CN105292657B - A kind of vision positioning mobile phone auxiliary material mounting system - Google Patents
A kind of vision positioning mobile phone auxiliary material mounting system Download PDFInfo
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- CN105292657B CN105292657B CN201510769959.6A CN201510769959A CN105292657B CN 105292657 B CN105292657 B CN 105292657B CN 201510769959 A CN201510769959 A CN 201510769959A CN 105292657 B CN105292657 B CN 105292657B
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- 238000001514 detection method Methods 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 description 7
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Abstract
The invention belongs to mobile phone shell assembly equipment field, specifically refer to a kind of vision positioning mobile phone auxiliary material mounting system, including hardware components and software section；Hardware components include：Mainframe, multiple auxiliary material mechanism for stripping, feeding-discharging mechanism, attachment executing agency, vision positioning mechanism and controller；Software section includes hardware configuration management module, mobile phone auxiliary material management module, hand and eye calibrating module and task driven module, the present invention with having the attachment executing agency of multiple suction nozzles by many auxiliary material mechanism for stripping by being integrated in the form of a mainframe, the attachment of multiple auxiliary materials can be disposably completed with separate unit machine, and peeled off and acted each independently with attachment due to auxiliary material, the division of labor is completed, (board pastes a kind of auxiliary material to the present invention with tradition, material stripping patch material work in series, without machine vision, or installed on the robotic arm with the usual camera of simple vision system, photograph is both needed to before each feeding）Auxiliary material dress patch system compare, with high precision, auxiliary material wastes small, requires auxiliary material manufacture craft low, thread-changing low cost, material stripping patch material concurrent working, the significant advantage such as efficiency height.
Description
Technical field
The invention belongs to mobile phone assembly equipment field, specifically refer to a kind of vision positioning mobile phone auxiliary material mounting system.
Background technology
The usual board of traditional patch auxiliary material equipment pastes a kind of auxiliary material, and material stripping patch material action is serial, without vision system
Or with simple vision system（Camera follows mechanical arm to walk, and photograph positions this auxiliary material to be inhaled before material stripping）, such system deposits
In inherent shortcoming, an equipment can only paste a kind of auxiliary material, generally be both needed to paste multiple auxiliary materials, it is necessary to purchase many per style trumpeter's casing
This placement equipment of platform could be completed, and cost performance is low.Further, since this system auxiliary material peeling action is that auxiliary material grasping mechanism is directly inhaled
Peeling action is firmly carried out after auxiliary material again, i.e., the suction nozzle is to complete to draw, and is peeled off again, also to complete follow-up attachment and move
Make, thus it is less efficient；This camera for improveing the placement equipment for installing simple vision system additional is located at below suction nozzle in addition, in auxiliary material
Grasping mechanism carries out correction position when capturing auxiliary material to auxiliary material, and the action of the mechanical arm of the placement equipment is：Take a picture-hold auxiliary material-
Material stripping-patch material, because step is more, reduce further efficiency.
The content of the invention
Deficiency of the invention in order to overcome prior art, it is proposed that a kind of vision positioning mobile phone auxiliary material mounting system, this is
A unified board can mount multiple auxiliary materials, and material stripping, positioning and the absorption of auxiliary material of auxiliary material, dress patch is parallel carries out, it
With very high degree of precision and while cost performance, attachment efficiency is also drastically increased.
The present invention is to solve above-mentioned technical problem by following technical proposals.
