CN105292657A - Visual-positioning mobile phone accessory attaching system - Google Patents
Visual-positioning mobile phone accessory attaching system Download PDFInfo
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- CN105292657A CN105292657A CN201510769959.6A CN201510769959A CN105292657A CN 105292657 A CN105292657 A CN 105292657A CN 201510769959 A CN201510769959 A CN 201510769959A CN 105292657 A CN105292657 A CN 105292657A
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- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000007599 discharging Methods 0.000 claims abstract description 23
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- 238000012937 correction Methods 0.000 claims description 16
- 238000003384 imaging method Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 238000009432 framing Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000007664 blowing Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
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- 241000531807 Psophiidae Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000246 remedial effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The invention belongs to the field of mobile phone shell assembling equipment, and particularly relates to a visual-positioning mobile phone accessory attaching system. The visual-positioning mobile phone accessory attaching system comprises a hardware part and a software part. The hardware part comprises a main rack, a plurality of accessory stripping mechanisms, a feeding and discharging mechanism, an attaching executing mechanism, a visual-positioning mechanism and a controller. The software part comprises a hard configuration management module, a mobile phone accessory management module, a hand and eye calibration module and a work driving module. According to the visual-positioning mobile phone accessory attaching system, the manner that the accessory stripping mechanisms and the attaching executing mechanism with a plurality of suction nozzles are integrated on the main rack, attaching of various accessories can be completed at a time through one machine, and in addition, due to the fact that the accessory stripping action and the attaching action are independent from each other and work is completed in a division manner, the visual-positioning mobile phone accessory attaching system has the remarkable beneficial effects that precision is high, accessory waste is small, the requirement for the accessory manufacturing technology is low, the wire change cost is low, accessory stripping and accessory attaching are conducted in parallel and efficiency is high compared with a traditional accessory attaching system. In the traditional accessory attaching system, one machine is used for attaching one accessory; accessory stripping and accessory attaching are conducted in series; no machine vision exists, or a simple vision system is arranged, and generally, a camera is installed on a mechanical arm; and photographing is needed before each time of material taking.
Description
Technical field
The invention belongs to mobile phone rigging equipment field, specifically refer to a kind of vision locating cellphone auxiliary material mounting system.
Background technology
The usual board of traditional subsides auxiliary material equipment pastes a kind of auxiliary material, material action serial is pasted in material stripping, be not with vision system or be with simple vision system that (camera follows mechanical arm to walk, before material stripping, photograph is located this and is treated suction auxiliary material), there is vice proper in this type systematic, an equipment can only paste a kind of auxiliary material, and every style trumpeter casing all needs to paste multiple auxiliary material usually, need to purchase this placement equipment of multiple stage just can complete, cost performance is low.In addition, because this system auxiliary material peeling action carries out peeling action again after auxiliary material grasping mechanism directly holds auxiliary material, namely namely this suction nozzle will complete absorption, peels off again, and also will complete follow-up attachment action, therefore efficiency is lower; The camera that the placement equipment of simple vision system is installed in this improvement additional is in addition positioned at below suction nozzle, when auxiliary material grasping mechanism captures auxiliary material, correction position is carried out to auxiliary material, the action of the mechanical arm of this placement equipment is: auxiliary material-material stripping of taking a picture-hold-subsides material, because step is more, reduce further efficiency.
Summary of the invention
The present invention is in order to overcome the deficiency of prior art, propose a kind of vision locating cellphone auxiliary material mounting system, this system board can mount multiple auxiliary materials, and the material stripping of auxiliary material, location and the absorption of auxiliary material, fill that pasting walks abreast carries out, it also drastically increases attachment efficiency while having very high degree of precision and cost performance.
The present invention solves above-mentioned technical matters by following technical proposals.
