CN106647740A - Grating-based intelligent magazine transport vehicle - Google Patents
Grating-based intelligent magazine transport vehicle Download PDFInfo
- Publication number
- CN106647740A CN106647740A CN201611002559.3A CN201611002559A CN106647740A CN 106647740 A CN106647740 A CN 106647740A CN 201611002559 A CN201611002559 A CN 201611002559A CN 106647740 A CN106647740 A CN 106647740A
- Authority
- CN
- China
- Prior art keywords
- transport vehicle
- grating
- module
- magazine
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 22
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 11
- 230000032258 transport Effects 0.000 claims description 48
- 230000004888 barrier function Effects 0.000 claims description 34
- 238000000034 method Methods 0.000 claims description 17
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract 2
- 238000005538 encapsulation Methods 0.000 description 5
- 238000012913 prioritisation Methods 0.000 description 5
- 239000004065 semiconductor Substances 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012536 packaging technology Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention discloses a grating-based intelligent magazine transport vehicle, which comprises a transport vehicle body and a nitrogen cabinet arranged on the transport vehicle, wherein the transport vehicle body is also provided with a driving control module, a grating transmitter, an image acquisition module, a grating processor, a camera, a wireless transmission module and a controller; the controller is respectively connected with the driving control module, the grating processor, the camera, and the wireless transmission module; and the grating transmitter, the image acquisition module and the grating processor are sequentially connected.
Description
Technical field
The present invention relates to a kind of intelligent magazine transport vehicle based on grating.
Background technology
Magazine, material aluminium alloy is adapted to the boards such as automatic bonder, automatic bonding equipment.Magazine has in different industries
Different using method and use material.In Packaging Industry, operation is typically packaged and toasted with aluminium magazine.It is main to use
In automatic bonder, automatic bonding equipment（ASM, KS, KAIJO）Deng on board, automatic loading/unloading is carried out.Mainly have straight cutting magazine,
SMD magazines, high-power magazine, COB magazines, triode magazine and various nonstandard magazines.
In semiconductor packages, semiconductor manufacturing process is by test group after wafer manufacture, wafer sort, chip package and encapsulation
Into.After plastic packaging, sequence of operations, such as solidify afterwards are also performed to（Post Mold Cure）, rib cutting and shaping（Trim&
Form）, plating（Plating）And print etc. technique.Typically packaging technology flow process is：Scribing-load-bonding-plastic packaging-go
Overlap-plating-printing-rib cutting and shaping-visual examination-finished product test-packaging shipment.In simple terms, it is exactly by semiconductor element
Part and air exclusion, prevent the impurity in air from causing electric property to decline the corrosion of chip circuit, and on the other hand,
Chip after encapsulation is also more convenient for installing and transporting.In encapsulation process, need to carry out element feeding, this when is just necessary
Semiconductor magazine is used, semiconductor magazine is processed by high-quality aluminium alloy, through excellent techniques such as cutting, surface treatments.
Using above disclosure satisfy that customization size, not getting stuck etc. and to require.
In actual encapsulation production process, after a procedure is completed, need by manual type first by magazine from envelope
After removing on installation platform, then moved at the encapsulation board of next process with go-cart.This artificial loading and unloading and transport
Mode not only needs to consume manpower, is also easy to cause artificial mistake, and with certain danger.
The content of the invention
The technical problem to be solved is：A kind of intelligence for chip package for substituting hand haulage's mode is provided
Can magazine transport vehicle.
The present invention is employed the following technical solutions to solve above-mentioned technical problem：
The present invention provides a kind of intelligent magazine transport vehicle based on grating, including transport vehicle body and on transport vehicle
Nitrogen cabinet, wherein, it is also equipped with travelling control module, light barrier transmitter, image capture module, grating on the transport vehicle body
Processor, camera, wireless transport module, controller, controller respectively with traveling control module, raster processor, camera,
Wireless transport module connects；
The light barrier transmitter, image capture module, raster processor are sequentially connected；The light barrier transmitter, for launching light
Grid are on barrier；Described image acquisition module, the raster image being transmitted into for collection on barrier；The grating is processed
Device, for processing the raster image that image capture module is collected, by the distance values between the pixel for measuring raster image,
And in distance values and the ratio of actual range, judge the distance of barrier each several part and the light barrier transmitter；
Controller controls the traveling of transport vehicle body by traveling control module, according to the analysis result control of the raster processor
Transport vehicle body processed carries out avoidance, and the image information in the transport vehicle body traveling process that camera is collected is by wireless biography
Defeated module transfer is to console, and the work of the instruction control transport vehicle according to console.
