CN107323753B - Method and apparatus for automatic accomodation SMT product - Google Patents
Method and apparatus for automatic accomodation SMT product Download PDFInfo
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- CN107323753B CN107323753B CN201710374064.1A CN201710374064A CN107323753B CN 107323753 B CN107323753 B CN 107323753B CN 201710374064 A CN201710374064 A CN 201710374064A CN 107323753 B CN107323753 B CN 107323753B
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- Prior art keywords
- turnover box
- product
- smt
- machine vision
- mould group
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Classifications
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method and apparatus for automatic accomodation SMT product.The method for being used for automatic accomodation SMT product includes: to provide robot to carry mould group, SMT product and the interior Antistatic transfer container for setting knife card, and it includes manipulator, machine vision assembly, product pick-and-place component and cabinet pick-and-place component that mould group is carried by robot；Machine vision assembly obtains the status information of turnover box and sends manipulator to；Mechanical hand-motion cabinet picks and places component and grabs turnover box, drives cabinet to pick and place component and turnover box is moved to reception position；Machine vision assembly obtains the status information of knife card in turnover box and sends manipulator to；Mechanical hand-motion product picks and places component and is put into SMT product in the accommodation space that knife card surrounds.The invention solves a technical problem be that SMT product can not be automatically and accurately packed into 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 produce for automatic accomodation SMT
The method and apparatus of product.
Background technique
Currently, being needed after SMT (Surface Mount Technology, surface installation technique) semi-finished product are completed
Product is packed into Antistatic transfer container and is used in turn.Since antistatic of the SMT industry to product is more demanding, avoid
For electrostatic by the component punch through damage of product, SMT is essentially all to be made manually with turnover box.In this way, turnover box
Dimensional uniformity is difficult to guarantee.It adds, more than one of the supplier of workshop turnover box, the size of the turnover box in existing workshop
It is irregular, and the quantity of turnover box about 30000pcs.Thus realize the difficulty so that turnover box automatic accomodation SMT product
It spends larger.In the prior art, general by manually being stored.
Have the following deficiencies: (1) due to having relatively very small first device on SMT product in the method for artificial storage operation
Part is easy to fall off if it collides cabinet, to cause quality bad.And it is low manually to store precision, easily makes mistakes.(2) some
The problem of SMT product is due to dimensional structure, the product quantity for allowing to be put into a turnover box are limited.Turnover needed for thus
Box number is extremely more, needs frequent loading and unloading during transport, increases labor intensity.(3) large labor intensity, standing cost
It is high.Operator is easy to run off, and new training employee hours are long and quality-mind is weak, and for product quality, there are potential risks.(4) automatic
Change is horizontal low, and under the overall situation of industry 4.0, each company all is making great efforts to improve respective automatization level, establishes unmanned plane work
Factory, by machine, substitution people is inexorable trend.
Therefore, it is necessary to be improved to the method and apparatus for being currently used for storage SMT product.
Summary of the invention
It is an object of the present invention to provide a kind of new technology sides of method and apparatus for automatic accomodation SMT product
Case.
According to the first aspect of the invention, a kind of method for automatic accomodation SMT product is provided.This method comprises:
Robot is provided and carries mould group, SMT product and the interior Antistatic transfer container for setting knife card, robot carry mould group include manipulator,
Machine vision assembly, product pick and place component and cabinet picks and places component；The status information and biography of machine vision assembly acquisition turnover box
Give manipulator；Mechanical hand-motion cabinet picks and places component and grabs turnover box, drives cabinet to pick and place component and turnover box is moved to receipts
Receive position；Machine vision assembly obtains the status information of knife card in turnover box and sends manipulator to；Mechanical hand-motion product takes
Component is put to be put into SMT product in the accommodation space that knife card surrounds.
Optionally, it is also provided with automatic charging mould group, after turnover box is transported to crawl position by automatic charging mould group, machine
The status information of device visual component acquisition turnover box.
