CN113769977A - Double-track online automatic dispenser and control method thereof - Google Patents
Double-track online automatic dispenser and control method thereof Download PDFInfo
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- CN113769977A CN113769977A CN202111063711.XA CN202111063711A CN113769977A CN 113769977 A CN113769977 A CN 113769977A CN 202111063711 A CN202111063711 A CN 202111063711A CN 113769977 A CN113769977 A CN 113769977A
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- 238000001514 detection method Methods 0.000 claims abstract description 7
- 239000003292 glue Substances 0.000 claims description 36
- 238000003825 pressing Methods 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Abstract
The invention relates to a double-track online automatic dispenser and a control method thereof. The device comprises a rack, and a three-axis visual dispensing mechanism, a multi-track conveying mechanism and a PCB positioning mechanism which are arranged on the rack; the three-axis visual dispenser framework is arranged on the multi-track conveying mechanism and can move in the XYZ three-axis directions relative to the multi-track conveying mechanism to realize dispensing operation on the PCB; the multi-track conveying mechanism is provided with a plurality of conveying tracks, can convey a plurality of PCBs to move back and forth along the length direction of the conveying tracks, and is provided with an automatic width adjusting structure capable of adjusting the width of each conveying track and a plurality of position detection sensors for detecting the positions of the PCBs on the conveying tracks; PCB positioning mechanism locates between every transmission track, can fix a position the fixed point of gluing in order to realize the PCB board to the PCB board and operate, and this application has compatible good, the point precision is high and production efficiency is high advantage.
Description
Technical Field
The invention relates to the technical field of dispenser, in particular to a double-track online automatic dispenser and a control method thereof.
Background
The PCB is also called a printed circuit board, and is an important electronic component, which is a carrier for electrical connection of electronic components. An on-line production line of a PCB generally comprises equipment such as a PCB loading machine, a PCB printing machine, an SMT chip mounter, reflow soldering, on-line AOI (automated optical inspection) machine and a board collecting machine, and can complete procedures such as on-line of the PCB, on-line mounting of electronic components, on-line detection and the like. In addition, the PCB is required to be subjected to glue dispensing, for example, UV glue is required to be applied to the PCB, pins of electronic components of the PCB are fixed and sealed, and glue dispensing is required to be completed on a special glue dispenser.
However, the existing dispenser generally has the problems of poor compatibility and low production efficiency, for example, chinese patent CN109482430A discloses a full-automatic double-track dispenser and a dispensing process thereof, which still needs manual feeding and discharging, and the track of the dispenser needs manual adjustment, which has the obvious problem of low production efficiency, and for example, chinese patent CN205599445U discloses an online dispenser, the track of which is fixed, the track width cannot be adjusted, and only the PCB board with fixed width can be dispensed, which has poor compatibility.
In summary, a dispenser with high production efficiency and good compatibility is urgently needed.
Disclosure of Invention
Therefore, it is necessary to provide a dual-track online automatic dispenser and a control method thereof for solving the problems in the prior art, and the dual-track online automatic dispenser and the control method thereof have the advantages of good compatibility and high production efficiency.
The double-track online automatic dispensing machine comprises a rack, and a three-axis visual dispensing mechanism, a multi-track conveying mechanism and a PCB positioning mechanism which are arranged on the rack;
the three-axis visual dispenser framework is arranged on the multi-track conveying mechanism and can move in the XYZ three-axis direction relative to the multi-track conveying mechanism to realize dispensing operation on the PCB;
the multi-track conveying mechanism is provided with a plurality of conveying tracks, the multi-track conveying mechanism can convey a plurality of PCBs to move back and forth along the length direction of the conveying tracks, and each conveying track is provided with an automatic width adjusting structure capable of adjusting the width of the conveying track and a plurality of position detection sensors for detecting the positions of the PCBs on the conveying tracks;
the PCB positioning mechanism is arranged between the transmission rails and can position and fix the PCB so as to realize the dispensing operation of the PCB.
The aforesaid sets up, compared with the prior art, this application can utilize the vision recognition technology to improve the point with the help of triaxial vision point gum machine constructs and glues the precision, thereby the point of PCB board is glued the quality, and can carry out XYZ triaxial motion, can remove wantonly in the XYZ space, the action is glued to the point more in a flexible way, cooperation multiple track conveying mechanism can realize carrying out the point to a plurality of PCB boards simultaneously and glue the operation, it has been showing and has promoted production efficiency, and triaxial vision point gum machine constructs can carry out vision recognition alone to every PCB board, thereby carry out different point and glue the operation, the compatibility is better.
Secondly, compared with the prior art, this application can realize adjusting every transmission orbit's width through automatic width control structure to be fit for the PCB board of multiple size, it is compatible better, can acquire the position of PCB board through position detection sensor in real time simultaneously, cooperation PCB positioning mechanism can carry out the accurate positioning with the PCB board, thereby make things convenient for triaxial vision point to glue the mechanism and carry out some glue operations to the PCB board, has further promoted the precision of gluing, thereby has promoted production efficiency.
In one embodiment, the automatic width adjusting structure includes a guide rail and a linear module, the guide rail and the linear module are disposed below each of the conveying rails, the guide rail and the linear module are respectively connected with the conveying rails in a sliding manner, and the linear module drives a part of the conveying rails to move back and forth along the length direction of the guide rail, so that automatic width adjustment of the conveying rails is achieved.
This sets up, drives one of them part removal of transmission track through sharp module to realize every transmission track's width regulation, in transmission track's one of them part motion process, guide rail and straight line track cooperation in addition, two kinds of products are the very high product of linear motion precision on the market, consequently both combine to provide very accurate displacement and adjust, are fit for the PCB board of multiple size more, and the compatibility is better.
