be slidably connected with it, double acting gas pawl is located between 2 separator holders, and be connected with 2 separator holders, 2 separator holders are equipped with separator connecting rod, 2 groups of separate rollers are fixed on separator holder respectively by separate roller mounting shell, be equipped with the second drive motors in 2 separate roller mounting shells, one end of separate roller rotating shaft is provided with sprocket wheel, and sprocket wheel is connected by chain, and the second drive motors is fixedly connected with one of them sprocket wheel, the section configuration of described separate roller is oval.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, waste material rejecting mechanism comprises Linear transmission device, bottom image collecting device, top image collecting device, side image harvester and the second conveyer belt, Linear transmission device is located at immediately below 2 groups of separate rollers, Linear transmission device comprises the 3rd slide rail, first push-and-pull cylinder, feed appliance and " L " shape track, the two ends of the 3rd slide rail are respectively equipped with 1 the first push-and-pull cylinder, each first push-and-pull cylinder is connected with a feed appliance, feed appliance and the 3rd slide rail are slidably connected, the top of 2 feed appliances is equipped with 1 " L " shape track, " L " shape track is connected with the second conveyer belt, bottom image collecting device is located at the centre position immediately below 2 " L " shape tracks, top image collecting device is located at the junction of the second conveyer belt and " L " shape track, be positioned at the top of the second conveyer belt, the side of the second conveyer belt is located at by side image harvester, the sidewall of the second conveyer belt is also provided with the second push-and-pull cylinder.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, described bottom image collecting device is made up of the first camera and four sides tunable light source; Top image collecting device is made up of cover body, the second camera and bowl light source; Side image harvester forms by regulating support, the 3rd camera and planar light source, regulates support and planar light source to be separately fixed at the both sides of the second conveyer belt.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, rotating disk rejecting mechanism comprises square frame, rotating disk, the gentle pawl of the 3rd drive motors, rotating disk is located on square frame, 3rd drive motors is located at immediately below rotating disk, for driving rotating disk, the groove arranged between rotating disk is provided with etc., the position of each groove is equipped with a gas pawl.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, pile up the side that transshipment acitivity is located at square frame, pile up transshipment acitivity and comprise the 3rd push-and-pull cylinder, the 4th push-and-pull cylinder, the 4th slide rail, splicing case and support body, bottom and the 4th slide rail of support body are slidably connected, 4th push-and-pull cylinder is located in support body, the top of the 4th push-and-pull cylinder is fixedly connected with the bottom of splicing case, and the 3rd push-and-pull cylinder and the 4th slide rail be arranged in parallel, and the 3rd push-and-pull cylinder is connected with the side of support body.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, the top of support body and the inside of splicing case are equipped with buffering blob of viscose.
Aforesaid this based in the pcb board automatic letter sorting machine of machine vision, the top of casing is also provided with exhaust ventilation fan.
Compared with prior art, the present invention adopts the rolling separator of independent research, the oval separate roller of driven by motor is utilized to rotate, distance between its 2 is periodically changed, when distance is the longest, pcb board can fall into lower one deck, distance in short-term pcb board is sandwiched in above separate roller, a pile plate is spacing by manipulator four sides, along with distance cyclically-varying, pcb board one piece is one piece of whereabouts then, on straight line feeder because of fell before the time difference plate with after the plate that falls have distance, thus achieve the object of separation, this structure is adopted to instead of traditional artificial separation, and solve the problem that sucked type separation equipment cannot be separated pcb board with holes, ideally solved the problem of IMAQ bottom pcb board by the Linear transmission device on waste material rejecting mechanism, by the cooperation of feed appliance with " L " shape track, when not affecting pcb board transmission, the bottom of pcb board can be exposed, facilitating IMAQ, additionally by rotating disk rejecting mechanism with pile up coordinating of transshipment acitivity, achieve the object of stacking pcb board, it is high that package unit has automaticity, operating efficiency and the high advantage of recognition efficiency.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is feed mechanism, rolling separating mechanism, waste material rejecting mechanism, rotating disk rejecting mechanism and pile up the structural representation of transshipment acitivity;
Fig. 3 is the structural representation of feed mechanism;
Fig. 4 is the structural representation of manipulator;
Fig. 5 is the structural representation of rolling separating mechanism;
Fig. 6 is the side view of separate roller;
Fig. 7 is the structural representation of waste material rejecting mechanism;
Fig. 8 is the structural representation of Linear transmission device;
Fig. 9 is rotating disk rejecting mechanism and the structural representation piling up transshipment acitivity.