Optionally, automatic charging mould group includes the first conveying member, 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 packet of crawl position by automatic charging mould group
Include: first motor drives the turnover box on the first conveying member mobile to the direction of crawl position；Crawl position is reached in turnover box
When, stock stop is detached from the turnover box in crawl position in the first conveying member；First motor drives on the first conveying member
Turnover box it is mobile to the direction far from crawl position.
Optionally, it is also provided with automatic blanking mould group, automatic blanking mould group includes the second conveying member, the second motor, third
Conveying member and third 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
It moves to third conveying member, third motor drives the turnover box on third conveying member mobile.
Optionally, the identification marking for being recognized by machine vision assembly, machine vision are equipped on the periphery of turnover box
Component gets the angle excursion information of turnover box, and angle excursion information is sent to manipulator by shooting identification marking；
After manipulator receives angle excursion, drives cabinet to pick and place component and grab turnover box.
Optionally, after turnover box is moved to reception position by mechanical hand-motion cabinet pick-and-place component, machine vision assembly
What acquisition knife card surrounded is used to accommodate the spatial information of SMT product, and sends the accommodation space information to manipulator；By the appearance
Spatial information of receiving is compared with SMT product, if the accommodation space is large enough to hold SMT product, SMT product is put into the receiving
In space, if the accommodation space is insufficient, the information of next accommodation space is obtained.
Optionally, it is paved in the space bottom that turnover box is used to accommodate knife card anti-for being recognized by machine vision assembly
Static electricity packing bag, knife card are set on electrostatic prevention packaging bag, the antistatic packaging that machine vision assembly passes through shooting knife card bottom
Bag, to get the information for the accommodation space that knife card surrounds.
Optionally, manipulator is six axis robot, and six axis robot includes control assembly, transmission component and joint assembly,
Control transmission component driving joint assembly makes corresponding move after control assembly receives the status information that machine vision mould group obtains
Make.
Optionally, it includes at least a pair of of clamping jaw that cabinet, which picks and places component, and the distance between each pair of clamping jaw is greater than turnover box and is pressed from both sides
Length on tight direction, when cabinet picks and places component crawl turnover box, a pair of of clamping jaw is mutually close to clamp turnover box；In turnover box
When being moved into reception position, a pair of of clamping jaw is mutually far to be detached from turnover box.
Optionally, it includes cylinder and suction nozzle that product, which picks and places component, and product picks and places component and SMT product is put into turnover box
Method includes: that cylinder drives suction nozzle to be moved to operating position with corresponding with the position of SMT product；Suction nozzle draws SMT product；?
Under the guidance of machine vision assembly, SMT product is put into the accommodation space that knife card surrounds by mechanical hand-motion suction nozzle.
According to the second aspect of the invention, a kind of equipment for automatic accomodation SMT product is provided.The equipment includes:
For transporting the automatic charging mould group of turnover box；Mould group is carried by robot, the robot carry mould group include six axis robot,
Cabinet for grabbing turnover box in the automatic charging mould group picks and places component, for SMT product to be put into knife card in turnover box
Product in the accommodation space surrounded picks and places component and the machine vision assembly for obtaining object status information, the case
Body picks and places component, product picks and places component and machine vision assembly is set to 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 mould group,
The automatic blanking mould group is configurable for transporting the turnover box for accommodating SMT product.
It was found by the inventors of the present invention that SMT is essentially all to be made manually with turnover box, dimensional uniformity is very
It is difficult to guarantee.It adds, more than one of the supplier of workshop turnover box, the size of the turnover box in existing workshop is irregular.Thus,
The realization of turnover box automatic accomodation SMT product has great difficulty.In the prior art, general that SMT is accommodated in turnover box by hand
Interior, artificial precision of storing is low, easily makes mistakes, SMT product, which easily collides cabinet, causes component to fall off.Required turnover box number pole
It is more, frequent loading and unloading are needed during transport, and large labor intensity is at high cost.