A kind of vision positioning mobile phone auxiliary material mounting system, including hardware components and software section;
Hardware components include：Mainframe, multiple auxiliary material mechanism for stripping, feeding-discharging mechanism, attachment executing agency, vision positioning
Mechanism and controller, mainframe be with X-axis, Y-axis, Z-direction space framework；Multiple auxiliary material mechanism for stripping are attached to main frame
The front portion of frame, for auxiliary material to be peeled off to and delivered to the auxiliary material belt at auxiliary material mechanism for stripping rear portion from material strip for attachment execution machine
Structure draws auxiliary material；Feeding-discharging mechanism wears the middle part of mainframe and adjacent auxiliary material belt, and feeding-discharging mechanism is close to auxiliary material belt
Place performs region provided with attachment, and feeding-discharging mechanism is used for mobile phone shell to be mounted or carries the Mobile phone casing clamper of mobile phone shell from main frame
Attachment is transferred to beyond frame and performs region, and the mobile phone shell for having mounted auxiliary material or the Mobile phone casing clamper for carrying mobile phone shell are sent out and led
Frame；Attachment executing agency is articulated to mainframe and positioned at the top of auxiliary material mechanism for stripping and feeding-discharging mechanism, and attachment is held
Row actuator base is provided with multiple suction nozzles, and region is performed to mobile phone shell progress for drawing auxiliary material from auxiliary material belt and being transferred to attachment
Attachment；Vision positioning mechanism includes multiple cameras being imaged to auxiliary material and suction nozzle for being attached to mainframe, is that controller is carried
For the information that positions and rectify a deviation；Controller, including computer, motion control card and I/O modules, computer by motion control card and
I/O modules electrically connect and controlled by software section respectively the operation of each mechanism with above-mentioned each mechanism.Software section includes hardware
Configuration Manager, mobile phone auxiliary material management module, hand and eye calibrating module and task driven module, wherein, hardware configuration management mould
Block is used for each mechanism for managing above-mentioned hardware components, is that different perform functions configure corresponding mechanism and set corresponding ginseng
Number：Mobile phone auxiliary material management module, is that the mobile phone shell of different model sets up auxiliary material database, includes profile, the attachment of different auxiliary material
Position, vision parameter；Hand and eye calibrating module, is to set up transition matrix between mechanical-physical coordinate system and camera image coordinate system,
So that the auxiliary material and the framing information of suction nozzle that are obtained by camera can be exchanged into feeding, correction or the patch of attachment executing agency
Material manages coordinate information；Task driven module, reads location information and other inductor signals, driving auxiliary material material stripping mechanism, patch
Fill executing agency and feeding-discharging mechanism completion work.
More specifically, auxiliary material mechanism for stripping includes the first frame, material containing wheel, guide wheel, drawing material wheel, acute angle broach plate, binder
Plate, auxiliary material belt and first driving means, material containing wheel, guide wheel and draw that material wheel is rotatable is connected to the first frame, acute angle broach
Plate is affixed to the first frame and with a maximum planes and the acute angle edge of a knife positioned at maximum planes edge, auxiliary material raw band load to
On material containing wheel, and bypass after one group of guide wheel, be close to the maximum planes of acute angle broach plate its termination after the acute angle edge of a knife is bent
Fixed by drawing material wheel, auxiliary material belt abuts the acute angle edge of a knife of acute angle broach plate, holding pad is arranged on auxiliary material belt and acute angle broach
Top that plate connects and the first frame is affixed to, material wheel and auxiliary material belt are drawn in first driving means driving.
More specifically, feeding-discharging mechanism includes being arranged on the conveyer in the middle part of mainframe, and conveyer can be streamline
Circulating or slide rail reciprocation type structure.
More specifically, attachment executing agency includes the second frame, and the second housing slide is connected to a crossbeam and driven by second
Dynamic device drives edge X-direction is slided, and crossbeam two ends are slidingly attached to mainframe both sides and by the 3rd drive device drives edge Y-axis
Direction is slided, and multigroup component suction nozzle is provided with front side of the second frame, and component suction nozzle is in Z axis side including be slidingly attached to the second frame
To the ball spline shaft of setting, ball spline shaft is slided up and down by four-drive device drives edge Z-direction, ball spline shaft
Bottom connects suction nozzle, and ball spline shaft outer sheath is provided with hub splines, and hub splines is by being attached to the 5th driving of the second frame
Device driving rotation.
More specifically, vision positioning mechanism includes auxiliary material camera and suction nozzle camera, and auxiliary material camera is arranged on auxiliary material belt
Side, for being imaged to auxiliary material, suction nozzle camera is arranged on the lower section at mainframe rear portion, for being imaged to suction nozzle.
