CN108495126B - Full-automatic duplex position AA equipment - Google Patents
Full-automatic duplex position AA equipment Download PDFInfo
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- CN108495126B CN108495126B CN201810508909.6A CN201810508909A CN108495126B CN 108495126 B CN108495126 B CN 108495126B CN 201810508909 A CN201810508909 A CN 201810508909A CN 108495126 B CN108495126 B CN 108495126B
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- 230000007246 mechanism Effects 0.000 claims abstract description 406
- 239000000463 material Substances 0.000 claims abstract description 158
- 238000012545 processing Methods 0.000 claims abstract description 43
- 238000007599 discharging Methods 0.000 claims abstract description 38
- 238000012546 transfer Methods 0.000 claims abstract description 29
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 26
- 239000003292 glue Substances 0.000 claims description 18
- 230000002950 deficient Effects 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 13
- 238000003848 UV Light-Curing Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000010923 batch production Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 27
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 239000011265 semifinished product Substances 0.000 description 3
- 238000003892 spreading Methods 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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Abstract
The invention discloses full-automatic double-station AA equipment which comprises an AA device, a first loading and unloading device, a second loading and unloading device, a first transferring device and a second transferring device; the AA device comprises two AA processing mechanisms which are arranged back to back and are respectively used for carrying out AA operation on a first material and a second material; the first transfer device and the second transfer device are respectively arranged at two opposite sides of the AA device, and the first loading and unloading device and the second loading and unloading device are respectively arranged at the other two sides of the AA device; the first feeding and discharging device and the second feeding and discharging device are respectively used for feeding a first material and a second material; the first transfer device and the second transfer device are respectively used for feeding materials from the first loading and unloading device and the second loading and unloading device to two AA processing mechanisms or unloading materials. The double-station automatic machine tool disclosed by the invention is used for carrying out AA operation and full-automatic feeding, discharging, transferring and gluing operation, so that the full automation of the machine tool manufacturing process is realized, the production efficiency is improved, the labor cost is reduced, and the automatic machine tool is beneficial to batch production.
Description
Technical Field
The invention relates to the technical field of camera assembly, in particular to full-automatic double-station AA equipment.
Background
In the process of packaging the camera, the conventional packaging devices such as CSP and COB, which involve multiple assembly of components and parts such as an image Sensor (Sensor) and a lens, all perform movable assembly of the components and parts according to parameters adjusted by the device (PASSIVE ALIGNMENT, passive alignment technique). Therefore, the stacking tolerance of parts is larger and larger, and the effect finally displayed on the camera is that the clearest position of a photographed picture possibly deviates from the center of the picture, the definition of four corners is uneven, and the like.
The AA process, ACTIVE ALIGNMENT, is interpreted as chinese, active alignment, a technique for determining the relative position of parts during assembly. When each spare and accessory part is assembled, the equipment detects the assembled semi-finished product, actively aligns the semi-finished product according to the actual condition of the assembled semi-finished product, and then assembles the next spare and accessory part into place. The active alignment technology can adjust the alignment of the lens to 6 degrees of freedom (X, Y, Z, tx, ty, tz), effectively reduce the assembly tolerance of the whole module, effectively improve the consistency of camera products and create possibility for higher-order camera product packaging.
When the Sensor is assembled with the Lens, the relative X-axis, Y-axis, Z-axis, tx-axis, ty-axis and Tz-axis degrees of freedom of the Sensor and the Lens are required to be ensured to be in optimal positions so as to ensure that optical axes of the Sensor and the Lens are coaxial. The flexibility and accuracy of the existing AA equipment operation process are not high, and the product yield is low. In addition, most AA equipment at present is simplex position operation, and by artifical unloading, degree of automation is not high, and production efficiency is low.
Disclosure of Invention
The invention aims to provide full-automatic double-station AA equipment, double stations perform AA operation, full-automatic loading and unloading, transferring and gluing operation, full automation of the machine tool manufacturing process is realized, the production efficiency is improved, the labor cost is reduced, and batch production is facilitated.
In order to achieve the above purpose, the following technical scheme is adopted:
a full-automatic double-station AA device comprises an AA device, a first loading and unloading device, a second loading and unloading device, a first transferring device and a second transferring device; the AA device comprises two AA processing mechanisms which are arranged back to back and are respectively used for carrying out AA operation on a first material and a second material; the first transfer device and the second transfer device are respectively arranged on two opposite sides of the AA device, and one end of one AA processing mechanism is arranged to one end of the other AA processing mechanism; the first feeding and discharging device and the second feeding and discharging device are respectively arranged on the other two sides of the AA device and are respectively used for feeding the first material and the second material; the first transfer device is used for transferring a first material from the first loading and unloading device to the two AA processing mechanisms and unloading finished products or defective products; the second transferring device is used for transferring the second material from the second loading and unloading device to the two AA processing mechanisms and unloading defective products.