Therefore, the technical assignment to be realized of the present invention or the technical problem to be solved is that 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 solution.
Provided by the present invention in the method and apparatus of automatic accomodation SMT product, machine vision assembly gets turnover
The status information of case guides mechanical hand-motion cabinet to pick and place component and grabs turnover box.This way it is ensured that cabinet pick-and-place component is every
It is secondary to grab turnover box.
In reception position, machine vision assembly can get the state of knife card in turnover box, guide mechanical hand-motion product
Component is picked and placed to be put into SMT product in the accommodation space that knife card surrounds.In this way, guaranteeing that SMT product is fitted exactly into knife card and enclosed
At accommodation space in, avoiding SMT product and knife card from colliding leads to quality risk.
It efficiently solves by manually storing bring quality risk, improves the quality of SMT product.Reduce operating personnel
Labor intensity.Improve the automatization level of workshop producing line.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the method schematic diagram for automatic accomodation SMT product in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the robot carrying mould group in an embodiment of the present invention；
Fig. 3 is the partial structural diagram of the robot carrying mould group in an embodiment of the present invention；
Fig. 4 is the schematic device for automatic accomodation SMT product in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the automatic charging mould group in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the automatic blanking mould group in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the turnover box in an embodiment of the present invention.
Wherein, 1: automatic charging mould group；10: the first conveying members；11: stock stop；2: mould group is carried by robot；20: machine
Tool hand；21: machine vision assembly；22: cabinet picks and places component；220: clamping jaw；23: product picks and places component；230: suction nozzle；231: gas
Cylinder；3: automatic blanking mould group；30: the second conveying members；31: the second motors；32: third conveying member；33: third motor；4: automatic
Test mould group；5: bracket；6: turnover box；7: knife card；8:SMT product.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
The present invention provides a kind of methods for automatic accomodation SMT product, referring to figs. 1 to Fig. 7, this method comprises:
Robot is provided and carries mould group 2, several interior Antistatic transfer container 6, several SMT products 8 for setting knife card 7.For example,
SMT product 8 can be the product after testing mould group 4 automatically and being completed.Robot carry mould group 2 include manipulator 20,
Machine vision assembly 21, product pick and place component 23 and cabinet picks and places component 22.
The turnover box 6 of knife card 7 is inside set for storing SMT product 8.The specific structure of turnover box 6 can there are many.It is optional
Ground, turnover box 6 can be the semi-surrounding structure being open with one.Each turnover box 6 includes bottom wall, outwardly extending from bottom wall
Side wall and the semi-surrounding space surrounded jointly by bottom wall and side wall.Knife card 7 is set to the semi-surrounding space that turnover box 6 surrounds
Interior, several knife cards 7 are with multiple for accommodating the accommodation space of turnover box 6.
Machine vision assembly 21 is used to obtain the status information of 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 specific structure and algorithm of machine vision assembly 21 can be adopted
Use the prior art.For example, machine vision assembly 21 may include video camera and image processing system etc..
Manipulator 20 is for imitating human arm to realize the functions such as crawl, placement, carrying.Manipulator 20 can be six axis
Manipulator realizes the six degree of freedom movement of six axis robot front end by six joint synthesis.Optionally, six axis robot packet
Include control assembly, driving assembly and joint assembly.After the status information for receiving the acquisition of machine vision assembly 21, the control
Component can control the driving component and the joint assembly is driven 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 servo motor etc..
Under the drive of manipulator 20, cabinet picks and places component 22 and grabs turnover box 6 and movable turnover box 6.In manipulator
Under 20 drive, product picks and places component 23 and is put into SMT product 8 in the accommodation space that knife card 7 surrounds in turnover box 6.Cabinet takes
It puts component 22 and product picks and places component 23 and may be disposed at the front end of manipulator 20, to be moved under the drive of manipulator 20.