Used as the further prioritization scheme of the present invention, the camera is arranged on transport vehicle body by elevating lever.
Used as the further prioritization scheme of the present invention, camera lens filter and the light barrier transmitter of described image acquisition module are launched
Grating type matching.
Used as the further prioritization scheme of the present invention, also including a support, one end and the image capture module of support are fixed
Connection, the other end is removably secured with light barrier transmitter and is connected.
Used as the further prioritization scheme of the present invention, the magazine that fixed magazine is additionally provided with the nitrogen cabinet fixes dress
Put.
Used as the further prioritization scheme of the present invention, the magazine that multiple placement magazines are additionally provided with the nitrogen cabinet is transported
Position.
The present invention adopts above technical scheme compared with prior art, with following technique effect：
In technical scheme, by storage of the nitrogen cabinet to magazine, it is to avoid the unencapsulated substrate for completing or chip exist
The problem that can be produced in transportation；Grating is launched on barrier by light barrier transmitter using the characteristic of grating, camera is clapped
The raster image being transmitted on barrier is taken the photograph, the distance values between the pixel of raster image are calculated, is selected and obstacle distance
Become larger direction flight, complete avoidance, solve in prior art find range avoidance in measurement result accuracy rate it is low, anti-interference
The technical problem of ability, has reached measurement result accuracy rate height, the technique effect of strong antijamming capability；The present invention improves life
Safety coefficient is produced, the labour intensity of labourer is reduced.
Specific embodiment
Embodiments of the present invention are described below in detail, and the embodiment for describing is exemplary, is only used for explaining this
Invention, and be not construed as limiting the claims.
Those skilled in the art of the present technique it is understood that unless expressly stated, singulative " " used herein,
" one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that used in the specification of the present invention
Wording " including " refers to there is the feature, integer, step, operation, element and/or component, but it is not excluded that existing or adding
Plus one or more other features, integer, step, operation, element, component and/or their group.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connection or couple.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combination.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With with art of the present invention in those of ordinary skill general understanding identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art in
The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Technical scheme is described in further detail below：
The present invention provides a kind of intelligent magazine transport vehicle based on grating, including transport vehicle body and on transport vehicle
Nitrogen cabinet, wherein, it is also equipped with travelling control module, light barrier transmitter, image capture module, grating on the transport vehicle body
Processor, camera, wireless transport module, controller, controller respectively with traveling control module, raster processor, camera,
Wireless transport module connects.
The light barrier transmitter, image capture module, raster processor are sequentially connected；The light barrier transmitter, for sending out
Grating is penetrated to barrier；Described image acquisition module, the raster image being transmitted into for collection on barrier；At the grating
Reason device, for processing the raster image that image capture module is collected, by the spacing between the pixel for measuring raster image
Value, and in distance values and the ratio of actual range, judge the distance of barrier each several part and the light barrier transmitter.The figure
As the grating type that the camera lens filter of acquisition module is launched with light barrier transmitter is matched；Light barrier transmitter, image capture module lead to
Support connection is crossed, one end of the support is fixedly connected with image capture module, the other end is with light barrier transmitter removably
It is fixedly connected.
The present invention launches grating on barrier using the characteristic of grating by light barrier transmitter, and camera shoots and is transmitted into barrier
Hinder the raster image on thing, calculate the distance values between the pixel of raster image, selection becomes larger with obstacle distance
Direction running row, completes avoidance, solve in prior art find range avoidance in measurement result accuracy rate it is low, poor anti jamming capability
Technical problem, has reached measurement result accuracy rate height, the technique effect of strong antijamming capability.
Controller controls the traveling of transport vehicle body by traveling control module, is tied according to the analysis of the raster processor
Fruit control transport vehicle body carries out avoidance, and the image information in the transport vehicle body traveling process that camera is collected passes through nothing
Line transport module is transmitted to console, and the work of the instruction control transport vehicle according to console.
Further, the camera is arranged on transport vehicle body, in order to right according to actual needs by elevating lever
The height of camera is adjusted.
Further, the magazine fixing device of fixed magazine is additionally provided with the nitrogen cabinet.To ensure that magazine is conveyed through
The security of journey, it is to avoid caused magazine skew in the moving process of transport vehicle causes potential safety hazard.It is right to arrange on transport vehicle
The magazine fixing device that the magazine placed thereon is fixed, improves the stability during magazine is transported.