Preferably, the AA device further comprises a first stand; each of the two AA processing mechanisms comprises a first driving mechanism, a first jig platform mechanism, an image acquisition module, a second jig platform mechanism, a second driving mechanism, a swinging table clamping claw mechanism, a gluing mechanism and a second material bottom detection camera; two first driving mechanisms in the AA device are arranged in parallel, and a first bracket is arranged between the two first driving mechanisms; the first jig platform mechanism is used for loading a first material and driving the first material to be electrically connected with the image acquisition module, and the image acquisition module feeds back acquisition signals to the background so as to control the first driving mechanism to drive the first jig platform mechanism and the second driving mechanism to drive the swing table clamping claw mechanism to move; the second jig platform mechanism is used for loading a second material; the first jig platform mechanism, the second material bottom detection camera and the image acquisition module are arranged at the top of the first driving mechanism and driven by the first driving mechanism, and the second material bottom detection camera is used for detecting the direction and angle error of the second material; the swing table clamping claw mechanism is arranged on the first bracket through a second driving mechanism, and the second driving mechanism is used for driving the swing table clamping claw mechanism to clamp a second material so as to enable the second material to work with the first material AA; the gluing mechanism is arranged above the swing table clamping claw mechanism through a first bracket and is used for dispensing and processing the first material and the second material.
Preferably, the AA device further comprises two speckle collecting mechanisms, and each speckle collecting mechanism is correspondingly arranged above one AA processing mechanism; the speckle collecting mechanism comprises a Screen module, a first material top detecting camera, a first lifting driving mechanism and a first cover plate; the Screen modules of the two stations are embedded in the first cover plate, and the first lifting driving mechanism is used for driving the first cover plate to drive the Screen modules to lift; the first material top detection camera frame is arranged above the Screen module and used for collecting speckle patterns of the first material projected on the Screen module.
Preferably, the AA device further comprises two Chart mechanisms, each Chart mechanism being correspondingly arranged above an AA processing mechanism; the Chart mechanism comprises a Screen module, a second lifting driving mechanism, a backlight source module, an opening and closing driving mechanism, a second cover plate and a third cover plate; the Screen modules of the two stations are embedded in the second cover plate, and the backlight source module is arranged in the inner side of the third cover plate; the Screen module is used for placing a Chart map target for shooting and collecting a first material; the third cover plate covers the top of the second cover plate, one side of the third cover plate is connected with the top of the second cover plate through a hinge, and the other side of the third cover plate is driven to open and close through an opening and closing driving mechanism; the second lifting driving mechanism is used for driving the second cover plate and the third cover plate to lift.
Preferably, the first jig platform mechanism comprises a first jig platform, a first Z-axis module, a second X-axis module and a second Z-axis module; the first jig platform is used for loading and positioning a first material, and the first Z-axis module is used for driving the first jig platform to lift; the second X-axis module and the second Z-axis module are used for driving the first jig platform to drive the first material to be electrically connected with the image acquisition module; the second jig platform mechanism comprises two second jig platform modules and a third Z-axis module; the two second jig platform modules are arranged in parallel, and the third Z-axis module is used for driving the two second jig platform modules to lift; the second jig platform module comprises a second jig platform, a fourth X-axis module and a fourth Y-axis module; the fourth X-axis module and the fourth Y-axis module are respectively used for adjusting the displacement of the second jig platform in the X-axis direction and the Y-axis direction.
Preferably, the gluing mechanism comprises a dispensing module, a UV curing irradiator and a broken glue detection camera; the dispensing module comprises a dispensing cylinder and a fifth Z-axis module; the fifth Z-axis module is arranged on the first bracket and used for driving the dispensing cylinder to lift so as to realize dispensing; the UV curing irradiator and the broken glue detection camera are fixedly arranged on the first bracket; the swing table clamping jaw mechanism comprises clamping jaws and a clamping jaw driving cylinder; the clamping jaw driving cylinder is used for driving the clamping jaw to clamp or loosen the second material; the second driving mechanism comprises a Tx axis module, a Ty axis module and a Tz axis module; the Tx axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Tx axis, the Ty axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Ty axis, and the Tz axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Tz axis.
Preferably, the first feeding and discharging device is the same as the second feeding and discharging device, wherein the first feeding and discharging device comprises a material box mechanism, a third lifting driving mechanism, a push rod mechanism and a third jig platform mechanism; a plurality of horizontal first tray slots are arranged in the height direction of the material box mechanism and are used for placing trays; the third jig platform mechanism is arranged at one end of the material box mechanism, and the push rod mechanism is arranged parallel to the first material disc groove and is arranged at the other end of the material box mechanism; the push rod mechanism is used for pushing the material tray in the material box mechanism to the third jig platform mechanism; the third lifting driving mechanism is arranged at the bottom of the material box mechanism and is used for driving the material box mechanism to lift so that the push rod mechanism can push out material trays with different heights.
Preferably, the first feeding and discharging device further comprises a connecting rod, a clamping mechanism and a first sliding module; the connecting rod is arranged in parallel with the push rod mechanism, and the connecting rod is guided in a sliding way through the first sliding module; one end of the connecting rod is detachably connected with the push rod mechanism, and the other end of the connecting rod is connected with the clamping mechanism; the clamping mechanism is used for clamping the material tray on the third jig platform mechanism with the push rod mechanism so as to send the material tray back to the interior of the material box mechanism; the clamping mechanism comprises a clamping driving cylinder, a clamping rod and a second sliding module; the clamping rod is vertically arranged with the connecting rod, and the clamping driving cylinder is used for driving the clamping rod to move relative to the connecting rod through the second sliding module so as to clamp or loosen the material tray with the push rod mechanism; the push rod mechanism comprises a push rod and a push rod driving module; the push rod is detachably connected with the connecting rod, and the push rod driving module is used for driving the connecting rod to move with the push rod.
