CN113825382A - High-precision large-batch full-automatic array method and equipment for miniature parts - Google Patents

Abstract

The invention provides a high-precision large-batch full-automatic array method and equipment for miniature parts, a novel miniature part array mode effectively combines a high-precision positioning mode of high-precision industrial camera set machine vision and a high-precision action stable structure mode of a mechanical arm, and the equipment stability of miniature irregular parts in the array process can be greatly improved; the vibration disc and the corresponding positioning specification can be adjusted according to different product specifications, and the precision of the part array can be greatly improved by adopting a machine vision positioning method; the array moving mode of the mechanical arm is adopted, so that the efficiency of the magnet array can be greatly improved; the method has the advantages that the vacuum suction nozzle is adopted to grab the parts, so that the parts to be arrayed are effectively protected in the installation process, and damage and scratches of the parts in the array process are reduced; the mode that the control screen 10 displays the fault parameters and the loudspeaker in the control box gives a fault alarm is adopted, the equipment fault feedback efficiency is greatly improved, the fault visualization degree is more visually displayed, and the equipment maintenance difficulty is reduced.

Description

High-precision large-batch full-automatic array method and equipment for miniature parts

First, background information and objects of the technical invention:

with the development of consumer electronics and microelectronic technology and the expansion of the market next day, electronic component parts are increasingly miniaturized, and a Voice Coil Motor (VCM) contains various assembly parts and needs to be arranged in an array mode before entering automatic production. There is an urgent need for a high-precision apparatus for arraying electronic components in large quantities.

Chinese patent CN201911114014.5 discloses a PIN placing device. The equipment that publishes in the above patent still belongs to manual material loading mode, can only be applied to simple structure's work piece and put, and is inefficient, and application scope is little, and the precision is low, is difficult to carry out high accuracy, high stability operation demand.

Chinese patent CN201820384853.3 discloses an automatic arraying machine, which adopts a mechanical vibration technical route, can arrange small parts orderly, but is suitable for mechanical parts, and is not suitable for precision electronic components which are easily damaged by external force.

The invention has the advantages that: the method and the equipment for the high-precision large-batch full-automatic array of the micro parts are provided, the high-precision positioning mode of machine vision and the high-precision action stable structure mode of a mechanical arm are effectively combined, the equipment stability of the micro irregular parts in the array process can be greatly improved, and the problem of wrong direction of the products caused by fatigue in the manual disc arranging process is basically avoided; the vibration disc and the corresponding positioning specification can be adjusted according to different product specifications, so that the applicability is wide and the applicability is strong; the novel miniature irregular part array mode adopts a full-machine vision positioning method, so that the part array precision can be greatly improved; the novel micro part array mode adopts a mechanical arm moving array mode, so that the magnet array efficiency can be greatly improved; the mode that a high-precision mechanical arm is matched with machine vision is adopted, a large number of positioning devices on traditional equipment are omitted, the size of the equipment is greatly reduced, the modularization advantage of the equipment is effectively improved, the failure rate and the abrasion of the equipment are effectively reduced, the service life of the equipment is greatly prolonged, and the mobility of the equipment and the adjustability of the equipment in an industrial link are greatly improved; the novel micro part array mode adopts a mode that a vacuum suction nozzle grabs parts, so that the parts to be arrayed are effectively protected in the installation process, and the damage and scratch of the parts in the array process are reduced; the mode that the control screen displays the fault parameters and the loudspeaker in the control box gives a fault alarm is adopted, the equipment fault feedback efficiency is greatly improved, the fault visualization degree is more visually displayed, and the equipment maintenance difficulty is reduced.

The technical scheme adopted by the invention is as follows：

Relates to a high-precision large-batch full-automatic array method and equipment for miniature parts. The device structure comprises four parts: the part positioning and recognizing method comprises a part feeding part, a part positioning, recognizing, grabbing and placing part, a part array end part and a part positioning and recognizing method.

FIG. 1 is a schematic view of the overall assembly structure of the present invention.

FIG. 2 is a schematic view of the part loading part of the present invention.

FIG. 3 is a schematic view of the part positioning, recognizing and grasping portion of the present invention.

FIG. 4 is a schematic diagram of an intelligent control flow structure according to the present invention.

