CN107323753A - Method and apparatus for automatic accomodation SMT products - Google Patents
Method and apparatus for automatic accomodation SMT products Download PDFInfo
- Publication number
- CN107323753A CN107323753A CN201710374064.1A CN201710374064A CN107323753A CN 107323753 A CN107323753 A CN 107323753A CN 201710374064 A CN201710374064 A CN 201710374064A CN 107323753 A CN107323753 A CN 107323753A
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- CN
- China
- Prior art keywords
- turnover box
- smt
- machine vision
- products
- smt products
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
- B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
- B65D81/05—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents
- B65D81/127—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents using rigid or semi-rigid sheets of shock-absorbing material
- B65D81/133—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents using rigid or semi-rigid sheets of shock-absorbing material of a shape specially adapted to accommodate contents, e.g. trays
Abstract
The invention discloses a kind of method and apparatus for automatic accomodation SMT products.The method for being used for automatic accomodation SMT products includes：Robot is provided and carries module, SMT products and the interior Antistatic transfer container for setting knife card, robot carrying module includes manipulator, machine vision assembly, product picks and places component and casing picks and places component；Machine vision assembly obtains the status information of Turnover Box and sends manipulator to；Mechanical hand-motion casing picks and places component crawl Turnover Box, drives casing to pick and place component and Turnover Box is moved into reception position；Machine vision assembly obtain Turnover Box in knife card status information and send manipulator to；Mechanical hand-motion product picks and places component and SMT products is put into the receiving space that knife card is surrounded.The invention solves the problems that a technical problem be that SMT products automatically and accurately can not load in Antistatic transfer container.
Description
Technical field
The present invention relates to technical field of mechanical automation, more particularly it relates to which a kind of be used for automatic accomodation SMT productions
The method and apparatus of product.
Background technology
At present, after SMT (Surface Mount Technology, surface installation technique) semi-finished product are completed, need
Product is loaded and is used in turn in Antistatic transfer container.Because SMT industries require higher to the antistatic of product, it is to avoid
Electrostatic is by the component punch through damage of product, and SMT is essentially all to be made manually with Turnover Box.So, Turnover Box
Dimensional uniformity is difficult to ensure.Add, more than one of the supplier of workshop Turnover Box, the size of the Turnover Box in existing workshop
It is uneven, and the quantity about 30000pcs of Turnover Box.Thus realize the difficulty for causing Turnover Box automatic accomodation SMT products
Degree is larger.In the prior art, typically by manually being stored.
There is following defect in the artificial method for storing operation：(1) due to having relatively very small first device on SMT products
Part, easily comes off if it collides casing, so as to cause quality bad.And it is low manually to store precision, easily error.(2) some
The problem of SMT products are due to dimensional structure, allows the product quantity being put into limited in a Turnover Box.Turnover needed for thus
Box number is extremely more, and frequently loading and unloading are needed during transport, increases labor intensity.(3) labor intensity is big, standing cost
It is high.Operator is easy to run off, and newly trains employee hours' length and quality-mind is weak, there is potential risk for product quality.(4) it is automatic
Change level is low, under the overall situation of industry 4.0, and each company all is making great efforts to improve respective automatization level, sets up unmanned plane work
Factory, it is inexorable trend to substitute people by machine.
Therefore, it is necessary to be improved to the method and apparatus for being currently used for storing SMT products.
The content of the invention
It is an object of the present invention to provide a kind of new technology side of the method and apparatus for automatic accomodation SMT products
Case.
There is provided a kind of method for automatic accomodation SMT products according to the first aspect of the invention.This method includes：
Robot is provided and carries module, SMT products and the interior Antistatic transfer container for setting knife card, robot carry module include manipulator,
Machine vision assembly, product pick and place component and casing picks and places component；Machine vision assembly obtains the status information and biography of Turnover Box
Give manipulator；Mechanical hand-motion casing picks and places component crawl Turnover Box, drives casing to pick and place component and Turnover Box is moved into receipts
Receive position；Machine vision assembly obtain Turnover Box in knife card status information and send manipulator to；Mechanical hand-motion product takes
Put component SMT products are put into the receiving space that knife card is surrounded.
Alternatively, automatic charging module is also provided with, after Turnover Box is transported to crawl position by automatic charging module, machine
Device visual component obtains the status information of Turnover Box.
