CN112938490B - Suction nozzle spacing adjusting method and system - Google Patents
Suction nozzle spacing adjusting method and system Download PDFInfo
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- CN112938490B CN112938490B CN202110286604.7A CN202110286604A CN112938490B CN 112938490 B CN112938490 B CN 112938490B CN 202110286604 A CN202110286604 A CN 202110286604A CN 112938490 B CN112938490 B CN 112938490B
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- suction nozzle
- suction
- nozzles
- suction nozzles
- material taking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
- B65G2249/045—Details of suction cups suction cups
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Abstract
The invention discloses a suction nozzle spacing adjusting method, which comprises the following steps: acquiring the information of the distance between the material taking and placing positions on the tray and the information of the number of the suction nozzles on the suction nozzle row; acquiring suction nozzle position information on a suction nozzle row; judging whether the suction nozzle spacing information is matched with the material taking and placing position spacing information; if so, taking and placing the materials; if not, the positions of the suction nozzles are adjusted through the pusher dog, so that the spacing between the suction nozzles is matched with the spacing between the material taking and placing positions. The invention also discloses a suction nozzle spacing adjustment system, which comprises: the device comprises a horizontal driving device, an interval detection sensor, a lifting driving device, a telescopic position detection sensor, a position processing unit, a pusher dog and pusher dog selection unit and a controller, wherein when the intervals of the suction nozzles are not matched with the intervals of the material taking and placing positions, the positions of the suction nozzles are adjusted. The suction nozzle spacing adjusting method and the suction nozzle spacing adjusting system can meet the requirement of products arranged at equal spacing and also can meet the requirement of products arranged at unequal spacing, so the suction nozzle spacing adjusting method and the suction nozzle spacing adjusting system have better applicability.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a suction nozzle distance adjusting method and system.
Background
The chip needs to carry out multiple detection before the encapsulation, for example pin detects, outward appearance inspection, AOI detection etc. and before detecting, the chip is usually placed in the tray, in order to avoid getting the fish tail chip when material, mainly adopts the suction nozzle to absorb the chip at present.
In the prior art, the material is taken mainly by the following method:
1. one product is taken at a time through a single suction nozzle, but the mode has low working efficiency;
2. the distances among the suction nozzles are adjusted at equal intervals, so that the tray is not suitable for irregularly arranged trays, and the flexibility is poor;
3. manual positioning is carried out manually according to the column width of the tray, but the mode is time-consuming and labor-consuming, and the adjustment error is large, so that the material taking of the product is influenced;
4. the current position of the suction nozzle is memorized through feedback of a servo motor encoder, and after the equipment is powered off, the position of the suction nozzle can be lost, and the suction nozzle needs to be manually dialed to the initial position to be readjusted.
Disclosure of Invention
The invention aims to provide a suction nozzle spacing adjusting method and system, which can meet the requirements of taking and placing products with different sizes and trays with different spacings.
In order to solve the technical problems, the invention provides the following technical scheme:
a suction nozzle pitch adjustment method, comprising:
acquiring the information of the distance between the material taking and placing positions on the tray and the information of the number of the suction nozzles on the suction nozzle row;
determining the number of enabled suction nozzles on the suction nozzle row according to the row number of the material taking and placing positions on the tray and the number of the suction nozzles on the suction nozzle row;
acquiring suction nozzle position information on the suction nozzle row;
acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles;
judging whether the suction nozzle spacing information is matched with the pick-and-place position spacing information;
if so, taking and placing the materials;
if not, judging whether the suction nozzles on the suction nozzle row are at the initial positions or not, and adjusting the suction nozzles on the suction nozzle row to the initial positions;
the positions of the suction nozzles are adjusted through the pusher dog, so that the distances between the suction nozzles are matched with the distances between the material taking and placing positions.
Preferably, the acquiring the suction nozzle position information on the suction nozzle row specifically includes:
sequencing the suction nozzles in a single direction, and driving the suction nozzles to sequentially pass through the spacing detection sensor by a horizontal driving device;
when the distance detection sensor detects a first suction nozzle, recording the current detection position as the position of the first suction nozzle;
and the horizontal driving device drives the suction nozzle row to continuously move so as to record the position of each suction nozzle on the suction nozzle row.
Preferably, the acquiring, according to the nozzle position information, nozzle pitch information and position information of each nozzle relative to the pusher dog includes:
the distance between every two suction nozzles is equal to the position of the next suction nozzle minus the position of the previous suction nozzle;
the position of each suction nozzle relative to the shifting claw is equal to the position of each suction nozzle plus the distance between the distance detection sensor and the shifting claw.
Preferably, the material taking and placing operation is carried out, and specifically:
when the number of the material taking and placing positions is an integral multiple of the number of the enabled suction nozzles on the suction nozzle row, controlling the suction nozzle row to take material taking and placing times of corresponding multiples along the length direction of the suction nozzle row;
and when the material taking and placing positions are provided with a plurality of lines, controlling the suction nozzle row to carry out material taking and placing operation with corresponding lines.
Preferably, the determining whether the suction nozzles on the suction nozzle row are at the initial position specifically includes:
the horizontal driving device drives the suction nozzles to sequentially pass through the interval detection sensor and the telescopic position detection sensor so as to judge whether the suction nozzles are at the initial positions.
Preferably, the suction nozzles on the suction nozzle row are adjusted to initial positions, specifically:
moving the lifting driving device to the suction nozzle at the working position;
the suction nozzle in the working position is moved to the initial position by the upward movement of the lifting driving device.
Preferably, the position of each suction nozzle is adjusted through the pusher dog to make the suction nozzle interval match the interval of getting the blowing position, specifically do:
taking a first starting suction nozzle as a reference position, and moving the starting suction nozzle to a working position through a lifting driving device;
sequentially judging whether the subsequent suction nozzles of the first enabled suction nozzle are disabled or not;
if yes, skipping the corresponding disabled suction nozzle, selecting the enabled suction nozzle adjacent to the disabled suction nozzle to replace the disabled suction nozzle, and keeping the initial position of the disabled suction nozzle;
and adjusting the positions of the subsequent starting suction nozzles to enable the space between the starting suction nozzles to be matched with the space between the material taking and placing positions, and moving the subsequent starting suction nozzles to the working position.
A suction nozzle spacing adjustment system, comprising:
the device comprises a horizontal driving device, an interval detection sensor, a lifting driving device and a telescopic position detection sensor, wherein the horizontal driving device is used for driving all suction nozzles on a suction nozzle row to sequentially pass through the interval detection sensor and the telescopic position detection sensor;
the position processing unit is used for acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles;
the pusher dog selecting unit is used for selecting an enabled suction nozzle adjacent to a disabled suction nozzle to replace the disabled suction nozzle when a certain suction nozzle on the suction nozzle row is disabled, and the minimum distance between two adjacent enabled suction nozzles is not larger than the distance between two adjacent material taking and placing positions;
the controller is used for adjusting the suction nozzle to an initial position through the lifting driving device when the suction nozzle is located at a working position before the material taking and placing operation; when the material is taken, when the space between the suction nozzles is not matched with the space between the material taking and placing positions on the tray, the position of each suction nozzle is adjusted through the pusher dog, so that the space between the suction nozzles is matched with the space between the material taking and placing positions.
Preferably, the upper end of the connecting rod of the suction nozzle is provided with a telescopic position detection position, and the rod body of the connecting rod is used for the detection of the distance detection sensor so as to acquire the position information of the suction nozzle.
Preferably, the suction nozzle is further provided with a clamping position for clamping the pusher dog.
Compared with the prior art, the technical scheme has the following advantages:
1. when a certain suction nozzle is damaged, the suction nozzle can be forbidden, other suction nozzles are used for replacing the suction nozzle, and the replacement mode is that the position spacing of the picking and placing materials on the suction disc is matched again by adjusting the spacing of other suction nozzles, so that the downtime of equipment is reduced, and the production efficiency is improved;
2. the tray can be suitable for products arranged at equal intervals and unequal intervals, so that the material taking and placing of different trays can be met, and the compatibility of equipment carrying the method is improved;
3. manual intervention is not needed, the labor intensity and the labor cost are reduced, the automation level and the working efficiency are improved, and the material taking and placing quality of products is improved;
4. the suction nozzles are scanned once through the spacing detection sensor and the telescopic position detection sensor, the current positions of the suction nozzles can be obtained, and then the suction nozzles with proper number are selected to be matched with the material taking and placing positions of the tray according to the parameters of the tray.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a nozzle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a method for adjusting a nozzle pitch according to an embodiment of the present invention;
FIG. 3-1 is a schematic view of the structure of the tray;
FIG. 3-2 is a schematic view of the suction nozzle before it is adjusted;
3-3 are schematic views of the suction nozzle in an initial state;
3-4 are schematic views of the suction nozzles after adjusting the spacing;
fig. 3-5 are schematic diagrams comparing the suction nozzles after adjusting the spacing with the tray.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
Please refer to fig. 1 and fig. 2.
The invention provides a method for adjusting the distance between suction nozzles, which comprises the following steps:
s100: and acquiring the information of the distance between the material taking and placing positions on the tray and the information of the number of the suction nozzles on the suction nozzle row. The tray is provided with material taking and placing positions which are arranged in a rectangular array, and the information of the interval between the material taking and placing positions comprises the line interval and the column interval of each material taking and placing position; the suction nozzle row is provided with a plurality of suction nozzles which can be independently shifted, and the suction nozzle row also comprises the following known data: suction nozzle body width D, the interval M of interval detection sensor and pusher dog, interval detection sensor and flexible position detection sensor's interval N are equipped with interval detection sensor on the suction nozzle connecting rod and detect position 02, are equipped with flexible position on the suction nozzle 01 and detect position 03, still are equipped with the centre gripping position 05 that supplies the pusher dog centre gripping on the suction nozzle 01.
Because the suction nozzles on the suction nozzle row are possibly damaged or the number of the suction nozzles is larger than the number of columns of the material taking and placing positions on the tray, a proper number of starting suction nozzles can be selected for taking and placing materials, and the selection of the starting suction nozzles is specifically as follows:
s200: and determining the number of the enabled suction nozzles on the suction nozzle row according to the row number of the material taking and placing positions on the tray and the number of the suction nozzles on the suction nozzle row. For example, the material taking and placing position is 8 rows, the number of the suction nozzles on the suction nozzle row is 14, at this time, 8 suction nozzles can be started to take and place the material, and certainly, 4 suction nozzles can be started to take and place the material. Wherein the minimum distance between two adjacent starting suction nozzles is not more than the distance between two adjacent material taking and placing positions, so that the distance between the suction nozzles is matched with the distance between the material taking and placing positions.
S300: nozzle position information on the nozzle row is acquired.
Specifically, the suction nozzles are arranged in a single direction, for example, the suction nozzles are arranged sequentially from left to right, the horizontal driving device, for example, the X transplanting shaft 04, drives the suction nozzles to sequentially pass through the distance detection sensor and the telescopic position detection sensor, the positions of the suction nozzles can be obtained by detecting the connecting rods of the suction nozzles through the distance detection sensor, and whether the suction nozzles in the suction nozzle row are at the initial positions can be judged through the telescopic position detection sensor.
When the distance detection sensor detects a first suction nozzle, recording the current detection position as the position of the first suction nozzle;
the horizontal driving device drives the suction nozzle row to move continuously so as to record the position of each suction nozzle on the suction nozzle row.
S400: and acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles. The distance between every two suction nozzles can be obtained by subtracting the position of the previous suction nozzle from the position of the next suction nozzle; the position information of each suction nozzle relative to the shifting claw can be obtained by adding the space M between the space detection sensor and the shifting claw to the position of each suction nozzle.
S500: and judging whether the suction nozzle spacing information is matched with the material taking and placing position spacing information. When the two are matched, the next step is entered:
s600: and carrying out material taking and placing operation. The method specifically comprises the following steps: when the number of the material taking and placing positions is an integral multiple of the number of the started suction nozzles on the suction nozzle row, controlling the suction nozzle row to take material taking and placing times of corresponding multiples along the length direction of the suction nozzle row; when the material taking and placing position has multiple lines, the suction nozzle row is controlled to carry out material taking and placing operation of the corresponding lines. For example, when the tray is provided with 16 rows by 8 columns of material taking and placing positions, a row of 8 suction nozzles can be selected, and all products on the tray can be taken out after 16 times of material taking and placing; and 4 suction nozzles in a row can be selected and taken and put 32 times. The specific selection can be selected according to specific situations.
Get and put material position interval information when the mismatch of suction nozzle interval information, when the interval of certain two suction nozzles and the interval of corresponding two material positions of getting mismatch promptly, then get into next step:
s510: whether the suction nozzles on the suction nozzle row are at the initial position or not and whether the suction nozzles are at the initial position or the working position are judged through the telescopic position detection sensor. When the suction nozzle is not in the initial position, the next step is entered:
s520: and adjusting the suction nozzles on the suction nozzle row to the initial positions. The lifting driving device can be moved to the suction nozzle at the working position; and then the suction nozzle in the working position is moved to the initial position by the upward movement of the lifting driving device. After adjusting the suction nozzles to the initial positions, the next step is entered:
s530: the positions of the suction nozzles are adjusted through the pusher dog, so that the distances between the suction nozzles are matched with the distances between the material taking and placing positions. The specific process is as follows:
taking a first starting suction nozzle as a reference position, and moving the starting suction nozzle to a working position through a lifting driving device;
sequentially judging whether the subsequent suction nozzles of the first enabled suction nozzle are disabled or not;
if yes, skipping the corresponding disabled suction nozzle, selecting the enabled suction nozzle adjacent to the disabled suction nozzle to replace the disabled suction nozzle, and keeping the initial position of the disabled suction nozzle;
and adjusting the positions of the subsequent starting suction nozzles to enable the space between the starting suction nozzles to be matched with the space between the material taking and placing positions, and moving the subsequent starting suction nozzles to the working position.
The following description will be made by taking tray parameters of 16 rows by 8 columns of pick-and-place positions and 14 nozzles as examples:
1. acquiring parameters of the tray, wherein the line spacing is 10mm, the column spacing is 10mm, 16 rows, 8 columns of material taking and placing positions are provided, so that products in 16 rows, 8 columns can be placed, and 128 products are obtained in total, as shown in figure 3-1;
2. obtain the parameter of suction nozzle, suction nozzle body width 5mm, every suction nozzle all can select the shielding in concrete production, but because the row interval of tray is 10mm, suction nozzle body width is 5mm, so the suction nozzle of first start can not shield two suction nozzles in succession to the suction nozzle that last started in the middle of, otherwise the shielding is invalid to the problem of omitting the product appears in avoiding appearing, the suction nozzle serial number that this embodiment launched is: the suction nozzle comprises a suction nozzle 1, a suction nozzle 3, a suction nozzle 4, a suction nozzle 6, a suction nozzle 8, a suction nozzle 9, a suction nozzle 10 and a suction nozzle 12;
3. acquiring the distance N =15mm between a distance detection sensor and a suction nozzle telescopic detection sensor, and acquiring the distance M =20mm between the distance detection sensor and a suction nozzle pusher dog cylinder;
4. establishing a BOOL type array marked by a suction nozzle at an initial position, wherein the BOOL type array is marked by UP [1..14] and is used for recording whether the suction nozzle is at the initial position or at a working position, and if the marking position is equal to 1, the suction nozzle is at the upper initial position, and if the marking position is equal to 0, the suction nozzle is at the lower working position;
5. establishing a BOOL type array of a suction nozzle shifting-in-place mark, recording the BOOL type array as MOVE [1..14], recording whether the suction nozzle MOVEs in place, wherein the mark bit is equal to 1 when the suction nozzle MOVEs in place, and the mark bit is equal to 0 when the suction nozzle MOVEs in place;
6. establishing a BOOL type array of a suction nozzle disabling mark, which is recorded as Enable [1..14] and used for recording the use condition of the suction nozzle, when the suction nozzle is abnormal, the suction nozzle can be disabled, the flag bit is equal to 0, otherwise, the flag bit is equal to 1, as shown in the figure 3-2, the Enable [2] =0, enable [5] =0, enable [7] =0, enable [11] =0, enable [13] =0, enable [14] =0 suction nozzle is not Enabled, and the remaining suction nozzles Enable =1 indicate that the suction nozzle is Enabled;
7. the suction nozzles are sequenced from left to right, the driving device controls the suction nozzles to pass through the spacing detection sensor in sequence so as to record the position information of the suction nozzles, and then the suction nozzle spacing information is obtained according to the position information of the suction nozzles; specifically, each suction nozzle is installed ON an X transplanting shaft, the X transplanting shaft drives the suction nozzles to sequentially pass through a distance detection sensor, a distance detection sensor detection position 02 is arranged ON a suction nozzle connecting rod, as shown in fig. 1 and 3-2, 14 connecting rods are arranged in 14 suction nozzles, the distance detection sensor is OFF when not detecting an object, and when detecting that a first suction nozzle connecting rod sensor is ON, a current program is interrupted, and the current detection position is recorded as a first suction nozzle position S [1];
8. the X transplanting shaft drives the suction nozzles to move leftwards continuously, the interval detection sensor detects that the first suction nozzle starts to be ON, the sensor interrupts the current program from ON-OFF-ON, and the current position is recorded as a second suction nozzle position S2;
9. repeating the steps 8 and 9 to calculate the positions (S1-S14) of the 14 suction nozzles;
10. according to the distance between the distance detection sensor and the telescopic position detection sensor and the position information of each suction nozzle, the position information of each suction nozzle at the telescopic position detection sensor can be obtained, and the telescopic position detection position 03 is arranged at the upper part of each suction nozzle, as shown in fig. 1 and 3-2, specifically, the positions of 14 suction nozzles at the telescopic position detection sensor are respectively:
W[1]＝S[1]+15mm、W[2]＝S[2]+15mm……W[14]＝S[14]+15mm；
11. according to the distance between the distance detection sensor and the pusher dog cylinder and the position information of each suction nozzle, the position information of each suction nozzle in the pusher dog cylinder can be obtained, and specifically, the positions of 14 suction nozzles in the pusher dog cylinder are as follows:
K[1]＝S[1]+20mm、K[2]＝S[2]+20mm……K[14]＝S[14]+20mm；
12. moving the X transplanting module, moving the 1 st suction nozzle to a telescopic position detection position W1 for detecting whether the suction nozzle is at an initial position, wherein the suction nozzle UP [1] =1 at the initial position, otherwise, UP [1] =0, sequentially moving to W1-W14, and detecting and recording the states of the suction nozzles UP [1] -UP [14 ]; as shown in fig. 3-2, after the detection is completed, UP [2] =1, UP [3] =1, UP [5] =1, UP [6] =1, UP [9] =1, UP [11] =1, UP [13] =1, UP [14] =1, and the remaining nozzles UP flag bits are equal to zero;
13. before adjusting the distance between the suction nozzles, all the suction nozzles need to be shifted to the initial positions, as shown in fig. 3-3;
13.1, assigning the SUM initial value to 1, namely SUM =1, and executing 13.2;
13.2, if UP [ SUM ] =0, moving the X transplanting module, moving the suction nozzle to a K [1] position, moving a Z axis of the suction nozzle to a working position of the suction nozzle, extending the pusher dog to clamp the suction nozzle, enabling the Z axis to reach an initial position of the suction nozzle, retracting the pusher dog, performing SUM = SUM +1, and performing 13.3; if UP [ SUM ] =0, it means that the nozzle is at the initial position, and directly skipping over the nozzle;
13.3, if SUM = <14, repeating 13.2; if SUM >14, indicating that 14 suction nozzles are all dialed to the initial position, and executing 14;
14. the module is transplanted to removal X, utilizes exhaustive algorithm to judge, utilizes the pusher dog cylinder to stir the suction nozzle according to the result, and the concrete method is as follows:
14.1, assigning the value of the first matching of the suction nozzle number SUM to be 1, namely SUM =1;
14.2, moving to a first suction nozzle finger position K [1], enabling [1] =1, starting the suction nozzle, taking the first suction nozzle as a reference position, enabling a Z axis to reach an initial position, extending a finger cylinder to clamp the suction nozzle, descending the Z axis to reach a working position, then retracting the finger cylinder, moving [1] =1, SUM = SUM +1, and then executing 14.3 actions;
14.3, acquiring an Enabld [2] state, wherein Enabld [2] =0 and UP [2] =1, the suction nozzle is forbidden and is positioned at an upper initial position, the X transplanting shaft MOVEs to a K [2] position, the Z shaft reaches an initial position, the pusher dog cylinder extends out to clamp the suction nozzle, the X shaft is moved to a K [1] + reserved gap + the width of the suction nozzle body is 5mm, the pusher dog cylinder retracts, MOVE [2] =1, and 14.4 actions are executed;
14.4, moving an X transplanting shaft to a K [3] position, enabling [3] =1 and UP [3] =1, starting a suction nozzle to be at an upper initial position, moving a pusher dog cylinder to extend to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray column spacing, lifting a Z shaft of the suction nozzle to a suction nozzle working position, retracting the pusher dog, and moving MOVE [3] =1, and executing 14.5;
14.5, moving an X transplanting shaft to a K [4] position, enabling [4] =1 and UP [4] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing of 2, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [4] =1, and executing 14.6;
14.6, moving an X transplanting shaft to a K [5] position, enabling [5] =0 and UP [5] =1, enabling a suction nozzle to be not started and positioned at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to the K [1] + tray row spacing 2+ reserved gap + suction nozzle body width 5mm, retracting the pusher dog cylinder, moving MOVE [5] =1, and executing 14.7;
14.7, moving an X transplanting shaft to a K [6] position, enabling [6] =1 and UP [6] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing of 3, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [6] =1, and executing 14.8;
14.8, moving an X transplanting shaft to a K [7] position, enabling [7] =0 and UP [7] =1, not starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to the K [1] + tray column spacing × 3+ reserved gap + suction nozzle body width 5mm, retracting the pusher dog cylinder, moving MOVE [7] =1, and executing 14.9;
14.9, moving an X transplanting shaft to a K [8] position, enabling [8] =1 and UP [8] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing of 4, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [8] =1, and executing 14.10;
14.10, moving an X transplanting shaft to a K [9] position, enabling [9] =1 and UP [9] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing of 5, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [9] =1, and executing 14.11;
14.11, moving an X transplanting shaft to a K [10] position, enabling [10] =1 and UP [10] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing of 6, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [10] =1, and executing 14.12;
14.12, moving an X transplanting shaft to a K [11] position, enabling [11] =0 and UP [11] =1, not starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to the K [1] + tray column spacing [ 6+ reserved gap + 5mm of the width of a suction nozzle body, retracting the pusher dog cylinder, moving the MOVE [11] =1, and executing 14.13;
14.13, moving an X transplanting shaft to a K [12] position, enabling [12] =1 and UP [12] =1, starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray row spacing 7, lifting a Z shaft of the suction nozzle to a working position of the suction nozzle, retracting the pusher dog cylinder, moving MOVE [12] =1, and executing 14.14;
14.14, moving an X transplanting shaft to a K [13] position, enabling [13] =0 and UP [13] =1, not starting a suction nozzle, locating at an upper initial position, moving a pusher dog cylinder to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to the K [1] + tray column spacing [ 7+ reserved gap + 5mm of the width of a suction nozzle body, retracting the pusher dog cylinder, moving the MOVE [13] =1, and executing 14.15;
14.15, moving an X transplanting shaft to a K [13] position, enabling [14] =0 and UP [14] =1, not starting a suction nozzle, locating at an upper initial position, moving a Z shaft to an initial position of the suction nozzle, extending a pusher dog cylinder to clamp the suction nozzle, moving an X shaft, moving the X shaft to a K [1] + tray column spacing of 7+ a reserved gap of 2+ a width of a suction nozzle body of 5mm X2, retracting the pusher dog cylinder, and moving MOVE [14] =1, and executing 14.16;
14.16, as shown in figures 3-4, all the suction nozzles are shifted into position;
15. 3-5, the nozzles are adjusted in position for comparison to the tray.
In summary, the method for adjusting the distance between the suction nozzles provided by the embodiment of the invention has the following advantages:
1. when a certain suction nozzle is damaged, the suction nozzle can be forbidden, other suction nozzles are used for replacing the suction nozzle, and the replacement mode is not to replace a new suction nozzle, but to re-match the pick-and-place position spacing on the suction disc by adjusting the spacing of other suction nozzles, so that the equipment downtime rate is reduced, and the production efficiency is improved;
2. the tray can be suitable for products arranged at equal intervals and unequal intervals, so that the material taking and placing of different trays can be met, and the compatibility of equipment carrying the method is improved;
3. according to the method, the servo motor and the air cylinder can be controlled through PLC program logic to perform automatic adjustment, manual intervention is not needed, the labor intensity and the labor cost are reduced, and the automation level, the working efficiency and the material taking and placing quality of products are improved;
4. the suction nozzles are scanned once through the distance detection sensor and the telescopic position detection sensor, the current positions of the suction nozzles can be obtained, and then the suction nozzles with proper number are selected to be matched with the material taking and placing positions of the tray according to the parameters of the tray.
The embodiment of the invention also provides a suction nozzle distance adjusting system adopting the method, which comprises the following steps: the device comprises a horizontal driving device, an interval detection sensor, a lifting driving device, a telescopic position detection sensor, a controller, a position processing unit, a pusher dog and a pusher dog selection unit, wherein the horizontal driving device is used for driving each suction nozzle to sequentially pass through the interval detection sensor, and the interval detection sensor can detect a suction nozzle connecting rod so as to obtain the position information of each suction nozzle; the position processing unit is used for acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles; the controller is used for adjusting the position of each suction nozzle through the pusher dog when the distance between the suction nozzles is not matched with the distance between the material taking and placing positions on the tray so as to enable the distance between the suction nozzles to be matched with the distance between the material taking and placing positions; when the two materials are matched, the suction nozzle is controlled to take and place the materials.
When a certain suction nozzle on the suction nozzle row is forbidden, the forbidden suction nozzle is replaced by the selection unit of the pusher dog, the reason that the suction nozzle is forbidden can be that the suction nozzle is damaged, or the number of the suction nozzles on the suction nozzle row is more than the number of the pick-and-place positions on each row of the tray, wherein the minimum distance between two adjacent enabled suction nozzles is not more than the distance between two adjacent pick-and-place positions, so that the distance between the suction nozzles matches the distance between the pick-and-place positions.
Before adjusting the interval of each suction nozzle, whether the suction nozzle is in the initial position or not is judged firstly, the position can be detected through a telescopic position detection sensor, a telescopic position detection position is arranged at the upper end of a connecting rod of the suction nozzle, when the horizontal driving device drives each suction nozzle on the suction nozzle row to sequentially pass through the interval detection sensor, the suction nozzles sequentially pass through the telescopic position detection sensor, and the telescopic position detection sensor can judge whether each suction nozzle is in the initial position or not. When the suction nozzle is not at the initial position, the suction nozzle is moved to the initial position through the lifting driving device, so that all the suction nozzles are located at the initial position, then the distance between the suction nozzles is adjusted according to the distance between the taking and placing positions on the tray, so that the suction nozzles and the tray are matched with each other, then the taking and placing operation can be carried out, and when the distance is adjusted, the suction nozzle can be moved through the clamping position on the pusher dog clamping suction nozzle, so that the stability of the position adjustment of the suction nozzle is ensured.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A suction nozzle pitch adjustment method is characterized by comprising the following steps:
acquiring the information of the distance between the material taking and placing positions on the tray and the information of the number of the suction nozzles on the suction nozzle row;
determining the number of enabled suction nozzles on the suction nozzle row according to the row number of the material taking and placing positions on the tray and the number of the suction nozzles on the suction nozzle row;
acquiring suction nozzle position information on the suction nozzle row;
acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles;
judging whether the suction nozzle spacing information is matched with the pick-and-place position spacing information;
if so, taking and placing the materials;
if not, judging whether the suction nozzles on the suction nozzle row are at the initial positions or not, and adjusting the suction nozzles on the suction nozzle row to the initial positions;
the position of each suction nozzle is adjusted through the pusher dog to make the suction nozzle interval match get the interval of blowing position, specifically do:
taking a first starting suction nozzle as a reference position, and moving the starting suction nozzle to a working position through a lifting driving device;
sequentially judging whether the subsequent suction nozzles of the first enabled suction nozzle are disabled or not;
if yes, skipping the corresponding disabled suction nozzle, selecting the enabled suction nozzle adjacent to the disabled suction nozzle to replace the disabled suction nozzle, and keeping the initial position of the disabled suction nozzle;
and adjusting the positions of the subsequent starting suction nozzles to enable the space between the starting suction nozzles to be matched with the space between the material taking and placing positions, and moving the subsequent starting suction nozzles to the working position.
2. The suction nozzle pitch adjustment method according to claim 1, wherein acquiring suction nozzle position information on the suction nozzle row specifically includes:
sequencing the suction nozzles in a single direction, and driving the suction nozzles to sequentially pass through the spacing detection sensor by a horizontal driving device;
when the distance detection sensor detects a first suction nozzle, recording the current detection position as the position of the first suction nozzle;
and the horizontal driving device drives the suction nozzle row to continuously move so as to record the position of each suction nozzle on the suction nozzle row.
3. The method for adjusting the distance between the suction nozzles according to claim 2, wherein the acquiring of the distance between the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles comprises:
the distance between every two suction nozzles is equal to the position of the next suction nozzle minus the position of the previous suction nozzle;
the position of each suction nozzle relative to the shifting claw is equal to the position of each suction nozzle plus the distance between the distance detection sensor and the shifting claw.
4. The suction nozzle pitch adjustment method according to claim 1, wherein the material taking and placing operation is performed, and specifically:
when the number of the material taking and placing positions is an integral multiple of the number of the enabled suction nozzles on the suction nozzle row, controlling the suction nozzle row to take material taking and placing times of corresponding multiples along the length direction of the suction nozzle row;
and when the material taking and placing positions are provided with a plurality of lines, controlling the suction nozzle row to carry out material taking and placing operation of the corresponding line number.
5. The suction nozzle pitch adjustment method according to claim 2, wherein the determining whether the suction nozzles on the suction nozzle row are at the initial position is specifically:
the horizontal driving device drives the suction nozzles to sequentially pass through the interval detection sensor and the telescopic position detection sensor so as to judge whether the suction nozzles are at the initial positions.
6. The suction nozzle pitch adjustment method according to claim 5, wherein the suction nozzles on the suction nozzle row are adjusted to initial positions, specifically:
moving the lifting driving device to the suction nozzle at the working position;
the suction nozzle in the working position is moved to the initial position by the upward movement of the lifting driving device.
7. A suction nozzle spacing adjustment system, comprising:
the device comprises a horizontal driving device, an interval detection sensor, a lifting driving device and a telescopic position detection sensor, wherein the horizontal driving device is used for driving all suction nozzles on a suction nozzle row to sequentially pass through the interval detection sensor and the telescopic position detection sensor;
the position processing unit is used for acquiring the distance information of the suction nozzles and the position information of each suction nozzle relative to the pusher dog according to the position information of the suction nozzles;
the pusher dog selecting unit is used for selecting an enabled suction nozzle adjacent to a disabled suction nozzle to replace the disabled suction nozzle when a certain suction nozzle on the suction nozzle row is disabled, and the minimum distance between two adjacent enabled suction nozzles is not larger than the distance between two adjacent material taking and placing positions;
the controller is used for adjusting the suction nozzle to an initial position through the lifting driving device when the suction nozzle is located at a working position before the material taking and placing operation; when the material is taken, when the space between the suction nozzles is not matched with the space between the material taking and placing positions on the tray, the position of each suction nozzle is adjusted through the pusher dog, so that the space between the suction nozzles is matched with the space between the material taking and placing positions.
8. The suction nozzle spacing adjustment system according to claim 7, wherein a telescopic position detection position is provided at an upper end of a connecting rod of the suction nozzle, and a rod body of the connecting rod is used for the spacing detection sensor to detect so as to obtain the position information of the suction nozzle.
9. The suction nozzle spacing adjustment system according to claim 8, wherein the suction nozzle is further provided with a clamping position for clamping the pusher dog.
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| WO2024035334A1 (en) * | 2022-08-12 | 2024-02-15 | Semiconductor Technologies & Instruments Pte Ltd | Component pick-and-place system, device and method thereof |
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