More specifically, hardware components also include being arranged on the mobile phone shell positional deviation correction mechanism that attachment performs region, mobile phone shell
Positional deviation correction mechanism include one be arranged on attachment perform region be used for mobile phone shell to be mounted or Mobile phone casing clamper are carried out into
The camera of picture and it is arranged at least two index points specified on mobile phone shell or Mobile phone casing clamper；Software section also includes mobile phone shell
Positional deviation correction module, the patch discharge position of auxiliary material is corrected according to the position offset of index point.
More specifically, hardware components also include the negative-pressure detector for being connected to suction nozzle, for detecting that suction nozzle is drawing auxiliary material
Afterwards or attachment auxiliary material after negative pressure data；Software section also includes detection of negative pressure module, and the suction of suction nozzle is judged according to negative pressure data
Whether material and attachment succeed.
More specifically, Mobile phone casing clamper is mobile phone shell universal chuck.
The beneficial effects of the present invention are：1. the present invention by by many auxiliary material mechanism for stripping with multiple suction nozzles patch
Dress executing agency is integrated in the form of a mainframe, can disposably complete the attachment of multiple auxiliary materials with separate unit machine, and due to
Auxiliary material is peeled off to be only had suction-attachment circulation, reduces the dynamic of suction nozzle with the parallel execution of attachment action, the action of attachment executing agency
Make, substantially increase attachment efficiency.
2. the present invention with tradition without vision positioning or with simple vision positioning system（Usual camera is arranged on machinery
On arm）Auxiliary material dress patch system compare, multiple cameras being imaged to auxiliary material and suction nozzle are configured on mainframe, to auxiliary material
Position and the position of suction nozzle carry out the dual precision rectified a deviation, substantially increase attachment；Auxiliary material waste is reduced, auxiliary material is made
Technological requirement is low, thread-changing low cost.
3. the present invention also has mobile phone shell positional deviation correction mechanism and the function of negative-pressure detector, equipment operation is substantially increased
Reliability, reduce fault rate.
Brief description of the drawings
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.
Attachment executing agencies and the attachment structure schematic diagram of mainframe of the Fig. 4 for embodiment 1.
Fig. 5 is the structural representation of the attachment executing agency 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 positive structural representation 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 side view for taking discharge mechanism of embodiment 3.
Figure 12 is the dimensional structure diagram for taking discharge mechanism of embodiment 3.
Figure 13 is the structural representation for 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.
Embodiment
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, to describe technical scheme in detail.
Fig. 1 be vision positioning mobile phone auxiliary material mounting system embodiment 1, including mainframe 1, auxiliary material mechanism for stripping 2, turnover
Expect mechanism 3, attachment executing agency 4, vision positioning mechanism 5, controller（Not shown in figure）, mainframe 1 is with X-axis, Y-axis, Z
The space framework of direction of principal axis；Six auxiliary material mechanism for stripping 2 are attached to the front portion of mainframe 1, and feeding-discharging mechanism 3 wears mainframe 1
Middle part and the auxiliary material belt at the adjacent rear portion of auxiliary material mechanism for stripping 2, feeding-discharging mechanism 3 are performed at auxiliary material belt provided with attachment
Region；Attachment executing agency 4 is articulated to mainframe 1 and positioned at the top of auxiliary material mechanism for stripping 2 and feeding-discharging mechanism 3, patch
Fill six suction nozzles of auxiliary material after stripping of the bottom of executing agency 4 provided with correspondence six auxiliary material mechanism for stripping 2 of absorption；Vision positioning machine
Structure 5 includes three cameras being imaged to auxiliary material, suction nozzle and mobile phone shell for being attached to mainframe 1；Controller, including computer
And motion control card, computer electrically connected with above-mentioned each mechanism and controls each machine by software section respectively by motion control card
The operation of structure.
