CN109229692B - Attaching method with multi-suction-head structure - Google Patents
Attaching method with multi-suction-head structure Download PDFInfo
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- CN109229692B CN109229692B CN201810774903.3A CN201810774903A CN109229692B CN 109229692 B CN109229692 B CN 109229692B CN 201810774903 A CN201810774903 A CN 201810774903A CN 109229692 B CN109229692 B CN 109229692B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
Abstract
The invention belongs to the technical field of a bonding method, and particularly relates to a bonding method with a multi-suction-head structure, which utilizes a device with a multi-suction-head (1), an upper phase machine (2) and a lower phase machine (3) structure to quickly position a bonded workpiece (4) and the positions of a plurality of suction heads (1), and accurately bond a label (5) on the suction head (1) to the bonded workpiece (4). The invention adopts a double-camera matching design and a more optimized positioning and attaching method, can effectively avoid errors caused by large-angle rotation, simultaneously reduces errors caused by irregular installation, and is beneficial to improving the reliability and the comprehensiveness, thereby improving the production efficiency.
Description
Technical Field
The invention belongs to the technical field of a fitting method, and particularly relates to a fitting method with a multi-suction-head structure.
Background
Nowadays, machine vision is to use a machine to replace human eyes for measurement and judgment. The machine vision system converts a shot target into an image signal through a machine vision product, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. In recent years, with the rapid development of the microelectronic industry, the requirements of precision assembly, efficiency and accuracy of various industries are higher and higher, the bonding method of a single suction head and a double suction head cannot be met in the aspect of efficiency, and the bonding method of a plurality of suction heads becomes a trend.
Further, the chinese patent document discloses a tip positioning device (publication No. CN 204843615U) including: locating plate, locating piece and retaining member, the locating plate has two at least constant head tanks, the locating piece has the locating hole that supplies suction head male, the side of locating piece is provided with at least one first locking hole, first locking hole with the locating hole intercommunication, the locating piece is installed in the constant head tank, the retaining member inserts first locking hole. The above solution allows to increase the number of suction heads to a certain extent, but it has at least the following drawbacks: firstly, the positioning step is more complicated, reduces work efficiency, and secondly, the degree of automation is lower, and the accuracy is not high.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the fitting method with the multi-suction-head structure is provided, the double-camera matched design and the more optimized positioning fitting method are adopted, the error caused by large-angle rotation can be effectively avoided, meanwhile, the error caused by uneven installation is reduced, the reliability and the comprehensiveness are improved, and the production efficiency is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fitting method with a multi-suction head structure comprises the following steps:
1) preparing a device with a structure of a plurality of suction heads, an upper camera and a lower camera, wherein a pasted workpiece is arranged between the upper camera and the suction heads, the lower camera is arranged at the bottom of the suction heads, each suction head sucks a label, and the upper camera positions the position of the pasted workpiece to obtain a pre-pasting position T (x0, y0) of the pasted workpiece;
2) starting modeling, and initially positioning the plurality of suction heads by a lower camera to obtain initial positions A (x1, y1) of the plurality of suction heads;
3) acquiring a mapping point position B (x2, y2) from an initial position A (x1, y1) to the edge of the pasted workpiece;
4) rotating the sucker to enable the initial position A (x1, y1) to be at a pre-fitting position T (x0, y0), recording a corresponding end position C (x3, y3), and finishing modeling;
5) the lower camera obtains the actual position D (x4, y4) of the suction head through the image of each suction head;
6) according to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y 1); the actual position D (x4, y4), the initial position A (x1, y1) and the mapping point position B (x2, y2) form an angle F; an end position C (x3, y3) for calculating a final position E (x5, y5) of each sucker actual position D (x4, y4) rotating to a pre-bonding position T (x0, y 0);
7) according to the final position E (x5, y5), the label on the suction head is stuck to the surface of the stuck workpiece;
calculating the distance between the actual position D (x4, y4) and the initial position A (x1, y1) by combining the modeled position relation through a two-point formula
The same can be obtained
Constructing triangular ABD from AB, BD and AD, and determining the three-point included angle formula AD2＝BD2+AB2BD ABcosF, calculating an angle F formed by the actual position D (x4, y4), the initial position a (x1, y1) and the mapping point position B (x2, y 2); according to the formula
The final position E (x5, y5) where each tip actual position D (x4, y4) is rotated to the pre-bonding position T (x0, y0) is calculated.
