CN108296751A - The wire type self calibration camera that flows back assembles equipment - Google Patents

The wire type self calibration camera that flows back assembles equipment Download PDF

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Publication number
CN108296751A
CN108296751A CN201810143199.1A CN201810143199A CN108296751A CN 108296751 A CN108296751 A CN 108296751A CN 201810143199 A CN201810143199 A CN 201810143199A CN 108296751 A CN108296751 A CN 108296751A
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CN
China
Prior art keywords
module
turning back
mirror
camera
carrier
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.)
Granted
Application number
CN201810143199.1A
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Chinese (zh)
Other versions
CN108296751B (en
Inventor
杨长州
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHUHAI HUAYA MACHINERY TECHNOLOGY Co Ltd
Original Assignee
ZHUHAI HUAYA MACHINERY TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
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Priority to CN201810143199.1A priority Critical patent/CN108296751B/en
Publication of CN108296751A publication Critical patent/CN108296751A/en
Application granted granted Critical
Publication of CN108296751B publication Critical patent/CN108296751B/en
Active legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/008Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C9/00Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important
    • B05C9/08Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important for applying liquid or other fluent material and performing an auxiliary operation
    • B05C9/14Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important for applying liquid or other fluent material and performing an auxiliary operation the auxiliary operation involving heating or cooling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05DPROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/06Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation
    • B05D3/061Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation using U.V.
    • B05D3/065After-treatment
    • B05D3/067Curing or cross-linking the coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10Aligning parts to be fitted together
    • B23P19/102Aligning parts to be fitted together using remote centre compliance devices

Abstract

The present invention discloses and provides a kind of simple in structure, modularization and with stabilization, efficiently, accurately the reflux wire type self calibration camera of the calibration function of camera assembles equipment.The present invention includes belt assembly line and the feeding module that is successively set on by the belt assembly line, plasma cleaning module, dispensing module, the automatic calibration module of camera and blanking reflux module, it is provided with carrier on the belt assembly line, the automatic calibration module of camera includes six shaft platform manipulators, the clamping jaw of the six shaft platforms manipulator is located at the top of the carrier, mirror module of turning back is provided with above the clamping jaw, the mirror module of turning back includes turn back mirror fixed plate and several mirrors of turning back, the middle part of the mirror fixed plate of turning back is equipped with straight slot, several mirrors of turning back are uniformly arranged on the lower sidewall of the straight slot.The present invention can be used for the technical field of camera assembling industry.

Description

The wire type self calibration camera that flows back assembles equipment
Technical field
The present invention relates to a kind of reflux wire type self calibration cameras to assemble equipment.
Background technology
The development for having benefited from digital optical image technology and image application treatment technology, drives all kinds of emphasis different Functional form camera product eruptive growth.Unmanned (advanced driving assistance system ADAS), moving camera, unmanned plane, AR/VR The different functional form camera product of the various functions emphasis such as equipment is able to exploitation and a large amount of use.Only with pilotless automobile For, existing functional form camera lens group is combined by the way of radar+ultrasonic wave+optical lens, at present whole world yield production type Intelligent automobile often uses 8 functional form camera lens groups on trolley.
It is so big at demand end, and the resolution ratio of imaging sensor be continuously increased and to picture data processing requirement not In the case of disconnected raising, the accuracy requirement of the relative positioning of lens assembling to sensor is higher and higher, and traditional Dutch treatment journey is set It is standby to meet technology requirement and the growing demand of yield.Domestic reply camera assembling and calibration at present is still Using screw thread focusing assembling mode or manual focus, there are consumption manpower, precision is difficult to be guaranteed, and assembly failure product is not Reworkable the problems such as causing waste.
Invention content
The technical problem to be solved in the present invention is to provide a kind of simple in structure, modularization and with stablizing, efficiently, accurately The reflux wire type self calibration camera of the calibration function of camera assembles equipment.