In one embodiment, each of the conveying tracks comprises a first conveying track and a second conveying track, the second conveying track is connected with the guide rail in a sliding mode, the second conveying track is connected with a driving sliding block of the linear module, the linear module drives the second conveying track to be far away from or close to the first conveying track to achieve automatic width adjustment of the conveying tracks, the number of the linear modules is at least two, and each linear module corresponds to each second conveying track one to one.
This sets up, can adjust every transmission orbit's width respectively through sharp module to the realization is glued the operation to the PCB board of multiple size model.
In one embodiment, the automatic width adjusting structure comprises a lead screw fine adjustment mechanism for driving the first conveying rail to move back and forth along the length direction of the guide rail.
With the arrangement, the fine adjustment of the position of the partial first conveying rail can be realized through the screw fine adjustment mechanism.
In one embodiment, the conveying rails include a first conveying rail and a second conveying rail, the first conveying rail and the second conveying rail each include a first conveying rail and a second conveying rail, the first conveying rail of the first conveying rail is connected with the platen of the rack, and the first conveying rail of the second conveying rail is connected with the guide rail in a sliding manner and is in driving connection with the lead screw fine adjustment mechanism.
This setting provides multiple selection, and some transmission tracks need not carry out the accurate adjustment operation, and some tracks can carry out the accurate adjustment operation, can be fit for the PCB board of multiple various point precision requirements, and the compatibility is better.
In one embodiment, the lead screw fine adjustment mechanism comprises a hand wheel, a digital position display, a lead screw support, a lead screw nut connecting piece, a trapezoidal lead screw and a lead screw nut, the lead screw support is connected with a bedplate of the rack, the trapezoidal lead screw is driven to rotate by the rotation of the hand wheel to drive the lead screw nut to move back and forth along the length direction of the trapezoidal lead screw, the lead screw nut is connected with the first conveying rail through the lead screw nut connecting piece, and the moving distance of the lead screw nut is displayed through the digital position display.
This setting has utilized current lead screw drive principle, just can carry out the position fine tuning to first transport rail through rotating the hand wheel to realized that whole transmission track's total width fine setting is so that dock smoothly with other conveying equipment, make things convenient for the transport of PCB board, convenient operation, simple structure adjusts the precision height moreover, especially can promote the convenience of adjusting greatly through digital position display, compares that the structure of original pointer-type is more directly perceived, and is clear.
In one embodiment, the PCB positioning mechanism comprises a jacking positioning mechanism and a baffle mechanism, a PCB pressing block is arranged on each transmission track, the baffle mechanism is used for blocking and positioning the PCB, and the jacking positioning mechanism is used for jacking the PCB to be in contact with the PCB pressing block so as to realize positioning and fixing of the PCB.
According to the arrangement, after the PCB is positioned and blocked by the baffle mechanism, the PCB is jacked and contacted with the PCB pressing block through the jacking positioning mechanism, so that the PCB can be quickly and accurately positioned and fixed, the dispensing operation can be greatly facilitated, especially, redundant space between every two transmission rails is well utilized, and the space utilization rate is remarkably improved.
In one embodiment, the jacking positioning mechanism comprises a top plate cylinder, a linear guide rail, a top plate mounting plate and a PCB top plate, the linear guide rail is connected with the transmission rail, the top plate mounting plate is respectively connected with the PCB top plate and a sliding block of the transmission rail, and the top plate cylinder drives the top plate mounting plate to ascend to realize the jacking operation of the PCB. It is worth mentioning that, this application is not limited to carry out the point to the PCB board, can also carry out the point to other products that need the point to glue, like platelike or cubic electronic equipment etc..
This setting has utilized common roof cylinder to drive jacking mounting panel up-and-down motion, has the advantage that the execution speed is fast and positioning accuracy is high, has cooperated linear guide to realize better direction precision moreover, makes the PCB board live by accurate positioning, and linear guide has the advantage that coefficient of friction is little moreover, makes the burden of roof cylinder less, can not produce sharp-pointed friction sound yet in the motion process, is favorable to the noise abatement, improves life.
In one embodiment, an oil buffer is arranged below the top plate mounting plate, the oil buffer is connected with the top plate mounting plate through a buffer mounting block, and the impact force generated after the PCB is lifted in place is buffered and damped through the oil buffer.
This sets up, and the impact that produces when PCB board and PCB briquetting striking can be absorbed through the commercially available oil buffer, plays the absorbing and cushioning effect to prevent effectively that the PCB board from taking place because the too big condition that leads to taking place the displacement of vibration takes place, further promoted the point and glued the precision.
In one embodiment, the baffle mechanism comprises a cylinder mounting seat, a baffle cylinder, a baffle rod mounting block, a PCB baffle rod and a magnetic switch, the baffle cylinder is connected with a bedplate of the rack through the cylinder mounting seat, the PCB is sensed through the magnetic switch and drives the baffle cylinder to act, and the baffle cylinder drives the PCB baffle rod to ascend and descend through the baffle rod mounting plate so as to block and release the PCB.
This setting utilizes magnetic switch or other position detection sensor to detect the concrete position of PCB board, and when the PCB board moved the assigned position, baffle cylinder drive baffle installation piece rose, and baffle installation piece drives the PCB shelves pole and rises and block the PCB board, can control transmission track stop motion simultaneously, does not continue to carry the operation to the PCB board, and overall structure is simple moreover, simple to operate.
In one embodiment, the three-axis visual glue dispensing mechanism comprises an X-axis linear module, a Y-axis linear module, a Z-axis linear module and a glue dispensing device, wherein the X-axis linear module, the Y-axis linear module, the Z-axis linear module and the glue dispensing device are sequentially connected in a driving mode, and the glue dispensing device is arranged on a driving sliding block of the Z-axis linear module, and the X-axis linear module is connected with a bedplate of the rack through a support.