In the attaching method, data obtained by an upper camera in the step 1) is two-dimensional, so that the processing and calculation speed is improved for more convenient calculation, the mapping point position obtained in the step 3) is beneficial to more accurately attaching a label to an attached workpiece, the path relation from a suction head to the attaching position is determined in the step 4) through modeling, the actual position of the suction head is changed in real time in the step 5), the actual position of the suction head is obtained by a lower camera through photographing, the suction head actually reaches the final position in the step 6), the suction head rises and is attached to the surface of the attached workpiece, and then the suction head returns to the original position to continue rotating.
As an improvement of the bonding method with a multi-tip structure according to the present invention, the initial position a (x1, y1), the mapping point position B (x2, y2), the ending position C (x3, y3), and the actual position D (x4, y4) are directly obtained by the lower camera. The data obtained by the lower camera is two-dimensional, and has the advantages of small data volume, high processing speed, numerous analysis methods, easiness in understanding and the like.
As an improvement of the attaching method with the multi-suction-head structure, the upper camera and the lower camera are both SCI smart cameras. The SCI intelligent camera is a highly integrated small machine vision system, integrates image acquisition, image processing, communication function and the like, and provides a complete machine vision solution which has multiple functions, modularization, high reliability and easy realization.
As an improvement of the attaching method with the multi-suction-head structure, a plurality of suction heads are distributed in a circular shape, and rotate around a rotating shaft. The circular distribution is beneficial to installing more suction heads, so that the number of the suction heads is increased, more attached workpieces are attached, and the yield is improved.
As an improvement of the attaching method with the multi-suction-head structure, a plurality of suction heads are distributed in a square shape and rotate around a rotating shaft. The square distribution helps to realize that a plurality of attached workpieces are attached at one time, and the working efficiency is improved.
As an improvement of the attaching method with the multi-suction-head structure, a plurality of suction heads are distributed in an oval shape, and rotate around a rotating shaft. The elliptical distribution helps to reduce the total area of the suction head and improve the space utilization rate.
As an improvement of the attaching method with the multi-suction-head structure, the upper camera positions at least two attached workpieces at a time. And at least two attached workpieces are positioned at the same time, so that the working speed is accelerated, the time interval between the labels attached to the attached workpieces is reduced, and the production efficiency is improved.
As an improvement of the attaching method with the multi-sucker structure, the upper camera and the lower camera are both irradiated by the light source device in an auxiliary mode. The light source device enables target information and background information in the image to be optimally separated, the difficulty of image processing algorithm segmentation and identification is greatly reduced, and meanwhile, the positioning and measuring accuracy of the system is improved, and the reliability and the comprehensive performance of the system are improved.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
wherein: 1-a suction head; 2-upper camera; 3-lower camera; 4-a workpiece to be pasted; 5-a label; 6-a rotating shaft; t-pre-engagement position; a-initial position; b-mapping point position; c-a termination position; d-the actual position; e-final position.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", horizontal ", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail below with reference to the accompanying drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1-2, a bonding method with a multi-suction head structure includes the following steps:
1) preparing a device with a structure comprising a plurality of suction heads 1, an upper camera 2 and a lower camera 3, arranging a pasted workpiece 4 between the upper camera 2 and the suction heads 1, arranging the lower camera 3 at the bottom of the suction heads 1, respectively sucking a label 5 by each suction head 1, and positioning the position of the pasted workpiece 4 by the upper camera 2 to obtain a pre-pasting position T (x0, y0) of the pasted workpiece 4;