Machine vision assembly 21 obtains the status information of turnover box 6, and 6 status information of turnover box that will be got at this time
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
6 status information of turnover box that can be will acquire is sent to the control assembly of manipulator 20.At this point, turnover box 6 sets knife card 7 to be interior
Empty van body can be placed into SMT product 8.In this way, making corresponding actions convenient for subsequent mechanical hand 20.
Specifically, 6 status information of turnover box that machine vision assembly 21 is got may include the angle excursion etc. of turnover box 6
Information.In this way, machine vision assembly 21 sends the angle excursion information of turnover box 6 to manipulator 20, it is convenient for subsequent mechanical hand
20 accurately grab turnover box.Herein, which can be the practical position of turnover box 6 relative to its preset standard position
The angle excursion set.
Due to process requirements, the knife card 7 and turnover box 6 for accommodating SMT product 8 are generally black.Black is unobvious, be not easy by
Machine vision assembly 21 identifies.Machine vision assembly 21 is not easily distinguishable the status information of turnover box 6 and knife card 7 yet.
For convenient for machine vision assembly 21 obtain turnover box 6 status information, further, in the week of black turnover box 6
While being provided with the identification marking for being identified by machine vision assembly 21.Machine vision assembly 21 passes through shooting 6 periphery of turnover box
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 mould group 2 is carried close to robot, in order to which subsequent robot carries mould group 2
Make corresponding actions.Preferably, with reference to Fig. 5, this method is also provided with the automatic charging mould group 1 for transporting turnover box 6.Certainly
After turnover box 6 is transported to crawl position by dynamic feeding mould group 1, machine vision assembly 21 obtains the status information of turnover box 6.This is grabbed
As long as fetch bit set be able to satisfy robot carry mould group 2 can to the turnover box 6 at it carry out corresponding operating.For example, crawl position
Setting can be specific position or is in the position in a certain interval range.
Further, with reference to Fig. 5, automatic charging mould group 1 may include the first conveying member 10, 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 mould group 1 will be all
Turnning box 6 is transported to crawl position.For example, the opening of turnover box 6 can be located at the side on turnover box 6 far from the first conveying member 10.
For example, turnover box 6 can be layered on the first conveying member 10.For example, the first conveying member 10 may include several conveyer belts, described first
Motor is by driving the conveyer belt rotation, to drive turnover box 6 mobile.
The method that turnover box 6 is transported to crawl position by automatic charging mould group 1 can include:
Firstly, first motor drives the turnover box 6 on the first conveying member 10 mobile to the direction of crawl position, until before most
The turnover box of column reaches crawl position.Herein, foremost turnover box refers to the column turnover box near crawl position.
Later, stock stop 11 moves up the turnover box in crawl position to be detached from the first conveying member 10.For example, gear
Expect that mechanism 11 may include thimble, is jacked up the turnover box in crawl position by the reciprocating movement of the thimble.
Then, first motor inverts, to drive remaining turnover box on the first conveying member 10 to the side far 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 and remaining turnover box bump against.
Certainly, material baffle structure is also possible to other structures, as long as it can be realized: so that most forefront on the first conveying member 10
Turnover box and remaining turnover box it is separated by a distance.For example, material baffle structure can also be the carrying mechanisms such as clamping jaw.
After 6 status information of turnover box that manipulator 20 receives that machine vision assembly 21 is got, according to this information, machine
Tool hand 20 drives cabinet to pick and place component 22 and grabs turnover box 6.Moreover, manipulator 20 also drives cabinet to pick and place component 22 for turnover box
6 are moved to reception position, and SMT product 8 is put into turnover box 6 in order to subsequent.It is appreciated that manipulator 20 can also be in machine
Under the guidance of device visual component 21, drives cabinet 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 6 angle excursion of turnover box to manipulator 20.The status informations such as the angle excursion according to input, manipulator
20 rotate corresponding angle automatically, to guarantee that turnover box can be grabbed every time.