A kind of vision locating cellphone auxiliary material mounting system, comprises hardware components and software section;
Hardware components comprises: mainframe, multiple auxiliary material mechanism for stripping, feeding-discharging mechanism, attachment actuating unit, vision detent mechanism and controller, and mainframe is the space framework with X-axis, Y-axis, Z-direction; Multiple auxiliary material mechanism for stripping are mounted to the front portion of mainframe, for being peeled off and the auxiliary material belt delivering to auxiliary material mechanism for stripping rear portion draws auxiliary material for attachment actuating unit from material strip by auxiliary material; Feeding-discharging mechanism wears the middle part of mainframe and adjoins auxiliary material belt, feeding-discharging mechanism is being provided with attachment execution area near auxiliary material belt place, feeding-discharging mechanism is used for the Mobile phone casing clamper of mobile phone shell to be mounted or carrying mobile phone shell to be transferred to attachment execution area beyond mainframe, and the Mobile phone casing clamper of the mobile phone shell or carrying mobile phone shell that have mounted auxiliary material is sent mainframe; Attachment actuating unit is articulated to mainframe and is positioned at the top of auxiliary material mechanism for stripping and feeding-discharging mechanism, and attachment actuator bottom is provided with multiple suction nozzle, mounts mobile phone shell for drawing auxiliary material from auxiliary material belt and being transferred to attachment execution area; Vision detent mechanism comprises multiple camera auxiliary material and suction nozzle being carried out to imaging being mounted to mainframe, for controller provides location and correction information; Controller, comprises computing machine, motion control card and I/O module, and computing machine is electrically connected with above-mentioned each mechanism respectively by motion control card and I/O module and is controlled the operation of each mechanism by software section.Software section comprises hardware configuration administration module, mobile phone auxiliary material administration module, hand and eye calibrating module and task driven module, wherein, hardware configuration administration module is for managing each mechanism of above-mentioned hardware components, configure corresponding mechanism for different n-back test and relevant parameter is set: mobile phone auxiliary material administration module, mobile phone shell for different model sets up auxiliary material data bank, comprises the profile of different auxiliary material, mounting position, vision parameter; Hand and eye calibrating module, for setting up transition matrix between mechanical-physical system of axes and camera image system of axes, makes the framing information of auxiliary material and the suction nozzle obtained by camera can be exchanged into feeding, the correction of attachment actuating unit or paste material physical coordinates information; Task driven module, reads locating information and other inductor signals, drives auxiliary material material stripping mechanism, attachment actuating unit and feeding-discharging mechanism to finish the work.
More specifically, auxiliary material mechanism for stripping comprises the first frame, material containing is taken turns, guide wheel, draw material wheel, acute angle broach plate, holding pad, auxiliary material belt and the first actuating device, material containing is taken turns, guide wheel and draw material wheel to be rotatablely connected to the first frame, acute angle broach plate is affixed to the first frame and has a maximum planes and the acute angle edge of a knife being positioned at maximum planes edge, auxiliary material raw band is loaded on material containing wheel, and after walking around one group of guide wheel, maximum planes its termination after the acute angle edge of a knife carries out bending being close to acute angle broach plate is fixed by drawing material wheel, auxiliary material belt adjoins the acute angle edge of a knife of acute angle broach plate, holding pad is arranged on top that auxiliary material belt connects with acute angle broach plate and is affixed to the first frame, first actuating device drives and draws material wheel and auxiliary material belt.
More specifically, feeding-discharging mechanism comprises the conveyer be arranged in the middle part of mainframe, and conveyer can be the circulating or slide rail reciprocation type structure of conveyor line.
More specifically, attachment actuating unit comprises the second frame, second housing slide is connected to a crossbeam and is driven by the second actuating device and slides along X-direction, crossbeam two ends sliding block joint drives to mainframe both sides and by the 3rd actuating device and slides along Y direction, be provided with on front side of second frame and organize component suction nozzle more, component suction nozzle comprises the ball spline shaft arranged in Z-direction of sliding block joint to the second frame, ball spline shaft is driven by four-drive device and slides up and down along Z-direction, the bottom of ball spline shaft connects suction nozzle, hub splines is arranged with outside ball spline shaft, hub splines is driven by the 5th actuating device being mounted to the second frame and rotates.
More specifically, vision detent mechanism comprises auxiliary material camera and suction nozzle camera, and auxiliary material camera is arranged on above auxiliary material belt, and for auxiliary material imaging, suction nozzle camera is arranged on the below at mainframe rear portion, for suction nozzle imaging.