2) starting modeling, and initially positioning the plurality of suction heads 1 by the lower camera 3 to obtain initial positions A (x1, y1) of the plurality of suction heads 1;
3) acquiring a mapping point position B (x2, y2) from an initial position a (x1, y1) to the edge of the pasted workpiece 4;
4) rotating the sucker 1 to enable the initial position A (x1, y1) to be at the pre-fitting position T (x0, y0), recording the corresponding end position C (x3, y3), and finishing modeling;
5) the lower camera 3 obtains the actual position D (x4, y4) of the suction head 1 through the image of each suction head 1;
6) according to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y 1); the actual position D (x4, y4), the initial position a (x1, y1) and the mapping point position B (x2, y2) form an angle F; an end position C (x3, y3) for calculating a final position E (x5, y5) of each suction head 1, wherein the actual position D (x4, y4) rotates to a pre-bonding position T (x0, y 0);
7) according to the final position E (x5, y5), the label 5 on the suction head 1 is stuck to the surface of the pasted workpiece 4;
the distances between the actual positions Dx4 and y4 and the initial position A (x1 and y1) are calculated by combining the modeled position relation through a two-point formula
The same can be obtained
Constructing triangular ABD from AB, BD and AD, and determining the three-point included angle formula AD2＝BD2+AB2-2 BD ABcosF, calculating the angle F between the actual position D (x4, y4), the initial position a (x1, y1) and the mapping point position B (x2, y 2); according to the formula
The final position E (x5, y5) at which the actual position D (x4, y4) of each tip 1 is rotated to the pre-bonding position T (x0, y0) is calculated.
In the above steps, the initial position a (x1, y1), the mapping point position B (x2, y2), the ending position C (x3, y3) and the actual position D (x4, y4) are all directly obtained by the lower camera 3, the upper camera 2 and the lower camera 3 are both SCI smart cameras, the plurality of suction heads 1 are distributed in a circle, the plurality of suction heads 1 rotate around the rotating shaft 6, at least two attached workpieces 4 are positioned by the upper camera 2 each time, and the upper camera 2 and the lower camera 3 are both irradiated by the light source device in an auxiliary manner. The data obtained by the lower camera 3 is two-dimensional, and has the advantages of small data volume, high processing speed, numerous analysis methods, easy understanding and the like, the SCI intelligent camera is a highly integrated small machine vision system, integrates image acquisition, image processing, communication functions and the like, provides a complete machine vision solution with multifunction, modularization, high reliability and easy realization, and the light source device enables target information and background information in an image to be optimally separated, greatly reduces the difficulty of image processing algorithm segmentation and identification, and simultaneously improves the positioning and measuring precision of the system, and the reliability and the comprehensive performance of the system.
It should also be noted that: in the attaching method, an upper camera 2 positions an attached workpiece 4, a lower camera 3 positions a suction head 1, data obtained by the upper camera 2 in step 1) are two-dimensional, in order to achieve more convenient calculation and improve the speed of processing calculation, step 3) obtaining a mapping point position B (x2, y2) is beneficial to more accurately attaching a label 5 to the attached workpiece 4, step 4) determining the path relation from the suction head 1 to a pre-attaching position T (x0, y0) through modeling, step 5) real-time change of an actual position D (x4, y4) of the suction head 1, step 6) obtaining the actual position D (x4, y4) of the suction head 1 through photographing, step 6) enabling the suction head 1 to reach a final position E (x5, y5), the suction head 1 rises and is attached to the surface of the attached workpiece 4, then returns to the original position, and continues to rotate.
Example 2
The difference from example 1 is: the plurality of suction nozzles 1 of the present embodiment are distributed in a square shape, and the plurality of suction nozzles 1 are rotated about the rotation axis 6. The square distribution helps to realize that a plurality of attached workpieces 4 are attached at one time, and the working efficiency is improved.
The other structures are the same as those of embodiment 1, and are not described again here.