Alternatively, automatic charging module includes the first conveying member, the first motor and stock stop, and Turnover Box is carried on first
On conveying member, crawl position is located on the first conveying member, and Turnover Box is transported to the method bag of crawl position by automatic charging module
Include：First motor drives the Turnover Box on the first conveying member to be moved to the direction of crawl position；Crawl position is reached in Turnover Box
When, stock stop causes the Turnover Box in crawl position to depart from the first conveying member；First motor is driven on the first conveying member
Turnover Box to away from crawl position direction move.
Alternatively, automatic blanking module is also provided with, automatic blanking module includes the second conveying member, the second motor, the 3rd
Conveying member and the 3rd motor, reception position are located on the second conveying member, and the second motor drives the Turnover Box on the second conveying member to move
Move to the 3rd conveying member, the 3rd motor drives the Turnover Box movement on the 3rd conveying member.
Alternatively, the identification marking for being used for being recognized by machine vision assembly, machine vision are provided with the periphery of Turnover Box
Component gets the angle excursion information of Turnover Box by shooting identification marking, and by angle excursion information transmission to manipulator；
Manipulator is received after angle excursion, is driven casing to pick and place component and is grabbed Turnover Box.
Alternatively, picked and placeed in mechanical hand-motion casing after Turnover Box is moved to reception position by component, machine vision assembly
The spatial information for being used to accommodate SMT products that knife card is surrounded is obtained, and by the receiving space information transmission to manipulator；This is held
Spatial information of receiving is compared with SMT products, if the receiving space is large enough to hold SMT products, SMT products are put into the receiving
In space, if the receiving space is not enough, the information of next receiving space is obtained.
Alternatively, the space bottom for being used to accommodate knife card in Turnover Box is paved with for preventing for being recognized by machine vision assembly
Static electricity packing bag, knife card is arranged on electrostatic prevention packaging bag, and machine vision assembly is by shooting the antistatic packaging of knife card bottom
Bag, to get the information for the receiving space that knife card is surrounded.
Alternatively, manipulator is six axis robot, and six axis robot includes control assembly, transmission component and joint assembly,
Control assembly, which is received, controls transmission component driving joint assembly to make corresponding dynamic after the status information of machine vision module acquisition
Make.
Alternatively, casing, which picks and places component, includes at least one pair of clamping jaw, and the distance between each pair clamping jaw is pressed from both sides more than Turnover Box
Length on tight direction, when casing picks and places component crawl Turnover Box, a pair of clamping jaws are mutually close to clamp Turnover Box；In Turnover Box
When being moved into reception position, a pair of clamping jaws are mutually away to depart from Turnover Box.
Alternatively, product, which picks and places component, includes cylinder and suction nozzle, and product picks and places component and SMT products are put into Turnover Box
Method includes：Cylinder drives suction nozzle to be moved to operating position with corresponding with the position of SMT products；Suction nozzle draws SMT products；
Under the guiding of machine vision assembly, SMT products are put into the receiving space that knife card is surrounded by mechanical hand-motion suction nozzle.
There is provided a kind of equipment for automatic accomodation SMT products according to the second aspect of the invention.The equipment includes：
Automatic charging module for transporting Turnover Box；Module is carried by robot, the robot carry module include six axis robot,
Component is picked and placeed for capturing the casing of Turnover Box on the automatic charging module, for SMT products to be put into knife card in Turnover Box
The product in receiving space surrounded picks and places component and the machine vision assembly for obtaining object status information, the case
Body picks and places that component, product pick and place component and machine vision assembly is arranged at the front end of the six axis robot, six shaft mechanical
Hand is configured to receive the information of the machine vision assembly acquisition and makes corresponding actions；And automatic blanking module,
The automatic blanking module is configurable for transporting the Turnover Box for accommodating SMT products.
It was found by the inventors of the present invention that SMT is essentially all to be made manually with Turnover Box, its dimensional uniformity is very
It is difficult to ensure card.Add, more than one of the supplier of workshop Turnover Box, the size of the Turnover Box in existing workshop is uneven.Thus,
The realization of Turnover Box automatic accomodation SMT products has great difficulty.In the prior art, it is general that SMT is accommodated in Turnover Box by hand
Interior, artificial precision of storing is low, easily error, and SMT products, which easily collide casing, causes component to come off.Required turnover box number pole
It is many, frequent loading and unloading are needed during transport, labor intensity is big, and cost is high.