More specifically, hardware components also comprise be arranged on attachment execution area mobile phone shell positional deviation correction mechanism, mobile phone shell positional deviation correction mechanism comprise one be arranged on attachment execution area for mobile phone shell to be mounted or Mobile phone casing clamper are carried out imaging camera and be arranged at least two marking points that mobile phone shell or Mobile phone casing clamper are specified; Software section also comprises mobile phone shell positional deviation correction module, and the subsides material level revising auxiliary material according to the position offset of marking point is put.
More specifically, hardware components also comprises the negative-pressure detector being connected to suction nozzle, for detecting the negative pressure data of suction nozzle after drawing auxiliary material or after attachment auxiliary material; Whether software section also comprises detection of negative pressure module, judge the suction of suction nozzle and mount successful according to negative pressure data.
More specifically, Mobile phone casing clamper is mobile phone shell universal chuck.
Beneficial effect of the present invention is: 1. the present invention is by being integrated in the form of a mainframe by multiple stage auxiliary material mechanism for stripping and the attachment actuating unit with multiple suction nozzle, can the disposable attachment completing multiple auxiliary materials of separate unit machine, and because auxiliary material is peeled off and attachment action executed in parallel, the action of attachment actuating unit only has suction-attachment circulation, decrease the action of suction nozzle, substantially increase attachment efficiency.
2. the present invention and tradition do not have that vision is located or fill compared with subsides system with the auxiliary material of simple vision positioning system (usual camera is installed on the robotic arm), mainframe configures multiple camera auxiliary material and suction nozzle being carried out to imaging, dual rectifying a deviation is carried out to the position of auxiliary material and the position of suction nozzle, substantially increases the precision of attachment; Decrease auxiliary material waste, require low to auxiliary material manufacture craft, thread-changing cost is low.
3. the present invention also has the function of mobile phone shell positional deviation correction mechanism and negative-pressure detector, substantially increases equipment reliability of operation, reduces fault rate.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1.
Fig. 2 is the structural representation of the auxiliary material mechanism for stripping of embodiment 1.
Fig. 3 is the structural representation of the circulation flow line type feeding-discharging mechanism of embodiment 1.
Fig. 4 is the attachment actuating unit of embodiment 1 and the connection structure schematic diagram of mainframe.
Fig. 5 is the structural representation of the attachment actuating unit of embodiment 1.
Fig. 6 is the structural representation of the component suction nozzle of embodiment 1.
Fig. 7 is the structural representation of embodiment 2.
Fig. 8 is the structural representation of embodiment 3.
Fig. 9 is the structural representation in the front of the mobile phone shell universal chuck of embodiment 3.
Figure 10 is the structural representation at the back side of the mobile phone shell universal chuck of embodiment 3.
Figure 11 is the lateral plan getting discharge mechanism of embodiment 3.
Figure 12 is the perspective view of getting discharge mechanism of embodiment 3.
Figure 13 is the structural representation opening clamp device of embodiment 3.
Figure 14 is the structural representation of the switching mechanism of embodiment 3.
Figure 15 is working-flow figure.
Detailed description of the invention
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 is the embodiment 1 of vision locating cellphone auxiliary material mounting system, comprise mainframe 1, auxiliary material mechanism for stripping 2, feeding-discharging mechanism 3, attachment actuating unit 4, vision detent mechanism 5, controller (not shown), mainframe 1 is for having the space framework of X-axis, Y-axis, Z-direction; Six auxiliary material mechanism for stripping 2 are mounted to the front portion of mainframe 1, and feeding-discharging mechanism 3 to wear in the middle part of mainframe 1 and the auxiliary material belt at adjacent auxiliary material mechanism for stripping 2 rear portion, and feeding-discharging mechanism 3 is being provided with attachment execution area near auxiliary material belt place; Attachment actuating unit 4 is articulated to mainframe 1 and is positioned at the top of auxiliary material mechanism for stripping 2 and feeding-discharging mechanism 3, is provided with corresponding six suction nozzles drawing auxiliary material after the stripping of six auxiliary material mechanism for stripping 2 bottom attachment actuating unit 4; Vision detent mechanism 5 comprises camera auxiliary material, suction nozzle and mobile phone shell being carried out to imaging that three are mounted to mainframe 1; Controller, comprises computing machine and motion control card, and computing machine is electrically connected with above-mentioned each mechanism respectively by motion control card and is controlled the operation of each mechanism by software section.