This setting provides a simple structure's triaxial vision point gum machine constructs, and the very ripe sharp module in usable market technique has set up XYZ triaxial drive's structure fast to only need with adhesive deposite device install on the drive slider of Y axle sharp module can, simple structure, easy dismounting, the fault rate is low.
In one embodiment, the dispensing device comprises a visual camera, a light source and a dispensing valve, the visual camera identifies information of the PCB, the light source is used for realizing auxiliary illumination, and the dispensing valve is used for dispensing the PCB.
This sets up, utilize the information that the mature vision camera of technique can discern every PCB board fast, if every PCB board all can have the bar code that has the record information, just can obtain corresponding point through scanning this bar code and glue operation processes and other corresponding parameters, perhaps acquire the mark point coordinate on the PCB board, automatic planning point is glued the orbit and is realized automatic point, consequently can carry out special point to various PCB boards and glue the operation, good compatibility, and the point precision is high, the point that need not to manually load every PCB board is glued the operation processes, thereby showing and promoting production efficiency.
In one embodiment, the first conveying rail comprises a rail plate, and a flat belt, a belt pulley and a driving motor which are arranged on one side surface of the rail plate, the driving motor drives the belt pulley to rotate to drive the flat belt to convey the PCB plate, and the rail plate is connected with a platen of the rack or connected with the guide rail in a sliding manner.
This setting realizes the transport function to the PCB board through common belt transport structure, and simple structure realizes that the degree of difficulty is low, and maintainability is strong.
The control method of the double-track online automatic dispenser comprises the following steps:
receiving information of the PCB to be processed flowing out of the online AOI;
the first transmission rail and the second transmission rail respectively automatically adjust the width of the rails to be matched with the size of the PCB to be processed;
feeding the two PCBs to be processed simultaneously through the first transmission rail and the second transmission rail;
respectively monitoring the positions of the PCBs to be processed in real time;
when the PCB to be processed flows in place, the baffle mechanism acts to block the PCB to be processed, and the jacking positioning mechanism acts to jack the PCB to be processed to be fixed;
the three-axis visual dispensing mechanism sequentially takes pictures of the two PCBs to be processed and plans a dispensing track for dispensing;
after dispensing is finished, the baffle mechanism and the jacking positioning mechanism reset, and two dispensed PCB boards are respectively sent out through the first transmission rail and the second transmission rail.
The above-mentioned step of this application has utilized the online automatic point gum machine of double track of this application, realizes possessing compatible good and production efficiency's advantage simultaneously.
In one embodiment, the specific step of dispensing the PCB to be processed by the triaxial visual dispensing mechanism comprises:
a vision camera of the vision dispensing mechanism moves to the position of the mark point of the PCB to be processed and shoots and positions the mark point;
acquiring the coordinate position of the mark point according to the shot picture;
according to the phase position between the marking point and the chip of the PCB to be processed;
the visual camera moves to the position above the chip to take a picture of the chip;
extracting the outline of the chip according to the shot picture of the chip;
planning a dispensing track according to the outline of the chip, and storing and binding the dispensing track and the chip for next processing and calling;
and glue is dispensed from a glue outlet needle head of a glue dispensing valve of the visual glue dispensing mechanism along the glue dispensing track.
The steps can very accurately identify the chip position of each PCB, so that the dispensing track can be quickly planned, and the dispensing track can be stored for direct calling next time, thereby remarkably improving the dispensing efficiency.
Drawings
FIG. 1 is a layout diagram of an on-line automatic production line device for PCB boards;
FIG. 2 is a perspective view of the dual-track on-line automatic dispenser of the present invention;
FIG. 3 is a schematic structural view of a three-axis vision dispensing mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the dual-track conveying mechanism of the present invention;
FIG. 5 is a schematic structural diagram of a first conveying rail according to the present invention;
FIG. 6 is a schematic structural view of the shutter mechanism of the present invention;
FIG. 7 is a schematic structural diagram of a lead screw fine adjustment mechanism according to the present invention;
FIG. 8 is a schematic structural diagram of a jacking-positioning mechanism of the present invention;
FIG. 9 is a flow chart of a control method of the dual-track on-line automatic dispenser according to the present invention.
Description of the main elements
In the figure, 1, a frame; 2. a platen; 3. a three-axis vision dispensing mechanism; 4. a double-track conveying mechanism; 5. a PCB positioning mechanism; 31. a support; 32. an X-axis module mounting plate; 33. an X-axis linear module; 34. a guide rail mounting plate; 35. a first linear guide rail; 36. a Y-axis module mounting seat; 37. a Y-axis linear module; 38. a Z-axis linear module; 39. dispensing a mounting plate; 310. a camera mount; 311. a vision camera; 312. a light source; 313. a light source holder; 314. a rubber valve mounting seat; 315. dispensing a glue valve; 41. a guide rail mounting seat; 42. a guide rail; 43. a rail support; 44. a baffle mechanism; 45. a first conveying rail; 46. a second conveying rail; 47. a third conveying rail; 48. a fourth conveying rail; 49. a two-rail linear module; 410. a lead screw fine adjustment mechanism; 411. a three-rail linear module; 4101. a hand wheel; 4102. a digital position display; 4103. an anti-rotation fixing member; 4014. a lead screw support; 4105. a lead screw nut connector; 4106. a trapezoidal lead screw; 4107. a lead screw nut; 4108. a shaft end retainer ring; 441. a cylinder mounting seat; 442. a baffle cylinder; 443. a stop lever mounting block; 444. a PCB stop lever; 445. a magnetic switch; 451. a track floor; 452. a rail connecting plate; 453. a track plate; 454. a sensor; 455. tensioning the mounting plate; 456. a flat belt; 457. a drive motor; 458. a motor mounting plate; 459. a driving pulley; 4510. a PCB side stop block; 4511. a belt guide block; 4512. pressing a PCB; 4513. a driven pulley; 4514. a guide rail groove; 51. a top plate cylinder; 52. a floating joint; 53. a linear guide rail; 54. a top plate mounting plate; 55. a PCB top plate; 56. a hydraulic shock absorber; 57. a bumper mounting block.
The present invention is described in further detail with reference to the drawings and the detailed description.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Example 1
The layout of the PCB board on-line automatic production line is shown in FIG. 1: the device comprises a board feeding machine, a printing machine, an online AOI, a chip mounter, reflow soldering, a board collecting machine and the like. The utility model provides an online automatic point gum machine of double track can arrange between the online AOI of production line and board receiving machine, and the point gum machine entry docks online AOI equipment, and the export is to board receiving machine, realizes online production.
Referring to fig. 2, the double-track online automatic dispenser includes a frame 1, and a three-axis visual dispensing mechanism 3, a multi-track conveying mechanism, and a PCB positioning mechanism 5 disposed on the frame 1, wherein the frame 1 includes a platen 2 and includes an appearance metal plate, a control button, and an electric control assembly, the three-axis visual dispensing mechanism 3, the multi-track conveying mechanism, and the PCB positioning mechanism 5 are all mounted on the platen 2, and other structures of the frame 1 are not the technical key points of the present application and are not further described.
Referring to fig. 3, specifically, the three-axis vision dispensing mechanism 3 is erected on the multi-track conveying mechanism and can move in three axes XYZ and directions relative to the multi-track conveying mechanism to perform dispensing operation on a PCB, in this embodiment, the three-axis vision dispensing mechanism 3 mainly comprises a support 31, an X-axis module mounting plate 32, an X-axis linear module 33, a guide rail mounting plate 34, a first linear guide rail 35, a Y-axis module mounting seat 36, a Y-axis linear module 37, a Z-axis linear module 38, a dispensing mounting plate 39, a camera mounting seat 310, a vision camera 311, a light source 312, a light source support 313, a dispensing valve mounting seat 314, and a dispensing valve 315.
The X-axis module mounting plate 32 and the guide rail mounting plate 34 are respectively fixed on the four supports 31, the X-axis linear module 33 is mounted on the X-axis module mounting plate 32 through screws, the first linear guide rail 35 is mounted on the guide rail mounting plate 34 through screws, one end of the Y-axis module mounting seat 36 is connected with the driving slider of the X-axis linear module 33 through screws, the other end of the Y-axis linear module is connected with the linear guide rail 53 through screws, the Y-axis linear module 37 is mounted on the Y-axis module mounting seat 36 through screws, the driving sliders of the Z-axis linear module 38 and the Y-axis linear module 37 are connected through screws, the dispensing mounting plate 39 is connected with the driving slider of the Z-axis linear module 38 through screws, the vision camera 311 is connected with the dispensing mounting plate 39 through the camera mounting seat 310, the light source 312 is connected with the dispensing mounting plate 39 through the light source support 313, and the dispensing valve 315 is mounted on the dispensing mounting plate 39 through the dispensing valve mounting seat 314. The glue outlet needle of the glue dispensing valve 315 is located below the light source 312, and the light source 312 is located below the vision camera 311.
In this embodiment, the dispensing device composed of the vision camera 311, the light source 312 and the dispensing valve 315 can move along the three axes XYZ and the arbitrary spatial position within the three-axis stroke range under the driving of the X-axis linear module 33, the Y-axis linear module 37 and the Z-axis linear module 38, and because the three-axis vision dispensing mechanism 3 with a simple structure is provided, the linear module with a mature technology on the market can be used to quickly build the structure driven by the three axes XYZ and the three axes, so that the dispensing device only needs to be installed on the driving slider of the Y-axis linear module 37, the structure is simple, the assembly and disassembly are convenient, the failure rate is low, the information of each PCB can be quickly identified by the vision camera 311 with mature technology, for example, each PCB has a barcode recorded with information, the corresponding dispensing operation process and other corresponding parameters can be obtained by scanning the barcode, therefore, special dispensing operation can be performed on various PCBs, compatibility is good, dispensing precision is high, and the dispensing operation procedure of manually loading each PCB is not needed, so that production efficiency is remarkably improved.
In another preferred embodiment, since there are two mark points (usually, circular, through hole or cross mark points on the PCB), the vision camera 311 moves to the mark points first, photographs and locates the mark points, obtains the coordinate positions of the mark points, then according to the phase positions between the mark points and the chip, the vision camera 311 moves to the top of the chip to photograph, extracts the chip contour in the obtained image, automatically plans the dispensing track (rectangular line), and the dispensing needle of the dispensing valve 315 moves to dispense along the dispensing track. Subsequently, after the vision camera 311 is positioned to the mark point of the PCB, the dispensing can be directly moved along the dispensing track.
Since there is a gap of about 0.5mm between the PCB board and the conveying rail of the multi-rail conveying mechanism, the gap is used for conveying the PCB board. Just because there is the clearance between PCB board and the transfer rail, so the PCB board is fixed by the jack-up every time, and the position of PCB board all has the deviation about 1 mm. Therefore, visual dispensing is needed, if visual guiding positioning of the visual dispensing is not available, the three-axis visual dispensing mechanism 3 directly drives the dispensing device to move to the upper side of the chip for dispensing according to a preset track, so that the actual dispensing track at each time has large deviation with the dispensing track required by theory, and the track deviation value is consistent with the position deviation value of the PCB. The imaging precision of the vision camera is 0.015mm, the precision of the mark points and the chip contour acquired by photographing and imaging is very high, and therefore the track precision of dispensing can be greatly improved by visually guiding dispensing.
