CN104841647B - A kind of pcb board automatic letter sorting machine based on machine vision - Google Patents
A kind of pcb board automatic letter sorting machine based on machine vision Download PDFInfo
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- CN104841647B CN104841647B CN201510260559.2A CN201510260559A CN104841647B CN 104841647 B CN104841647 B CN 104841647B CN 201510260559 A CN201510260559 A CN 201510260559A CN 104841647 B CN104841647 B CN 104841647B
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Abstract
The invention discloses a kind of pcb board automatic letter sorting machine based on machine vision, including casing (1), casing (1) is provided with charging aperture (2) and waste outlet (3), be provided with casing (1) be sequentially connected with feed mechanism (4), roll separating mechanism (5), waste material rejecting mechanism (6), rotating disk rejecting mechanism (7) 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).The present invention can be applied to the pcb board of all size, and have the advantages that high degree of automation, recognition efficiency are high and sorting speed is fast.
Description
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
Machinery equipment field.
Background technology
Pcb board as electron trade necessity, traditional detection pcb board is generally manual detection, and manual detection is logical
Remarkable to visually observe detection classification, detection efficiency is extremely low, and needs substantial amounts of labour, in the automation car of efficient production
Between, traditional detection mode cannot meet the demand in epoch.Machine detection substitution manual detection has turned into a big trend.Machine
Device etection theory according to being image procossing, take pictures by least two sides to pcb board.
Pcb board is transported with a conveyer belt, it is difficult to realize that IMAQ is carried out to it, therefore conventional conveyor can use two
Bar conveyer belt, the transport pcb board of bridging type can meet the lower surface of the pcb board other parts in addition to edge is not related to detection
Can be taken pictures by camera, in order that collection image stabilization, industrially can drive two conveyer belts using a motor, realize fortune
While defeated, to being taken pictures below plate, such as gear synchronous band, its synchronism is especially good, but also has limitation simultaneously, can only
It is confined to detect the pcb board of same size specification, normal picture collection, big plate part area is unable to more than or less than the plate of specification
Not, platelet is less than the spacing of two conveyer belts to IMAQ and falling down cannot carry out IMAQ.
Therefore to occur in that and drive two conveyer belts respectively using two motor, and clipping room is filled away from regulation under conveyer belt
Put, the distance between two bands can be adjusted, to adapt to all size plate；But two motor poor synchronizations, it is difficult to eliminate
The error of system, such as start electric motor starting when motor in have one slightly postpone may result in two band travelling speeds it is different, lead
Causing plate can bend above, unfavorable IMAQ；The best way is, using a control device, to drive two conveyer belts.
The mode that tradition separates a pile plate has two kinds, and one is artificial separation, and another kind is by drawing using vacuum cup
Pcb board is separated, and vacuum cup is connected with vacuum equipment by adapter, is then contacted with thing to be hoisted such as glass, paper etc., is risen
Dynamic vacuum equipment suction, makes to produce negative pressure in sucker, so as to thing to be hoisted be sucked, can start to transport thing to be hoisted.It is right
Cannot be drawn in the pcb board vacuum cup for having hole.
The content of the invention
It is an object of the present invention to provide a kind of pcb board automatic letter sorting machine based on machine vision, it can be applied to each
The pcb board of specification is planted, and has the advantages that high degree of automation, recognition efficiency are high and sorting speed is fast.