The technical solution adopted in the present invention is:The present invention includes belt assembly line and is successively set on the belt flowing water Feeding module, plasma cleaning module, dispensing module, the automatic calibration module of camera by line and blanking reflux module, institute It states and is provided with carrier on belt assembly line, the automatic calibration module of camera includes six shaft platform manipulators, and six axis is flat The clamping jaw of platform manipulator is located at the top of the carrier, and mirror module of turning back, the mirror mould of turning back are provided with above the clamping jaw Group includes turn back mirror fixed plate and several mirrors of turning back, and the middle part of the mirror fixed plate of turning back is equipped with straight slot, several mirrors of turning back It is uniformly arranged on the lower sidewall of the straight slot.
By said program as it can be seen that in the present invention, the present invention using the modular pairs of camera of form union it is equal from The function of son cleaning, dispensing and calibration test, and reached by the maintenance of module quick-replaceable meet it is semi-automatic, full-automatic arbitrary Switching and collocation;The gripping of six shaft platform manipulators is positioned over the product camera on carrier, and 6 are adjusted by six shaft platform manipulators A degree of freedom (X, Y, Z, θ X, θ Y and θ z), adjusts the relative position of camera, to reach stable, efficiently, accurately realize not Same picture image quality requirement.
Further, the six shaft platforms manipulator includes platform base and movable platform, the upper end of the platform base Circumference array is provided with three groups of telescopic shaft groups, and every group of telescopic shaft group includes the first telescopic shaft and the second telescopic shaft, and described first Bottom of the upper and lower ends of telescopic shaft respectively with the top of the platform base and the movable platform is hinged, and described second stretches Bottom of the upper and lower ends of contracting axis respectively with the top of the platform base and the movable platform is hinged, every group of telescopic shaft group The first telescopic shaft and the second telescopic shaft be in the shape of the letter V and be obliquely installed, the upper end of the movable platform is provided with arm, the clamping jaw It is arranged in the end of the arm.
By said program as it can be seen that in the present invention, six shaft platform manipulators pass through three axis telescopic shaft groups totally 6 telescopic shafts Cooperation, every telescopic shaft is individually operated, due to telescopic shaft inclined design, so when they carry out different degrees of flexible, It can reach so that movable platform carries out the variation of 6 degree of freedom (X, Y, Z, θ X, θ Y and θ z), realization is arranged in arm end Clamping jaw also and then synchronous variation finally enables the camera that clamping jaw is clamped can also 6 degree of freedom adjustment.This programme is simple in structure, Meet the requirement accurately adjusted of 6 degree of freedom of small range.
Further, the straight slot is octagon slot, and the quantity of the mirror of turning back is eight, and mirror of turning back described in eight is divided into Two groups and staggeredly be corresponding in turn to the lower sidewall being arranged in the straight slot, the setting angle phase for mirror of turning back described in four of same group Unanimously.
Further, each mirror of turning back is correspondingly arranged on mounting base, turn back mirror and the corresponding installation Seat is hinged, and the rear portion of the mirror of turning back is provided with angular adjustment knob.
Further, the feeding module includes feeding table, and pan feeding window, the belt stream are provided on the feeding table The beginning of waterline is located at the pan feeding window, and the pan feeding window is equipped with safe grating, after the pan feeding window Portion is provided with the first CCD camera.
By said program as it can be seen that in the present invention, feeding module is used to camera installation being placed into carrier, design the One CCD camera for check camera whether misloading or neglected loading, while the first CCD camera also carry Quick Response Code barcode scanning function, know Quick Response Code on other carrier.
Further, the plasma cleaning module includes plasma generator, plasma gas absorption plant and One or three axis servo manipulators, are provided with plasma ejecting gun on the actuator of the one or the three axis servo manipulator, it is described it is equal from Sub- ejecting gun is connected with the plasma generator by pipeline, and the plasma gas absorption plant includes absorption tube Mouthful, the plasma ejecting gun and the top for absorbing nozzle and being respectively positioned on the carrier.
By said program as it can be seen that in the present invention, plasma ejecting gun is right under the driving of the one or three axis servo manipulator Standard needs the surface of the camera being positioned on carrier cleaned, what plasma ejecting gun transmitting plasma and bombardment were cleaned Surface of camera head, to reach cleaning purpose;It absorbs nozzle and provides negative pressure on camera periphery, collection of ions state gas reaches environmental protection Effect.