Therefore, the technical assignment to be realized of the present invention or technical problem to be solved be those skilled in the art from
It is not expecting or it is not expected that, therefore the present invention is a kind of new technical scheme.
Provided by the present invention in the method and apparatus of automatic accomodation SMT products, machine vision assembly gets turnover
The status information of case, the mechanical hand-motion casing of guiding picks and places component and grabs Turnover Box.This way it is ensured that to pick and place component every for casing
It is secondary to grab Turnover Box.
In reception position, machine vision assembly can get the state of knife card in Turnover Box, the mechanical hand-motion product of guiding
Pick and place component SMT products are put into the receiving space that knife card is surrounded.So, it is ensured that SMT products are fitted exactly into knife card and enclosed
Into receiving space in, it is to avoid the collision of SMT products and knife card causes quality risk.
Efficiently solve by artificial containing belt Lai quality risk, improve the quality of SMT products.Reduce operating personnel
Labor intensity.Improve the automatization level of workshop producing line.
By referring to the drawings to the detailed description of the exemplary embodiment of the present invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the method schematic diagram for automatic accomodation SMT products in an embodiment of the present invention；
Fig. 2 is the structural representation that module is carried by robot in an embodiment of the present invention；
Fig. 3 is the partial structural diagram that module is carried by robot in an embodiment of the present invention；
Fig. 4 is the schematic device for automatic accomodation SMT products in an embodiment of the present invention；
Fig. 5 is the structural representation of the automatic charging module in an embodiment of the present invention；
Fig. 6 is the structural representation of the automatic blanking module in an embodiment of the present invention；
Fig. 7 is the structural representation of the Turnover Box in an embodiment of the present invention.
Wherein, 1：Automatic charging module；10：First conveying member；11：Stock stop；2：Module is carried by robot；20：Machine
Tool hand；21：Machine vision assembly；22：Casing picks and places component；220：Clamping jaw；23：Product picks and places component；230：Suction nozzle；231：Gas
Cylinder；3：Automatic blanking module；30：Second conveying member；31：Second motor；32：3rd conveying member；33：3rd motor；4：Automatically
Test module；5：Support；6：Turnover Box；7：Knife card；8：SMT products.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
The invention provides a kind of method for automatic accomodation SMT products, referring to figs. 1 to Fig. 7, this method includes：
There is provided robot carry module 2, it is some in set the Antistatic transfer container 6 of knife card 7, some SMT products 8.For example,
SMT products 8 can be the product after test module 4 automatically is completed.Robot carry module 2 include manipulator 20,
Machine vision assembly 21, product pick and place component 23 and casing picks and places component 22.
Inside setting the Turnover Box 6 of knife card 7 is used to store SMT products 8.The concrete structure of Turnover Box 6 can have a variety of.It is optional
Ground, Turnover Box 6 can be the semi-surrounding structure with an opening.Each Turnover Box 6 includes bottom wall, stretch out from bottom wall
Side wall and the semi-surrounding space surrounded jointly by bottom wall and side wall.Knife card 7 is arranged at the semi-surrounding space that Turnover Box 6 is surrounded
Interior, some knife cards 7 are with multiple receiving spaces for being used to accommodate Turnover Box 6.
Machine vision assembly 21 is used for the status information for obtaining object that is static or slowly moving, and the state is believed
Breath sends manipulator 20 to, to guide manipulator 20 to make corresponding actions.The concrete structure and algorithm of machine vision assembly 21 can be adopted
Use prior art.For example, machine vision assembly 21 may include video camera and image processing system etc..
Manipulator 20 is used to imitate human arm to realize the functions such as crawl, placement, carrying.Manipulator 20 can be six axles
Manipulator, it realizes that the six degree of freedom of six axis robot front end is acted by six joint synthesis.Alternatively, six axis robot bag
Include control assembly, drive component and joint assembly.After the status information of the acquisition of machine vision assembly 21 is received, the control
Component can control the drive component to drive the joint assembly to make corresponding actions.For example, the control assembly may include
Industrial computer and motion control card etc..For example, the transmission component may include servomotor etc..
Under the drive of manipulator 20, casing picks and places the crawl Turnover Box 6 of component 22 and movable turnover box 6.In manipulator
Under 20 drive, product picks and places component 23 and is put into SMT products 8 in the receiving space that knife card 7 is surrounded in Turnover Box 6.Casing takes
Put component 22 and product picks and places the front end that component 23 may be disposed at manipulator 20, to be moved under the drive of manipulator 20.