Technical scheme：A kind of pcb board automatic letter sorting machine based on machine vision, including casing, set on casing
Have charging aperture and waste outlet, be provided with casing be sequentially connected with feed mechanism, roll separating mechanism, waste material rejecting mechanism, turn
Disk rejecting mechanism and pile up transshipment acitivity；Feed mechanism is connected with charging aperture, and waste material rejecting mechanism is connected with waste outlet.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, feed mechanism includes the first conveyer belt, walking
Track and manipulator, walking track are arranged on the top in casing by track fixed frame, and leading screw is provided with the top of walking track
With the first motor, sliding block is socketed with walking track, sliding block is connected by connecting rod with the top of manipulator, leading screw and the
The output shaft of one motor is fixedly connected, and sliding block is provided with screw, and screw is connected through a screw thread with leading screw.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, the manipulator includes top board, clamping plate and electricity
Dynamic pull bar, the top of top board is connected with connecting rod, and the bottom of top board is provided with manipulator walking track, and the top of 2 clamping plates is equal
It is slidably connected on manipulator walking track and with it, the bottom of top board is provided with 2 electric push rods, 2 electric push-and-pulls
Bar respectively connects a clamping plate.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, the rolling separating mechanism is solid located at track
Determine the lower section of frame, roll separating mechanism include T-shape base, connecting plate, the second slide rail, separator fixed seat, double acting jaw,
Separator connecting rod, separate roller and the second motor, connecting plate are vertically fixed on T-shape base, connecting plate
Plate face is provided with the second slide rail, and 2 separator fixed seats are arranged on the second slide rail and are slidably connected with it, and double acting jaw sets
Between 2 separator fixed seats, and it is connected with 2 separator fixed seats, separator company is equipped with 2 separator fixed seats
Extension bar, 2 groups of separate rollers are fixed in separator fixed seat by separate roller mounting shell respectively；It is all provided with 2 separate roller mounting shells
The one end for having the second motor, separate roller rotating shaft is provided with sprocket wheel, and sprocket wheel is connected by chain, the second motor and wherein
Individual sprocket wheel is fixedly connected；The section configuration of the separate roller is ellipse.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, waste material rejecting mechanism is filled including linear transmission
Put, bottom image collecting device, top image harvester, side image harvester and the second conveyer belt, linear transmission dress
2 groups of underfaces of separate roller are arranged in, Linear transmission device includes the 3rd slide rail, the first push-and-pull cylinder, feed appliance and " L " shape rail
Road, the 3rd slide rail is respectively arranged at two ends with 1 the first push-and-pull cylinder, is connected with a feed appliance in each first push-and-pull cylinder,
Feed appliance is slidably connected with the 3rd slide rail, and 1 " L " shape track is equipped with the top of 2 feed appliances, and " L " shape track and second pass
Band is sent to be connected, centre position of the bottom image collecting device immediately below 2 " L " shape tracks, top image harvester
Located at the second conveyer belt and the junction of " L " shape track, positioned at the top of the second conveyer belt；Side image harvester is located at the
The side of two conveyer belts；The second push-and-pull cylinder is additionally provided with the side wall of the second conveyer belt.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, the bottom image collecting device is by first
Camera and four sides tunable light source are constituted；Top image harvester is made up of cover body, the second camera and bowl light source；Side view
As harvester is made up of adjusting bracket, the 3rd camera and planar light source, adjusting bracket and planar light source are separately fixed at
The both sides of two conveyer belts.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, rotating disk rejecting mechanism includes square frame, turns
Disk, the 3rd motor and jaw, on square frame, the 3rd motor is located at the underface of rotating disk to rotating disk, for driving
Dynamic rotating disk, rotating disk is provided with the groove of arrangement between waiting, and the position of each groove is equipped with a jaw.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, transshipment acitivity is piled up located at square frame
Side, piling up transshipment acitivity includes the 3rd push-and-pull cylinder, the 4th push-and-pull cylinder, the 4th slide rail, splicing case and support body, the bottom of support body
Portion is slidably connected with the 4th slide rail, the 4th push-and-pull cylinder in the support body, the top of the 4th push-and-pull cylinder and the bottom of splicing case
It is fixedly connected, the 3rd push-and-pull cylinder be arranged in parallel with the 4th slide rail, the 3rd push-and-pull cylinder is connected with the side of support body.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, the top of support body and the inside of splicing case are equal
It is provided with buffering blob of viscose.
In the foregoing this pcb board automatic letter sorting machine based on machine vision, exhaust ventilation fan is additionally provided with the top of casing.
Compared with prior art, the present invention drives oval point using the rolling separator of independent research using motor
Rotated from roller, make its distance between 2 points periodically changes, when distance is most long, pcb board can fall into next layer, apart from short
When pcb board be sandwiched in above separate roller, a pile plate by manipulator four sides it is spacing, with apart from cyclically-varying, one piece of pcb board
Then one piece of whereabouts, on the straight line feeder because of the time difference before fall the plate that plate falls with after and have distance, it is achieved thereby that separating
Purpose, traditional artificial separation instead of using this structure, and solve sucked type separation equipment cannot separate it is with holes
Pcb board problem；Pcb board bottom IMAQ is ideally solved by the Linear transmission device on waste material rejecting mechanism
Problem, by the cooperation of feed appliance and " L " shape track, can reveal the bottom of pcb board in the case where not influenceing pcb board to transmit
Go out, facilitate IMAQ；Additionally by rotating disk rejecting mechanism and the cooperation for piling up transshipment acitivity, stacking pcb board is realized
Purpose, package unit has high degree of automation, operating efficiency and recognition efficiency advantage high.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is feed mechanism, rolls separating mechanism, waste material rejecting mechanism, rotating disk rejecting mechanism and pile up transshipment acitivity
Structural representation；
Fig. 3 is the structural representation of feed mechanism；
Fig. 4 is the structural representation of manipulator；
Fig. 5 is the structural representation for 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 piles up the structural representation of transshipment acitivity.