Further, the dispensing module includes the two or three axis servo manipulator, the two or the three axis servo manipulator The front end of actuator is provided with rubber gun, and the rear end of the actuator is provided with altitude meter, the second CCD camera and with described second The matched annular light source of CCD camera.
By said program as it can be seen that in the present invention, rubber gun is directed at needs under the driving of the two or three axis servo manipulator Camera on carrier simultaneously carries out gluing processing, and rubber gun flow velocity, dispensing path, dispensing movement velocity realize that software is adjustable. Second CCD camera takes pictures to Jiao Lu, confirms its amount and the uniformity for dispensing glue.Altitude meter is used to coordinate the rubber head of rubber gun more Rubber head position is carried out when changing and length carries out compensation for calibrating errors.This programme improves product by the second CCD camera monitoring point colloid amount The final mass effect of camera.
Further, the arm is provided with several UV solid glues lamps, several UV solid glues lamp circumference at the clamping jaw Array is arranged in the periphery of the clamping jaw.
By said program as it can be seen that in the present invention, design UV solid glue lamps by ultraviolet curing from rubber gun for being spat Glue on camera;And the design of UV solid glue lamps can be simplified to the installation volume of UV solid glue lamps at clamping jaw, meanwhile, in school With regard to curing simultaneously to glue when quasi- camera, hardening time can be shortened.
Further, the automatic calibration module of the camera further includes lifting frame module, the lifting frame module packet Include the chassis base set gradually from the bottom to top, turn back mirror module mounting plate and frame upper plate, the mirror module mounting plate of turning back Lead screw is provided between the frame upper plate, the upper end of the frame upper plate is provided with and the matched lead screw electricity of the lead screw Machine, described turn back are provided with support column between mirror module mounting plate and the chassis base, the mirror module of turning back is mounted on institute State the upper end for mirror module mounting plate of turning back.
By said program as it can be seen that in the present invention, design lifting frame module can be mounted on mirror module peace of turning back Mirror module of turning back in loading board can be moved up and down by lead screw, final that mirror of turning back is allow to have upper and lower adjusting range, Improve the calibration effect of camera.
Further, the blanking reflux module includes rodless cylinder and is arranged in the moving portion of the rodless cylinder Carrier receives conveyer belt, and the carrier receives conveyer belt and is connected to each other with the belt assembly line, and the rodless cylinder is perpendicular to institute The end of belt assembly line is stated, the carrier receives and is provided with synchronizing wheel on conveyer belt.
By said program as it can be seen that in the present invention, design blanking reflux module is for recycling carrier and being placed on carrier Camera, due to carrier receive conveyer belt can become from the mated condition with belt assembly line under the driving of rodless cylinder Misaligned state, to realize the effect for detaching carrier from belt assembly line.In addition, blanking reflux module carries synchronizing wheel, It enables blanking reflux module have the function of independent automatic stop, can make the carrier pause conveying being located at blanking reflux module, just Carrier is taken away in operating personnel.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention;
Fig. 2 is the structural schematic diagram of the automatic calibration module of camera;
Fig. 3 is the structural schematic diagram of six shaft platform manipulators;
Fig. 4 is the structural schematic diagram of mirror module of turning back;
Fig. 5 is the structural schematic diagram of plasma cleaning module;
Fig. 6 is the structural schematic diagram of dispensing module;
Fig. 7 is the structural schematic diagram of blanking reflux module.
Specific implementation mode
As shown in Figures 1 to 6, specific implementation mode of the invention is:The present invention includes belt assembly line 1 and sets gradually In the automatic calibration module of the feeding module 2 on the side of the belt assembly line 1, plasma cleaning module 3, dispensing module 4, camera 5 And blanking flows back module 6, carrier 7 is provided on the belt assembly line 1, the automatic calibration module 5 of camera includes six Shaft platform manipulator 51, the clamping jaw 52 of the six shaft platforms manipulator 51 are located at the top of the carrier 7, the clamping jaw 52 it is upper Side is provided with mirror module 53 of turning back, and the mirror module 53 of turning back includes turn back mirror fixed plate 531 and several mirrors 532 of turning back, described The middle part for mirror fixed plate 531 of turning back is equipped with straight slot 533, and several mirrors 532 of turning back are uniformly arranged on the side wall of the straight slot 533 Lower part.In the present invention, the present invention is surveyed using the plasma cleaning of the modular pairs of camera of form union, dispensing and calibration The function of examination, and reached by the maintenance of module quick-replaceable and meet semi-automatic, full-automatic any switching laws and collocation;Six shaft platforms Manipulator 51, which grips, is positioned over product camera on carrier 7, by six shaft platform manipulators 51 adjust 6 degree of freedom (X, Y, Z, θ X, θ Y and θ z), the relative position of camera is adjusted, to reach stable, efficiently, accurately realize different picture imagings Quality requirements.
In this embodiment, the six shaft platforms manipulator 51 includes platform base 511 and movable platform 512, institute The upper end circumference array for stating platform base 511 is provided with three groups of telescopic shaft groups, and every group of telescopic shaft group includes the first telescopic shaft 513 With the second telescopic shaft 514, the upper and lower ends of first telescopic shaft 513 respectively with the top of the platform base 511 and described The bottom of movable platform 512 is hinged, and the upper and lower ends of second telescopic shaft 514 are upper with the platform base 511 respectively Portion and the bottom of the movable platform 512 are hinged, and the first telescopic shaft 513 and the second telescopic shaft 514 of every group of telescopic shaft group are in V Font is obliquely installed, and the upper end of the movable platform 512 is provided with arm 515, and the clamping jaw 52 is arranged in the arm 515 End.In the present invention, six shaft platform manipulators 51 pass through the cooperation of three axis telescopic shaft groups totally 6 telescopic shafts, every telescopic shaft It is individually operated, due to telescopic shaft inclined design, so when they carry out different degrees of flexible, can reach so that movable Platform 512 carry out 6 degree of freedom (X, Y, Z, θ X, θ Y and θ z) variation, realize be arranged 515 end of arm clamping jaw 52 also with Synchronous variation, finally enables the camera that clamping jaw 52 is clamped can also 6 degree of freedom adjustment.This programme is simple in structure, meets small The requirement accurately adjusted of 6 degree of freedom of range.
In this embodiment, the straight slot 533 is octagon slot, and the quantity of the mirror 532 of turning back is eight, eight The mirror 532 of turning back is divided to for two groups and is staggeredly corresponding in turn to the lower sidewall being arranged in the straight slot 533, same group of four institutes The setting angle for stating mirror 532 of turning back is consistent.
In this embodiment, each mirror 532 of turning back is correspondingly arranged on mounting base 534, the mirror 532 of turning back It is hinged with the corresponding mounting base 534, the rear portion for turning back mirror 532 is provided with angular adjustment knob 535.
In this embodiment, the feeding module 2 includes feeding table 21, and pan feeding window is provided on the feeding table 21 Mouth 22, the beginning of the belt assembly line 1 is located at the pan feeding window 22, and the pan feeding window 22 is equipped with safety light The rear portion of grid, the pan feeding window 22 is provided with the first CCD camera.In the present invention, feeding module 2 is for installing camera Be placed on carrier 7, the first CCD camera of design for check camera whether misloading or neglected loading, while the first CCD camera also band There is Quick Response Code barcode scanning function, identifies the Quick Response Code on carrier 7.
In this embodiment, the plasma cleaning module 3 includes plasma generator 31, plasma gas suction Receiving apparatus and the one or three axis servo manipulator 32 are provided with plasma hair on the actuator of the one or the three axis servo manipulator 32 Rifle 33 is penetrated, the plasma ejecting gun 33 is connected with the plasma generator 31 by pipeline 34, the plasma (orifice) gas Body absorption plant includes absorbing nozzle 35, and the plasma ejecting gun 33 and the absorption nozzle 35 are respectively positioned on the carrier 7 Top.In the present invention, plasma ejecting gun 33 is aligned under the driving of the one or three axis servo manipulator 32 needs that cleans to put It is placed in the surface of the camera on carrier 7,33 transmitting plasma of plasma ejecting gun simultaneously bombards cleaned surface of camera head, To reach cleaning purpose;It absorbs nozzle 35 and provides negative pressure on camera periphery, collection of ions state gas reaches environment protecting.