Machine vision assembly 21 obtains the status information of Turnover Box 6, and by the status information of Turnover Box 6 now got
Send manipulator 20 to.For example, machine vision assembly 21 may be disposed at the front end of manipulator 20.For example, machine vision assembly 21
The status information of Turnover Box 6 got can be sent to the control assembly of manipulator 20.Now, Turnover Box 6 sets knife card 7 to be interior
Empty van body, can be placed into SMT products 8.In this way, being easy to subsequent mechanical hand 20 to make corresponding actions.
Specifically, the status information of Turnover Box 6 that machine vision assembly 21 is got may include angle excursion of Turnover Box 6 etc.
Information.In this way, machine vision assembly 21 by the angle excursion information transmission of Turnover Box 6 to manipulator 20, be easy to subsequent mechanical hand
20 accurately capture week vanning.Herein, the angle excursion can be the actual position of Turnover Box 6 relative to its preset standard position
The angle excursion put.
Due to process requirements, the knife card 7 and Turnover Box 6 for accommodating SMT products 8 are generally black.Black is not obvious, be difficult by
Machine vision assembly 21 is recognized.Machine vision assembly 21 is not easy to distinguish the status information of Turnover Box 6 and knife card 7.
The status information of Turnover Box 6 is obtained for ease of machine vision assembly 21, further, in the week of black Turnover Box 6
While being provided with the identification marking for being recognized by machine vision assembly 21.Machine vision assembly 21 is by shooting the periphery of Turnover Box 6
On identification marking, the information such as the angle excursion of Turnover Box 6 can be calculated.For example, when Turnover Box 6 is rectangular parallelepiped structure, week
Turnning box 6 includes four side walls, equal coated white or other easy identified colors on four side walls.
Turnover Box 6 needs to be transported to the position that module 2 is carried close to robot, in order to which subsequent robot carries module 2
Make corresponding actions.Preferably, with reference to Fig. 5, this method is also provided with the automatic charging module 1 for transporting Turnover Box 6.Certainly
Turnover Box 6 is transported to behind crawl position by dynamic feeding module 1, and machine vision assembly 21 obtains the status information of Turnover Box 6.This is grabbed
As long as fetch bit put can meet robot carry module 2 can at it Turnover Box 6 carry out corresponding operating.For example, crawl position
Putting can be specific position or the position in a certain interval range.
Further, with reference to Fig. 5, automatic charging module 1 may include the first conveying member 10, the first motor and stock stop
11.Turnover Box 6 is carried on the first conveying member 10.Crawl position can be located on the first conveying member 10.Automatic charging module 1 is by week
Turnning box 6 is transported to crawl position.For example, the opening of Turnover Box 6 can be located at the side away from the first conveying member 10 on Turnover Box 6.
For example, Turnover Box 6 can be layered on the first conveying member 10.For example, the first conveying member 10 may include some conveyer belts, described first
Motor is by driving the conveyer belt to rotate, to drive Turnover Box 6 to move.
Automatic charging module 1 may include the method that Turnover Box 6 is transported to crawl position：
First, the first motor drives the Turnover Box 6 on the first conveying member 10 to be moved to the direction of crawl position, until before most
The Turnover Box of row reaches crawl position.Herein, foremost Turnover Box refers to the row Turnover Box near crawl position.
Afterwards, stock stop 11 causes the Turnover Box in crawl position to move up to depart from the first conveying member 10.For example, gear
Material mechanism 11 may include thimble, pass through moving back and forth the Turnover Box jack-up in crawl position for the thimble.
Then, the first motor reversal, to drive remaining Turnover Box on the first conveying member 10 to the side away from crawl position
To movement.In this way, foremost Turnover Box and remaining Turnover Box at intervals, can be avoided on the first conveying member 10
Foremost Turnover Box bumps against with remaining Turnover Box.
Certainly, material baffle structure can also be other structures, as long as it can be realized：So that most prostatitis on the first conveying member 10
Turnover Box and remaining Turnover Box it is separated by a distance.For example, material baffle structure is alternatively the carrying mechanisms such as clamping jaw.