Specifically, with reference to Fig. 2, Fig. 3, it may include at least a pair of for clamping the clamping jaw of turnover box 6 that cabinet, which picks and places component 22,
220。
The distance between each pair of clamping jaw 220 can be greater than turnover box 6 and be clamped the length on direction.In this way, turnover box 6 can be into
Enter in the space between any pair of clamping jaw 220.
When cabinet picks and places component 22 and grabs turnover box 6, a pair of of 220 phase of clamping jaw is close to clamp turnover box 6.
When turnover box 6 is moved into reception position, a pair of of 220 phase of clamping jaw is far to be detached from turnover box 6.
For example, a pair of of clamping jaw 220 may include a mobile clamping jaw and a stationary jaw, cabinet pick-and-place component 22 can be with
Including the spring for driving mobile clamping jaw to the mobile cylinder in stationary jaw direction and 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 7 status information of knife card got at this time to manipulator 20.For example, machine vision assembly 21 can will acquire
To 7 status information of knife card send the control assembly on manipulator 20 to.In this way, being made convenient for subsequent mechanical hand 20 corresponding dynamic
Make.
Specifically, 7 status information of knife card may include that knife card 7 surrounds in the turnover box 6 that machine vision assembly 21 is got
For accommodating the spatial information of SMT product 8.For example, the spatial information may include the cross-sectional area size of accommodation space.
The accommodation space information is compared with SMT product 8.If the accommodation space is large enough to hold lower SMT product 8,
SMT product 8 is put into the accommodation space.If the accommodation space is not enough to accommodate lower SMT product 8, it is empty to obtain next receiving
Between information, continue to compare.
In this way, 7 status information of knife card that machine vision assembly 21 will acquire sends manipulator 20 to, it is convenient for subsequent mechanical
SMT product 8 is put into the accommodation space that knife card 7 surrounds by hand 20.It avoids SMT product 8 and the collision of knife card 7 causes quality wind
Danger.
Due to process requirements, the turnover box 6 and knife card 7 for accommodating SMT product 8 are generally black, and black is unobvious, be not easy by
The identification of machine vision mould group.Machine vision mould group is not easily distinguishable the location information of turnover box 6 and knife card 7 yet.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 equipped with by setting, in order to machine vision assembly 21 can get that knife card 7 surrounds for accommodating SMT product 8
Spatial information.
In one example, it is paved in the space bottom that turnover box 6 is used to accommodate knife card 7 for by machine vision assembly 21
The electrostatic prevention packaging bag recognized.Knife card 7 is set in the packaging bag of 6 bottom of turnover box.The packaging bag is located at 6 bottom of turnover box
Between portion and knife card 7.
Machine vision assembly 21 is used for by the electrostatic prevention packaging bag of shooting 6 bottom of turnover box come obtain that knife card 7 surrounds
Accommodate the spatial information of SMT product 8.For example, machine vision assembly 21 can be according to the image of shooting, to calculate one for holding
Receive SMT product 8 space sectional area size.
The accommodation space information is compared with SMT product 8.If the accommodation space is large enough to hold lower SMT product 8,
SMT product 8 is put into the accommodation space.If the accommodation space is not enough to accommodate lower SMT product 8, it is empty to obtain next receiving
Between information, continue to compare.
Cause quality risk with the collision of knife card 7 in this way, avoiding SMT product 8.
In another example, it is whitewashed in the space bottom that turnover box 6 is used to accommodate knife card 7, so that machine vision assembly
21 get the spatial information for being used to accommodate SMT product 8 that knife card 7 surrounds.Remaining step is same as above.
It in another example, can also tint on the knife card 7 in turnover box 6, so that machine vision assembly 21 obtains
The spatial information for being used to accommodate SMT product 8 surrounded to knife card 7.Remaining step is same as above.