Mark in accompanying drawing for：1- casings, 2- charging apertures, 3- waste outlets, 4- feed mechanisms, 5- rolls separating mechanism,
6- waste material rejecting mechanisms, 7- rotating disk rejecting mechanisms, 8- piles up transshipment acitivity, the conveyer belts of 9- first, 10- walking tracks, 11- machineries
Hand, 12- track fixed frames, 13- leading screws, the motors of 14- first, 15- connecting rods, 16- screws, 17- clamping plates, 18- is electronic to be pushed away
Pull bar, 19- manipulators walking track, 20- T-shape bases, 21- connecting plates, the slide rails of 22- second, 23- separator fixed seats, 24-
Double acting jaw, 25- separator connecting rods, 26- separate rollers, the motors of 27- second, 28- separate roller mounting shells, 29- sprocket wheels,
30- chains, 31- Linear transmission devices, 32- bottoms image collecting device, 33- top image harvesters, 34- side images are adopted
Acquisition means, the conveyer belts of 35- second, the slide rails of 36- the 3rd, the push-and-pull cylinders of 37- first, 38- feed appliances, 39- " L " shape track, 40-
One camera, 41- four sides tunable light source, 42- cover bodies, the cameras of 43- second, 44- bowls of light source, 45- adjusting brackets, 46- the 3rd
Camera, 47- planar light sources, 48- square frames, 49- rotating disks, the motors of 50- the 3rd, 51- jaws, 52- grooves, 53-
Three push-and-pull cylinders, the push-and-pull cylinders of 54- the 4th, the slide rails of 55- the 4th, 56- support bodys, 57- splicing casees, 58- buffering blob of viscoses, 59- air drafts
Ventilation fan, 60- sliding blocks, 61- top boards, the push-and-pull cylinders of 62- second.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiments of the invention：A kind of pcb board automatic letter sorting machine based on machine vision, as depicted in figs. 1 and 2, including
Casing 1, casing 1 is provided with charging aperture 2 and waste outlet 3, casing 1 feed mechanism 4, the rolling seperator for being provided with and being sequentially connected with
Structure 5, waste material rejecting mechanism 6, rotating disk rejecting mechanism 7 and pile up transshipment acitivity 8；Feed mechanism 4 is connected with charging aperture 2, and waste material is picked
Except mechanism 6 is connected with waste outlet 3, the top of casing 1 is additionally provided with exhaust ventilation fan 59.
As shown in figure 3, feed mechanism 4 includes the first conveyer belt 9, walking track 10 and manipulator 11, walking track 10 leads to
Top of the track fixed frame 12 in casing 1 is crossed, the top of track 10 of walking is provided with the motor 14 of leading screw 13 and first,
Sliding block 60 is socketed with walking track 10, sliding block 60 is connected by connecting rod 15 with the top of manipulator 11, leading screw 13 and first
The output shaft of motor 14 is fixedly connected, and sliding block 60 is provided with screw 16, and screw 16 is connected through a screw thread with leading screw 13.
As shown in figure 4, the manipulator 11 include top board 61, clamping plate 17 and electric push rod 18, the top of top board 61 with
Connecting rod 15 is connected, and the top that the bottom of top board 61 is provided with manipulator walking 19,2 clamping plates 17 of track is installed in manipulator row
Walk on track 19 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 and respectively connects
Connect a clamping plate 17.
As shown in Figure 5 and Figure 6, separating mechanism 5 is rolled located at the lower section of track fixed frame 12, and rolling separating mechanism 5 includes
T-shape base 20, connecting plate 21, the second slide rail 22, separator fixed seat 23, double acting jaw 24, separator connecting rod 25, point
From the motor 27 of roller 26 and second, connecting plate 21 is vertically fixed on T-shape base 20, in the plate face of connecting plate 21
It is provided with 22,2 separator fixed seats 23 of the second slide rail to be slidably connected on the second slide rail 22 and with it, double acting jaw 24
Between 2 separator fixed seats 23, and it is connected with 2 separator fixed seats 23, is equipped with 2 separator fixed seats 23
25,2 groups of separate rollers 26 of separator connecting rod are fixed in separator fixed seat 23 by separate roller mounting shell 28 respectively；2 points
The second motor 27 is equipped with roller mounting shell 28, one end of the rotating shaft of separate roller 26 is provided with sprocket wheel 29, and sprocket wheel 29 passes through chain
Bar 30 is connected, and the second motor 27 is fixedly connected with one of sprocket wheel 29；The section configuration of the separate roller 26 is ellipse
Shape.