Being labeled as in accompanying drawing: 1-casing, 2-charging aperture, 3-waste outlet, 4-feed mechanism, 5-rolling separating mechanism, 6-waste material rejecting mechanism, 7-rotating disk rejecting mechanism, 8-piles up transshipment acitivity, 9-first conveyer belt, 10-walks track, 11-manipulator, 12-track fixed frame, 13-leading screw, 14-first drive motors, 15-connecting rod, 16-screw, 17-clamping plate, 18-electric push rod, 19-manipulator walking track, 20-T-shape base, 21-connecting plate, 22-second slide rail, 23-separator holder, 24-double acting gas pawl, 25-separator connecting rod, 26-separate roller, 27-second drive motors, 28-separate roller mounting shell, 29-sprocket wheel, 30-chain, 31-Linear transmission device, image collecting device bottom 32-, 33-top image collecting device, 34-side image harvester, 35-second conveyer belt, 36-the 3rd slide rail, 37-first push-and-pull cylinder, 38-feed appliance, 39-" L " shape track, 40-first camera, 41-four sides tunable light source, 42-cover body, 43-second camera, 44-bowl light source, 45-regulates support, 46-the 3rd camera, 47-planar light source, 48-square frame, 49-rotating disk, 50-the 3rd drive motors, 51-gas pawl, 52-groove, 53-the 3rd push-and-pull cylinder, 54-the 4th push-and-pull cylinder, 55-the 4th slide rail, 56-support body, 57-splicing case, 58-cushions blob of viscose, 59-exhaust ventilation is fanned, 60-slide block, 61-top board, 62-second push-and-pull cylinder.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
Embodiments of the invention: a kind of pcb board automatic letter sorting machine based on machine vision, as depicted in figs. 1 and 2, comprise casing 1, casing 1 is provided with charging aperture 2 and waste outlet 3, is provided with the feed mechanism 4, rolling separating mechanism 5, waste material rejecting mechanism 6, the rotating disk rejecting mechanism 7 that connect in turn and piles up transshipment acitivity 8 in casing 1; Feed mechanism 4 is connected with charging aperture 2, and waste material rejecting mechanism 6 is connected with waste outlet 3, and the top of casing 1 is also provided with exhaust ventilation fan 59.
As shown in Figure 3, feed mechanism 4 comprises the first conveyer belt 9, walking track 10 and manipulator 11, walking track 10 is arranged on the top in casing 1 by track fixed frame 12, the top of walking track 10 is provided with leading screw 13 and the first drive motors 14, walking track 10 is socketed with slide block 60, and slide block 60 is connected with the top of manipulator 11 by connecting rod 15, and leading screw 13 is fixedly connected with the output shaft of the first drive motors 14, slide block 60 is provided with screw 16, and screw 16 and leading screw 13 are threaded connection.
As shown in Figure 4, described manipulator 11 comprises top board 61, clamping plate 17 and electric push rod 18, the top of top board 61 is connected with connecting rod 15, the bottom of top board 61 is provided with manipulator walking track 19, the top of 2 clamping plate 17 to be installed on manipulator walking track 19 and to be slidably connected with it, the bottom of top board 61 is provided with 2 electric push rods, 18,2 electric push rods 18 and respectively connects clamping plate 17.
As shown in Figure 5 and Figure 6, the below of track fixed frame 12 is located at by rolling separating mechanism 5, rolling separating mechanism 5 comprises T-shape base 20, connecting plate 21, second slide rail 22, separator holder 23, double acting gas pawl 24, separator connecting rod 25, separate roller 26 and the second drive motors 27, connecting plate 21 is vertically fixed on T-shape base 20, the plate face of connecting plate 21 is provided with the second slide rail 22, 2 separator holders 23 to be arranged on the second slide rail 22 and to be slidably connected with it, double acting gas pawl 24 is located between 2 separator holders 23, and be connected with 2 separator holders 23, 2 separator holders 23 are equipped with separator connecting rod 25, 2 groups of separate rollers 26 are fixed on separator holder 23 respectively by separate roller mounting shell 28, be equipped with the second drive motors 27 in 2 separate roller mounting shells 28, one end of separate roller 26 rotating shaft is provided with sprocket wheel 29, and sprocket wheel 29 is connected by chain 30, and the second drive motors 27 is fixedly connected with one of them sprocket wheel 29, the section configuration of described separate roller 26 is oval.