Such as Fig. 2, auxiliary material mechanism for stripping 2 includes the first frame 21, material containing wheel 22, guide wheel 23, drawing material wheel 24, acute angle broach plate
25th, holding pad 26, auxiliary material belt 27 and first driving means 29, material containing wheel 22, guide wheel 23 and the drawing rotatable connection of material wheel 24
To the first frame 21, acute angle broach plate 25 is affixed to the first frame 21 and with a maximum planes and positioned at maximum planes edge
The acute angle edge of a knife, auxiliary material stock roll band is loaded to material containing wheel 22, and is bypassed after one group of guide wheel 23, is close to acute angle broach plate 25 most
Big plane is fixed raw material termination after the acute angle edge of a knife is bent by drawing material wheel 24, the one end of auxiliary material belt 27 adjoining acute angle broach plate
The 25 acute angle edge of a knife is set, and holding pad 26 is arranged on the top that auxiliary material belt 27 connects with acute angle broach plate 25 and is affixed to first
Frame 21, the driving auxiliary material of first driving means 29 belt 27 and drawing material wheel 24 are moved, when auxiliary material raw band is drawing leading for material wheel 24
When drawing the acute angle edge of a knife of lower process acute angle broach plate 25, auxiliary material departs from base band, and auxiliary material moves forward, and is sent to auxiliary material
On belt 27, multiple auxiliary material mechanism for stripping 2 are set up in parallel, and can simultaneously be peeled off and be transferred multiple auxiliary materials to respective auxiliary material belt
27。
Feeding-discharging mechanism 3 in such as Fig. 3, embodiment 1 is to select circulating streamline, and the streamline includes parallel above and below
The upper delivery track 31 and lower delivery track 32 set, upper delivery track 31 conveys mobile phone shell to be mounted along X-direction, under it is defeated
Send track 32 to send the mobile phone shell that attachment is finished back to, also include the Mobile phone casing clamper of a carrying mobile phone shell（Not shown in figure）, upper,
Lower delivery track（31、32）Between provided with being affixed to the positioner of mainframe 1, positioner include a lifter plate 34 and from
Raised positioning guide column 36 on lifter plate 34, the both sides of lifter plate 34 are provided with two liftable blocks 37, for Mobile phone casing clamper
Positioning.
Such as Fig. 4 to Fig. 6, attachment executing agency 4 includes the second frame 41, and the rear side of the second frame 41 is connected by sliding-rail sliding
To crossbeam 42, the second frame 41 is slided by the drives edge X-direction of screw mandrel screw 42 ' for being attached to the translator of crossbeam 42, crossbeam
42 two ends are separately installed with a pair of sliding blocks moved along slide rail 43, and a pair of slide rails 43 are attached to the both sides of mainframe 1 in Y direction,
Crossbeam 42 is slided by the drives edge Y direction of screw mandrel screw 43 ' of another translator, and the front side of the second frame 41 is provided with multiple suction nozzles
Component 44, component suction nozzle 44 includes the ball spline shaft 45 set in Z-direction for being slidingly attached to the second frame 41, ball flower
Key axle 45 is slided up and down by the drives edge Z-direction of four-drive device 46 for being attached to the second frame 41, ball spline shaft 45
Bottom connects suction nozzle 45 ', and the outer sheath of ball spline shaft 45 is provided with hub splines 48, and hub splines 48 is by being attached to the second frame 41
The 5th drive device 47 driving rotation, system work when, vision positioning mechanism 5 is imaged simultaneously to auxiliary material, mobile phone shell first
Controller is fed back to, controller is moved along X-axis and Y direction to control attachment executing agency 4 after information processing, drawn auxiliary
The region of auxiliary material belt 27 is first moved to during material, the driving ball spline shaft 45 of four-drive device 46 is moved downward along Z axis, makes suction
Mouth 45 ' draws auxiliary material, when needing to carry out angle adjustment to auxiliary material, and the 5th drive device 47 driving hub splines 48 rotates, from
And driving suction nozzle 45 ' and auxiliary material to rotate, after the completion of feeding, suction nozzle 45 ' rises, and is moved to mobile phone to be mounted with the second frame 41
The top of shell, carries out attachment operation still further below.
Such as embodiments 2 of the Fig. 7 for the standalone version of vision positioning mobile phone auxiliary material mounting system, the feeding-discharging mechanism of embodiment 2
3 ' select slide rail reciprocation type structure, and two slide rails being set up in parallel are attached on the middle part of mainframe 1, two slide rails and are slidably connected
The sliding block of two carrying mobile phone shells, and driven by the screw mandrel being connected with motor, operating personnel carry out picking and placeing material in slide rail one end
Operation, wherein blowing on a sliding block（Mobile phone shell）While, another slide block movement to suction nozzle lower section carries out attachment operation, two
Person is carried out simultaneously, and cycle operation, efficiency is higher.