As shown in Figure 7 and Figure 8, waste material rejecting mechanism 6 includes Linear transmission device 31, bottom image collecting device 32, top
Portion's image collecting device 33, the conveyer belt 35 of side image harvester 34 and second, Linear transmission device 31 are located at 2 groups of separate rollers
26 underface, Linear transmission device 31 includes the 3rd slide rail 36, the first push-and-pull cylinder 37, feed appliance 38 and " L " shape track 39,
3rd slide rail 36 is respectively arranged at two ends with 1 the first push-and-pull cylinder 37, in each first push-and-pull cylinder 37 is connected with a feeding
Device 38, feed appliance 38 is slidably connected with the 3rd slide rail 36, and 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, interposition of the bottom image collecting device 32 immediately below 2 " L " shape tracks 39
Put, top image harvester 33 is located at the junction of the second conveyer belt 35 and " L " shape track 39, positioned at the second conveyer belt 35
Top；Side image harvester 34 is located at the side of the second conveyer belt 35；Second is additionally provided with the side wall of the second conveyer belt 35
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 is gathered
Device 33 is made up of cover body 42, the second camera 43 and bowl light source 44；Side image harvester 34 is by adjusting bracket the 45, the 3rd
Camera 46 and planar light source 47 are constituted, and adjusting bracket 45 and planar light source 47 are separately fixed at the both sides of the second conveyer belt 35.
As shown in figure 9, rotating disk rejecting mechanism 7 includes square frame 48, rotating disk 49, the 3rd motor 50 and jaw 51,
On square frame 48, the 3rd motor 50 is located at the underface of rotating disk 49 to rotating disk 49, for driving rotating disk 49, rotating disk 49
The groove 52 arranged between being provided with etc., the position of each groove 52 is equipped with a jaw 51.Transshipment acitivity 8 is piled up located at square
The side of frame 48, piling up transshipment acitivity 8 includes 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, the bottom of support body 56 is slidably connected with the 4th slide rail 55, and in support body 56, the 4th pushes away the 4th push-and-pull cylinder 54
The top of cylinder 54 is drawn to be fixedly connected with the bottom of splicing case 57, the 3rd push-and-pull cylinder 53 be arranged in parallel with the 4th slide rail 55, the
Three push-and-pull cylinders 53 are 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 existing
Technology, can be obtained by buying.
Operation principle of the invention：The pcb board of whole pile is placed on the end of the first conveyer belt 9, in the work of the first conveyer belt 9
Pcb board is delivered into the other end with lower, the manipulator 11 being located above the first conveyer belt 9 after the other end is reached and is started working, machinery
Hand 11 increases the distance between 2 pieces of clamping plates 17 along manipulator walking track 19 first in the presence of electric push rod 18, when
When pcb board is transported between 2 pieces of clamping plates 17,2 pieces of clamping plates 17 are shunk in the presence of electric push rod 18, make the clamping plate 17 will
Pcb board heap is clipped, and then the first motor 14 works, drive leading screw 13 rotate, leading screw 13 rotation sliding block 60 along row
Walk track 10 to slide, stop after manipulator 11 reaches the surface for rolling separating mechanism 5, in the presence of electric push rod 18
By the release of pcb board heap, pcb board heap is set to fall 2 groups of tops of separate roller 26 automatically.With under the drive of the second motor 27
The sprocket wheel 29 of the connection of two motor 27 is rotated, and sprocket wheel 29 drives other sprocket wheels 29 to rotate by chain 30, so that all points
From the synchronous axial system of roller 26, and rotating speed is identical；It is oval separate roller 26 as a result of section configuration, therefore when 2 separation
Pcb board can fall into next layer when the distance between roller 26 is maximum, and pcb board is sandwiched in above separate roller 26 distance in short-term, 2 separation
The distance between roller 26 cyclically-varying, plays a part of to separate pcb board.When the specification of pcb board changes, it is necessary to adjust
The distance between 2 groups of separate rollers 26, only need to start double acting jaw 24, and separator is solid under the drive of double acting jaw 24
Reservation 23 can horizontally slip to adjust spacing along the second slide rail 22.Separate pcb board falls waste material rejecting one by one
On the Linear transmission device 31 of mechanism 7, the pcb board for falling just is dropped on two symmetrically arranged " L " shape tracks 39, if
The spacing of " L " shape track 39 is improper, can be adjusted by adjusting the first push-and-pull cylinder 37.In the presence of feed appliance 38