Example 3
The difference from example 1 is: the plurality of nozzles 1 of the present embodiment are distributed in an elliptical shape, and the plurality of nozzles 1 rotate about the rotation axis 6. The elliptical distribution helps to reduce the total area of the tip 1 and improve space utilization.
The other structures are the same as those of embodiment 1, and are not described again here.
Variations and modifications to the above-described embodiments may also occur to those skilled in the art, which fall within the scope of the invention as disclosed and taught herein. Therefore, the present invention is not limited to the above-mentioned embodiments, and any obvious improvement, replacement or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (8)
1. A fitting method with a multi-suction head structure is characterized by comprising the following steps:
1) preparing a device with a structure of a plurality of suction heads (1), an upper camera (2) and a lower camera (3), arranging a pasted workpiece (4) between the upper camera (2) and the suction heads (1), arranging the lower camera (3) at the bottom of the suction heads (1), respectively sucking a label (5) by each suction head (1), and positioning the position of the pasted workpiece (4) by the upper camera (2) to obtain a pre-pasting position T (x0, y0) of the pasted workpiece (4);
2) starting modeling, and initially positioning the plurality of suction heads (1) by the lower camera (3) to obtain initial positions A (x1, y1) of the plurality of suction heads (1);
3) acquiring a mapping point position B (x2, y2) from an initial position A (x1, y1) to the edge of the pasted workpiece (4);
4) rotating the sucker (1) to enable the initial position A (x1, y1) to be at the pre-fitting position T (x0, y0), recording the corresponding end position C (x3, y3), and finishing modeling;
5) the lower camera (3) obtains the actual position D (x4, y4) of the suction head (1) through the image of each suction head (1);
6) according to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y 1); the actual position D (x4, y4), the initial position a (x1, y1) and the mapping point position B (x2, y2) form an angle F; an end position C (x3, y3) for calculating a final position E (x5, y5) of each suction head (1) when the actual position D (x4, y4) rotates to a pre-bonding position T (x0, y 0);
7) according to the final position E (x5, y5), the label (5) on the suction head (1) is stuck to the surface of the stuck workpiece (4);
calculating the distance between the actual position D (x4, y4) and the initial position A (x1, y1) by combining the modeled position relation through a two-point formula
The same can be obtained
Constructing triangle ABD from AB, BD and AD, and processing by three-point included angle formula (AD)2＝(BD)2+(AB)2-2 × BD (AB) cos (F) calculating an angle F between the actual position D (x4, y4), the initial position a (x1, y1) and the mapping point position B (x2, y 2); according to the formula
Calculate the actual value of each suction head (1)The target position D (x4, y4) is rotated to the final position E (x5, y5) of the pre-bonding position T (x0, y 0).
2. A bonding method having a multi-tip structure according to claim 1, wherein: the initial position a (x1, y1), the mapping point position B (x2, y2), the ending position C (x3, y3), and the actual position D (x4, y4) are all directly acquired by the lower camera (3).
3. A bonding method having a multi-tip structure according to claim 1, wherein: the upper camera (2) and the lower camera (3) are both SCI smart cameras.
4. A bonding method having a multi-tip structure according to claim 1, wherein: the plurality of suction heads (1) are distributed in a circular shape, and the plurality of suction heads (1) rotate around a rotating shaft (6).
5. A bonding method having a multi-tip structure according to claim 1, wherein: the plurality of suction heads (1) are distributed in a square shape, and the plurality of suction heads (1) rotate around a rotating shaft (6).
6. A bonding method having a multi-tip structure according to claim 1, wherein: the plurality of suction heads (1) are distributed in an oval shape, and the plurality of suction heads (1) rotate around a rotating shaft (6).
7. A bonding method having a multi-tip structure according to claim 1, wherein: the upper camera (2) positions at least two attached workpieces (4) at a time.
8. A bonding method having a multi-tip structure according to claim 1, wherein: the upper camera (2) and the lower camera (3) are both irradiated by the aid of a light source device.
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