After manipulator 20 receives the status information of Turnover Box 6 that machine vision assembly 21 is got, according to this information, machine
Tool hand 20 drives casing to pick and place the crawl Turnover Box 6 of component 22.Moreover, manipulator 20 also drives casing to pick and place component 22 by Turnover Box
6 are moved to reception position, in order to which subsequently SMT products 8 are put into Turnover Box 6.It is appreciated that manipulator 20 can also be in machine
Under the guiding of device visual component 21, drive casing to pick and place component 22 and Turnover Box 6 is moved to reception position.
Specifically, machine vision assembly 21 can obtain the status informations such as the angle excursion of Turnover Box 6, machine vision assembly 21
Send the status informations such as the angle excursion of Turnover Box 6 to manipulator 20.The status informations such as the angle excursion according to input, manipulator
20 rotate corresponding angle automatically, to ensure that all vannings can be grabbed every time.
Specifically, with reference to Fig. 2, Fig. 3, casing, which picks and places component 22, may include at least one pair of clamping jaw for being used to clamp Turnover Box 6
220。
The distance between each pair clamping jaw 220 can be more than the length that Turnover Box 6 is clamped on direction.In this way, Turnover Box 6 can enter
Enter in the space between any pair of clamping jaw 220.
When casing picks and places the crawl Turnover Box 6 of component 22, a pair of phases of clamping jaw 220 are close to clamp Turnover Box 6.
When Turnover Box 6 is moved into reception position, a pair of phases of clamping jaw 220 are away to depart from Turnover Box 6.
For example, a pair of clamping jaws 220 may include mobile a clamping jaw and a stationary jaw, casing picks and places component 22 can be with
Including for driving cylinder that mobile clamping jaw moves to stationary jaw direction and spring for driving mobile pawl return.
After Turnover Box 6 is moved into reception position, machine vision assembly 21 obtains the state letter of knife card 7 in Turnover Box 6
Breath, and send the status information of knife card 7 now got to manipulator 20.For example, machine vision assembly 21 will can be obtained
To the status information of knife card 7 send control assembly on manipulator 20 to.In this way, it is corresponding dynamic to be easy to subsequent mechanical hand 20 to make
Make.
Specifically, the status information of knife card 7 may include what knife card 7 was surrounded in the Turnover Box 6 that machine vision assembly 21 is got
Spatial information for accommodating SMT products 8.For example, the spatial information may include the cross-sectional area size of receiving space.
The receiving space information and SMT products 8 are compared.If the receiving space is large enough to hold lower SMT products 8,
SMT products 8 are put into the receiving space.If the receiving space is not enough to accommodate lower SMT products 8, next receiving is obtained empty
Between information, continue contrast.
In this way, machine vision assembly 21 sends the status information of knife card 7 got to manipulator 20, it is easy to subsequent mechanical
SMT products 8 are put into the receiving space that knife card 7 is surrounded by hand 20.Avoid SMT products 8 and cause quality wind with the collision of knife card 7
Danger.
Due to process requirements, the Turnover Box 6 and knife card 7 for accommodating SMT products 8 are generally black, and black is not obvious, be difficult by
Machine vision module is recognized.Machine vision module is not easy to distinguish the positional information of Turnover Box 6 and knife card 7.To make machine vision
Component 21 is able to detect that the status information of black knife card 7, further, in Turnover Box 6 or on black knife card 7 or other positions
Identification marking can be provided with by putting, in order to which being used for of can getting that knife card 7 surrounds of machine vision assembly 21 accommodates SMT products 8
Spatial information.
In one example, the space bottom for being used to accommodate knife card 7 in Turnover Box 6 is paved with for by machine vision assembly 21
The electrostatic prevention packaging bag recognized.Knife card 7 is arranged in the packaging bag of the bottom of Turnover Box 6.The packaging bag is located at 6 bottoms of week vanning
Between portion and knife card 7.
Machine vision assembly 21 is by shooting the electrostatic prevention packaging bag of the bottom of Turnover Box 6, come being used for of obtaining that knife card 7 surrounds
Accommodate the spatial information of SMT products 8.For example, machine vision assembly 21 can be used to hold according to the image of shooting to calculate one
Receive SMT products 8 space sectional area size.
The receiving space information and SMT products 8 are compared.If the receiving space is large enough to hold lower SMT products 8,
SMT products 8 are put into the receiving space.If the receiving space is not enough to accommodate lower SMT products 8, next receiving is obtained empty
Between information, continue contrast.
In this way, avoid SMT products 8 causes quality risk with the collision of knife card 7.