Pcb board is slided along " L " shape track 39, when the top of bottom image collecting device 32 is moved to, the collection of the first camera 40 bottom
Portion's image, four sides tunable light source 41 plays a part of illumination, light filling；Then pcb board is sent to the second conveyer belt 35, is passed second
Send in the presence of band 35, initially enter top image harvester 33, the image at the top of the collection pcb board of the second camera 43, bowl
Light source 44 is for illuminating, light filling, and then pcb board is transported to the position of side image harvester 34, and the 3rd camera 46 is adopted
Collection pcb board side image, planar light source 47 is used to illuminating, light filling, and the information that three cameras are collected is sent to micro computer controlled
Device (not shown) processed is analyzed treatment, and when defect ware is found, pcb board is run to the position of the second push-and-pull cylinder 62
When, pcb board is released the second conveyer belt 35 by the second push-and-pull cylinder 62, and inferior pcb board falls directly into waste material containing box and received.
Qualified pcb board is continued to run with the second conveyer belt 35, when pcb board is transported to the end of the second conveyer belt 35, directly
In the jaw 51 that insertion is oppositely arranged with the second conveyer belt 35, then start the 3rd motor 50, the band of the 3rd motor 50
Move rotating disk 49 to rotate, and pcb board is transported to corresponding device top of piling up and stop, the release pcb board of jaw 51, pcb board falls automatically
Enter to pile up in the splicing case 57 of device, often fall into one piece of push-and-pull cylinder 54 of pcb board the 4th and just decline certain distance, when pcb board is complete
Splicing case 3 is filled up entirely, the 3rd push-and-pull cylinder 53 releases splicing case 57 along the 4th slide rail 55.The PCB that staff will pile up
Plate is taken away.
Claims (7)
1. a kind of pcb board automatic letter sorting machine based on machine vision, including casing (1), casing (1) be provided with charging aperture (2) and
Waste outlet (3), it is characterised in that：Be provided with casing (1) be sequentially connected with feed mechanism (4), roll separating mechanism (5), useless
Expect rejecting mechanism (6), rotating disk rejecting mechanism (7) and pile up transshipment acitivity (8)；Feed mechanism (4) is connected with charging aperture (2), gives up
Material rejecting mechanism (6) is connected with waste outlet (3)；Feed mechanism (4) includes the first conveyer belt (9), walking track (10) and machine
Tool hand (11), top of walking track (10) by track fixed frame (12) in casing (1), the top of walking track (10)
Portion is provided with leading screw (13) and the first motor (14), and sliding block (60) is socketed with walking track (10), and sliding block (60) is by even
Extension bar (15) is connected with the top of manipulator (11), and leading screw (13) is fixedly connected with the output shaft of the first motor (14), sliding
Block (60) is provided with screw (16), and screw (16) is connected through a screw thread with leading screw (13)；The manipulator (11) is including top board
(61), clamping plate (17) and electric push rod (18), the top of top board (61) are connected with connecting rod (15), and the bottom of top board (61) sets
There is manipulator walking track (19), manipulator is installed at the top of 2 clamping plates (17) and is walked on track (19) and is slided with it
Connection, the bottom of top board (61) is provided with 2 electric push rods (18), and 2 electric push rods (18) respectively connect a clamping plate (17)；
Rolling separating mechanism (5) located at the lower section of track fixed frame (12), roll separating mechanism (5) including T-shape base (20),
Connecting plate (21), the second slide rail (22), separator fixed seat (23), double acting jaw (24), separator connecting rod (25), separation
Roller (26) and the second motor (27), connecting plate (21) are vertically fixed on T-shape base (20), connecting plate (21)
Plate face be provided with the second slide rail (22), 2 separator fixed seats (23) on the second slide rail (22) and with its company of slip
Connect, double acting jaw (24) is connected, 2 between 2 separator fixed seats (23) with 2 separator fixed seats (23)
Separator connecting rod (25) is equipped with separator fixed seat (23), 2 groups of separate rollers (26) pass through separate roller mounting shell respectively
(28) it is fixed in separator fixed seat (23)；The second motor (27) is equipped with 2 separate roller mounting shells (28), is separated
One end of roller (26) rotating shaft is provided with sprocket wheel (29), and sprocket wheel (29) is connected by chain (30), the second motor (27) with wherein
One sprocket wheel (29) is fixedly connected；The section configuration of the separate roller (26) is ellipse.
2. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 1, it is characterised in that：Waste material is picked
Except mechanism (6) includes Linear transmission device (31), bottom image collecting device (32), top image harvester (33), side
Image collecting device (34) and the second conveyer belt (35), Linear transmission device (31) located at 2 groups of underfaces of separate roller (26), directly
Line transmitting device (31) includes the 3rd slide rail (36), the first push-and-pull cylinder (37), feed appliance (38) and " L " shape track (39), the
Three slide rails (36) are respectively arranged at two ends with 1 the first push-and-pull cylinder (37), in each first push-and-pull cylinder (37) are connected with one
Feed appliance (38), feed appliance (38) is slidably connected with the 3rd slide rail (36), and 1 " L " shape is equipped with the top of 2 feed appliances (38)
Track (39), " L " shape track (39) is connected with the second conveyer belt (35), and bottom image collecting device (32) is located at 2 " L " shapes
Centre position immediately below track (39), top image harvester (33) is located at the second conveyer belt (35) and " L " shape track
(39) junction, positioned at the top of the second conveyer belt (35)；Side image harvester (34) is located at the second conveyer belt (35)
Side；The second push-and-pull cylinder (62) is additionally provided with the side wall of the second conveyer belt (35).
3. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 2, it is characterised in that：The bottom
Portion's image collecting device (32) is made up of the first camera (40) and four sides tunable light source (41)；Top image harvester (33)
It is made up of cover body (42), the second camera (43) and bowl light source (44)；Side image harvester (34) by adjusting bracket (45),
3rd camera (46) and planar light source (47) are constituted, and adjusting bracket (45) and planar light source (47) are separately fixed at the second transmission
The both sides of band (35).
4. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 3, it is characterised in that：Rotating disk is picked
Except mechanism (7) includes square frame (48), rotating disk (49), the 3rd motor (50) and jaw (51), rotating disk (49) is located at side
In shape frame (48), the 3rd motor (50) located at the underface of rotating disk (49), for driving rotating disk (49), on rotating disk (49)
The groove (52) arranged between being provided with etc., the position of each groove (52) is equipped with a jaw (51).
5. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 4, it is characterised in that：Pile up and turn
Located at the side of square frame (48), pile up transshipment acitivity (8) includes the 3rd push-and-pull cylinder (53), the 4th push-and-pull to fortune mechanism (8)
Slided with the 4th slide rail (55) and connected in cylinder (54), the 4th slide rail (55), splicing case (57) and support body (56), the bottom of support body (56)
Connect, the 4th push-and-pull cylinder (54) in support body (56), with the bottom of splicing case (57) consolidate by the top of the 4th push-and-pull cylinder (54)
Fixed connection, the 3rd push-and-pull cylinder (53) be arranged in parallel with the 4th slide rail (55), the 3rd push-and-pull cylinder (53) and the one of support body (56)
Side connects.
6. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 5, it is characterised in that：Support body
(56) top and the inside of splicing case (57) is equipped with buffering blob of viscose (58).
7. a kind of pcb board automatic letter sorting machine based on machine vision according to claim 1, it is characterised in that：Casing (1)
Top be additionally provided with exhaust ventilation fan (59).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510260559.2A CN104841647B (en) | 2015-05-19 | 2015-05-19 | A kind of pcb board automatic letter sorting machine based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510260559.2A CN104841647B (en) | 2015-05-19 | 2015-05-19 | A kind of pcb board automatic letter sorting machine based on machine vision |
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| CN104841647A CN104841647A (en) | 2015-08-19 |
| CN104841647B true CN104841647B (en) | 2017-06-20 |
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|---|---|---|---|---|
| CN105675624A (en) * | 2015-12-29 | 2016-06-15 | 浙江理工大学 | Optical fiber crack multi-angle vision detection apparatus for ultrasonic welded parts |
| CN106927265B (en) * | 2015-12-29 | 2022-06-17 | 苏州市迪飞特电子有限公司 | Automatic device that stacks of multilayer PCB board raw materials |
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