Fig. 8 is the embodiment 3 of a full-automatic attachment pipeline system, including：Two take discharge mechanism 6, three visions
Locating cellphone shell auxiliary material mounting system 10（From embodiment 1）, a switching mechanism 7 and Mobile phone casing clamper, Mobile phone casing clamper is excellent
A kind of mobile phone shell universal chuck 33 is elected as, wherein taking discharge mechanism 6 to be attached to the two ends of streamline, for Mobile phone casing clamper 33
Lifted and opened folder；Three vision positioning mobile phone shell auxiliary material mounting systems 10 and a switching mechanism 7 are attached to two ends and picked and placeed
Expect between mechanism 6, form a upper transmission belt and lower transmission belt continuously along X-direction, upper transmission belt is used to transmit to be mounted
The mobile phone shell of auxiliary material, lower transmission belt is used to return to the mobile phone shell for having mounted auxiliary material.
Such as Fig. 9 and Figure 10, mobile phone shell universal chuck 33 includes base plate 331 and two fixed hands being arranged on base plate 331
The clamp assembly of casing, clamp assembly include be affixed to base plate 331 a L-shaped right angle positioning seat 332, can be along X-axis side
To the elastic cleat 333 of slip, the elastic right angle holder 334 of the inverted L shape slided along Y direction, elastic cleat 333, elastic vertical
Angle holder 334 and right angle positioning seat 332 are matched for clamping tightly mobile phone shell together, elastic cleat 333 and elastic right angle holder 334 respectively with
Connected positioned at the 6th connector 333 ' at the back side of base plate 331 and the 7th connector 334 ', the back side of base plate 331 is additionally provided with and locating dowel
36 positioning pilot holes 36 ' coordinated, when mobile phone shell universal chuck 33 is moved to belt conveyor above positioner, two can rise
Downshift block 37, which rises, blocks base plate 331, and rising with after lifting plate 34 makes locating dowel 36 insert positioning pilot hole 36 ', that is, completes opponent
Casing universal chuck 33 is accurately positioned.
Such as Figure 11 and Figure 12, discharge mechanism 6 is taken to include the 3rd frame, the lifting platform 62 for being attached to the 3rd frame, adjacent liter
Drop platform 62 and be attached to the 3rd frame open clamp device 63 and upper and lower transporting rail（64、65）, it is necessary to one under original state
Operating personnel are taken on discharge mechanism 6 pipelining equipment low order end, and blowing operation, blowing are carried out to mobile phone shell universal chuck 33
After finishing, mobile phone shell universal chuck 33 flows through three placement equipments 10 and a switching mechanism 7 successively along upper transmission belt, is mounted
With upset operation, after attachment is finished, flow to high order end takes discharge mechanism 6, and the lift work through left end lifting platform 62 makes mobile phone
Shell universal chuck 33 is switched to lower transmission belt from upper transmission belt, and be back to right-hand member to the right take discharge mechanism 6, again pass by the right side
The lift work of the lifting platform 62 at end, pallet 33 returns to initial position, now opens clamp device 63 and rises positioning and carry out out folder
Operation, operating personnel start after feeding and carry out next blowing-attachment circulation.
Such as Figure 14, switching mechanism 7 includes the 4th frame, be attached to the 4th frame open clamp device 73 (not shown in Figure 14,
Its structure and open that clamp device 63 is identical, such as Figure 13) and it is arranged on out the turning device 71 of the top of clamp device 73, turning device 71
The first transverse slat 711 with Y-axis length direction including being slidingly attached to the 4th frame, is driven by the 6th drive device 712
One transverse slat 711 is moved along X-axis, and cylinder 713 is provided with the first transverse slat 711, and the telescopic head of cylinder 713 is connected with downwards along Z axis
Second transverse slat 714 parallel with the first transverse slat 711, the basal sliding of the second transverse slat 714 is connected with a pair of claw-plates 715, a pair of claw-plates
715 have the rotary chuck that laterally setting is provided with multiple downwardly convex and relative position pawl end 715 ', pawl end 715 '
716, the two ends of the second transverse slat 714 are provided with two the 7th drive devices 717, and a pair of claw-plates 715 are driven respectively along Y direction phase
To sliding, one end of the second transverse slat 714 is also equipped with the 8th drive device 718, and the 8th drive device 718 drives a pair of rotating clamps
First 716 rotation.