Preferably, the first transferring device is the same as the second transferring device, wherein the first transferring device comprises a feeding mechanism, a discharging mechanism, a sixth X-axis mechanism, a seventh Y-axis mechanism, a seventh X-axis mechanism and a downward looking positioning camera which are sequentially arranged from bottom to top; the sixth X-axis mechanism is used for driving a seventh Y-axis mechanism, and the seventh Y-axis mechanism is used for driving the seventh X-axis mechanism; the feeding mechanism, the discharging mechanism and the downward-looking positioning camera are driven by a seventh X-axis mechanism; the feeding mechanism is used for feeding materials to the AA processing mechanism, and the discharging mechanism is used for discharging finished products or defective products; the downward-looking positioning camera is used for detecting position signals of materials and feeding back the detection signals to the background so as to guide the feeding mechanism to move for taking materials.
Preferably, the feeding mechanism is the same as the discharging mechanism, wherein the feeding mechanism comprises a feeding suction nozzle, an eighth Z-axis mechanism and a U-axis mechanism; the feeding suction nozzle drives the lifting material taking and discharging device through an eighth Z-axis mechanism; the U-axis mechanism is used for driving the feeding suction nozzle to rotate so as to adjust the direction of the material.
By adopting the scheme, the invention has the beneficial effects that:
1) The image acquisition module is electrically connected with the Sensor, so that whether the Sensor is bad or not can be detected, a specific target image shot by the Sensor or speckles sent by the Sensor can be acquired and analyzed, the acquired target image or speckles are returned to a background program for processing by the image acquisition module to control six-degree-of-freedom high-precision AA alignment, higher four-corner definition can be achieved, and the yield of assembly of the Sensor and the Lens is improved;
2) The double-station operation improves the productivity, improves the utilization rate of equipment parts and saves the space occupied by a machine;
3) Full-automatic feeding and discharging and material transferring are realized, the full automation of the machine tool manufacturing process is realized, the production efficiency is improved, the labor cost is reduced, and the batch production is facilitated;
4) Can realize full-automatic dispensing, broken glue detection and UV curing.
Drawings
FIG. 1 is a perspective view of embodiment 1 of the present invention;
FIG. 2 is a perspective view of embodiment 2 of the present invention;
fig. 3 is a perspective view of the machine housing of fig. 2 omitting the Chart mechanism;
FIG. 4 is a perspective view of an AA apparatus of the present invention;
FIG. 5 is a perspective view of FIG. 4 omitting the first bracket, glue mechanism, swing table jaw mechanism, and second drive mechanism;
FIG. 6 is a perspective view of the AA working mechanism of the present invention omitting the second drive mechanism, the swing table clamping jaw mechanism, and the glue application mechanism;
FIG. 7 is a perspective view of a second drive mechanism, a swing table jaw mechanism of the present invention;
Fig. 8 is a perspective view of the first bracket and glue mechanism of the present invention;
FIG. 9 is a perspective view of a first jig platform mechanism according to the present invention;
FIG. 10 is a perspective view of a second jig platform mechanism according to the present invention;
Fig. 11 is a perspective view of the Chart mechanism of the present invention;
FIG. 12 is a perspective view of a first or second cover plate, screen module of the present invention;
FIG. 13 is a perspective view of a first loading and unloading device of the present invention;
FIG. 14 is a perspective view of the dispensing with cartridge mechanism, third jig platform mechanism, third lift drive mechanism of FIG. 13;
fig. 15 is a perspective view of the first transfer device of the present invention;
Wherein, the attached drawings mark and illustrate:
1-AA device, 2-first feeding and discharging device,
3-A second loading and unloading device, 4-a first transferring device,
5-A second transfer device, 6-a material tray,
7, A defective material tray, 8, a bottom plate,
9-A machine table shell, 11-AA processing mechanism,
12-A first bracket and 13-a speckle collecting mechanism,
13' -Chart mechanism, 21-cartridge mechanism,
22-A third lifting driving mechanism, 23-a push rod mechanism,
24-A third jig platform mechanism, 25-a connecting rod,
26-A clamping mechanism, 41-a feeding mechanism,
42-A blanking mechanism, 43-a sixth X-axis mechanism,
44-Seventh Y-axis mechanism, 45-seventh X-axis mechanism,
46-A down-looking positioning camera, 111-a first driving mechanism,
112-A first jig platform mechanism, 113-an image acquisition module,
114-A second jig platform mechanism, 115-a second driving mechanism,
116-A table clamping jaw mechanism, 117-a gluing mechanism,
118-Second material bottom detection camera, 131/131' -Screen module,
132-A first material top detection camera, 133-a first lifting driving mechanism,
134-First cover plate, 132' -second lifting drive mechanism,
133 '-An opening and closing drive mechanism, 134' -a second cover plate,
135' -A third cover plate, 231-a push rod driving module,
232-Push rod, 261-clamping driving cylinder,
262-Clamping bars, 1121-a first jig platform,
1122-A first Z-axis module, 1123-a second X-axis module,
1124-A second Z-axis module, 1141-a second jig platform module,
1142-A third Z-axis module, 1151-a Tx-axis module,
1152-Ty axis module, 1153-Tz axis module,
1161-Jaws, 1162-jaw actuation cylinders,
1171-Dispensing module, 1172-UV curing illuminator,
1173-A glue break detection camera.
Detailed Description
The invention will be described in detail below with reference to the drawings and the specific embodiments.