Further, the magazine that multiple placement magazines are provided with the nitrogen cabinet transports position, it is possible to achieve once to material
The transport process of box completes to be transported while multiple magazines.
The above, the only specific embodiment in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion expected or replacement, all should cover
The present invention include within the scope of, therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (6)
1. a kind of intelligent magazine transport vehicle based on grating, it is characterised in that including transport vehicle body and installed in transport vehicle
On nitrogen cabinet, wherein, be also equipped with the transport vehicle body travel control module, light barrier transmitter, image capture module,
Raster processor, camera, wireless transport module, controller, controller respectively with traveling control module, raster processor, take the photograph
As head, wireless transport module connect；
The light barrier transmitter, image capture module, raster processor are sequentially connected；The light barrier transmitter, for launching light
Grid are on barrier；Described image acquisition module, the raster image being transmitted into for collection on barrier；The grating is processed
Device, for processing the raster image that image capture module is collected, by the distance values between the pixel for measuring raster image,
And in distance values and the ratio of actual range, judge the distance of barrier each several part and the light barrier transmitter；
Controller controls the traveling of transport vehicle body by traveling control module, according to the analysis result control of the raster processor
Transport vehicle body processed carries out avoidance, and the image information in the transport vehicle body traveling process that camera is collected is by wireless biography
Defeated module transfer is to console, and the work of the instruction control transport vehicle according to console.
2. a kind of intelligent magazine transport vehicle based on grating according to claim 1, it is characterised in that the camera leads to
Cross elevating lever to be arranged on transport vehicle body.
3. a kind of intelligent magazine transport vehicle based on grating according to claim 1, it is characterised in that described image is gathered
The grating type that the camera lens filter of module is launched with light barrier transmitter is matched.
4. a kind of intelligent magazine transport vehicle based on grating according to claim 1, it is characterised in that also including
Frame, one end of support is fixedly connected with image capture module, and the other end is removably secured with light barrier transmitter and is connected.
5. a kind of intelligent magazine transport vehicle based on grating according to claim 1, it is characterised in that in the nitrogen cabinet
It is additionally provided with the magazine fixing device of fixed magazine.
6. a kind of intelligent magazine transport vehicle based on grating according to claim 1, it is characterised in that in the nitrogen cabinet
The magazine for being additionally provided with multiple placement magazines transports position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002559.3A CN106647740A (en) | 2016-11-15 | 2016-11-15 | Grating-based intelligent magazine transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002559.3A CN106647740A (en) | 2016-11-15 | 2016-11-15 | Grating-based intelligent magazine transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647740A true CN106647740A (en) | 2017-05-10 |
Family
ID=58806258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611002559.3A Pending CN106647740A (en) | 2016-11-15 | 2016-11-15 | Grating-based intelligent magazine transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647740A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1779483A (en) * | 2004-11-26 | 2006-05-31 | 欧姆龙株式会社 | Image processing system for mounting to a vehicle |
| CN102538766A (en) * | 2011-12-21 | 2012-07-04 | 武汉科技大学 | Obstacle test method for active intelligent vehicle |
| CN202608712U (en) * | 2011-12-21 | 2012-12-19 | 武汉科技大学 | Stereoscopic vision based active grating projection sensor system |
| CN205003506U (en) * | 2015-09-24 | 2016-01-27 | 湖南信息职业技术学院 | Automatic material transport intelligence car control system |
| CN105371818A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
| CN106325274A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Grating-based obstacle avoidance system of pilotless automobile |
-
2016
- 2016-11-15 CN CN201611002559.3A patent/CN106647740A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1779483A (en) * | 2004-11-26 | 2006-05-31 | 欧姆龙株式会社 | Image processing system for mounting to a vehicle |
| CN102538766A (en) * | 2011-12-21 | 2012-07-04 | 武汉科技大学 | Obstacle test method for active intelligent vehicle |
| CN202608712U (en) * | 2011-12-21 | 2012-12-19 | 武汉科技大学 | Stereoscopic vision based active grating projection sensor system |
| CN205003506U (en) * | 2015-09-24 | 2016-01-27 | 湖南信息职业技术学院 | Automatic material transport intelligence car control system |
| CN105371818A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
| CN106325274A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Grating-based obstacle avoidance system of pilotless automobile |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |