CN109933000A - It is automatic to receive panel control system, catcher and receive plate method - Google Patents
It is automatic to receive panel control system, catcher and receive plate method Download PDFInfo
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- CN109933000A CN109933000A CN201910239441.XA CN201910239441A CN109933000A CN 109933000 A CN109933000 A CN 109933000A CN 201910239441 A CN201910239441 A CN 201910239441A CN 109933000 A CN109933000 A CN 109933000A
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- robot
- feed tank
- body feed
- pcb board
- scanner
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Abstract
The present invention provides a kind of automatic receipts panel control system, catcher and receive plate method；Panel control system is wherein received automatically, includes PLC subsystem, MES subsystem and opc server and robot motion module；Automatic catcher includes the first robot, scanner, electric control cabinet and above-mentioned automatic receipts panel control system；PLC subsystem is located in scanner, and MES subsystem and opc server module are respectively positioned in electric control cabinet, and the robot motion module is located in the first robot.The present invention sets up opc server, and PLC subsystem configures the good data cell for reading write-in, complete OPC communication link, solve the problems, such as the data interaction of MES subsystem and opc server by being connected to corresponding network interface, both sides according to Siemens's Ethernet protocol.
Description
Technical field
The present invention relates to automatic fields, pcb board production field, and in particular, to a kind of to receive panel control system automatically, receive
Panel assembly and receipts plate method.
Background technique
Patent document CN206244060U discloses a kind of pcb board automatic plate collecting machine, including rack, sets on the left of the rack
There is the transport mechanism for conveying pcb board, the transport mechanism is equipped with motor, and the motor output end is located at transport mechanism bottom
Portion is connected with flywheel group, and the rack, which is located to be provided on the right side of live-roller output end, receives board group part, and the receipts board group part includes
The power output end of headstock and several driving wheels, the driving wheel and headstock connects, and transmission is equipped between the driving wheel
Chain, being arranged side by side on the driving chain has at least two groups plate clip chain adjustable in pitch, and the plate clip chain is equipped with several use
In the plate folder of contraposition clamping pcb board.The speed for receiving plate is adjusted by transfer assembly according to the patent document readme, utilizes driving chain
On be plate clip chain clamping pcb board, pcb board is by the rotation of driving chain overturning by pcb board in the output for moving to driving chain
End is stacked, and completes to receive plate；The unloader structure is simple, and manufacturing cost is low, and work efficiency is high.
But the automatic plate collecting machine that above patent document provides, when carrying out pcb board stacking, design is not corresponding buffers
With guiding mechanism, thus may be by impact failure when pcb board can be made to fall, or can not neatly be stacked；Furthermore
Pcb board stacking process can not be monitored, such as when the type of pcb board is more, be unable to judge accurately and whether receive plate operation
It goes wrong.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of automatic receipts panel control systems, catcher
And receive plate method.
The automatic receipts panel control system provided according to the present invention includes PLC subsystem, MES subsystem and opc server
And robot motion module；
PLC subsystem: barcode scanning result information is obtained；
MES subsystem: according to barcode scanning result information, barcode scanning feedback signal is generated；
Opc server module: it according to barcode scanning feedback signal, generates and receives plate control instruction；
Robot motion module: it according to plate control instruction is received, generates and receives plate action command.
Preferably, the PLC subsystem includes pcb board barcode scanning unit and hopper barcode scanning unit, and PLC subsystem is using external
Physics I O trigger；
It is communicated between PLC subsystem and opc server module using Siemens's Ethernet protocol；
It is communicated between opc server module and robot motion module using Profinet agreement.
The present invention also provides a kind of automatic catcher, comprising the first robot, scanner, electric control cabinet and on
The automatic receipts panel control system stated；
PLC subsystem is located in scanner, and MES subsystem and opc server module are respectively positioned in electric control cabinet, described
Robot motion module is located in the first robot.
Preferably, it also circulates mechanism comprising body feed tank, the body feed tank mechanism that circulates includes frame structure, transport structure and true
Suction disc mechanism；The scanner includes body feed tank scanner；
Following circulation position is formed in frame structure:
Empty hopper position: empty body feed tank is stored；
Suction cover position: vacuum chuck mechanism draws the case lid of body feed tank；
First scan position: body feed tank scanner is scanned body feed tank；
Loading board position: pcb board is encased in body feed tank by the first robot；
Full turnover box position: the body feed tank of stock of filled pcb board；
Transport structure conveys body feed tank between multiple circulation positions.