As shown in Figure 7 and Figure 8, waste material rejecting mechanism 6 comprises Linear transmission device 31, bottom image collecting device 32, top image collecting device 33, side image harvester 34 and the second conveyer belt 35, Linear transmission device 31 is located at immediately below 2 groups of separate rollers 26, Linear transmission device 31 comprises the 3rd slide rail 36, first push-and-pull cylinder 37, feed appliance 38 and " L " shape track 39, the two ends of the 3rd slide rail 36 are respectively equipped with 1 the first push-and-pull cylinder 37, each first push-and-pull cylinder 37 is connected with a feed appliance 38, feed appliance 38 and the 3rd slide rail 36 are slidably connected, the top of 2 feed appliances 38 is equipped with 1 " L " shape track 39, " L " shape track 39 is connected with the second conveyer belt 35, bottom image collecting device 32 is located at the centre position immediately below 2 " L " shape tracks 39, top image collecting device 33 is located at the junction of the second conveyer belt 35 and " L " shape track 39, be positioned at the top of the second conveyer belt 35, the side of the second conveyer belt 35 is located at by side image harvester 34, the sidewall of the second conveyer belt 35 is also provided with the second push-and-pull cylinder 62.Bottom image collecting device 32 is made up of the first camera 40 and four sides tunable light source 41; Top image collecting device 33 is made up of cover body 42, second camera 43 and bowl light source 44; Side image harvester 34 is made up of adjustment support 45, the 3rd camera 46 and planar light source 47, regulates support 45 and planar light source 47 to be separately fixed at the both sides of the second conveyer belt 35.
As shown in Figure 9, rotating disk rejecting mechanism 7 comprises square frame 48, rotating disk 49, the gentle pawl 51 of the 3rd drive motors 50, rotating disk 49 is located on square frame 48,3rd drive motors 50 is located at immediately below rotating disk 49, for driving rotating disk 49, the groove 52 arranged between rotating disk 49 is provided with etc., the position of each groove 52 is equipped with a gas pawl 51.Pile up the side that transshipment acitivity 8 is located at square frame 48, pile up transshipment acitivity 8 and comprise the 3rd push-and-pull cylinder 53, the 4th push-and-pull cylinder 54, the 4th slide rail 55, splicing case 57 and support body 56, bottom and the 4th slide rail 55 of support body 56 are slidably connected, 4th push-and-pull cylinder 54 is located in support body 56, the top of the 4th push-and-pull cylinder 54 is fixedly connected with the bottom of splicing case 57,3rd push-and-pull cylinder 53 and the 4th slide rail 55 be arranged in parallel, and the 3rd push-and-pull cylinder 53 is connected with the side of support body 56.The top of support body 56 and the inside of splicing case 57 are equipped with buffering blob of viscose 58.
In above-described embodiment, electric push rod, feed appliance, four sides tunable light source, bowl light source and planar light source are prior art, all obtain by buying.
Operation principle of the present invention: the end pcb board of whole pile being placed on the first conveyer belt 9, under the effect of the first conveyer belt 9, pcb board is delivered to the other end, after arriving the other end, the manipulator 11 be positioned at above the first conveyer belt 9 is started working, first distance between 2 pieces of clamping plate 17 increases along manipulator walking track 19 by manipulator 11 under the effect of electric push rod 18, when pcb board is transported between 2 pieces of clamping plate 17, under the effect of electric push rod 18,2 pieces of clamping plate 17 are shunk, pcb board heap is clipped by clamping plate 17, then the first drive motors 14 works, leading screw 13 is driven to rotate, slide along walking track 10 at the rotation sliding block 60 of leading screw 13, stop when manipulator 11 arrives after directly over rolling separating mechanism 5, by the release of pcb board heap under the effect of electric push rod 18, pcb board is made to pile the top of automatically falling 2 groups of separate rollers 26.The sprocket wheel 29 be connected with the second drive motors 27 under the drive of the second drive motors 27 rotates, and sprocket wheel 29 drives other sprocket wheel 29 to rotate by chain 30, thus makes all separate roller 26 synchronous axial system, and rotating speed is identical; Owing to have employed the separate roller 26 that section configuration is ellipse, therefore when the distance between 2 separate rollers 26 is maximum, pcb board can fall into lower one deck, distance in short-term pcb board is sandwiched in above separate roller 26, and the distance cyclically-varying between 2 separate rollers 26, plays the effect of separating PCB plate.When the specification of pcb board changes, need the distance between adjustment 2 groups of separate rollers 26, only need start double acting gas pawl 24, under the drive of double acting gas pawl 24, separator holder 23 can to horizontally slip spacing along the second slide rail 22.Separated pcb board is fallen on the Linear transmission device 31 of waste material rejecting mechanism 7 one by one, the pcb board fallen just in time drops on two symmetrically