Referring to fig. 1 to 15, the invention provides a full-automatic duplex AA apparatus, which comprises an AA apparatus 1, a first loading and unloading apparatus 2, a second loading and unloading apparatus 3, a first transfer apparatus 4, and a second transfer apparatus 5; the AA device 1 comprises two AA processing mechanisms 11 which are arranged back to back and are respectively used for carrying out AA operation on a first material and a second material; the first transferring device 4 and the second transferring device 5 are respectively arranged on two opposite sides of the AA device 1, and one end of one AA processing mechanism 11 is arranged to one end of the other AA processing mechanism 11; the first loading and unloading device 2 and the second loading and unloading device 3 are respectively arranged on the other two sides of the AA device 1, and the first loading and unloading device 2 and the second loading and unloading device 3 are respectively used for loading a first material and a second material; the first transferring device 4 is used for transferring a first material from the first loading and unloading device 2 to the two AA processing mechanisms 11 and unloading finished products or defective products; the second transferring device 5 is used for transferring the second material from the second loading and unloading device 3 to the two AA processing mechanisms 11 and unloading defective products.
Wherein the AA device 1 further comprises a first stand 12; each AA processing mechanism 11 comprises a first driving mechanism 111, a first jig platform mechanism 112, an image acquisition module 113, a second jig platform mechanism 114, a second driving mechanism 115, a swinging table clamping claw mechanism 116, a gluing mechanism 117 and a second material bottom detection camera 118; the two first driving mechanisms 111 in the AA device 1 are arranged in parallel, and the first bracket 12 is arranged between the two; the first jig platform mechanism 112 is used for loading a first material and driving the first material to be electrically connected with the image acquisition module 113, and the image acquisition module 113 feeds back an acquisition signal to the background so as to control the first driving mechanism 111 to drive the first jig platform mechanism 112 and the second driving mechanism 115 to drive the swing table clamping jaw mechanism 116 to move; the second jig platform mechanism 114 is used for loading a second material; the first jig platform mechanism 112, the second jig platform mechanism 114, the second material bottom detection camera 118, and the image acquisition module 113 are arranged on top of the first driving mechanism 111 and driven by the first driving mechanism 111, the second material bottom detection camera 118 is used for detecting the direction and angle error of the second material, the swing table gripper mechanism 116 is arranged on the first bracket 12 via the second driving mechanism 115, and the second driving mechanism 115 is used for driving the swing table gripper mechanism 116 to grip the second material so as to enable the second material to work with the first material AA; the glue spreading mechanism 117 is arranged above the swing table clamping claw mechanism 116 through the first bracket 12 and is used for dispensing the first material and the second material.
Example 1: (for 3D Camera Assembly)
The AA device 1 further comprises two speckle collecting mechanisms 13, and each speckle collecting mechanism 13 is correspondingly arranged above one AA processing mechanism 11; the speckle collecting mechanism 13 comprises a Screen module 121, a first material top detection camera 132, a first lifting driving mechanism 133 and a first cover plate 134; the Screen modules 131 with two stations are embedded in the first cover plate 134, and the first lifting driving mechanism 133 is used for driving the first cover plate 134 to drive the Screen modules 131 to lift; the first material top detection camera 132 is arranged above the Screen module 131 and is used for collecting speckle patterns of the first material projected on the Screen module 131.
Example 2: (for non-3D Camera Assembly)
The AA device 1 further comprises two Chart mechanisms 13', each Chart mechanism 13' being correspondingly arranged above an AA processing mechanism 11; the Chart mechanism 13 'includes a Screen module 131', a second lifting driving mechanism 132', a backlight module (not shown), an opening and closing driving mechanism 133', a second cover 134', and a third cover 135'; the Screen modules 131' of the two stations are embedded in the second cover plate 134', and the backlight source module is arranged in the inner side of the third cover plate 135'; the Screen module 131' is used for placing a Chart map target for shooting and collecting a first material; the third cover plate 135' covers the top of the second cover plate 134', one side of the third cover plate is connected with the top of the second cover plate through a hinge, and the other side of the third cover plate is driven to open and close through an opening and closing driving mechanism 133 '; the second lifting driving mechanism 132' is used for driving the second cover plate 134', the third cover plate 135' to lift.
In summary, in embodiments 1-2, the first jig platform mechanism 112 comprises a first jig platform 1121, a first Z-axis module 1122, a second X-axis module 1123, and a second Z-axis module 1124; the first jig platform 1121 is used for loading and positioning a first material, and the first Z-axis module 1122 is used for driving the first jig platform 1121 to lift; the second X-axis module 1123 and the second Z-axis module 1124 are configured to drive the first jig platform 1121 to drive the first material to be electrically connected to the image acquisition module 113; the second jig platform mechanism 114 includes two second jig platform modules 1141 and a third Z-axis module 1142; the two second jig platform modules 1141 are arranged in parallel, and the third Z-axis module 1142 is used for driving the two second jig platform modules 1141 to lift; the second jig platform module 1141 includes a second jig platform, a fourth X-axis module, and a fourth Y-axis module; the fourth X-axis module and the fourth Y-axis module are respectively used for adjusting the displacement of the second jig platform in the X-axis direction and the Y-axis direction.
The glue spreading mechanism 117 comprises a glue dispensing module 1171, a UV curing irradiator 1172 and a glue breaking detection camera 1173; the dispensing module 1171 comprises a dispensing cylinder and a fifth Z-axis module; the fifth Z-axis module is arranged on the first bracket 12 and is used for driving the dispensing cylinder to lift so as to realize dispensing; the UV curing irradiator 1172 and the glue break detecting camera 1173 are fixedly installed on the first bracket 12.