In this embodiment, the dispensing module 4 includes the two or three axis servo manipulator 41, and the two or three axis is watched The front end for taking the actuator of manipulator 41 is provided with rubber gun 42, and the rear end of the actuator is provided with altitude meter 43, the 2nd CCD Camera 44 and with second CCD camera, 44 matched annular light source 45.In the present invention, rubber gun 42 is watched in the two or three axis It takes alignment under the driving of manipulator 41 to need the camera on carrier 7 and carry out gluing processing, 42 flow velocity of rubber gun, dispensing road Diameter, dispensing movement velocity realize that software is adjustable.Second CCD camera 44 takes pictures to Jiao Lu, confirm its amount for dispensing glue and Evenness.Altitude meter 43 carries out rubber head position when being used to coordinate the rubber head of rubber gun 42 to replace and length carries out compensation for calibrating errors.We Case improves the final mass effect of product camera by 44 monitoring point colloid amount of the second CCD camera.
In this embodiment, the arm 515 is provided with several UV solid glues lamps 54, Ruo Gansuo at the clamping jaw 52 54 circumference array of UV solid glues lamp is stated to be arranged in the periphery of the clamping jaw 52.In the present invention, design UV solid glues lamp 54 is for passing through The glue on camera is spat in ultraviolet curing from rubber gun 42;And the design of UV solid glues lamp 54 can be simplified at clamping jaw 52 The installation volume of UV solid glues lamp 54, meanwhile, when calibrating camera with regard to curing simultaneously to glue, when can shorten solidification Between.
In this embodiment, the automatic calibration module of the camera 5 further includes lifting frame module, the lifting frame Frame module includes the chassis base 55 set gradually from the bottom to top, turn back mirror module mounting plate 56 and frame upper plate 57, the folding Return and be provided with lead screw 58 between mirror module mounting plate 56 and the frame upper plate 57, the upper end of the frame upper plate 57 be provided with 58 matched lead screw motor 59 of the lead screw, described turn back are provided between mirror module mounting plate 56 and the chassis base 55 Support column 50, the mirror module 53 of turning back are mounted on the upper end of the mirror module mounting plate 56 of turning back.In the present invention, design rises Drop frame module can allow mounted on turn back on mirror module mounting plate 56 turn back mirror module 53 by lead screw 58 on Lower movement, it is final that mirror 532 of turning back is allow to have upper and lower adjusting range, improve the calibration effect of camera.
In this embodiment, the blanking reflux module 6 includes rodless cylinder 61 and is arranged in the rodless cylinder Carrier in 61 moving portion receives conveyer belt 62, and the carrier receives conveyer belt 62 and is connected to each other with the belt assembly line 1, institute Rodless cylinder 61 is stated perpendicular to the end of the belt assembly line 1, the carrier receives and is provided with synchronizing wheel 63 on conveyer belt 62. In the present invention, the camera that design blanking reflux module 6 is used to recycle carrier 7 and be placed on carrier 7, since carrier receives Conveyer belt 62 can become misaligned state under the driving of rodless cylinder 61 from the mated condition with belt assembly line 1, to real The effect that now carrier 7 is detached from belt assembly line 1.In addition, blanking reflux module 6 carries synchronizing wheel 63, blanking is enabled to flow back Module 6 has the function of independent automatic stop, can make the pause conveying of carrier 7 being located at blanking reflux module 6, people easy to operation Member takes carrier 7 away.