Such as Figure 13, clamp device is opened（63,73）Including a lifter plate 631 and first opening of being slidingly attached to lifter plate 631
Chuck 632 and second opens chuck 632 ', and first, which opens chuck 632 and second, opens chuck 632 ' respectively by being attached to lifter plate 631
9th drive device 633 and the driving of the tenth drive device 633 ', make first to open chuck 632 and second and open chuck 632 ' and be driven respectively
Or departing from the 6th connector 333 ' and the 7th connector 334 ', lifter plate 631 matches provided with raising up with positioning pilot hole 36 '
Positioning guide column 634, the both sides of lifter plate 631 are provided with two liftable blocks 635.
Switching mechanism 7 will mount the situation of auxiliary material for the tow sides of some mobile phone shells, when mobile phone shell universal chuck
During 33 process switching mechanism 7, folder operation can be positioned and be held by holding clamp device 73, be specially：Two liftable blocks 635 are blocked
Mobile phone shell universal chuck 33, lifter plate 631, which rises, makes positioning guide column 634 insert positioning pilot hole 36 ', is accurately positioned, with
The 9th drive device 633 and the tenth drive device driving 633 ' drive first to open chuck 632 and second and open chuck 632 ' respectively afterwards
Motion, so as to be driven the 6th connector 333 ' and the motion of the 7th connector 334 ', and then opens elastic cleat 333 and elastic right angle
Holder 334, makes mobile phone shell become releasing orientation by clamped condition, the turning device 71 of the subsequent top of mobile phone shell universal chuck 33 enters
Row upset operation, the 6th drive device 712 drives the first transverse slat 711 to be moved along X-axis, stopped when moving to the top of mobile phone shell
Only, drive the second transverse slat 714 to be moved downward along Z axis with exhaust hood 713, the rotary chuck 716 of a pair of claw-plates 715 is located at mobile phone
Two sides of shell, subsequent 7th drive device 717 drives a pair of claw-plates 715 to be slided along Y direction is relative, makes a pair of rotary chucks
716 clamp stopping behind the side of mobile phone shell two, and subsequent 8th drive device 718 drives a pair of rotation 180 degrees of rotary chucks 716, complete
Into the upset operation to mobile phone shell, switching mechanism 7 departs from mobile phone shell and returned to just such as state, the 9th drive device after the completion of upset
633 and the tenth the driving of drive device 633 ' first open chuck 632 and second and open chuck 632 ' and depart from the 6th connector 333 ' and the
Seven connectors 334 ', under elastic cleat 333, the elastic force effect of elastic right angle holder 334 itself, have recovered to mobile phone shell again
Clamping operation.
Such as Figure 15 is working-flow figure, has debugged system in configuration, has been ready to after basic data, the following work of system
Make：
Camera photograph above auxiliary material mechanism for stripping, the positioning of generation auxiliary material and angle information.Driven if no auxiliary material auxiliary
Expect mechanism for stripping, photograph again updates auxiliary material information.Do not have also auxiliary material 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 and performs region.When there is attachment
The mobile phone shell exited well then feeding.Mount executing agency and draw auxiliary material, paste auxiliary material, the mobile phone shell mounted is exited into attachment
Perform region.As lack auxiliary material or mobile phone shell to be pasted not in place if wait.
System periodically performs the action such as reset and eliminates accumulated error.
System and so on works, until operator presses pause or stop button, or system detectio to mistake.
The system is compared with traditional no machine vision or with simple vision positioning system auxiliary material dress patch system, tool
There is high precision, auxiliary material wastes small, require auxiliary material manufacture craft low, thread-changing low cost, material stripping patch material concurrent working, efficiency height etc.
Significant advantage.