The swing table clamping jaw mechanism 116 comprises a clamping jaw 1161 and a clamping jaw driving cylinder 1162; the clamping jaw driving cylinder 1162 is used for driving the clamping jaw 1161 to tighten or loosen the second material; the second drive mechanism 115 includes a Tx axis module 1151, a Ty axis module 1152, and a Tz axis module 1153; the Tx axis module 1151 is configured to drive the swing table jaw mechanism 116 for rotation about the Tx axis, the Ty axis module 1152 is configured to drive the swing table jaw mechanism 116 for rotation about the Ty axis, and the Tz axis module 1153 is configured to drive the swing table jaw mechanism 116 for rotation about the Tz axis.
The first loading and unloading device 2 is the same as the second loading and unloading device 3, wherein the first loading and unloading device 2 comprises a material box mechanism 21, a third lifting driving mechanism 22, a push rod mechanism 23 and a third jig platform mechanism 24; a plurality of horizontal first tray slots are arranged in the height direction of the material box mechanism 21 and are used for placing the trays 6; the third jig platform mechanism 24 is arranged at one end of the material box mechanism 21, and the push rod mechanism 23 is arranged parallel to the first material tray slot and is arranged at the other end of the material box mechanism 21; the push rod mechanism 23 is used for pushing the tray 6 in the material box mechanism 21 to the third jig platform mechanism 24; the third lifting driving mechanism 22 is arranged at the bottom of the material box mechanism 21 and is used for driving the material box mechanism 21 to lift so that the push rod mechanism 23 can push out the material trays 6 with different heights.
The first loading and unloading device 2 further comprises a connecting rod 25, a clamping mechanism 26 and a first sliding module; the connecting rod 25 is arranged in parallel with the push rod mechanism 23, and the connecting rod 25 is guided in a sliding way through the first sliding module; one end of the connecting rod 25 is detachably connected with the push rod mechanism 23, and the other end of the connecting rod is connected with the clamping mechanism 26; the clamping mechanism 26 is used for clamping the tray 6 on the third jig platform mechanism 24 with the push rod mechanism 23 so as to send the tray 6 back to the inside of the material box mechanism 21; the clamping mechanism 26 comprises a clamping driving cylinder 261, a clamping rod 262 and a second sliding module; the clamping rod 262 is arranged perpendicular to the connecting rod 25, and the clamping driving cylinder 261 is used for driving the clamping rod 262 to move relative to the connecting rod 25 through the second sliding module so as to clamp or unclamp the tray 6 with the push rod mechanism 23; the push rod mechanism 23 comprises a push rod 232 and a push rod driving module 231; the push rod 232 is detachably connected with the connecting rod 25, and the push rod driving module 231 is used for driving the connecting rod 25 and the push rod 232 to move.
The first transfer device 4 is the same as the second transfer device 5, wherein the first transfer device 4 comprises a feeding mechanism 41, a discharging mechanism 42, a sixth X-axis mechanism 43, a seventh Y-axis mechanism 44, a seventh X-axis mechanism 45 and a downward-looking positioning camera 46 which are sequentially arranged from bottom to top; the sixth X-axis mechanism 43 is used for driving a seventh Y-axis mechanism 44, and the seventh Y-axis mechanism 44 is used for driving a seventh X-axis mechanism 45; the feeding mechanism 41, the discharging mechanism 42 and the downward-looking positioning camera 46 are driven by a seventh X-axis mechanism 45; the feeding mechanism 41 is used for feeding materials to the AA processing mechanism 11, and the discharging mechanism 42 is used for discharging finished products or defective products; the downward-looking positioning camera 46 is used for detecting a position signal of the material and feeding back the detected signal to the background to guide the feeding mechanism 41 to move for taking the material.
The feeding mechanism 41 is the same as the discharging mechanism 42, wherein the feeding mechanism 41 comprises a feeding suction nozzle, an eighth Z-axis mechanism and a U-axis mechanism; the feeding suction nozzle drives the lifting material taking and discharging device through an eighth Z-axis mechanism; the U-axis mechanism is used for driving the feeding suction nozzle to rotate so as to adjust the direction of the material.
The working principle of the invention is as follows:
in the invention, 3D camera assembly is taken as an example (the non-3D camera assembly principle is similar): the first material is Sensor, and the second material is Lens. The invention also comprises a machine table shell 9, wherein the AA device 1, the first loading and unloading device 2, the second loading and unloading device 3, the first transferring device 4 and the second transferring device 5 are arranged in the middle of the machine table shell 9. The speckle collecting mechanism 13 or the Chart mechanism 13' is arranged at the upper part of the machine table shell 9, wherein the first lifting driving mechanism 133 drives the first cover plate 134 to lift along the machine table shell 9, and the first material top detecting camera 132 is erected above the Screen module 131 through the machine table shell 9; the second lifting driving mechanism 132' drives the second cover plate 134', the third cover plate 135' to lift along the machine housing 9.
The equipment is used for an AA process technology of the mobile phone camera, and is applicable to the type of products: the single module near-focus and far-focus RGB, IR camera modules and 3D cameras can be compatible. Different view field definition and resolution values are obtained by processing images of specific targets placed in the Screen module (for collecting speckle patterns in 3D camera assembly) captured by the Sensor, and then automatic feedback control 6 degrees of freedom movement of the first jig platform 1121 and the swing table gripper mechanism 116 are performed with Lens and Sensor alignment and dispensing and UV curing.
The equipment is double-station operation, the UPH of the whole machine is more than or equal to 300pcs, and the actual UPH has corresponding change according to the relevant difference of products.