7 quantity of knife card, installation site in turnover box 6 can there are many.In one example, with reference to Fig. 7, each turnover
Case 6 can be the semi-surrounding structure for surrounding rectangular parallelepiped structure, can be equipped with several columns knife card 7 in parallel in each turnover box 6.At this
In embodiment, the size in the space for accommodating SMT product 8 that knife card 7 surrounds depends 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, can reflect that knife card 7 surrounds for accommodating
The spatial information of SMT product 8.Thus, what knife card 7 surrounded may include adjacent knife card 7 for accommodating the spatial information of SMT product 8
The distance between.
It receives after machine vision assembly 21 gets 7 status information of knife card in manipulator 20, is believed according to 7 state of knife card
Breath, manipulator 20 drive product to pick and place component 23 and are put into SMT product 8 in the accommodation space that knife card 7 surrounds.In this way, realizing certainly
It is dynamic that SMT product 8 is put into the accommodation space that knife card 7 surrounds in turnover box 6.
Product pick and place component 23 specific structure can there are many.Preferably, with reference to Fig. 2, Fig. 3, product picks and places component 23
It may include the cylinder 231 of the suction nozzle 230 for drawing SMT product 8 and the drive movement of suction nozzle 230.For example, every four suction nozzles
230 can draw a SMT product 8.For example, 16 suction nozzles 230 can be equipped in 20 front end of manipulator to draw four products simultaneously.
It is put into the accommodation space that knife card 7 surrounds simultaneously for example, every two SMT product 8 is one group.
Product picks and places component 23 for the method that SMT product 8 is put into turnover box 6
Firstly, cylinder 231 drives suction nozzle 230 to be moved to operating position.At this point, suction nozzle 230 is opposite with SMT product space
It answers.
Then, suction nozzle 230 draws SMT product 8.It is appreciated that suction nozzle 230 can be connected to getter device, to SMT product
8 generate suction.
Later, under the guidance of machine vision assembly 21, manipulator 20 drives suction nozzle 230 that SMT product 8 is put into knife card 7
In the accommodation space surrounded.
After SMT product 8 is put into the accommodation space that knife card 7 surrounds, the turnover box 6 for accommodating SMT product 8 can be continued
It carries out with blanking.Preferably, with reference to Fig. 6, automatic blanking mould group 3 has been can also be provided in this method.Automatic blanking mould group 3 includes
Second conveying member 30, the second motor 31, third conveying member 32 and third motor 33.Reception position can be located at the second conveying member 30
On.For example, 8 layers of turnover box 6 can be equipped on the second conveying member 30.For example, the second conveying member 30, third conveying member 32 can wrap
Include several conveyer belts.
Include: by the method that the turnover box 6 for accommodating SMT product 8 continues to carry out
Firstly, the second motor 31 drives the turnover box on the second conveying member 30 after turnover box 6 is moved into reception position
6 are moved on third conveying member 32.
Later, third motor 33 drives the turnover box 6 on third conveying member 32 to continue to move to, and accommodates SMT production to collect
The turnover box 6 of product 8.
In this way, 3 subsection setup of automatic blanking mould group.When collecting the turnover box 6 on third conveying member 32, the second motor 31
Still the turnover box 6 on the second conveying member 30 can be driven mobile, do not shut down blanking to realize.
The present invention also provides a kind of equipment for automatic accomodation SMT product, and referring to figs. 2 to Fig. 7, which includes certainly
Mould group 2 and automatic blanking mould group 3 are carried by dynamic feeding mould group 1, robot.Wherein, the automatic charging mould group 1 is for transporting week
Turnning box 6.For example, turnover box 6 can be transported to crawl position by the automatic charging mould group 1.
The robot carry that mould group 2 includes six axis robot 20, cabinet picks and places component 22, product picks and places component 23 and
For obtaining the machine vision assembly 21 of object status information.