Preferably, the transport structure includes that body feed tank vertical-lift mould group and body feed tank move horizontally mould group；
Body feed tank handgrip mechanism is equipped on the transport structure.
Preferably, box for material circulation circulation mechanism also includes tortoise vehicle, and lock tortoise vehicle gas is provided in the frame structure
Cylinder mechanism；
Lock tortoise vehicle cylinder mechanism can lock the position of tortoise vehicle, and make the empty object being located on tortoise vehicle
Hopper is on empty hopper position.
It preferably, also include the second robot, second robot includes that receipts plate positioning fixture and receipts board clamp are horizontal
Mobile mould group；
Receive the feeding side that pcb board can be placed on the first robot by plate positioning fixture.
It preferably, include also dust-removing mechanism, scanner also includes pcb board scanner, and pcb board scanner, which is mounted on, to be blown
On wind dedusting mechanism；
Pcb board can be placed in dust-removing mechanism by the first robot；
First robot includes UR robot, and the second robot includes An Chuan robot.
Preferably, grating and touch screen are additionally provided in the frame structure.
The present invention also provides a kind of automatic receipts plate methods comprising the steps of:
Step S1: after empty body feed tank is transported to empty hopper position by tortoise vehicle, tortoise vehicle cylinder mechanism is locked by tortoise vehicle
It is connected and fixed；
Step S2: body feed tank is delivered to suction cover position from empty hopper position by transport structure, and vacuum chuck mechanism is by material
Case lid above case is drawn；
Step S3: body feed tank is transported to the first scan position from suction cover position by transport structure, and body feed tank scanner is to object
Hopper is scanned, and opc server module judges whether to scan successfully；If so, continuing to execute step S4；If it is not, then stopping
Receive plate；
Pcb board is delivered to the feeding side of the first robot by the S4: the second robot of step；
The S5: the first robot of step takes out pcb board, and pcb board is moved at dust-removing mechanism and is dusted movement；
Pcb board is moved at pcb board scanner by the S6: the first robot of step, and pcb board scanner sweeps pcb board
It retouches, opc server module judges whether to scan successfully；If so, S4 is returned to step, until piling pcb board in body feed tank
Until；If it is not, then stopping to receive plate.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention sets up opc server, PLC subsystem by being connected to corresponding network interface, both sides according to Siemens with
Too fidonetFido configures the good data cell for reading write-in, completes OPC communication link, solve MES subsystem and opc server
Data interaction problem.
2, the Profinet agreement supported extensively by using UR robot completes Profinet equipment network, entire logical
The efficient and accessible communication for interrogating link, solves the problems, such as the data interaction of UR robot Yu device systems end.
3, by designing for different pcb board types and receiving the localization tool of plate positioning fixture, to realize high success rate
It places, solves the problems, such as the placement of An Chuan robot pcb board.
4, automatic catcher provided by the invention saves floor occupying area, and space utilization rate is big.
5, improve the management at scene: automatic catcher carries out accurately information to product information using computer
Management, reduce storage cargo in it is possible that mistake, improve work efficiency；Meanwhile automatic catcher is producing
When product are cased, realization is unattended, and handling work is safe and reliable, reduces the breakage rate of product, improves product quality.
6, automatic catcher provided by the invention can form advanced production chain, improve entire SMT producing line nobody
The paces of change；Production capacity is also greatly improved.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is automatic catcher top view；
Fig. 2 is automatic catcher main view；
Fig. 3 is automatic catcher left view；
Fig. 4 is automatic receipts plate method flow diagram.
It is shown in figure:
Receive 1 empty hopper position 10 of plate positioning fixture
It receives board clamp and moves horizontally 2 body feed tank vertical-lift mould group 11 of mould group
3 body feed tank of UR robot moves horizontally mould group 12
4 tortoise vehicle 13 of pcb board scanner
5 vacuum chuck mechanism 14, dust-removing mechanism
Lock 6 touch screen 15 of tortoise vehicle cylinder mechanism
Body feed tank scanner 7 expires turnover box position 16
8 grating 17 of electric control cabinet
Body feed tank handgrip mechanism 9
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
The present invention provides a kind of automatic receipts panel control systems, include PLC subsystem, MES subsystem and opc server
And robot motion module；PLC subsystem: barcode scanning result information is obtained；MES subsystem: it according to barcode scanning result information, generates
Barcode scanning feedback signal；Opc server module: it according to barcode scanning feedback signal, generates and receives plate control instruction；Robot motion module:
According to plate control instruction is received, generates and receive plate action command.
In practical application, the present invention is by using local server is increased, i.e. installation KepServer service on the server
Device software, sets up opc server, and system PLC is by being connected to the correspondence network interface of opc server, and both sides are according to Siemens's ether
FidonetFido configures the good data cell for reading write-in, completes OPC communication link, solves MES subsystem and opc server
Data interaction problem.
The present invention provides a kind of automatic catcher, comprising the first robot, scanner, electric control cabinet 8 and from
It is dynamic to receive panel control system.Preferably, PLC subsystem is located in scanner, and MES subsystem and opc server module are respectively positioned on electricity
In device control cabinet 8, the robot motion module is located in the first robot.Preferably, first robot includes UR machine
Device people 3.The automatic Profinet agreement receiving panel control system and supporting extensively by using UR robot 3, completes Profinet and sets
Standby networking, the efficient and accessible communication of entire communication link.Complete the data for solving UR robot Yu opc server module
Interaction problems.
As shown in Figure 1 to Figure 3, automatic catcher also includes body feed tank circulation mechanism, and body feed tank circulation mechanism includes frame
Frame structure, transport structure and vacuum chuck mechanism 14；The scanner includes body feed tank scanner 7；It is formed in frame structure
There is following circulation position: empty hopper position 10: storing empty body feed tank；Suction cover position: vacuum chuck mechanism 14 is to body feed tank
Case lid is drawn；First scan position: body feed tank scanner 7 is scanned body feed tank；Loading board position: the first robot will
Pcb board is encased in body feed tank；Full turnover box position 16: the body feed tank of stock of filled pcb board.Transport structure is by body feed tank multiple
Circulation is conveyed between position.It is worth noting that, above-mentioned circulation position is body feed tank when carrying out corresponding operating to body feed tank
The definition of present position；Position of the two different circulation positions in real space may be consistent；For example, if right
No longer movement directly receives pcb board on the position after body feed tank is scanned, then the sky of the first scan position and loading board position
Between position be the same；In addition, same circulation position can correspond to one or more spatial positions in frame structure.
In embodiment, the transport structure includes that body feed tank vertical-lift mould group 11 and body feed tank move horizontally mould group 12；
Body feed tank handgrip mechanism 9 is equipped on the transport structure.In addition, box for material circulation circulation mechanism also includes tortoise vehicle 13, institute
It states and is provided with lock tortoise vehicle cylinder mechanism 6 in frame structure；Lock tortoise vehicle cylinder mechanism 6 can carry out the position of tortoise vehicle 13
Locking, and the empty body feed tank being located on tortoise vehicle 13 is on empty hopper position 10.
Automatic catcher also includes the second robot, and second robot includes to receive plate positioning fixture 1 and receive plate to press from both sides
Tool moves horizontally mould group 2；Receive the feeding side that pcb board can be placed on the first robot by plate positioning fixture 1.Preferably, described
Second robot includes An Chuan robot.Preferably, it is provided with for different pcb board types and receives the positioning of plate positioning fixture 1
Jig solves the problems, such as the placement of An Chuan robot pcb board to realize that high success rate is placed.It is removed in addition, being additionally provided with blowing
Dirt mechanism 5, scanner also include pcb board scanner 4；Pcb board scanner 4 is mounted in dust-removing mechanism 5；First robot
Pcb board can be placed in dust-removing mechanism 5.Preferably, grating 17 and touch screen are additionally provided in the frame structure
15。
The present invention also provides a kind of automatic receipts plate methods, as shown in Figure 4 comprising the steps of: step S1: tortoise vehicle 13
After empty body feed tank is transported to empty hopper position 10, tortoise vehicle 13 is connected and fixed by lock tortoise vehicle cylinder mechanism 6；Step S2:
Body feed tank is delivered to suction cover position from empty hopper position 10 by transport structure, and vacuum chuck mechanism 14 is by the case lid above body feed tank
Absorption is fallen；Step S3: body feed tank is transported to the first scan position from suction cover position by transport structure, and body feed tank scanner 7 is to object
Hopper is scanned, and opc server module judges whether to scan successfully；If so, continuing to execute step S4；If it is not, then stopping
Receive plate；Pcb board is delivered to the feeding side of the first robot by the S4: the second robot of step；The S5: the first robot of step takes out
Pcb board is moved at dust-removing mechanism 5 and is dusted movement by pcb board；Pcb board is moved to by the S6: the first robot of step
At pcb board scanner 4, pcb board scanner 4 is scanned pcb board, and opc server module judges whether to scan successfully；If
It is then to return to step S4, until piling pcb board in body feed tank；If it is not, then stopping to receive plate.
Preferred embodiment:
Electric control cabinet 8 is opened, empty van on tortoise vehicle 13, and tortoise vehicle 13 is shifted on empty hopper position 10,
And by operation touch-screen 15, makes to receive panel control system initialization automatically, after automatic receipts panel control system is normally-open, lock tortoise
Vehicle cylinder mechanism 6 starts, and tortoise vehicle 13 is connected and fixed with equipment.It moves horizontally mould group 12 and moves through body feed tank handgrip mechanism
9 crawls are located at the empty body feed tank on empty hopper position 10, and vertical-lift mould group 11 promotes body feed tank to safe altitude, then leads to
It crosses and moves horizontally mould group 12 body feed tank is moved to the lower section of vacuum chuck mechanism 14, wait vacuum chucks mechanism 14 above empty van
After case lid is drawn, vertical-lift mould group 11 is moved to the position of body feed tank scanner 7.
It waits body feed tank barcode scanning unit that barcode scanning result information is sent to MES subsystem, and waits the barcode scanning of MES subsystem
Feedback signal is given to opc server module, and the confirmation of opc server module scans successfully, waits UR robot 3 to put plate, if swept
Retouch unsuccessful, automatic catcher will stop following movement.After scanning successfully, receives plate positioning fixture 1 and product is waited to be put into
Above, to after there is pcb board to be put into receipts plate positioning fixture 1, opc server module is learnt by signal communication receives plate positioning fixture 1
On have a product, receive board clamp and move horizontally mould group 2 from equal plates position, be moved to the position that UR robot 3 takes plate.When pcb board reaches
After UR robot 3 takes the position of plate, opc server module is enabled UR robot 3 that pcb board is taken out, is moved to by signal communication
At the position of dust-removing mechanism 5, pcb board is moved to pcb board after the completion of waiting dedustings to act by the dedusting movement for carrying out pcb board
At scanner 4, wait pcb board scanner 4 that scanning information is sent to MES subsystem, and wait the feedback signal of MES subsystem
It is given to opc server module, the confirmation of opc server module scans successfully, and the pcb board of crawl is directly put into object by UR robot 3
In the corresponding empty van in 7 position of hopper scanner, such movement is recycled, until the pcb board in body feed tank is piled.
Two axis truss manipulators (receive board clamp and move horizontally mould group 2) calculate all warehouse compartment points according to teaching and (include
Feeding position or blowing position), corresponding pick-and-place is executed according to the product box number of current warehouse compartment and is acted, waits UR robot 3 that will produce
Product are placed into body feed tank.After body feed tank is piled, release UR robot 3 allows to put partitioned signal, and UR robot 3 no longer carries out
The grasping movement of pcb board.The communication of opc server module and UR robot uses Industrial Ethernet Profinet agreement.Material
Case, which moves horizontally, carries rotary cylinder unit above mould group 12, the pcb board for placing An Chuan robot is transported to UR machine
3 feeding side of people.Opc server module is interacted with the communication of An Chuan robot using physics IO.Pcb board barcode scanning unit and body feed tank
Barcode scanning unit is all made of external physical I O trigger mode, and PLC subsystem is triggered, and MES subsystem responsible, which is read, monitors barcode scanning
Result information, by barcode scanning feedback signal real-time delivery to opc server, client of the PLC subsystem as opc server module
End, reads current barcode scanning result information in real time, thereby executing the work of next process.Two axis truss Manipulator Transportation materials
Case in place after, PLC subsystem can trigger current body feed tank barcode scanning unit, and MES subsystem is waited to rewrite in opc server module
For body feed tank barcode scanning as a result, when barcode scanning result is barcode scanning success, can just send out allows the signals such as UR robot placement.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of automatic receive panel control system, which is characterized in that comprising PLC subsystem, MES subsystem and opc server with
And robot motion module；
PLC subsystem: barcode scanning result information is obtained；
MES subsystem: according to barcode scanning result information, barcode scanning feedback signal is generated；
Opc server module: it according to barcode scanning feedback signal, generates and receives plate control instruction；
Robot motion module: it according to plate control instruction is received, generates and receives plate action command.
2. automatic receipts panel control system according to claim 1, which is characterized in that the PLC subsystem is swept comprising pcb board
Code unit and hopper barcode scanning unit, PLC subsystem use external physical I O trigger；
It is communicated between PLC subsystem and opc server module using Siemens's Ethernet protocol；
It is communicated between opc server module and robot motion module using Profinet agreement.
3. a kind of automatic catcher, which is characterized in that include the first robot, scanner, electric control cabinet (8) and right
It is required that automatic receipts panel control system described in 1 or 2；
PLC subsystem is located in scanner, and MES subsystem and opc server module are respectively positioned in electric control cabinet (8), described
Robot motion module is located in the first robot.
4. automatic catcher according to claim 3, which is characterized in that also comprising body feed tank circulation mechanism, body feed tank
The mechanism that circulates includes frame structure, transport structure and vacuum chuck mechanism (14)；The scanner includes body feed tank scanner
(7)；
Following circulation position is formed in frame structure:
Empty hopper position (10): empty body feed tank is stored；
Suction cover position: vacuum chuck mechanism (14) draws the case lid of body feed tank；
First scan position: body feed tank scanner (7) is scanned body feed tank；
Loading board position: pcb board is encased in body feed tank by the first robot；
Full turnover box position (16): the body feed tank of stock of filled pcb board；
Transport structure conveys body feed tank between multiple circulation positions.
5. automatic catcher according to claim 4, which is characterized in that the transport structure includes that body feed tank vertically mentions
Rising mould group (11) and body feed tank move horizontally mould group (12)；
Body feed tank handgrip mechanism (9) are equipped on the transport structure.
6. automatic catcher according to claim 4, which is characterized in that box for material circulation circulation mechanism also includes tortoise
Vehicle (13) is provided with lock tortoise vehicle cylinder mechanism (6) in the frame structure；
Lock tortoise vehicle cylinder mechanism (6) can lock the position of tortoise vehicle (13), and to be located on tortoise vehicle (13)
Empty body feed tank be on empty hopper position (10).
7. automatic catcher according to claim 4, which is characterized in that also include the second robot, second machine
Device people includes to receive plate positioning fixture (1) and receive board clamp to move horizontally mould group (2)；
Receive the feeding side that pcb board can be placed on the first robot by plate positioning fixture (1).
8. automatic catcher according to claim 7, which is characterized in that also include dust-removing mechanism (5), scanner
It also include pcb board scanner (4) that pcb board scanner (4) is mounted on dust-removing mechanism (5)；
Pcb board can be placed on dust-removing mechanism (5) by the first robot；
First robot includes UR robot (3), and the second robot includes An Chuan robot.
9. automatic catcher according to claim 4, which is characterized in that be additionally provided with grating in the frame structure
(17) with touch screen (15).
10. a kind of automatic receipts plate method, which is characterized in that comprise the steps of:
Step S1: after empty body feed tank is transported to empty hopper position (10) by tortoise vehicle (13), lock tortoise vehicle cylinder mechanism (6) will
Tortoise vehicle (13) is connected and fixed；
Step S2: body feed tank is delivered to suction cover position from empty hopper position (10) by transport structure, and vacuum chuck mechanism (14) will
Case lid above body feed tank is drawn；
Step S3: body feed tank is transported to the first scan position from suction cover position by transport structure, and body feed tank scanner (7) is to material
Case is scanned, and opc server module judges whether to scan successfully；If so, continuing to execute step S4；If it is not, then stopping to receive
Plate；
Pcb board is delivered to the feeding side of the first robot by the S4: the second robot of step；
The S5: the first robot of step takes out pcb board, and pcb board is moved at dust-removing mechanism (5) and is dusted movement；
Pcb board is moved at pcb board scanner (4) by the S6: the first robot of step, and pcb board scanner (4) carries out pcb board
Scanning, opc server module judge whether to scan successfully；If so, S4 is returned to step, until piling PCB in body feed tank
Until plate；If it is not, then stopping to receive plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239441.XA CN109933000B (en) | 2019-03-27 | 2019-03-27 | Automatic board collecting control system, board collecting device and board collecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239441.XA CN109933000B (en) | 2019-03-27 | 2019-03-27 | Automatic board collecting control system, board collecting device and board collecting method |
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| Publication Number | Publication Date |
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| CN109933000A true CN109933000A (en) | 2019-06-25 |
| CN109933000B CN109933000B (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Publication date |
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| CN109933000B (en) | 2020-11-10 |
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