The precision performance of the whole machine is as follows:
6 degrees of freedom AA: x, Y, Z repeated positioning accuracy +/-1um; repeated positioning accuracy of Tx, ty and Tz +/-0.003 degrees; automatic feeding and discharging device: repeated positioning accuracy +/-5um.
Product precision after AA process:
the XY offset is less than or equal to 20um; the Z-axis precision is less than or equal to 5um; the precision of Title is less than or equal to 0.1 degree; the precision after UV curing is less than or equal to 10 pixels (XY direction).
The embodiment also comprises a bottom plate 8, the first driving mechanism 111 of each station is arranged at the top of two sides of the bottom plate 8 in parallel, and the first bracket 12 is arranged at the top of the middle of the bottom plate 8; the double-station AA equipment further comprises a defective product tray 7, wherein the defective product tray 7 is arranged at the top of the bottom plate 8 and is positioned at one side of the first transfer device 4 and used for loading defective products for discharging; the double-station AA equipment further comprises an outer shell, wherein the AA device 1, the first loading and unloading device 2, the second loading and unloading device 3, the first transferring device 4 and the second transferring device 5 are arranged in the middle of the outer shell.
The first driving mechanism 111 includes a first Y-axis module. The third lifting driving mechanism 22 comprises a lifting driving motor and a plurality of guide rods, and the lifting driving motor is used for driving the material box mechanism 21 to lift along the guide direction of the guide rods.
The third jig platform mechanism 24 comprises a third jig platform and two guide rails; the two guide rails are arranged at the top of the third jig platform in parallel and are arranged from one end close to the material box mechanism 21 to the other end; the inner side of each guide rail is provided with a second material disc groove along the length direction; the magazine mechanism 21 comprises two vertical clamping plates which are arranged in parallel, and a plurality of fixed connecting plates, wherein the fixed connecting plates are arranged between the two vertical clamping plates in parallel and are used for fixedly connecting the two vertical clamping plates.
The stroke of the sixth X-axis mechanism 43 in the first transfer device 4 (the second transfer device 5 is similar) is larger than the stroke of the seventh X-axis mechanism 45. In the present embodiment, the stroke of the sixth X-axis mechanism 43 is 850mm, the stroke of the seventh X-axis mechanism 44 is 200mm, and the stroke of the seventh Y-axis mechanism 45 is 100mm. Because the first transfer device 4 and the second transfer device 5 are respectively arranged at two opposite sides of the AA device 1, and one end of one AA processing mechanism 11 is arranged at one end of the other AA processing mechanism 11, the feeding mechanism 41 and the discharging mechanism 42 can be rapidly switched between the two AA processing mechanisms 11 through the high-speed movement of the sixth X-axis mechanism 43. In the same AA processing mechanism 11, the seventh Y-axis mechanism 44 and the seventh X-axis mechanism 45 drive the feeding mechanism 41 and the discharging mechanism 42 to move so as to adapt to feeding the good products of materials to the AA processing mechanism 11 and discharging the finished products or defective products from the AA processing mechanism 11.
The engineering process of the invention is as follows:
1) Feeding a plurality of trays filled with materials to be processed into the material box mechanism 21 along the first tray slot position; the push rod mechanism 23 pushes the material tray 6 from the material box mechanism 21 to the third jig platform mechanism 24, and the material tray 6 moves to the third jig platform mechanism 24 along the second material tray groove position; the third lifting driving mechanism 22 drives the material box mechanism 21 to lift so as to enable the height of the material trays 6 needing to be fed to be matched with the height of the push rod mechanism 23, and the push rod mechanism 23 pushes the material trays 6 out of the material box mechanism 21 one by one;
2) The first transfer device 4 sucks the Sensor from the third jig platform mechanism 24 of the first loading and unloading device 2 (the third jig platform mechanism 24 is arranged on one side of the first transfer device 4), and switches the Sensor to the two AA processing mechanisms 11 for loading at high speed through the sixth X-axis mechanism 43; meanwhile, the second transferring device 5 sucks Lens from the third jig platform mechanism 24 of the second loading and unloading device 3 (the third jig platform mechanism 24 is arranged on one side of the second transferring device 5), and the Lens is switched to the two AA processing mechanisms 11 for loading through the sixth X-axis mechanism 43 at high speed;
3) The first Y-axis module 111 and the third Z-axis module 1142 are driven, the second jig platform (the fourth X-axis module and the fourth Y-axis module can manually adjust the second jig platform to align with the clamping jaw 1161) sends the Lens to the clamping jaw 1161, the second material bottom detection camera 118 moves to detect the direction and angle errors of the Lens and feeds back the direction and angle errors to the background (when the Lens is detected to be bad, the clamping jaw 1161 puts a defective product on one of the second jig platforms; meanwhile, another good product is fed to another second jig platform, and driven by the first Y-axis module 111, the swing table gripper mechanism 116 grips the good product, and the background controls the Tx axis module 1151, the Ty axis module 1152 and the Tz axis module 1153 to adjust the swing table gripper mechanism 116, and controls the first Y-axis module 111 and the first Z axis module 1122 to adjust the first jig platform 1121 so as to send the Sensor to the lower part of the clamping jaw 1161;
4) The second X-axis module 1123 and the second Z-axis module 1124 drive the first tool platform 1121 to drive the Sensor to be electrically connected with the image acquisition module 113 so as to light the Sensor, the Sensor shoots and acquires a Chart image target (which is replaceable according to different products and is similar to a projected Screen), the opening and closing driving mechanism 133 'drives the third cover plate 135' to be opened when the replacement is needed), the image acquisition module 113 returns the acquired target image or speckle pattern to a background program for processing, and the background calculates the offset of 6 degrees of freedom by using an image quality evaluation algorithm and an attitude estimation algorithm and feeds the offset back to the motion control system so as to control the first driving mechanism 111 to drive the first tool platform mechanism 112 and the second driving mechanism 115 to drive the platform clamping claw mechanism 116 to move so as to realize the first AA processing operation;