As Fig. 2, auxiliary material mechanism for stripping 2 comprises the first frame 21, material containing wheel 22, guide wheel 23, draw material wheel 24, acute angle broach plate 25, holding pad 26, auxiliary material belt 27 and the first actuating device 29, material containing wheel 22, guide wheel 23 and draw material wheel 24 is rotatable and be connected to the first frame 21, acute angle broach plate 25 is affixed to the first frame 21 and has a maximum planes and the acute angle edge of a knife being positioned at maximum planes edge, the winding of auxiliary material raw material is loaded on material containing wheel 22, and after walking around one group of guide wheel 23, the maximum planes raw material termination after the acute angle edge of a knife bends being close to acute angle broach plate 25 is fixed by drawing material wheel 24, the acute angle edge of a knife that auxiliary material belt 27 one end adjoins acute angle broach plate 25 is arranged, holding pad 26 is arranged on top that auxiliary material belt 27 connects with acute angle broach plate 25 and is affixed to the first frame 21, first actuating device 29 drives auxiliary material belt 27 and draws material wheel 24 to move, when auxiliary material raw band acute angle edge of a knife through acute angle broach plate 25 under the traction of drawing material wheel 24, auxiliary material and base band depart from, auxiliary material moves forward, and be sent on auxiliary material belt 27, multiple auxiliary material mechanism for stripping 2 is set up in parallel, can peel off simultaneously and transfer multiple auxiliary materials to respective auxiliary material belt 27.
As Fig. 3, feeding-discharging mechanism 3 in embodiment 1 is for selecting circulating conveyor line, it is the upper delivery track 31 and lower delivery track 32 that be arranged in parallel up and down that this conveyor line comprises, upper delivery track 31 carries mobile phone shell to be mounted along X-direction, lower delivery track 32 sends the complete mobile phone shell of attachment back to, also comprise the Mobile phone casing clamper (not shown) of a carrying mobile phone shell, on, lower delivery track (31, 32) registration device being affixed to mainframe 1 is provided with between, registration device comprises a lifter plate 34 and the positioning guide column 36 from lifter plate 34 projection, lifter plate 34 both sides are provided with two liftable blocks 37, for the location to Mobile phone casing clamper.
As Fig. 4 to Fig. 6, attachment actuating unit 4 comprises the second frame 41, crossbeam 42 is connected to by sliding-rail sliding on rear side of second frame 41, second frame 41 is driven by the screw mandrel screw 42 ' of the translator being mounted to crossbeam 42 and slides along X-direction, crossbeam 42 two ends are separately installed with the slide block moved along slide rail 43 for a pair, a pair slide rail 43 is mounted to mainframe 1 both sides in Y direction, crossbeam 42 is driven by the screw mandrel screw 43 ' of another translator and slides along Y direction, multiple component suction nozzle 44 is provided with on front side of second frame 41, component suction nozzle 44 comprises the ball spline shaft 45 arranged in Z-direction of sliding block joint to the second frame 41, ball spline shaft 45 is driven by the four-drive device 46 being mounted to the second frame 41 and slides up and down along Z-direction, the bottom of ball spline shaft 45 connects suction nozzle 45 ', hub splines 48 is arranged with outside ball spline shaft 45, hub splines 48 drives rotation by the 5th actuating device 47 being mounted to the second frame 41, during system works, first vision detent mechanism 5 pairs of auxiliary materials, mobile phone shell is carried out imaging and is fed back to controller, controller moves along X-axis and Y direction controlling attachment actuating unit 4 after information processing, the region of auxiliary material belt 27 is first moved to when drawing auxiliary material, four-drive device 46 drives ball spline shaft 45 to move downward along Z axis, suction nozzle 45 ' is made to draw auxiliary material, when needs carry out angular adjustment to auxiliary material, 5th actuating device 47 drives hub splines 48 to rotate, thus drive suction nozzle 45 ' and auxiliary material to rotate, after feeding completes, suction nozzle 45 ' rises, and the top of mobile phone shell to be mounted is moved to the second frame 41, carry out attachment operation downwards again.