In particular, the multi-track conveying mechanism is provided with a plurality of conveying tracks, can convey a plurality of PCB boards to move back and forth along the length direction of the conveying tracks, and each transmission rail is provided with an automatic width adjusting structure capable of adjusting the width of the transmission rail, and a plurality of position detecting sensors 454 detecting the position of the PCB board on the transfer rail, wherein the automatic width adjusting structure comprises a guide rail 42 and a linear module which are arranged below each transmission track, each transmission track comprises a first transmission rail 45 and a second transmission rail 46, the second transmission rail 46 is connected with the guide rail 42 in a sliding way, and the second transmission rail 46 is connected with a driving slide block of the linear module, the second conveying rails 46 are driven to be far away from or close to the first conveying rails 45 through the linear modules, automatic width adjustment of the conveying rails is achieved, the number of the linear modules is at least two, and each linear module corresponds to each second conveying rail 46 one by one.
In this embodiment, the automatic width adjusting structure includes a screw fine adjustment mechanism 410 for driving the first conveying rail 45 to move back and forth along the length direction of the guide rail 42, the conveying rails include a first conveying rail and a second conveying rail, the first conveying rail and the second conveying rail each include a first conveying rail 45 and a second conveying rail 46, the first conveying rail 45 of the first conveying rail is connected with the platen 2 of the rack 1, the first conveying rail 45 of the second conveying rail is connected with the guide rail 42 in a sliding manner and is connected with the screw fine adjustment mechanism 410 in a driving manner, a part of the conveying rails is driven to move by a linear module, so as to realize the width adjustment of each conveying rail, and during a part of the movement of the conveying rails, the guide rail 42 is matched with the linear rail, and both products are products with high linear movement precision on the market, so that the combination of the two products can provide extremely precise displacement adjustment, the PCB board of more being fit for multiple size, the compatibility is better. And the fine adjustment of the position of a part of the first conveying rail 45 can be performed by the lead screw fine adjustment mechanism 410.
Referring to fig. 7, the screw fine adjustment mechanism 410 mainly comprises a hand wheel 4101, a digital position display 4102, an anti-rotation fixing part 4103, a screw support 4014, a screw nut connector 4105, a trapezoidal screw 4106, a screw nut 4107 and a shaft end retainer 4108, wherein the screw support 4014 is fixed on the bedplate 2, the anti-rotation fixing part 4103 is fixed on the screw support 4014, the digital position display 4102 is mounted on the anti-rotation fixing part 4103, the trapezoidal screw 4106 passes through a bearing inside the screw support 4014 and is connected with the anti-rotation fixing part 4103 and the digital position display 4102, the screw nut 4107 is sleeved on the trapezoidal screw 4106 and is connected with the screw nut connector 4105, and the hand wheel 1 and the shaft end retainer 4108 are respectively mounted at the shaft end of the trapezoidal screw 4106. The anti-rotation fixing part 4103 plays a role in locking the trapezoidal lead screw 4106 through common thread locking operation, the trapezoidal lead screw 4106 cannot rotate after being locked, the fourth conveying rail 48 cannot generate displacement any more, when the total width of the conveying track is to be adjusted, the anti-rotation fixing part 4103 is loosened by rotating 90 degrees, the trapezoidal lead screw 4106 can be driven by rotating the hand wheel 4101 again and the fourth conveying rail 48 is driven to move, and the digital position display 4102 can display the moving distance, namely the width value of track adjustment. After the adjustment is completed, the fourth conveying rail 48 is locked by rotating the rotation preventing fixing part 4103.
In other embodiments, the lead screw fine adjustment mechanism 410 may also be replaced with an existing linear module to achieve automatic fine adjustment.
Referring to fig. 4, in the present embodiment, the multi-rail conveying mechanism is a dual-rail conveying mechanism 4, so that the conveying rails are divided into a first conveying rail and a second conveying rail, the first conveying rail is specifically divided into a first conveying rail 45 and a second conveying rail 46, the second conveying rail is divided into a third conveying rail 47 and a fourth conveying rail 48, the linear module is divided into a two-rail linear module 49 and a three-rail linear module 411, and the first conveying rail 45 is fixed on the platen 2 through three rail supports 43. The second conveying rail 46 is connected to the driving slide block of the second rail linear module 49 through screws, the third conveying rail 47 is connected to the driving slide block of the third rail linear module 411 through screws, and the fourth conveying rail 48 is connected to the screw fine adjustment mechanism 410 through screws. The rail 42 is attached to the rail attachment base 41 by screws, and the rail attachment base 41 is fixed to the platen 2 by screws. The two guide rails 42 are located on both sides of the two-rail linear module 49 and the three-rail linear module 411. The second conveying rail 46, the third conveying rail 47 and the fourth conveying rail 48 are also respectively connected to the guide rail 42, and the first conveying rail 45 is a fixed rail and is immovable along the X-axis direction; the second conveying rail 46 can move along the X-axis direction under the drive of the second rail straight module 49; the third conveying rail 47 can move along the X-axis direction under the driving of the three-rail linear module 411; the fourth conveying rail 48 can be finely moved in the X-axis direction under the adjustment of the lead screw fine adjustment mechanism 410.
Therefore, in the present embodiment, the first conveying rail 45 and the second conveying rail 46 are used in combination, and can independently convey the PCB board, which is referred to as a first conveying rail; the third conveying rail 47 and the fourth conveying rail 48 are used in combination to independently convey PCB boards, which is called a second conveying rail. Since the second conveying rail 46 and the third conveying rail 47 can move along the X-axis direction, the rail widths of the first conveying rail and the second conveying rail are both adjustable. The first transmission rail and the second transmission rail can work simultaneously by double rails to transmit two PCB boards; the first conveying track and the second conveying track can also work in a single track, for example, the second conveying track is closed, and the first conveying track works to convey only one PCB.