As shown in fig. 2, after the movable casters 17 are mounted at the positions corresponding to the four corners of the lower portion of the equipment platform 19, the parts are first assembled at the parts loading portion, and the automatic loading vibration plate 8 is fixed at the corresponding position on the equipment platform 19. The positioning sensor 18 is arranged on the part preparation table 7, and then a material receiving opening of the part preparation table 7 is in butt joint with a material outlet of the feeding vibration disc 8 and then is fixed at a corresponding position on the equipment platform 19. After the completion, the feeding vibration disk 8, the positioning inductor 18 and the electric parts in the electric control cabinet 5 are connected. The NG parts placing box 20 is fixed at a position corresponding to one side of the parts preparing table 7.

As shown in fig. 1 and fig. 3, next, the parts are positioned, identified, and the parts are grabbed and placed, and then the robot arm 1 is fixed at a corresponding position on the equipment platform 19, and connected with a relevant electric circuit. The vacuum suction nozzle 4 and the upper lens 2 are connected and fixed with the upright post at the moving end of the mechanical arm 1 by a mechanical arm connecting frame 3. The lower lens 6 is fixed at the corresponding position of the opening of the upper and lower end lenses of the equipment platform 19. After the installation is finished, the relevant air path of the vacuum suction nozzle 4 is connected, and the relevant circuits of the upper lens 2 and the lower lens 6 are connected.

As shown in fig. 1, the component array end portion assembly is then performed to secure the component array tooling connector tiles 15 in position on the equipment platform 19. The component array jig 16 is placed on the component array jig connection plate 15, and the positioning hole at the bottom of the component array jig 16 is connected with the positioning pin at the upper part of the component array jig connection plate 15.

Finally, as shown in fig. 1 and 4, the part positioning recognition control hardware assembly is carried out, and the control screen 10 is connected to the corresponding position on the equipment platform 19 by the control screen bracket 9. And the control screen 10, the upper lens 2, the lower lens 6 and the corresponding processor and related gas and circuits are arranged in the electric control cabinet 5. The start key 11, the close key 12 and the emergency stop key 13 are installed at corresponding positions on the equipment platform 19.

Firstly, the upper lens 2 connected with the grabbing end of the mechanical arm 1 scans data of positions to be placed of the part array jig 16 of parts to be placed one by one, collects data of key points one by one, and positions the parts through key point positioning. After the positioning sensor 18 on the part preparation table 7 senses that the part vibrates to the corresponding position of the part preparation table 7, the mechanical arm 1 picks the end up lens 2 and moves to the part preparation table 7, image data collection is carried out on a product to be placed, and the product picking position is identified through a key point. The decision flow is shown in FIG. 4.

When the system identifies that the parts are to be placed, the NG products are grabbed to the NG part placing box 20 by the vacuum suction nozzle 4.

When the system identifies the part OK to be placed, the part OK to be placed is grabbed by the vacuum suction nozzle 4, the mechanical arm 1 is moved to the lower lens 6, data are collected on key points at the bottom of the product, the key points are matched and positioned with key points in the placing grids in the part array jig 16, and the part OK to be placed is placed at a corresponding position in the 16 grids of the part array jig 16 after positioning.

The specific method of use of the device is described below:

the parts to be arrayed are placed in an automatic feeding vibration disc 8, equipment parameters are set in a control interface displayed on a control screen 10, a part array jig 16 is placed on a part array jig connection plate 15, and a positioning hole at the bottom of the part array jig 16 is connected with a positioning pin at the upper part of the part array jig connection plate 15.

Pressing the start key automatically operates the apparatus to position the part array at the corresponding location of the part array tooling 16. After the placement is completed, the equipment is automatically stopped, and the full part array jig 16 is removed. Then another empty part array jig 16 is placed and the above operation is repeated.

Third, example:

VCM is adopted to treat the array to put 2000 parts, and the specification of the parts is as follows: 7.137mm × 6.212mm × 1.2mm, U-shaped irregular polyethylene material.

The part array is put and is adopted the artifical manual mode of tradition, and the part array is put operating time and is: putting all 2000 parts to be placed in the corresponding part array tools 16 until all parts are placed in the corresponding part array tools 16. The traditional domestic industry manual array placing mode and the automatic array equipment 1 of the invention are respectively adopted for carrying out comparison experiments. The operator: 1 operator is arranged for operation in each of the two array arrangement modes.

According to the traditional domestic manual array placing mode, the average placing of 167 arrays per hour is finished, the average dispensing of 1996 arrays per hour is finished by the full-automatic array equipment, and the placing efficiency of the part arrays is improved by 1195.21%. The average placing qualification rate of the traditional domestic artificial part array placing equipment is 97%, and the average placing qualification rate of the part array placing equipment is 99.6%. The average continuous working time of a traditional domestic industry standard part array placing person needs to rest for 20 minutes after 3 hours, the equipment is restarted after the part array placing equipment works for 24 hours on average to reduce accumulated motion errors, the part array placing method disclosed by the invention is adopted, the worker only needs to place an empty part array tool 16 into the equipment, and after the equipment automatically runs and finishes after pressing a running key, the part array tool 16 full of parts is taken down, so that the workload of the operator is greatly reduced, the fatigue of the operator due to high concentration in the manual part array placing process, the wrong product direction caused by manual operation, and the like are avoided, the workload and the working error rate of the operator are greatly reduced, and the working efficiency of the process is greatly improved.

Fourthly, the improved effect of the invention is as follows:

the motion control mode of the invention adopts a high-precision industrial camera set, and an equipment design method of corresponding position characteristic resolution of machine vision intelligent program systems for grabbing parts and placing tools in all directions at different angles, so that the parts are accurately positioned in the array process, defective products which are missed to be detected can be effectively positioned, identified and screened, the placing precision and the action accuracy of tiny irregular parts in the array process are effectively improved, and the problem of wrong direction of the products caused by fatigue in the manual disc placing process is basically avoided.

The invention adopts the design of the high-precision mechanical arm 1, so that the parts are always kept stable in the high-speed movement of the array action, the consistency of the movement positions of the equipment in the process of micro part array is improved, and the stability and the efficiency of the equipment in the movement process are effectively improved. By adopting an automatic feeding mode, the uninterrupted operation time of the equipment is effectively improved, and the continuous work efficiency of parts is improved.

The invention adopts the high-precision industrial camera set to scan and identify the tiny irregular parts before placing, can effectively screen the missed defective products, greatly reduces the product faults caused by the defective parts, greatly improves the overall qualification rate of the products and reduces the economic loss caused by the tiny parts.

The invention adopts a machine vision intelligent program control system method and a large-screen visual program parameter setting design, can optimally control the movement of tiny irregular parts and the matching of all links, presses an operation key after the parameters of the intelligent program are confirmed, and automatically operates equipment to carry out a part array process, thereby effectively realizing the automatic array arrangement of mass miniature irregular parts and greatly improving the artificial intelligence degree of the process.

The invention adopts a modular design, can change the corresponding design on the jigging disk, the part preparation platform, the vacuum suction nozzle and other tools according to different specifications and requirements of parts, and can ensure that the equipment has wide applicability.

According to the invention, the mode that the vacuum suction nozzle 4 grabs the parts is adopted, so that the parts to be arrayed are effectively protected in the installation process, and the damage and scratch of the parts in the traditional clamping mode array process are reduced.

The invention adopts a mode of matching a high-precision mechanical arm with machine vision, greatly reduces the volume of the equipment and greatly improves the mobility of the equipment.

According to the invention, the failure feedback efficiency of the equipment is greatly improved by adopting a mode that the control screen 10 displays failure parameters and the speaker in the control box gives a failure alarm, the failure visualization degree is more intuitively displayed, and the equipment maintenance difficulty is reduced.

Claims (7)

1. A high-precision large-batch full-automatic array method and equipment for miniature parts. The method is characterized in that: the device structure comprises four parts: a part feeding part, a part positioning, identifying, grabbing and placing part, a part placing array end part and a part positioning and identifying method.

2. The parts loading part of claim 1, wherein the parts are automatically loaded by using a vibration plate, a parts preparing table, a vacuum suction nozzle and other tools and a high-precision mechanical arm.

3. The method for designing the equipment for comprehensively grabbing parts and placing corresponding position feature resolution of the tool in different angles by using a high-precision industrial camera set and a machine vision intelligent program system in different angles is adopted in the control processes of part positioning, identification, screening and the like in claim 1.

4. The parts holding and placing part of claim 1, wherein the parts holding and placing part is an array placing method using a vacuum suction nozzle and a high-precision mechanical arm in cooperation with machine vision.

5. The method of claim 1 wherein the array end for placing the parts comprises engaging plates of the part array tool with the fixed platform, and the bottom of the part array tool has positioning holes for engaging with positioning pins at the top of the engaging plates of the part array tool.

6. The method of claim 1, wherein the method comprises a machine vision intelligent program system flow method for positioning, identifying and screening the parts, and a visualization control method for setting and designing parameters of a large-screen visualization program to control the movement of tiny irregular parts.

7. The device of claim 1 is structured by four parts, namely a part feeding part, a part positioning, identifying, grabbing and placing part, a part placing array part and a part positioning and identifying method, and the modular design method for placing the new part array can be completed only by replacing the vibrating disk, the vacuum suction nozzle and the feeding table according to different product specifications.

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