It is the embodiment 2 of the standalone version of vision locating cellphone auxiliary material mounting system as Fig. 7, the feeding-discharging mechanism 3 ' of embodiment 2 selects slide rail reciprocation type structure, article two, the slide rail be set up in parallel is mounted to the middle part of mainframe 1, article two, on slide rail, sliding block joint two carries the slide block of mobile phone shell, and driven by the screw mandrel be connected with motor, operating personal carries out picking and placeing material operation in slide rail one end, wherein on a slide block while blowing (mobile phone shell), attachment operation is carried out below another slide block movement to suction nozzle, both carry out simultaneously, cycle operation, efficiency is higher.
Fig. 8 is the embodiment 3 of a full automaticity attachment pipeline system, comprise: get discharge mechanism 6 for two, three vision locating cellphone shell auxiliary material mounting system 10(select embodiment 1), a switching mechanism 7 and Mobile phone casing clamper, Mobile phone casing clamper is preferably a kind of mobile phone shell universal chuck 33, wherein get the two ends that discharge mechanism 6 is mounted to conveyor line, for being elevated Mobile phone casing clamper 33 and driving folder; Three vision locating cellphone shell auxiliary material mounting system 10 and a switching mechanism 7 are mounted to two ends and get between discharge mechanism 6, form one continuously along upper transport tape and the lower transport tape of X-direction, upper transport tape is for transmitting the mobile phone shell of auxiliary material to be mounted, and lower transport tape is for returning the mobile phone shell mounting auxiliary material.
As Fig. 9 and Figure 10, mobile phone shell universal chuck 33 comprises base plate 331 and is arranged at the clamp assembly of two fixing mobile phone shell on base plate 331, clamp assembly comprises and is affixed to one of the base plate 331 right angle positioning seat 332 in L-type, the elastic cleat 333 that can slide along X-direction, along the elasticity right angle holder 334 of the inverted L shape that Y direction is slided, elastic cleat 333, elasticity right angle holder 334 coordinates clamping mobile phone shell together with right angle positioning seat 332, elastic cleat 333 and elasticity right angle holder 334 are connected with the 6th attaching parts 333 ' and the 7th attaching parts 334 ' that are positioned at base plate 331 back side respectively, base plate 331 back side is also provided with the positioning pilot hole 36 ' coordinated with registration mast 36, when mobile phone shell universal chuck 33 moves to above registration device with belt conveyor, two liftable blocks 37 rise and block base plate 331, lifter plate 34 rising subsequently makes registration mast 36 insert positioning pilot hole 36 ', namely the accurate location to mobile phone shell universal chuck 33 is completed.
As Figure 11 and Figure 12, get discharge mechanism 6 and comprise the 3rd frame, be mounted to the bay-lift 62 of the 3rd frame, adjacent bay-lift 62 and be mounted to the 3rd frame open clamp device 63 and on, lower transporting rail (64, 65), under initial condition, an operating personal is needed to get on discharge mechanism 6 at pipelining equipment low order end, blowing operation is carried out to mobile phone shell universal chuck 33, after blowing, mobile phone shell universal chuck 33 flows through three placement equipments 10 and a switching mechanism 7 successively along upper transport tape, carry out mounting and overturning operation, after attachment, what flow to high order end gets discharge mechanism 6, through the lift work of left end bay-lift 62, mobile phone shell universal chuck 33 is made to be switched to lower transport tape from upper transport tape, and be back to right-hand member to the right get discharge mechanism 6, again through the lift work of the bay-lift 62 of right-hand member, pallet 33 turns back to initial position, now open clamp device 63 rising locate and carry out out folder operation, operating personal carries out again next blowing-attachment circulation after starting feeding.