Specifically, the screw fine adjustment mechanism 410 is connected to the fourth conveying rail 48 through a screw nut connector 4105, and when the hand wheel 4101 is rotated, the screw nut 4107 makes a linear motion along the X-axis to drive the fourth conveying rail 48 to make a fine adjustment movement along the X-axis, and the digital position display 4102 can display the movement distance.
Referring to fig. 5, the first conveying rail 45 mainly includes a rail bottom plate 451, a rail connecting plate 452, a rail plate 453, a position detecting sensor 454, a tensioning mounting plate 455, a flat belt 456, a driving motor 457, a motor mounting plate 458, a driving pulley 459, a PCB side stopper 4510, a belt guide 4511, a PCB presser 4512, and a driven pulley 4513, and the rail plate 453 is fixed to the rail bottom plate 451 through the rail connecting plate 452. The position detecting sensor 454 has a plurality and is installed on the track plate 453 and the track base plate 451 to detect the position of the PCB on the transfer track. The tension mounting plate 455 and the motor mounting plate 458 are fixed to the rail plate 453. The flat belt 456 is connected in tension by a driving pulley 459 and a plurality of driven pulleys 4513, and the driven pulleys 4513 are mounted on the rail plate 453. The driving motor 457 is fixed to the motor mounting plate 458 by a screw and connected to the driving pulley 459 to drive the flat belt 456 to move. The belt guide 4511 is fixed to the side surface of the track plate 453 and located below the flat belt 456, and functions to support and guide the flat belt 456. A plurality of PCB blocks 4512 are fixed to the PCB side block 4510 above the rail plate 453 and above the flat belt 456.
In the present embodiment, the second conveying rail 46, the third conveying rail 47 and the fourth conveying rail 48 are similar in structure and consistent in principle with the transmission portion of the first conveying rail 45, and therefore, detailed description thereof is omitted.
Specifically, PCB positioning mechanism 5 locates between every transmission track, can fix a position the fixed point of gluing in order to realize the PCB board to the PCB board and operate, and wherein PCB positioning mechanism 5 includes jacking positioning mechanism and baffle mechanism 44, is equipped with PCB briquetting 4512 on every transmission track, blocks the location to the PCB board through baffle mechanism 44, through jacking positioning mechanism jacking PCB board and the contact of PCB briquetting 4512, realizes fixed in location to the PCB board.
Referring to fig. 6, in the present embodiment, the baffle mechanism 44 mainly includes a cylinder mounting seat 441, a baffle cylinder 442, a baffle rod mounting block 443, a PCB baffle rod 444, and a magnetic switch 445. The baffle cylinder 442 is mounted on the cylinder mounting seat 441, the cylinder stop rod is connected with the baffle cylinder 442 through the stop rod mounting block 443, the magnetic switch 445 is mounted on the baffle cylinder 442, and the two sets of baffle mechanisms 44 are respectively mounted on the rail bottom plates 451 of the first conveying rail 45 and the fourth conveying rail 48. When the PCB flows into the first transfer rail or the second transfer rail, the magnetic switch 445 or the position detecting sensor 454 senses that the PCB flows into the position, the barrier cylinder 442 is lifted, and the PCB blocking rod 444 blocks the PCB.
Referring to fig. 8, in the present embodiment, the jacking positioning mechanism mainly includes a top plate cylinder 51, a floating joint 52, a linear guide rail 53, a top plate mounting plate 54, a PCB top plate 55, an oil buffer 56, and a buffer mounting block 57. The top plate cylinder 51 is connected to a top plate mounting plate 54 through a floating joint 52, the slider of the linear guide 53 is mounted on the top plate mounting plate 54, and the PCB top plate 55 is fixed to the top plate mounting plate 54. The hydraulic shock absorber 56 is connected to the top plate mounting plate 54 via a shock absorber mounting block 57. Two sets of top plate cylinders 51 and two sets of linear guide rails 53 are provided, the two sets of top plate cylinders 51 are mounted on the rail connecting plate 452, the guide rails 42 of the two sets of linear guide rails 53 are mounted in the guide rail grooves 4514 of the rail plate 453, and the four sets of lift-up positioning mechanisms are respectively mounted on the first conveying rail 45, the second conveying rail 46, the third conveying rail 47 and the fourth conveying rail 48. Taking the first conveying rail as an example, when the PCB on the first conveying rail is conveyed to a proper position, the jacking and positioning mechanisms on the first conveying rail 45 and the second conveying rail 46 simultaneously operate, and the top plate cylinder 51 drives the PCB top plate 55 to move, so as to jack up the PCB and press the PCB on the PCB pressing block 4512. The oil buffer 56 can reduce the shock when the PCB board is lifted in place.
The air cylinders can be replaced by electric cylinders, and the air cylinder has the advantages of low maintenance cost and low failure rate. Wherein all be equipped with the drive slider on the sharp module in this application, this kind of slider is the structure that sharp module itself just had, and linear guide or guide rail etc. are current single slider or two slider linear guide.
The working principle of the embodiment is as follows:
in order to realize the online automatic dispensing of the PCB, a double-track online automatic dispensing machine is arranged between the online AOI of the PCB online automatic production line and the board collecting machine shown in FIG. 1. Taking the simultaneous working of the double tracks as an example, the double-track automatic dispenser receives PCB information flowing out from the online AOI from the MES, the width of the track is automatically adjusted by the first transmission track and the second transmission track to be matched with the width of the PCB, after the adjustment is finished, the flat belt 456 of the double-track conveying mechanism 4 starts to drive, and two PCBs flow in simultaneously. The position detection sensor 454 detects the position of the PCB in real time, when the PCB flows in place, the flat belt 456 stops, the baffle mechanism 44 rises to block the PCB, the jacking positioning mechanism acts to jack and fix the PCB, at the moment, the three-axis vision dispensing mechanism 3 drives a dispensing device consisting of the vision camera 311, the light source 312 and the dispensing valve 315 to move to the upper part of the first transmission track firstly, the PCB on the first transmission track is photographed, a dispensing track is planned by identifying mark points and chip outlines on the PCB, and dispensing is carried out on chip pins of the PCB along the dispensing track; after the dispensing of the PCB of the first transmission track is finished, the three-axis vision dispensing mechanism 3 drives the dispensing device to move above the PCB of the second transmission track, and the dispensing operation is carried out. After dispensing is finished, the jacking positioning mechanism and the baffle mechanism 44 are reset, and the flat belt 456 drives the two PCB boards to be conveyed and flow out.