In another example, the space bottom for being used to accommodate knife card 7 in Turnover Box 6 is whitewashed, so that machine vision assembly
21 get the spatial information for being used to accommodate SMT products 8 that knife card 7 is surrounded.Remaining step is ibid.
In another example, tinted on knife card 7 that can also be in Turnover Box 6, so that machine vision assembly 21 is obtained
The spatial information for being used to accommodate SMT products 8 surrounded to knife card 7.Remaining step is ibid.
The quantity of knife card 7, installation site in Turnover Box 6 can have a variety of.In one example, with reference to Fig. 7, each turnover
Case 6 can be the semi-surrounding structure for surrounding rectangular parallelepiped structure, and several columns knife card 7 parallel can be provided with each Turnover Box 6.At this
In embodiment, what knife card 7 was surrounded is used for the size for accommodating the space of SMT products 8 depending on the distance between adjacent knife card 7.This
When, as long as machine vision assembly 21 calculates the distance between adjacent knife card 7, being used for of can reflecting that knife card 7 surrounds is accommodated
The spatial information of SMT products 8.Thus, the spatial information for accommodating SMT products 8 that knife card 7 is surrounded may include adjacent knife card 7
The distance between.
Receive after machine vision assembly 21 gets the status information of knife card 7, believed according to the state of knife card 7 in manipulator 20
Breath, manipulator 20 drives product to pick and place component 23 and SMT products 8 is put into the receiving space that knife card 7 is surrounded.In this way, realizing certainly
It is dynamic that SMT products 8 are put into the receiving space that knife card 7 is surrounded in Turnover Box 6.
The concrete structure that product picks and places component 23 can have a variety of.Preferably, with reference to Fig. 2, Fig. 3, product picks and places component 23
The cylinder 23 that may include the suction nozzle 230 for drawing SMT products 8 and drive suction nozzle 230 to move.For example, every four suction nozzles 230
A SMT product 8 can be drawn.For example, in the front end of manipulator 20 four products can be drawn simultaneously provided with 16 suction nozzles 230.Example
Such as, each two SMT products 8 are put into the receiving space that knife card 7 is surrounded simultaneously for one group.
Product, which picks and places component 23, includes the method that SMT products 8 are put into Turnover Box 6：
First, cylinder 23 drives suction nozzle 230 to be moved to operating position.Now, suction nozzle 230 is corresponding with SMT product spaces.
Then, suction nozzle 230 draws SMT products 8.It is appreciated that suction nozzle 230 can be connected with getter device, with to SMT products
8 produce suction.
Afterwards, under the guiding of machine vision assembly 21, manipulator 20 drives suction nozzle 230 that SMT products 8 are put into knife card 7
In the receiving space surrounded.
After SMT products 8 are put into the receiving space that knife card 7 is surrounded, the Turnover Box 6 for accommodating SMT products 8 can be continued
Carry out with blanking.Preferably, with reference to Fig. 6, this method may also provide automatic blanking module 3.Automatic blanking module 3 includes
Second conveying member 30, the second motor 31, the 3rd conveying member 32 and the 3rd motor 33.Reception position can be located at the second conveying member 30
On.For example, can be provided with 8 layers of Turnover Box 6 on the second conveying member 30.For example, the second conveying member 30, the 3rd conveying member 32 can be wrapped
Include some conveyer belts.
The method that the Turnover Box 6 for accommodating SMT products 8 continues to carry out is included：
First, after Turnover Box 6 is moved into reception position, the second motor 31 drives the Turnover Box on the second conveying member 30
6 are moved on the 3rd conveying member 32.
Afterwards, the 3rd motor 33 drives the Turnover Box 6 on the 3rd conveying member 32 to continue to move to, and SMT productions are accommodated to collect
The Turnover Box 6 of product 8.
In this way, the subsection setup of automatic blanking module 3.During Turnover Box 6 on the 3rd conveying member 32 is collected, the second motor 31
Still the Turnover Box 6 on the second conveying member 30 can be driven to move, blanking is not shut down so as to realize.
Present invention also offers a kind of equipment for automatic accomodation SMT products, referring to figs. 2 to Fig. 7, the equipment is included certainly
Module 2 and automatic blanking module 3 are carried by dynamic feeding module 1, robot.Wherein, the automatic charging module 1 is used to transport week
Turnning box 6.For example, Turnover Box 6 can be transported to crawl position by the automatic charging module 1.