As Figure 14, switching mechanism 7 comprises the 4th frame, be mounted to the 4th frame to open clamp device 73 (not shown in Figure 14, its structure is identical with opening clamp device 63, as Figure 13) and the turning device 71 that is arranged on out above clamp device 73, turning device 71 comprises first transverse slat 711 with Y-axis length direction of sliding block joint to the 4th frame, the first transverse slat 711 is driven to move along X-axis by the 6th actuating device 712, first transverse slat 711 is provided with cylinder 713, the telescopic head of cylinder 713 is connected with second transverse slat 714 parallel with the first transverse slat 711 under Z-axis direction, second transverse slat 714 basal sliding is connected with a pair claw-plate 715, a pair claw-plate 715 has multiple to lower convexity and the relative pawl end 715 ' in position, pawl end 715 ' is provided with the rotary chuck 716 of horizontally set, the two ends of the second transverse slat 714 are provided with two the 7th actuating devices 717, drive a pair claw-plate 715 along Y direction relative sliding respectively, one end of second transverse slat 714 is also provided with the 8th actuating device 718, 8th actuating device 718 drives a pair rotary chuck 716 to rotate.
As Figure 13, open clamp device (63, 73) comprise a lifter plate 631 and sliding block joint to first of lifter plate 631 to open chuck 632 and second and open chuck 632 ', first opens chuck 632 and second opens chuck 632 ' respectively by the 9th actuating device 633 and the driving of the tenth actuating device 633 ' that are mounted to lifter plate 631, make first to open chuck 632 and second open chuck 632 ' difference transmission or depart from the 6th attaching parts 333 ' and the 7th attaching parts 334 ', lifter plate 631 is provided with the positioning guide column 634 matched with positioning pilot hole 36 ' raised up, lifter plate 631 both sides are provided with two liftable blocks 635.
Switching mechanism 7 all will mount the situation of auxiliary material for the tow sides of some mobile phone shell, when mobile phone shell universal chuck 33 is through switching mechanism 7, hold clamp device 73 and can position and hold folder operation, be specially: two liftable blocks 635 block mobile phone shell universal chuck 33, lifter plate 631 rises and makes positioning guide column 634 insert positioning pilot hole 36 ', locate accurately, 9th actuating device 633 and the tenth actuating device drive 633 ' to drive first to open chuck 632 and second respectively and open chuck 632 ' motion subsequently, thus transmission the 6th attaching parts 333 ' and the motion of the 7th attaching parts 334 ', and then open elastic cleat 333 and elasticity right angle holder 334, mobile phone shell is made to become releasing orientation by clamped condition, turning device 71 subsequently above mobile phone shell universal chuck 33 carries out upset operation, 6th actuating device 712 drives the first transverse slat 711 to move along X-axis, stop when moving to the top of mobile phone shell, the second transverse slat 714 is driven to move downward along Z axis with exhaust hood 713, the rotary chuck 716 of a pair claw-plate 715 is made to be positioned at the dual-side of mobile phone shell, 7th actuating device 717 drives a pair claw-plate 715 along Y direction relative sliding subsequently, stop after making a pair rotary chuck 716 clamp mobile phone shell dual-side, 8th actuating device 718 drives a pair rotary chuck 716 to revolve turnback subsequently, complete the upset operation to mobile phone shell, overturn rear switching mechanism 7 to depart from mobile phone shell and get back to just as state, 9th actuating device 633 and the tenth actuating device 633 ' drive first to open chuck 632 and second and open chuck 632 ' disengaging the 6th attaching parts 333 ' and the 7th attaching parts 334 ', at elastic cleat 333, under the elastic force effect of elasticity right angle holder 334 itself, recover again the clamping operation to mobile phone shell.
If Figure 15 is working-flow figure, debugged system in configuration, after getting out basic data, system works as follows:
Camera above auxiliary material mechanism for stripping is taken a picture, and generates auxiliary material location and angle information.As not having auxiliary material then to drive auxiliary material mechanism for stripping, again taking a picture and upgrading auxiliary material information.Auxiliary material is not also had then to point out operator to reload after 3 material strippings.
Operator places mobile phone shell to be mounted, presses ready button, and mobile phone shell enters attachment execution area.When the mobile phone shell having attachment to exit well then feeding.Attachment actuating unit draws auxiliary material, pastes auxiliary material, the mobile phone shell mounted is exited attachment execution area.As scarce auxiliary material or wait paste mobile phone shell do not put in place, wait for.
System cycle performs the actions such as reset and eliminates accumulated error.
System works and so forth, until operator presses time-out or stop button, or systems axiol-ogy is to mistake.