Example 2
Referring to fig. 9, in order to control the dispenser more conveniently, a method for controlling a dual-track online automatic dispenser specially used for the dispenser is provided, which includes the following steps:
s100, receiving information of a PCB to be processed flowing out of the online AOI;
in this step, the size information of the PCB is mainly received, so that PCB boards with different sizes can be processed on the two transmission tracks at the same time.
S200, automatically adjusting the width of the track respectively by the first transmission track and the second transmission track, and matching the width with the size of the PCB to be processed;
in this step, an automatic width adjusting structure is actually adopted to realize width adjustment.
S300, feeding two PCBs to be processed simultaneously through the first transmission rail and the second transmission rail;
in this step, the flat belts 456 on the two transport rails run to move the PCB.
S400, respectively monitoring the positions of the PCBs to be processed in real time;
in this step, the position of the PCB board is obtained in real time by the position monitoring sensor 454.
S500, when the PCB to be processed flows in place, the baffle mechanism 44 acts to block the PCB to be processed, and the jacking positioning mechanism acts to jack the PCB to be processed to be fixed;
s600, sequentially photographing two PCBs to be processed by the three-axis visual dispensing mechanism 3, and planning a dispensing track for dispensing;
s601, moving a vision camera of a vision dispensing mechanism to the position of a mark point of the PCB to be processed and shooting a positioning mark point;
s602, acquiring the coordinate position of the mark point according to the shot picture;
s603, according to the phase position between the mark point and the chip of the PCB to be processed;
the length and the width of the PCB, the positions of the marking points on the PCB and the positions of the centers of the chips on the PCB are all basic information of the PCB and are stored in an upper computer system in advance. Because the imaging precision of the camera is high, the imaging visual field is small (the visual field range is slightly larger than the chip), the whole PCB cannot be shot, and the camera is driven by the three shafts to move to the maek point or the position of the chip for shooting according to the position information of the mark point and the center of the chip, so that the accurate position data of the mark point and the chip in the absolute coordinate system of the dispensing machine is obtained, and the phase position is the shooting position.
S604, the vision camera moves to the position above the chip to take a picture of the chip;
s605, extracting the outline of the chip according to the shot picture of the chip;
s606, planning a dispensing track according to the outline of the chip, and storing and binding the dispensing track and the chip for next processing and calling;
s607, dispensing along the dispensing track by a dispensing needle head of a dispensing valve of the visual dispensing mechanism;
s700, after dispensing is finished, resetting the baffle mechanism 44 and the jacking positioning mechanism, and respectively sending out two PCB boards which are dispensed by the glue through the first transmission rail and the second transmission rail;
and S800, the steps S100-S700 are circulated until the machining is finished or a stop command is received.
Wherein the steps S601-S607 are not shown in fig. 9.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. The double-track online automatic dispensing machine is characterized by comprising a rack, and a three-axis visual dispensing mechanism, a multi-track conveying mechanism and a PCB positioning mechanism which are arranged on the rack;
the three-axis visual dispenser framework is arranged on the multi-track conveying mechanism and can move in the XYZ three-axis direction relative to the multi-track conveying mechanism to realize dispensing operation on the PCB;
the multi-track conveying mechanism is provided with a plurality of conveying tracks, the multi-track conveying mechanism can convey a plurality of PCBs to move back and forth along the length direction of the conveying tracks, and each conveying track is provided with an automatic width adjusting structure capable of adjusting the width of the conveying track and a plurality of position detection sensors for detecting the positions of the PCBs on the conveying tracks;
the PCB positioning mechanism is arranged between the transmission rails and can position and fix the PCB so as to realize the dispensing operation of the PCB.
2. The double-track online automatic dispenser according to claim 1, wherein the automatic width adjusting structure comprises a guide rail and a linear module disposed below each of the conveying rails, the guide rail and the linear module are slidably connected to the conveying rails, and the linear module drives a portion of the conveying rails to move back and forth along a length direction of the guide rail, so as to achieve automatic width adjustment of the conveying rails.
3. The double-track online automatic dispenser according to claim 2, wherein each of the conveying tracks comprises a first conveying track and a second conveying track, the second conveying track is slidably connected with the guide rail, the second conveying track is connected with a driving slider of the linear module, the linear module drives the second conveying track to move away from or close to the first conveying track to achieve automatic width adjustment of the conveying tracks, the number of the linear modules is at least two, and each of the linear modules corresponds to each of the second conveying tracks one to one.
4. The double-track online automatic dispenser according to claim 3, wherein the automatic width adjusting mechanism comprises a lead screw fine adjustment mechanism for driving the first conveying track to move back and forth along the length direction of the guide rail.
5. The double-track online automatic dispenser according to claim 4, wherein the conveying rails comprise a first conveying rail and a second conveying rail, the first conveying rail and the second conveying rail each comprise a first conveying rail and a second conveying rail, the first conveying rail of the first conveying rail is connected with the platen of the rack, and the first conveying rail of the second conveying rail is connected with the guide rail in a sliding manner and is in driving connection with the screw fine adjustment mechanism.