5) Under the driving of the first Y-axis module 111, the Sensor is moved to the position below the dispensing module 1171 for dispensing;
6) Under the driving of the first Y-axis module 111, the Sensor is moved to the lower part of the glue breaking detection camera 1173 to detect whether the glue breaking is bad;
7) Driven by the first Y-axis module 111, the first jig platform mechanism 112 moves to send the Sensor under the clamping jaw 1161 for the second AA post-assembly;
8) Under the drive of the first Y-axis module 111, the assembled Sensor and Lens are moved to the lower side of the UV curing irradiator 1172 for UV curing treatment;
9) The first transfer device 4 loads the finished product into the tray 6 on the third jig platform mechanism 24 of the first loading and unloading device 2, after the material to be processed in the tray 6 is loaded, the clamping mechanism 26 is abutted against one end of the tray 6 away from the magazine mechanism 21 and the push rod mechanism 23 to clamp the tray 6, the tray 6 is returned to the inside of the magazine mechanism 21 under the drive of the push rod mechanism 23, and the clamping mechanism 26 is reset to loosen the tray 6.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The full-automatic double-station AA equipment is characterized by comprising an AA device, a first loading and unloading device, a second loading and unloading device, a first transferring device and a second transferring device; the AA device comprises two AA processing mechanisms which are arranged back to back and are respectively used for carrying out AA operation on a first material and a second material; the first transfer device and the second transfer device are respectively arranged on two opposite sides of the AA device, and one end of one AA processing mechanism is arranged to one end of the other AA processing mechanism; the first feeding and discharging device and the second feeding and discharging device are respectively arranged on the other two sides of the AA device and are respectively used for feeding the first material and the second material; the first transfer device is used for transferring a first material from the first loading and unloading device to the two AA processing mechanisms and unloading finished products or defective products; the second transfer device is used for transferring the second material from the second loading and unloading device to the two AA processing mechanisms and unloading defective products;
The AA device further comprises a first stand; each of the two AA processing mechanisms comprises a first driving mechanism, a first jig platform mechanism, an image acquisition module, a second jig platform mechanism, a second driving mechanism, a swinging table clamping claw mechanism, a gluing mechanism and a second material bottom detection camera; two first driving mechanisms in the AA device are arranged in parallel, and a first bracket is arranged between the two first driving mechanisms; the first jig platform mechanism is used for loading a first material and driving the first material to be electrically connected with the image acquisition module, and the image acquisition module feeds back acquisition signals to the background so as to control the first driving mechanism to drive the first jig platform mechanism and the second driving mechanism to drive the swing table clamping claw mechanism to move; the second jig platform mechanism is used for loading a second material; the first jig platform mechanism, the second material bottom detection camera and the image acquisition module are arranged at the top of the first driving mechanism and driven by the first driving mechanism, and the second material bottom detection camera is used for detecting the direction and angle error of the second material; the swing table clamping claw mechanism is arranged on the first bracket through a second driving mechanism, and the second driving mechanism is used for driving the swing table clamping claw mechanism to clamp a second material so as to enable the second material to work with the first material AA; the gluing mechanism is arranged above the swing table clamping claw mechanism through a first bracket and is used for dispensing first materials and second materials;
the first feeding and discharging device is the same as the second feeding and discharging device, wherein the first feeding and discharging device comprises a material box mechanism, a third lifting driving mechanism, a push rod mechanism and a third jig platform mechanism; a plurality of horizontal first tray slots are arranged in the height direction of the material box mechanism and are used for placing trays; the third jig platform mechanism is arranged at one end of the material box mechanism, and the push rod mechanism is arranged parallel to the first material disc groove and is arranged at the other end of the material box mechanism; the push rod mechanism is used for pushing the material tray in the material box mechanism to the third jig platform mechanism; the third lifting driving mechanism is arranged at the bottom of the material box mechanism and is used for driving the material box mechanism to lift so that the push rod mechanism can push out material trays with different heights.
2. The fully automatic duplex position AA apparatus according to claim 1, wherein the AA apparatus further comprises two speckle gathering mechanisms, each speckle gathering mechanism being disposed above a AA processing mechanism; the speckle collecting mechanism comprises a Screen module, a first material top detecting camera, a first lifting driving mechanism and a first cover plate; the Screen modules of the two stations are embedded in the first cover plate, and the first lifting driving mechanism is used for driving the first cover plate to drive the Screen modules to lift; the first material top detection camera frame is arranged above the Screen module and used for collecting speckle patterns of the first material projected on the Screen module.
3. The fully automatic duplex AA apparatus according to claim 1, wherein the AA apparatus further comprises two Chart mechanisms, each Chart mechanism being disposed above a AA processing mechanism; the Chart mechanism comprises a Screen module, a second lifting driving mechanism, a backlight source module, an opening and closing driving mechanism, a second cover plate and a third cover plate; the Screen modules of the two stations are embedded in the second cover plate, and the backlight source module is arranged in the inner side of the third cover plate; the Screen module is used for placing a Chart map target for shooting and collecting a first material; the third cover plate covers the top of the second cover plate, one side of the third cover plate is connected with the top of the second cover plate through a hinge, and the other side of the third cover plate is driven to open and close through an opening and closing driving mechanism; the second lifting driving mechanism is used for driving the second cover plate and the third cover plate to lift.