The cabinet picks and places component 22 for grabbing turnover box 6.For example, it may include at least one that the cabinet, which picks and places component 22,
To clamping jaw 220, a pair of of clamping jaw 220 can do clamping and opening movement.For example, the cabinet, which picks and places component 22, grabs turnover box 6
Afterwards, turnover box 6 can be carried to reception position so that SMT product 8 to be put into turnover box 6.
The product picks and places component 23 for being put into SMT product 8 in the accommodation space that knife card 7 surrounds in turnover box 6.Example
Such as, it may include cylinder 231 and suction nozzle 230 that the product, which picks and places component 23,.
After the machine vision assembly 21 gets the status information of object, which is sent to six axis
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 cabinet to pick and place component 22, product picks and places component 23 and realizes corresponding function respectively.
The six axis robot 20 may include control assembly, driving assembly and joint assembly.The control assembly is used for
The status information of the machine vision mould group input is received, and controls the driving component and the joint assembly is driven 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 wrap
Include servo motor etc..
The automatic blanking mould group 3 is for transporting the turnover box 6 for accommodating SMT product 8.For example, the reception position
It can be arranged in the automatic blanking mould group 3.
In addition, the equipment can also include the automatic test mould for accordingly being tested SMT semi-finished product with reference to Fig. 4
Group 4.The prior art can be used in automatic test mould group 4.In half product of SMT after the automatic test mould group 4 is completed, quilt
The product picks and places component 23 and draws and be put into the accommodation space that knife card 7 surrounds.For example, half product of SMT is by described automatic
After test mould group 4 is completed, predeterminated position can be transported to by conveyer belt etc., be drawn with picking and placing component 23 by the product.
In addition, the equipment can be fitted together each component by bracket 5 with reference to Fig. 2, Fig. 4, Fig. 5.
In addition, the other structures of the equipment can be specifically arranged according to the above-mentioned method for automatic accomodation SMT product.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of method for automatic accomodation SMT product characterized by comprising
Robot is provided and carries mould group (2), SMT product and the interior Antistatic transfer container for setting knife card, mould group (2) packet is carried by robot
It includes manipulator (20), machine vision assembly (21), product and picks and places component (23) and cabinet pick-and-place component (22)；
Machine vision assembly (21) obtains the status information of turnover box and sends manipulator (20) to；
Manipulator (20) drives cabinet to pick and place component (22) and grabs turnover box, drives cabinet to pick and place component (22) turnover box is mobile
To reception position；
Machine vision assembly (21) obtains the status information of knife card in turnover box and sends manipulator (20) to；
Manipulator (20) drives product to pick and place component (23) and is put into SMT product in the accommodation space that knife card surrounds.
2. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that be also provided on automatic
Expect mould group (1), after turnover box is transported to crawl position by automatic charging mould group (1), machine vision assembly (21) obtains turnover
The status information of case.
3. the method according to claim 2 for automatic accomodation SMT product, which is characterized in that automatic charging mould group (1)
Including the first conveying member (10), first motor and stock stop (11), turnover box is carried on the first conveying member (10), grabs position
Setting on the first conveying member (10), the method that turnover box is transported to crawl position is included: by automatic charging mould group (1)
First motor drives the turnover box on the first conveying member (10) mobile to the direction of crawl position；
When turnover box reaches crawl position, stock stop (11) is detached from the turnover box in crawl position in the first conveying
Part (10)；
First motor drives the turnover box on the first conveying member (10) mobile to the direction far from crawl position.
4. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that under being also provided with automatically
Expect mould group (3), automatic blanking mould group (3) includes the second conveying member (30), the second motor (31), third conveying member (32) and third
Motor (33), reception position are located on the second conveying member (30),
Second motor (31) drives the turnover box on the second conveying member (30) to be moved on third conveying member (32), third motor
(33) drive the turnover box on third conveying member (32) mobile.
5. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that on the periphery of turnover box
Equipped 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 is sent to manipulator (20)；
After manipulator (20) receives angle excursion, drives cabinet to pick and place component (22) and grab turnover box.
6. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that in manipulator (20) band
After turnover box is moved to reception position by dynamic cabinet pick-and-place component (22), what machine vision assembly (21) acquisition knife card surrounded is used for
The spatial information of SMT product is accommodated, and sends the accommodation space information to manipulator (20)；
The accommodation space information is compared with SMT product, if the accommodation space is large enough to hold SMT product, by SMT product
It is put into the accommodation space, if the accommodation space is insufficient, obtains the information of next accommodation space.
7. the method according to claim 6 for automatic accomodation SMT product, which is characterized in that in turnover box for holding
The space bottom of knife card received is paved with electrostatic prevention packaging bag for being recognized by machine vision assembly (21), knife card be set to prevent it is quiet
In electric packaging bag, machine vision assembly (21) is surrounded by the electrostatic prevention packaging bag of shooting knife card bottom getting knife card
The information of accommodation space.
8. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that cabinet picks and places component
It (22) include at least a pair of of clamping jaw (220), the distance between each pair of clamping jaw (220) is greater than the length that turnover box is clamped on direction
Degree,
When cabinet picks and places component (22) crawl turnover box, a pair of of clamping jaw (220) is mutually close to clamp turnover box；
When turnover box is moved into reception position, a pair of of clamping jaw (220) is mutually far to be detached from turnover box.
9. the method according to claim 1 for automatic accomodation SMT product, which is characterized in that product picks and places component
It (23) include cylinder (231) and suction nozzle (230), SMT product is put into the method in turnover box and includes: by product pick-and-place component (23)
Cylinder (231) drives suction nozzle (230) to be moved to operating position with corresponding with the position of SMT product；
Suction nozzle (230) draws SMT product；
Under the guidance of machine vision assembly (21), manipulator (20) drives suction nozzle (230) that SMT product is put into what knife card surrounded
In accommodation space.
10. a kind of equipment for automatic accomodation SMT product characterized by comprising
For transporting the automatic charging mould group (1) of turnover box；
Mould group (2) are carried by robot, and the manipulator (20) that mould group (2) include six axis, described for grabbing is carried by the robot
The cabinet of turnover box picks and places component (22), for SMT product to be put into what knife card in turnover box surrounded in automatic charging mould group (1)
Product in accommodation space picks and places component (23) and the machine vision assembly (21) for obtaining object status information, described
Cabinet picks and places component (22), product picks and places component (23) and machine vision assembly (21) is set to the six axis robot (20)
Front end；
The manipulator is configured as: the status information of the turnover box obtained by machine vision assembly (21) is received, according to this
The status information of turnover box drives cabinet to pick and place component (22) and grabs turnover box, and turnover box is moved to reception position；
And the manipulator is configured as: receiving the state letter of knife card in the turnover box obtained by machine vision assembly (21)
Breath drives product to pick and place component (23) and SMT product is put into the accommodation space that knife card surrounds according to the status information of the knife card；
Automatic blanking mould group (3), the automatic blanking mould group (3) are configurable for that the turnover box fortune of SMT product will be accommodated
Out.
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| CN110480665B (en) * | 2019-08-01 | 2024-03-29 | 昆山三智达自动化设备科技有限公司 | Suction nozzle carrying manipulator |
| 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 |
| CN112918767B (en) * | 2021-01-28 | 2022-10-28 | 湛江德利车辆部件有限公司 | Packaging system and packaging method |
| CN113895729B (en) * | 2021-10-11 | 2023-02-03 | 上海第二工业大学 | Boxing method and boxing control system |
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| JP3240466B2 (en) * | 1997-10-31 | 2001-12-17 | 株式会社フジキカイ | Article supply equipment for processing machines such as packaging machines |
| CN2582994Y (en) * | 2002-09-28 | 2003-10-29 | 武汉人天包装机械有限公司 | Automatic boxing machine |
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