6. The double-track online automatic dispenser according to claim 4 or 5, wherein the lead screw fine adjustment mechanism comprises a hand wheel, a digital position display, a lead screw support, a lead screw nut connecting piece, a trapezoidal lead screw and a lead screw nut, the lead screw support is connected with a platen of the rack, the trapezoidal lead screw is driven to rotate by the rotation of the hand wheel to drive the lead screw nut to move back and forth along the length direction of the trapezoidal lead screw, the lead screw nut is connected with the first conveying rail through the lead screw nut connecting piece, and the moving distance of the lead screw nut is displayed through the digital position display.
7. The double-track online automatic dispenser according to claim 1, wherein the PCB positioning mechanism comprises a jacking positioning mechanism and a baffle mechanism, a PCB pressing block is arranged on each transmission rail, the baffle mechanism blocks and positions the PCB, and the jacking positioning mechanism jacks the PCB to contact with the PCB pressing block, so that the PCB is positioned and fixed.
8. The double-track online automatic dispenser according to claim 7, wherein the jacking positioning mechanism comprises a top plate cylinder, a linear guide rail, a top plate mounting plate and a PCB top plate, the linear guide rail is connected with the transmission rail, the top plate mounting plate is respectively connected with the PCB top plate and a slider of the transmission rail, and the top plate cylinder drives the top plate mounting plate to ascend to realize jacking operation on the PCB.
9. The double-track online automatic dispenser according to claim 8, wherein an oil buffer is arranged below the top plate mounting plate, the oil buffer is connected with the top plate mounting plate through a buffer mounting block, and the impact force generated after the PCB is lifted in place is buffered and damped through the oil buffer.
10. The double-track online automatic dispenser according to claim 7, wherein the baffle mechanism comprises a cylinder mounting seat, a baffle cylinder, a baffle rod mounting block, a PCB baffle rod and a magnetic switch, the baffle cylinder is connected with the bedplate of the frame through the cylinder mounting seat, the PCB is sensed through the magnetic switch and is driven to act, and the baffle cylinder drives the PCB baffle rod to ascend and descend through the baffle rod mounting plate to block and release the PCB.
11. The double-track online automatic glue dispenser according to claim 1, wherein the three-axis vision glue dispensing mechanism comprises an X-axis linear module, a Y-axis linear module, a Z-axis linear module, and a glue dispensing device arranged on a driving slide block of the Z-axis linear module, which are sequentially connected in a driving manner, and the X-axis linear module is connected with a platen of the rack through a support.
12. The dual-track online automatic dispenser according to claim 11, wherein the dispensing device comprises a vision camera, a light source and a dispensing valve, information of the PCB is recognized by the vision camera, auxiliary lighting is realized by the light source, and dispensing operation of the PCB is realized by the dispensing valve.
13. The double-track online automatic dispenser according to claim 5, wherein the first conveying track comprises a track plate, a flat belt, a belt wheel and a driving motor, the flat belt, the belt wheel and the driving motor are arranged on one side surface of the track plate, the driving motor drives the belt wheel to rotate to drive the flat belt to convey the PCB, and the track plate is connected with a platen of the rack or is connected with the guide rail in a sliding manner.
14. A control method of a double-track online automatic dispenser is applied to the double-track online automatic dispenser of any one of claims 1 to 13, and is characterized by comprising the following steps:
receiving information of the PCB to be processed flowing out of the online AOI;
the first transmission rail and the second transmission rail respectively automatically adjust the width of the rails to be matched with the size of the PCB to be processed;
feeding the two PCBs to be processed simultaneously through the first transmission rail and the second transmission rail;
respectively monitoring the positions of the PCBs to be processed in real time;
when the PCB to be processed flows in place, the baffle mechanism acts to block the PCB to be processed, and the jacking positioning mechanism acts to jack the PCB to be processed to be fixed;
the three-axis visual dispensing mechanism sequentially takes pictures of the two PCBs to be processed and plans a dispensing track for dispensing;
after dispensing is finished, the baffle mechanism and the jacking positioning mechanism reset, and two dispensed PCB boards are respectively sent out through the first transmission rail and the second transmission rail.
15. The control method of the double-track online automatic glue dispenser according to claim 14, wherein the specific glue dispensing step of the three-axis vision glue dispensing mechanism on the PCB to be processed comprises:
a vision camera of the vision dispensing mechanism moves to the position of the mark point of the PCB to be processed and shoots and positions the mark point;
acquiring the coordinate position of the mark point according to the shot picture;
according to the phase position between the marking point and the chip of the PCB to be processed;
the visual camera moves to the position above the chip to take a picture of the chip;
extracting the outline of the chip according to the shot picture of the chip;
planning a dispensing track according to the outline of the chip, and storing and binding the dispensing track and the chip for next processing and calling;
and glue is dispensed from a glue outlet needle head of a glue dispensing valve of the visual glue dispensing mechanism along the glue dispensing track.
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| CN114798360A (en) * | 2022-06-29 | 2022-07-29 | 深圳市欧米加智能科技有限公司 | Real-time detection method for PCB dispensing and related device |
| CN116174269A (en) * | 2022-12-02 | 2023-05-30 | 苏州希盟科技股份有限公司 | Dispensing method and multifunctional dispensing machine |
| CN116174269B (en) * | 2022-12-02 | 2023-10-24 | 苏州希盟科技股份有限公司 | Dispensing method and multifunctional dispensing machine |
| CN115921216A (en) * | 2022-12-07 | 2023-04-07 | 常州铭赛机器人科技股份有限公司 | Large-stroke cabinet type dispensing machine, dispensing method thereof and combined dispensing equipment |
| CN115921216B (en) * | 2022-12-07 | 2023-11-28 | 常州铭赛机器人科技股份有限公司 | Large-stroke cabinet type dispensing machine, dispensing method thereof and combined dispensing equipment |
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Application publication date: 20211210 |
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