The robot carry module 2 include six axis robot 20, casing pick and place component 22, product pick and place component 23 and
Machine vision assembly 21 for obtaining object status information.
The casing, which picks and places component 22, to be used to capture Turnover Box 6.For example, the casing, which picks and places component 22, may include at least one
To clamping jaw 220, a pair of clamping jaws 220 can be clamped and opening movement.For example, the casing picks and places the crawl Turnover Box 6 of component 22
Afterwards, Turnover Box 6 can be carried to reception position SMT products 8 are put into Turnover Box 6.
The product, which picks and places component 23, to be used to be put into SMT products 8 in the receiving space that knife card 7 is surrounded in Turnover Box 6.Example
Such as, the product, which picks and places component 23, may include cylinder 231 and suction nozzle 230.
The machine vision assembly 21 is got after the status information of object, and the status information is sent into six axle
Manipulator 20.The six axis robot 20 makes corresponding actions according to the status information of input.Specifically, the six axis robot
20 drive the casings to pick and place component 22, product and pick and place component 23 realizes corresponding function respectively.
The six axis robot 20 can include control assembly, drive component and joint assembly.The control assembly is used for
The status information of the machine vision module input is received, and controls the drive component to drive the joint assembly to make phase
It should act.For example, the control assembly may include industrial computer and motion control card etc..For example, the transmission component can be wrapped
Include servomotor etc..
The automatic blanking module 3 is used to transport the Turnover Box 6 for accommodating SMT products 8.For example, the reception position
It can be arranged on the automatic blanking module 3.
In addition, with reference to Fig. 4, the equipment can also include the automatic test mould for being used to accordingly test SMT semi-finished product
Group 4.Automatic test module 4 can use prior art.In the products of SMT half after the automatic test module 4 is completed, quilt
The product picks and places component 23 and draws and be put into the receiving space that knife card 7 is surrounded.For example, the products of SMT half are by described automatic
After test module 4 is completed, predeterminated position can be transported to by conveyer belt etc., be drawn with picking and placeing component 23 by the product.
In addition, with reference to Fig. 2, Fig. 4, Fig. 5, the equipment can be fitted together each part by support 5.
In addition, the other structures of the equipment can specifically be set according to the above-mentioned method for automatic accomodation SMT products.
Although some specific embodiments of the present invention are described in detail by example, the skill of this area
Art personnel are it should be understood that example above is merely to illustrate, the scope being not intended to be limiting of the invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (10)
1. a kind of method for automatic accomodation SMT products, it is characterised in that including：
Robot is provided and carries module (2), SMT products and the interior Antistatic transfer container for setting knife card, module (2) bag is carried by robot
Include that manipulator (20), machine vision assembly (21), product pick and place component (23) and casing picks and places component (22)；
Machine vision assembly (21) obtains the status information of Turnover Box and sends manipulator (20) to；
Manipulator (20) drives casing to pick and place component (22) crawl Turnover Box, drives casing to pick and place component (22) and moves Turnover Box
To reception position；
Machine vision assembly (21) obtain Turnover Box in knife card status information and send manipulator (20) to；
Manipulator (20) drives product to pick and place component (23) and SMT products is put into the receiving space that knife card is surrounded.
2. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that be also provided with automatic
Expect module (1), after Turnover Box is transported to crawl position by automatic charging module (1), machine vision assembly (21) obtains turnover
The status information of case.
3. the method according to claim 2 for automatic accomodation SMT products, it is characterised in that automatic charging module (1)
Including the first conveying member (10), the first motor and stock stop (11), Turnover Box is carried on the first conveying member (10), captures position
Setting on the first conveying member (10), automatic charging module (1) includes the method that Turnover Box is transported to crawl position：
First motor drives the Turnover Box on the first conveying member (10) to be moved to the direction of crawl position；
When Turnover Box reaches crawl position, stock stop (11) causes the Turnover Box in crawl position to depart from the first conveying
Part (10)；
First motor drives the Turnover Box on the first conveying member (10) to be moved to the direction away from crawl position.
4. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that under being also provided with automatically
Expect module (3), automatic blanking module (3) includes the second conveying member (30), the second motor (31), the 3rd conveying member (32) and the 3rd
Motor (33), reception position is located on the second conveying member (30),
Second motor (31) drives the Turnover Box on the second conveying member (30) to be moved on the 3rd conveying member (32), the 3rd motor
(33) the Turnover Box movement on the 3rd conveying member (32) is driven.
5. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that on the periphery of Turnover Box
Provided with the identification marking for being recognized by machine vision assembly (21),
Machine vision assembly (21) gets the angle excursion information of Turnover Box by shooting identification marking, and by angle excursion
Information transmission is to manipulator (20)；
Manipulator (20) is received after angle excursion, is driven casing to pick and place component (22) and is grabbed Turnover Box.
6. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that in manipulator (20) band
Dynamic casing picks and places component (22) and Turnover Box is moved to after reception position, and what machine vision assembly (21) acquisition knife card was surrounded is used for
The spatial information of SMT products is accommodated, and manipulator (20) is given by the receiving space information transmission；
The receiving space information and SMT products are compared, if the receiving space is large enough to hold SMT products, by SMT products
It is put into the receiving space, if the receiving space is not enough, obtains the information of next receiving space.
7. the method according to claim 6 for automatic accomodation SMT products, it is characterised in that be used to hold in Turnover Box
The space bottom of knife card received is paved with for the electrostatic prevention packaging bag that is recognized by machine vision assembly (21), and knife card is arranged at anti-quiet
In electric packaging bag, what machine vision assembly (21) was surrounded by shooting the electrostatic prevention packaging bag of knife card bottom, getting knife card
The information of receiving space.
8. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that casing picks and places component
(22) at least one pair of clamping jaw (220) is included, the distance between each pair clamping jaw (220) is more than the length that Turnover Box is clamped on direction
Degree,
When casing picks and places component (22) crawl Turnover Box, a pair of clamping jaws (220) are mutually close to clamp Turnover Box；
When Turnover Box is moved into reception position, a pair of clamping jaws (220) are mutually away to depart from Turnover Box.
9. the method according to claim 1 for automatic accomodation SMT products, it is characterised in that product picks and places component
(23) cylinder (23) and suction nozzle (230) are included, product, which picks and places the method that SMT products are put into Turnover Box by component (23), to be included：
Cylinder (23) drives suction nozzle (230) to be moved to operating position with corresponding with the position of SMT products；
Suction nozzle (230) draws SMT products；
Under the guiding of machine vision assembly (21), manipulator (20) drives suction nozzle (230) that SMT products are put into what knife card was surrounded
In receiving space.
10. a kind of equipment for automatic accomodation SMT products, it is characterised in that including：
Automatic charging module (1) for transporting Turnover Box；
Module (2) is carried by robot, the robot carry module (2) include six axis robot (20), for capture it is described from
The casing of Turnover Box picks and places component (22), for SMT products to be put into the appearance that knife card is surrounded in Turnover Box on dynamic feeding module (1)
The product in space of receiving picks and places component (23) and the machine vision assembly (21) for obtaining object status information, the case
Body picks and places that component (22), product pick and place component (23) and machine vision assembly (21) is arranged at before the six axis robot (20)
End, the six axis robot (20) is configured to receive the information of the machine vision assembly (21) acquisition and makes corresponding
Action；And
Automatic blanking module (3), the automatic blanking module (3) is configurable for transporting the Turnover Box for accommodating SMT products
Go out.
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| CN201710374064.1A CN107323753B (en) | 2017-05-24 | 2017-05-24 | Method and apparatus for automatic accomodation SMT product |
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|---|---|---|---|
| CN201710374064.1A CN107323753B (en) | 2017-05-24 | 2017-05-24 | Method and apparatus for automatic accomodation SMT product |
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| CN110253840A (en) * | 2019-07-10 | 2019-09-20 | 深圳市锴诚精密模具有限公司 | A kind of full automatic production equipment and its control method for working shaft-like component |
| CN110480665A (en) * | 2019-08-01 | 2019-11-22 | 昆山三智达自动化设备科技有限公司 | A kind of suction nozzle conveying robot |
| CN111498474A (en) * | 2020-03-13 | 2020-08-07 | 广东九联科技股份有限公司 | Control system and method for taking and placing module |
| CN112249722A (en) * | 2020-09-25 | 2021-01-22 | 常熟云开智能科技有限公司 | Manipulator primary die casting processing and stacking control method |
| CN112918767A (en) * | 2021-01-28 | 2021-06-08 | 湛江德利车辆部件有限公司 | Packaging system and packaging method |
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