The system also has following function, and attachment performs the mobile phone shell positional deviation correction function in region and leaks patch detection and subsidize
Function, concrete operating principle is as follows：
It is especially high in dress patch required precision, and the mobile phone shell position that feeding-discharging mechanism feeding attachment performs region is insufficient to
In the case of stable, add casing position and correct function, the function performs the mobile phone shell positional deviation correction in region by being arranged on attachment
Mechanism is completed, mobile phone shell positional deviation correction mechanism include one be arranged on attachment perform region be used for mobile phone shell to be mounted or
The camera that Mobile phone casing clamper is imaged and at least specify two index points for being arranged on mobile phone shell or Mobile phone casing clamper；Also wrap
Mobile phone shell positional deviation correction module is included, the patch discharge position of auxiliary material is corrected according to the position offset of index point.
Suction nozzle can not successfully be drawn after auxiliary material, or patch material action sometimes, and auxiliary material is also bonded on suction nozzle, is asked to solve this
Topic, adds Lou patch and detects and subsidy function that the function is by being connected to the negative-pressure detector and corresponding detection of negative pressure of suction nozzle
Module is completed, and negative-pressure detector is used to detect negative pressure data of the suction nozzle after auxiliary material is drawn or after attachment auxiliary material；Detection of negative pressure mould
Root tuber judges whether the suction and attachment of suction nozzle succeed according to negative pressure data.If it fails, then performing corresponding remedial measure：Subsidy
Or continue after manual intervention confirmation.
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
On the premise of principle and essence from the present invention, various changes or modifications can be made to these embodiments, but these are changed
Protection scope of the present invention is each fallen within modification.
Claims (6)
1. a kind of vision positioning mobile phone auxiliary material mounting system, it is characterised in that including hardware components and software section；
Hardware components include：Mainframe, multiple auxiliary material mechanism for stripping, feeding-discharging mechanism, attachment executing agency, vision positioning mechanism
And controller, mainframe be with X-axis, Y-axis, Z-direction space framework；Multiple auxiliary material mechanism for stripping are attached to mainframe
Front portion, for auxiliary material to be peeled off to and delivered to the auxiliary material belt at auxiliary material mechanism for stripping rear portion from material strip so that attachment executing agency inhales
Take auxiliary material；Feeding-discharging mechanism wears the middle part of mainframe and adjacent auxiliary material belt, and feeding-discharging mechanism is set at auxiliary material belt
Have attachment perform region, feeding-discharging mechanism be used for by mobile phone shell to be mounted or carry mobile phone shell Mobile phone casing clamper from mainframe with
It is outer to be transferred to attachment execution region, and the mobile phone shell for having mounted auxiliary material or the Mobile phone casing clamper for carrying mobile phone shell are sent out into main frame
Frame；Attachment executing agency is articulated to mainframe and positioned at the top of auxiliary material mechanism for stripping and feeding-discharging mechanism, and attachment is performed
Actuator base is provided with multiple suction nozzles, and mobile phone shell is pasted for drawing auxiliary material from auxiliary material belt and being transferred to attachment execution region
Dress；Vision positioning mechanism includes multiple cameras being imaged to auxiliary material and suction nozzle for being attached to mainframe, is provided for controller
Positioning and correction information；Controller, including computer, motion control card and I/O modules, computer pass through motion control card and I/
O module electrically connects and controlled by software section respectively the operation of each mechanism with above-mentioned each mechanism；
Software section includes hardware configuration management module, mobile phone auxiliary material management module, hand and eye calibrating module and task driven module,
Wherein, hardware configuration management module is used for each mechanism for managing above-mentioned hardware components, is that different perform function configurations is corresponding
Mechanism and set relevant parameter：Mobile phone auxiliary material management module, is that the mobile phone shell of different model sets up auxiliary material database, including not
With the profile, mounting position, vision parameter of auxiliary material；Hand and eye calibrating module, is mechanical-physical coordinate system and camera image coordinate system
Between set up transition matrix so that the auxiliary material and the framing information of suction nozzle obtained by camera can be exchanged into attachment execution machine
Feeding, correction or the patch material reason coordinate information of structure；Task driven module, reads location information and other inductor signals, drives
Dynamic auxiliary material material stripping mechanism, attachment executing agency and feeding-discharging mechanism completion work；
Auxiliary material mechanism for stripping include the first frame, material containing wheel, guide wheel, draw material wheel, acute angle broach plate, holding pad, auxiliary material belt and
First driving means, material containing wheel, guide wheel and draw that material wheel is rotatable is connected to the first frame, and acute angle broach plate is affixed to the first machine
Frame and with a maximum planes and the acute angle edge of a knife positioned at maximum planes edge, auxiliary material raw band is loaded to material containing wheel, and around
Cross after one group of guide wheel, be close to the maximum planes of acute angle broach plate and fixed after the acute angle edge of a knife is bent by drawing material wheel its termination,
Auxiliary material belt abuts the acute angle edge of a knife of acute angle broach plate, holding pad be arranged on the top that auxiliary material belt connects with acute angle broach plate and
The first frame is affixed to, material wheel and auxiliary material belt are drawn in first driving means driving；
Feeding-discharging mechanism includes being arranged on the conveyer in the middle part of mainframe, and conveyer can be circulating for streamline or sliding
Rail reciprocation type structure.