arranged " L " shape tracks 39, if the spacing of " L " shape track 39 is improper, can be regulated by adjustment first push-and-pull cylinder 37.Under the effect of feed appliance 38, pcb board slides along " L " shape track 39, and when moving to the top of bottom image collecting device 32, the first camera 40 gathers bottom diagram picture, and four sides tunable light source 41 plays the effect of illumination, light filling, then pcb board is sent to the second conveyer belt 35, under the effect of the second conveyer belt 35, first top image collecting device 33 is entered, second camera 43 gathers the image at pcb board top, bowl light source 44 is for illumination, light filling, then pcb board is transported to the position of side image harvester 34, 3rd camera 46 gathers pcb board side image, planar light source 47 is for illumination, light filling, three camera acquires to information send to microcomputer controller (not shown) to carry out analyzing and processing, when finding defect ware, when pcb board moves to the position of the second push-and-pull cylinder 62, pcb board is released the second conveyer belt 35 by the second push-and-pull cylinder 62, inferior pcb board directly falls into waste material containing box and receives.Qualified pcb board continues to run on the second conveyer belt 35, when pcb board is transported to the end of the second conveyer belt 35, on the gas pawl 51 that direct insertion and the second conveyer belt 35 are oppositely arranged, then the 3rd drive motors 50 is started, 3rd drive motors 50 drives rotating disk 49 to rotate, and pcb board is transported to pile up accordingly above device and stops, gas pawl 51 discharges pcb board, pcb board falls into automatically to be piled up in the splicing case 57 of device, often fall into one piece of pcb board the 4th push-and-pull cylinder 54 just to decline certain distance, when pcb board fills up splicing case 3 completely, splicing case 57 is released along the 4th slide rail 55 by the 3rd push-and-pull cylinder 53.The pcb board piled up is taken away by staff.

Claims (10)

1. the pcb board automatic letter sorting machine based on machine vision, comprise casing (1), casing (1) is provided with charging aperture (2) and waste outlet (3), it is characterized in that: be provided with the feed mechanism (4), rolling separating mechanism (5), waste material rejecting mechanism (6), the rotating disk rejecting mechanism (7) that connect in turn in casing (1) and pile up transshipment acitivity (8); Feed mechanism (4) is connected with charging aperture (2), and waste material rejecting mechanism (6) is connected with waste outlet (3).
2. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 1, it is characterized in that: feed mechanism (4) comprises the first conveyer belt (9), walking track (10) and manipulator (11), walking track (10) is arranged on the top in casing (1) by track fixed frame (12), the top of walking track (10) is provided with leading screw (13) and the first drive motors (14), walking track (10) is socketed with slide block (60), slide block (60) is connected by the top of connecting rod (15) with manipulator (11), leading screw (13) is fixedly connected with the output shaft of the first drive motors (14), slide block (60) is provided with screw (16), screw (16) and leading screw (13) are threaded connection.
3. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 2, it is characterized in that: described manipulator (11) comprises top board (61), clamping plate (17) and electric push rod (18), the top of top board (61) is connected with connecting rod (15), the bottom of top board (61) is provided with manipulator walking track (19), the top of 2 clamping plate (17) is installed in manipulator walking track (19) and goes up and be slidably connected with it, the bottom of top board (61) is provided with 2 electric push rods (18), 2 electric push rods (18) respectively connect a clamping plate (17).
4. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 3, it is characterized in that: described rolling separating mechanism (5) is located at the below of track fixed frame (12), rolling separating mechanism (5) comprises T-shape base (20), connecting plate (21), second slide rail (22), separator holder (23), double acting gas pawl (24), separator connecting rod (25), separate roller (26) and the second drive motors (27), connecting plate (21) is vertically fixed on T-shape base (20), the plate face of connecting plate (21) is provided with the second slide rail (22), 2 separator holders (23) are arranged on the second slide rail (22) and go up and be slidably connected with it, double acting gas pawl (24) is located between 2 separator holders (23), and be connected with 2 separator holders (23), 2 separator holders (23) are equipped with separator connecting rod (25), 2 groups of separate rollers (26) are fixed on separator holder (23) respectively by separate roller mounting shell (28), the second drive motors (27) is equipped with in 2 separate roller mounting shells (28), one end of separate roller (26) rotating shaft is provided with sprocket wheel (29), sprocket wheel (29) is connected by chain (30), and the second drive motors (27) is fixedly connected with one of them sprocket wheel (29), the section configuration of described separate roller (26) is oval.
5. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 4, it is characterized in that: waste material rejecting mechanism (6) comprises Linear transmission device (31), bottom image collecting device (32), top image collecting device (33), side image harvester (34) and the second conveyer belt (35), Linear transmission device (31) is located at immediately below 2 groups of separate rollers (26), Linear transmission device (31) comprises the 3rd slide rail (36), first push-and-pull cylinder (37), feed appliance (38) and " L " shape track (39), the two ends of the 3rd slide rail (36) are respectively equipped with 1 the first push-and-pull cylinder (37), each first push-and-pull cylinder (37) is connected with a feed appliance (38), feed appliance (38) and the 3rd slide rail (36) are slidably connected, the top of 2 feed appliances (38) is equipped with 1 " L " shape track (39), " L " shape track (39) is connected with the second conveyer belt (35), the centre position immediately below 2 " L " shapes track (39) is located in bottom image collecting device (32), top image collecting device (33) is located at the junction of the second conveyer belt (35) and " L " shape track (39), be positioned at the top of the second conveyer belt (35), the side of the second conveyer belt (35) is located at by side image harvester (34), the sidewall of the second conveyer belt (35) is also provided with the second push-and-pull cylinder (62).
6. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 5, is characterized in that: described bottom image collecting device (32) is made up of the first camera (40) and four sides tunable light source (41); Top image collecting device (33) is made up of cover body (42), the second camera (43) and bowl light source (44); Side image harvester (34) is made up of adjustment support (45), the 3rd camera (46) and planar light source (47), regulates support (45) and planar light source (47) to be separately fixed at the both sides of the second conveyer belt (35).
7. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 6, it is characterized in that: rotating disk rejecting mechanism (7) comprises square frame (48), rotating disk (49), 3rd drive motors (50) gentle pawl (51), rotating disk (49) is located on square frame (48), 3rd drive motors (50) is located at immediately below rotating disk (49), for driving rotating disk (49), the groove (52) arranged between rotating disk (49) is provided with etc., the position of each groove (52) is equipped with a gas pawl (51).
8. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 7, it is characterized in that: pile up the side that transshipment acitivity (8) is located at square frame (48), pile up transshipment acitivity (8) and comprise the 3rd push-and-pull cylinder (53), 4th push-and-pull cylinder (54), 4th slide rail (55), splicing case (57) and support body (56), bottom and the 4th slide rail (55) of support body (56) are slidably connected, 4th push-and-pull cylinder (54) is located in support body (56), the top of the 4th push-and-pull cylinder (54) is fixedly connected with the bottom of splicing case (57), 3rd push-and-pull cylinder (53) and the 4th slide rail (55) be arranged in parallel, 3rd push-and-pull cylinder (53) is connected with the side of support body (56).
9. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 8, is characterized in that: the top of support body (56) and the inside of splicing case (57) are equipped with buffering blob of viscose (58).
10. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 1, is characterized in that: the top of casing (1) is also provided with exhaust ventilation fan (59).
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CN108738293A (en) * 2017-04-24 2018-11-02 Juki株式会社 feeder and mounting device
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CN109677868A (en) * 2019-02-01 2019-04-26 广东若贝特智能机器人科技有限公司 A kind of pcb board receipts plate automation equipment
CN110386404A (en) * 2019-08-20 2019-10-29 莆田学院 A kind of electronic product test production line and its test method
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CN109677868A (en) * 2019-02-01 2019-04-26 广东若贝特智能机器人科技有限公司 A kind of pcb board receipts plate automation equipment
CN110386404A (en) * 2019-08-20 2019-10-29 莆田学院 A kind of electronic product test production line and its test method
CN110386404B (en) * 2019-08-20 2021-03-23 莆田学院 Electronic product test production line and test method thereof
CN112320279A (en) * 2020-11-17 2021-02-05 百工汇智(上海)工业科技有限公司 Large-scale panel trades holds in palm system
CN112698061A (en) * 2020-12-17 2021-04-23 新沂市承翔电子有限公司 Novel electronic component detection device
CN113211463A (en) * 2021-05-19 2021-08-06 王佳豪 High efficiency fruit processing is with multistage letter sorting manipulator and fruit letter sorting system

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