That this system and tradition have a machine vision or fill compared with subsides system with the auxiliary material of simple vision positioning system, have precision high, auxiliary material waste is not little, and require low to auxiliary material manufacture craft, thread-changing cost is low, and material concurrent working is pasted in material stripping, and efficiency height waits significant advantage.
Native system also has following function, and the mobile phone shell positional deviation correction function of attachment execution area and leakage are pasted and detected and subsidy function, and specific works principle is as follows:
High especially in dress subsides accuracy requirement, and feeding-discharging mechanism send into attachment execution area the not sufficiently stable situation in mobile phone shell position under, add casing position and correct function, this function is completed by the mobile phone shell positional deviation correction mechanism being arranged on attachment execution area, mobile phone shell positional deviation correction mechanism comprise one be arranged on attachment execution area for carrying out the camera of imaging and be arranged at least specify two marking points of mobile phone shell or Mobile phone casing clamper to mobile phone shell to be mounted or Mobile phone casing clamper; Also comprise mobile phone shell positional deviation correction module, the subsides material level revising auxiliary material according to the position offset of marking point is put.
Suction nozzle successfully can not draw auxiliary material sometimes, or after pasting material action, auxiliary material is also bonded on suction nozzle, for head it off, add Lou to paste and detect and subsidy function, this function is completed by the negative-pressure detector and corresponding detection of negative pressure module being connected to suction nozzle, and negative-pressure detector is for detecting the negative pressure data of suction nozzle after drawing auxiliary material or after attachment auxiliary material; Whether detection of negative pressure module judges the suction of suction nozzle according to negative pressure data and mounts successful.If failure, then perform corresponding remedial measures: continue after subsidy or manual intervention confirm.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these are only casehistorys, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (9)
1. a vision locating cellphone auxiliary material mounting system, is characterized in that, comprises hardware components and software section;
Hardware components comprises: mainframe, multiple auxiliary material mechanism for stripping, feeding-discharging mechanism, attachment actuating unit, vision detent mechanism and controller, and mainframe is the space framework with X-axis, Y-axis, Z-direction; Multiple auxiliary material mechanism for stripping are mounted to the front portion of mainframe, for being peeled off and the auxiliary material belt delivering to auxiliary material mechanism for stripping rear portion draws auxiliary material for attachment actuating unit from material strip by auxiliary material; Feeding-discharging mechanism wears the middle part of mainframe and adjoins auxiliary material belt, feeding-discharging mechanism is being provided with attachment execution area near auxiliary material belt place, feeding-discharging mechanism is used for the Mobile phone casing clamper of mobile phone shell to be mounted or carrying mobile phone shell to be transferred to attachment execution area beyond mainframe, and the Mobile phone casing clamper of the mobile phone shell or carrying mobile phone shell that have mounted auxiliary material is sent mainframe; Attachment actuating unit is articulated to mainframe and is positioned at the top of auxiliary material mechanism for stripping and feeding-discharging mechanism, and attachment actuator bottom is provided with multiple suction nozzle, mounts mobile phone shell for drawing auxiliary material from auxiliary material belt and being transferred to attachment execution area; Vision detent mechanism comprises multiple camera auxiliary material and suction nozzle being carried out to imaging being mounted to mainframe, for controller provides location and correction information; Controller, comprises computing machine, motion control card and I/O module, and computing machine is electrically connected with above-mentioned each mechanism respectively by motion control card and I/O module and is controlled the operation of each mechanism by software section.
2. software section comprises hardware configuration administration module, mobile phone auxiliary material administration module, hand and eye calibrating module and task driven module, wherein, hardware configuration administration module is for managing each mechanism of above-mentioned hardware components, configure corresponding mechanism for different n-back test and relevant parameter is set: mobile phone auxiliary material administration module, mobile phone shell for different model sets up auxiliary material data bank, comprises the profile of different auxiliary material, mounting position, vision parameter; Hand and eye calibrating module, for setting up transition matrix between mechanical-physical system of axes and camera image system of axes, makes the framing information of auxiliary material and the suction nozzle obtained by camera can be exchanged into feeding, the correction of attachment actuating unit or paste material physical coordinates information; Task driven module, reads locating information and other inductor signals, drives auxiliary material material stripping mechanism, attachment actuating unit and feeding-discharging mechanism to finish the work.
3. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, auxiliary material mechanism for stripping comprises the first frame, material containing is taken turns, guide wheel, draw material wheel, acute angle broach plate, holding pad, auxiliary material belt and the first actuating device, material containing is taken turns, guide wheel and draw material wheel to be rotatablely connected to the first frame, acute angle broach plate is affixed to the first frame and has a maximum planes and the acute angle edge of a knife being positioned at maximum planes edge, auxiliary material raw band is loaded on material containing wheel, and after walking around one group of guide wheel, maximum planes its termination after the acute angle edge of a knife carries out bending being close to acute angle broach plate is fixed by drawing material wheel, auxiliary material belt adjoins the acute angle edge of a knife of acute angle broach plate, holding pad is arranged on top that auxiliary material belt connects with acute angle broach plate and is affixed to the first frame, first actuating device drives and draws material wheel and auxiliary material belt.
4. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, feeding-discharging mechanism comprises the conveyer be arranged in the middle part of mainframe, and conveyer can be the circulating or slide rail reciprocation type structure of conveyor line.
5. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, attachment actuating unit comprises the second frame, second housing slide is connected to a crossbeam and is driven by the second actuating device and slides along X-direction, crossbeam two ends sliding block joint drives to mainframe both sides and by the 3rd actuating device and slides along Y direction, be provided with on front side of second frame and organize component suction nozzle more, component suction nozzle comprises the ball spline shaft arranged in Z-direction of sliding block joint to the second frame, ball spline shaft is driven by four-drive device and slides up and down along Z-direction, the bottom of ball spline shaft connects suction nozzle, hub splines is arranged with outside ball spline shaft, hub splines is driven by the 5th actuating device being mounted to the second frame and rotates.
6. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, vision detent mechanism comprises auxiliary material camera and suction nozzle camera, auxiliary material camera is arranged on above auxiliary material belt, for to auxiliary material imaging, suction nozzle camera is arranged on the below at mainframe rear portion, for suction nozzle imaging.
7. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, hardware components also comprise be arranged on attachment execution area mobile phone shell positional deviation correction mechanism, mobile phone shell positional deviation correction mechanism comprise one be arranged on attachment execution area for mobile phone shell to be mounted or Mobile phone casing clamper are carried out imaging camera and be arranged at least two marking points that mobile phone shell or Mobile phone casing clamper are specified; Software section also comprises mobile phone shell positional deviation correction module, and the subsides material level revising auxiliary material according to the position offset of marking point is put.
8. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, hardware components also comprises the negative-pressure detector being connected to suction nozzle, for detecting the negative pressure data of suction nozzle after drawing auxiliary material or after attachment auxiliary material; Whether software section also comprises detection of negative pressure module, judge the suction of suction nozzle and mount successful according to negative pressure data.
9. vision locating cellphone auxiliary material mounting system according to claim 1, it is characterized in that, Mobile phone casing clamper is mobile phone shell universal chuck.
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Effective date of registration: 20180612 Address after: 523430 office building, Liaobu Town, Liaobu Town, Guangdong Patentee after: DONGGUAN GOSUNM MACHINERY EQUIPMENT CO., LTD. Address before: 523000 72 Yee Hong Road, Yan Tian Village, Fenggang Town, Dongguan, Guangdong, 210 Patentee before: Dongguan leader Intelligent Automation Co., Ltd. |
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Denomination of invention: Visual-positioning mobile phone accessory attaching system Effective date of registration: 20180920 Granted publication date: 20170718 Pledgee: China Everbright Bank Limited by Share Ltd Dongguan branch Pledgor: DONGGUAN GOSUNM MACHINERY EQUIPMENT CO., LTD. Registration number: 2018440000270 |
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Address after: 523430 Dongguan, Liaobu Town, Tuen Mun Industrial Zone Office Building Patentee after: Guangdong gaozhen Intelligent Equipment Co., Ltd Address before: 523430 Dongguan, Liaobu Town, Tuen Mun Industrial Zone Office Building Patentee before: DONGGUAN GOSUNM MACHINERY EQUIPMENT Co.,Ltd. |