2. vision positioning mobile phone auxiliary material mounting system according to claim 1, it is characterised in that attachment executing agency includes
Second frame, the second housing slide is connected to a crossbeam and slided by the second drive device drives edge X-direction, and crossbeam two ends are slided
It is dynamic to be connected to mainframe both sides and slided by the 3rd drive device drives edge Y direction, multigroup suction nozzle is provided with front side of the second frame
Component, component suction nozzle includes the ball spline shaft set in Z-direction for being slidingly attached to the second frame, and ball spline shaft is by the
Four-drive device drives edge Z-direction is slided up and down, and the bottom connection suction nozzle of ball spline shaft, ball spline shaft outer sheath is provided with
Hub splines, hub splines is driven by the 5th drive device for being attached to the second frame to be rotated.
3. vision positioning mobile phone auxiliary material mounting system according to claim 1, it is characterised in that vision positioning mechanism includes
Auxiliary material camera and suction nozzle camera, auxiliary material camera are arranged on above auxiliary material belt, and for being imaged to auxiliary material, suction nozzle camera is arranged on master
The lower section at frame rear portion, for being imaged to suction nozzle.
4. vision positioning mobile phone auxiliary material mounting system according to claim 1, it is characterised in that hardware components also include setting
The mobile phone shell positional deviation correction mechanism that region is performed in attachment is put, mobile phone shell positional deviation correction mechanism is arranged on attachment including one and performed
Region for the camera that is imaged to mobile phone shell to be mounted or Mobile phone casing clamper and be arranged on mobile phone shell or Mobile phone casing clamper
On at least two index points specified；Software section also includes mobile phone shell positional deviation correction module, is offset according to the position of index point
Measure to correct the patch discharge position of auxiliary material.
5. vision positioning mobile phone auxiliary material mounting system according to claim 1, it is characterised in that hardware components also include connecting
The negative-pressure detector of suction nozzle is connected on, for detecting negative pressure data of the suction nozzle after auxiliary material is drawn or after attachment auxiliary material；Software section
Also include detection of negative pressure module, whether the suction and attachment for judging suction nozzle according to negative pressure data succeed.
6. vision positioning mobile phone auxiliary material mounting system according to claim 1, it is characterised in that Mobile phone casing clamper is mobile phone
Shell universal chuck.
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| CN201510769959.6A CN105292657B (en) | 2015-11-12 | 2015-11-12 | A kind of vision positioning mobile phone auxiliary material mounting system |
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| CN201510769959.6A CN105292657B (en) | 2015-11-12 | 2015-11-12 | A kind of vision positioning mobile phone auxiliary material mounting system |
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| Publication Number | Publication Date |
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| CN105292657A CN105292657A (en) | 2016-02-03 |
| CN105292657B true CN105292657B (en) | 2017-07-18 |
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| CN107600607A (en) * | 2017-09-26 | 2018-01-19 | 江苏唯侓机器人科技有限公司 | A kind of detent mechanism of mobile phone auxiliary material automatic laminating machine utilizing |
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| CN105292657A (en) | 2016-02-03 |
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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. |
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