Camera completes work inside this equipment by carrier 7, and carrier 7 completes circulation, belt on belt assembly line 1 Assembly line 1 pass sequentially through the automatic calibration module 5 of feeding module 2, plasma cleaning module 3, dispensing module 4, camera and under Material reflux module 6, carrier 7 can carry out fine positioning in each module and realize precise operation.Workflow is as follows:
Manually cam lens and camera chip PCBA modules are placed on carrier 7 (the compatible full-automatic assembly line of this equipment, Transfer matic is manipulator automatic discharging), trigger starting switch in the case where safe grating confirms safe condition.First CCD camera inspection Material whether misloading or neglected loading, while the first CCD camera on carrier 7 Quick Response Code carry out barcode scanning.After completing detection and barcode scanning Carrier 7 automatically flows into next module.
Carrier 7 flows into plasma cleaning module 3, and the setting of belt assembly line 1 stops cylinder of stopping the supple of gas or steam and is accurately positioned to carrier 7. One or three axis servo manipulator 32 drives plasma ejecting gun 33 to move, and plasma ejecting gun 33 can be ejected to be occurred by plasma The plasma air-flow that device 31 provides cleans camera, and cleaning path can be according to different cameras into edlin.Clearly Nozzle 35 is absorbed after the completion of washing and provides negative pressure on camera periphery, and collection of ions state gas reaches environment protecting;Process actions are complete Next module is automatically flowed at rear carrier 7.
Carrier 7 flows into dispensing module 4, and the setting of belt assembly line 1 stops cylinder of stopping the supple of gas or steam and is accurately positioned to carrier 7.Two or three Axis servo manipulator 41 drives rubber gun 42 to carry out dispensing to the point glue surface on camera.Second CCD camera 44 after the completion of dispensing It takes pictures to Jiao Lu, confirms its amount and the uniformity for dispensing glue.Process actions complete rear jig and automatically flow into next module.
Carrier 7 flows into the automatic calibration module 5 of camera, and the setting of belt assembly line 1 stops cylinder of stopping the supple of gas or steam and to carrier 7 accurately determine Position.Six shaft platform manipulators 51 can pick and place camera clamp to above camera chip PCBA modules, photosensitive on PCBA at this time Chip is switched on, and device Host can get imaging at this time, device algorithm can by each position of image clarity, By obtaining three groups of six directions shaft platform manipulator 51X, Y, Z, θ X, θ Y and θ z of telescopic shaft group active accommodation movements, until whole Until all corners of image are clear.UV solid glues lamp 54, which can be lighted, after adjustment is clear fixes glue.
Completing active calibration carrier inflow blanking reflux module 6, (the compatible full-automatic assembly line of the equipment, transfer matic are machine Tool hand automatic material taking), manually carrier 7 and camera are taken out together, complete a cycle.
The present invention effectively integrate by process, improves processing procedure the degree of automation, is taken the photograph using the solution of piezoelectric type 6DOF manipulator As head assembles field history accuracy of alignment problem.Realize that product transports and orientation problem improves equipment using belt assembly line is returned Scalability;Complete machine reaches intelligent fool proof and precision controlling, optical environment and life using many places using CCD camera monitoring operation Produce environmental temperature monitoring realizes external environment to equipment precision zero interference with closed-loop control.
The present invention can be used for the technical field of camera assembling industry.

Claims (10)

1. a kind of reflux wire type self calibration camera assembles equipment, it is characterised in that:It includes belt assembly line(1)It sets successively It sets in the belt assembly line(1)Other feeding module(2), plasma cleaning module(3), dispensing module(4), camera it is automatic Calibration module(5)And blanking reflux module(6), the belt assembly line(1)On be provided with carrier(7), the camera is certainly Dynamic calibration module(5)Including six shaft platform manipulators(51), the six shaft platforms manipulator(51)Clamping jaw(52)Positioned at described Carrier(7)Top, the clamping jaw(52)Top be provided with mirror module of turning back(53), the mirror module of turning back(53)Including folding Return mirror fixed plate(531)With several mirrors of turning back(532), the mirror fixed plate of turning back(531)Middle part be equipped with straight slot(533)If The dry mirror of turning back(532)It is uniformly arranged on the straight slot(533)Lower sidewall.
2. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:Six shaft platform Manipulator(51)Including platform base(511)And movable platform(512), the platform base(511)Upper end circumference array set Three groups of telescopic shaft groups are equipped with, every group of telescopic shaft group includes the first telescopic shaft(513)With the second telescopic shaft(514), described first Telescopic shaft(513)Upper and lower ends respectively with the platform base(511)Top and the movable platform(512)Bottom phase It is hinged, second telescopic shaft(514)Upper and lower ends respectively with the platform base(511)Top and the movable platform (512)Bottom be hinged, the first telescopic shaft of every group of telescopic shaft group(513)With the second telescopic shaft(514)The inclination that is in the shape of the letter V is set It sets, the movable platform(512)Upper end be provided with arm(515), the clamping jaw(52)It is arranged in the arm(515)End End.
3. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The straight slot (533)For octagon slot, the mirror of turning back(532)Quantity be eight, mirror of turning back described in eight(532)It is divided into two groups and interlocks It is corresponding in turn to and is arranged in the straight slot(533)Lower sidewall, mirror of turning back described in four of same group(532)Setting angle phase Unanimously.
4. reflux wire type self calibration camera according to claim 3 assembles equipment, it is characterised in that:It turns back described in each Mirror(532)It is correspondingly arranged on mounting base(534), the mirror of turning back(532)With the corresponding mounting base(534)It is hinged, The mirror of turning back(532)Rear portion be provided with angular adjustment knob(535).
5. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The feeding module (2)Including feeding table(21), the feeding table(21)On be provided with pan feeding window(22), the belt assembly line(1)Beginning Positioned at the pan feeding window(22)Place, the pan feeding window(22)It is equipped with safe grating, the pan feeding window(22)'s Rear portion is provided with the first CCD camera.
6. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The plasma is clear Mold cleaning block(3)Including plasma generator(31), plasma gas absorption plant and the one or three axis servo manipulator(32), institute State the one or three axis servo manipulator(32)Actuator on be provided with plasma ejecting gun(33), the plasma ejecting gun(33) With the plasma generator(31)Pass through pipeline(34)It is connected, the plasma gas absorption plant includes absorbing nozzle (35), the plasma ejecting gun(33)With the absorption nozzle(35)It is respectively positioned on the carrier(7)Top.
7. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The dispensing module (4)Including the two or three axis servo manipulator(41), the two or the three axis servo manipulator(41)The front end of actuator be provided with Rubber gun(42), the rear end of the actuator is provided with altitude meter(43), the second CCD camera(44)With with the 2nd CCD phases Machine(44)Matched annular light source(45).
8. reflux wire type self calibration camera according to claim 2 assembles equipment, it is characterised in that:The arm (515)In the clamping jaw(52)Place is provided with several UV solid glues lamps(54), several UV solid glues lamps(54)Circumference array is arranged In the clamping jaw(52)Periphery.
9. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The camera is certainly Dynamic calibration module(5)Further include lifting frame module, the lifting frame module includes the framework bottom set gradually from the bottom to top Plate(55), mirror module mounting plate of turning back(56)With frame upper plate(57), the mirror module mounting plate of turning back(56)With the frame Upper plate(57)Between be provided with lead screw(58), the frame upper plate(57)Upper end be provided with and the lead screw(58)It is matched Lead screw motor(59), the mirror module mounting plate of turning back(56)With the chassis base(55)Between be provided with support column(50), The mirror module of turning back(53)Mounted on the mirror module mounting plate of turning back(56)Upper end.
10. reflux wire type self calibration camera according to claim 1 assembles equipment, it is characterised in that:The blanking is returned Flow module(6)Including rodless cylinder(61)With setting in the rodless cylinder(61)Moving portion on carrier receive conveyer belt (62), the carrier reception conveyer belt(62)With the belt assembly line(1)It is connected to each other, the rodless cylinder(61)Perpendicular to institute State belt assembly line(1)End, the carrier receives conveyer belt(62)On be provided with synchronizing wheel(63).
CN201810143199.1A 2018-02-11 2018-02-11 Return wire type self-calibration camera assembling equipment Active CN108296751B (en)

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