4. A fully automatic duplex position AA apparatus according to claim 2 or claim 3, wherein the first jig platform mechanism comprises a first jig platform, a first Z-axis module, a second X-axis module, a second Z-axis module; the first jig platform is used for loading and positioning a first material, and the first Z-axis module is used for driving the first jig platform to lift; the second X-axis module and the second Z-axis module are used for driving the first jig platform to drive the first material to be electrically connected with the image acquisition module; the second jig platform mechanism comprises two second jig platform modules and a third Z-axis module; the two second jig platform modules are arranged in parallel, and the third Z-axis module is used for driving the two second jig platform modules to lift; the second jig platform module comprises a second jig platform, a fourth X-axis module and a fourth Y-axis module; the fourth X-axis module and the fourth Y-axis module are respectively used for adjusting the displacement of the second jig platform in the X-axis direction and the Y-axis direction.
5. A fully automatic double station AA apparatus according to claim 2 or claim 3, wherein the glue applicator comprises a glue dispensing module, a UV curing illuminator, a glue break detection camera; the dispensing module comprises a dispensing cylinder and a fifth Z-axis module; the fifth Z-axis module is arranged on the first bracket and used for driving the dispensing cylinder to lift so as to realize dispensing; the UV curing irradiator and the broken glue detection camera are fixedly arranged on the first bracket; the swing table clamping jaw mechanism comprises clamping jaws and a clamping jaw driving cylinder; the clamping jaw driving cylinder is used for driving the clamping jaw to clamp or loosen the second material; the second driving mechanism comprises a Tx axis module, a Ty axis module and a Tz axis module; the Tx axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Tx axis, the Ty axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Ty axis, and the Tz axis module is used for driving the swing table clamping jaw mechanism to do rotary motion around the Tz axis.
6. The full-automatic double-station AA apparatus according to claim 1, wherein the first loading and unloading device further comprises a connecting rod, a clamping mechanism and a first sliding module; the connecting rod is arranged in parallel with the push rod mechanism, and the connecting rod is guided in a sliding way through the first sliding module; one end of the connecting rod is detachably connected with the push rod mechanism, and the other end of the connecting rod is connected with the clamping mechanism; the clamping mechanism is used for clamping the material tray on the third jig platform mechanism with the push rod mechanism so as to send the material tray back to the interior of the material box mechanism; the clamping mechanism comprises a clamping driving cylinder, a clamping rod and a second sliding module; the clamping rod is vertically arranged with the connecting rod, and the clamping driving cylinder is used for driving the clamping rod to move relative to the connecting rod through the second sliding module so as to clamp or loosen the material tray with the push rod mechanism; the push rod mechanism comprises a push rod and a push rod driving module; the push rod is detachably connected with the connecting rod, and the push rod driving module is used for driving the connecting rod to move with the push rod.
7. The full-automatic double-station AA apparatus according to claim 1, wherein the first transfer device is identical to the second transfer device, and the first transfer device comprises a feeding mechanism, a discharging mechanism, a sixth X-axis mechanism, a seventh Y-axis mechanism, a seventh X-axis mechanism, and a downward-looking positioning camera, which are sequentially arranged from bottom to top; the sixth X-axis mechanism is used for driving a seventh Y-axis mechanism, and the seventh Y-axis mechanism is used for driving the seventh X-axis mechanism; the feeding mechanism, the discharging mechanism and the downward-looking positioning camera are driven by a seventh X-axis mechanism; the feeding mechanism is used for feeding materials to the AA processing mechanism, and the discharging mechanism is used for discharging finished products or defective products; the downward-looking positioning camera is used for detecting position signals of materials and feeding back the detection signals to the background so as to guide the feeding mechanism to move for taking materials.
8. The fully automatic double station AA apparatus of claim 7, wherein the loading mechanism is identical to the unloading mechanism, wherein the loading mechanism comprises a loading nozzle, an eighth Z-axis mechanism, and a U-axis mechanism; the feeding suction nozzle drives the lifting material taking and discharging device through an eighth Z-axis mechanism; the U-axis mechanism is used for driving the feeding suction nozzle to rotate so as to adjust the direction of the material.
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| CN109317354B (en) * | 2018-10-16 | 2024-05-07 | 珠海广浩捷科技股份有限公司 | Camera three-station automatic AA assembly machine and working method thereof |
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| CN112703723B (en) * | 2018-11-05 | 2022-10-21 | 宁波舜宇光电信息有限公司 | Camera module assembling method and assembling equipment |
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| CN112318112B (en) * | 2020-10-30 | 2022-02-15 | 苏州天准科技股份有限公司 | Camera multi-station AA assembling machine and assembling method |
| CN112206993A (en) * | 2020-10-30 | 2021-01-12 | 深圳中科精工科技有限公司 | Double-station 15-shaft AA equipment |
| CN113102170B (en) * | 2021-03-03 | 2022-04-15 | 深圳中科精工科技有限公司 | Ultra-wide-angle full-automatic AA equipment |
| CN115415137A (en) * | 2022-08-31 | 2022-12-02 | 广东省威汇智能科技有限公司 | Solidification mechanism and camera counterpoint equipment |
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