CN115289962A - Laser height measurement and visual automatic alignment plugging system and method for display module connector - Google Patents
Laser height measurement and visual automatic alignment plugging system and method for display module connector Download PDFInfo
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- CN115289962A CN115289962A CN202210880241.4A CN202210880241A CN115289962A CN 115289962 A CN115289962 A CN 115289962A CN 202210880241 A CN202210880241 A CN 202210880241A CN 115289962 A CN115289962 A CN 115289962A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/1306—Details
- G02F1/1309—Repairing; Testing
Abstract
The invention discloses a laser height measurement and visual automatic alignment plugging system for a display module connector, which comprises a six-axis robot and a carrying platform, wherein the six-axis robot is used for absorbing a product connector and performing deviation rectification compensation movement according to received visual horizontal direction offset and visual vertical direction offset, the carrying platform is used for supporting the product connector and is used for enabling a connector plug to move back and forth so as to complete automatic alignment plugging of the product connector, a laser displacement sensor and a visual alignment system are adopted for carrying out height measurement and photographing positioning on a vehicle-mounted liquid crystal display module connector, offset (X left and right direction, Y front and back direction, Z up and down direction and R angle) is calculated and sent to the six-axis robot for compensation to automatically plug and light a product, and the visual automatic alignment plugging and lighting product can be quickly realized.
Description
The technical field is as follows:
the invention relates to the technical field of laser height measurement and visual automatic alignment plug-in lighting of connectors of vehicle-mounted liquid crystal display modules, in particular to application of laser height measurement and visual automatic alignment plug-in lighting of connectors of vehicle-mounted liquid crystal display modules, which is mainly applied to visual automatic alignment plug-in lighting of connectors of vehicle-mounted liquid crystal display modules.
Background art:
the plug-in of the connector of the vehicle-mounted liquid crystal display module is an indispensable action of a key detection process in liquid crystal display production, and usually, a lighting product is set in the liquid crystal display detection process to carry out picture detection so as to distinguish standard-compliant articles from standard-non-compliant articles. The traditional liquid crystal display screen lighting detection method basically adopts manual insertion lighting detection on a product connector, and the manual insertion method is relatively laggard, low in efficiency, poor in precision, difficult to control and not suitable for industrial automatic production at the present stage.
The invention content is as follows:
aiming at the defects in the prior art, the embodiment of the invention aims to provide a system and a method for laser height measurement and visual automatic alignment plugging of a display module connector, so as to solve the problems that the traditional liquid crystal screen lighting detection method in the background technology basically adopts manual plugging lighting detection on a product connector, the manual plugging method is relatively backward, low in efficiency and poor in precision and is not easy to control, and the system is not suitable for industrial automatic production at the present stage. And compared with manual splicing, the speed is higher, the precision is higher, and the splicing is more stable. The detection efficiency and the personnel cost are remarkably improved.
In order to achieve the purpose, the invention provides the following technical scheme:
display module assembly connector laser height finding and vision automatic alignment grafting system, including six robots, microscope carriers, six robots are used for absorbing the product and carry out the compensation motion of rectifying according to receiving vision horizontal direction and vertical direction offset, the microscope carrier is used for supporting the product and fixed connector plug carries out the back and forth movement to accomplish the automatic alignment grafting to the product.
As a further scheme of the invention, a laser displacement sensor height measuring mechanism and a visual positioning mechanism are arranged on the carrier, the laser displacement sensor height measuring mechanism is used for measuring the vertical height from the product connector to the laser sensor, and the visual positioning mechanism collects images from bottom to top of the product connector and calculates the horizontal direction deviation to perform visual alignment compensation.
As a further scheme of the invention, the visual positioning mechanism comprises a CDD area array camera, a lens and a coaxial light source, and the laser displacement sensor height measuring mechanism comprises an amplifier unit, a communication converter and a fixing component.
As a further scheme of the invention, the six-axis robot comprises an adapter plate, a vacuum chuck and a clamping mechanism, wherein the adapter plate comprises a linear slide rail and a slide rail guide wheel for fixing the vacuum chuck and fixing and adjusting the clamping position of the clamping mechanism, the vacuum chuck comprises an adjustable workpiece and a suction nozzle rod for sucking a product, and the product is enabled to be parallel to a camera by adjusting the position and the height of the suction nozzle rod, so that the imaging effect is ensured.
As a further scheme of the invention, the clamping mechanism comprises a transverse mounting cylinder, a longitudinal mounting cylinder, a chuck and a sensor, and is used for fixing a module product PCB connector, and the sensor is used for feeding back a position signal by the movement of the clamping mechanism cylinder.
As a further scheme of the present invention, the carrier includes a planar platform, a movement X-axis module, and a movement Y-axis module, where the planar platform is used to support the product connector, and the movement X-axis module is used to position the movement Y-axis module.
As a further scheme of the invention, the fixed base of the motion Y-axis module is used for positioning the connector plug, and the plugging and wire pulling actions are completed by controlling the Y-axis module.
The invention also provides a laser height measurement and visual automatic alignment plugging method for the display module connector, which comprises the following steps: absorbing the product through a six-axis robot and performing deviation rectifying and compensating motion according to the offset of the receiving vision in the horizontal direction and the vertical direction; and adjusting the position of the connector plug to realize the plugging with the module connector.
The invention has the following beneficial effects:
1. the invention can realize the industrial automation of the lighting detection of the vehicle-mounted liquid crystal display module product connector by laser height measurement and visual automatic alignment plugging, develop a visual positioning system to replace manual plugging lighting detection, reduce the labor intensity of quality inspectors and eliminate the damage of human eye detection to the eyes of the employees. The consistency of detection is strong, personnel quality inspection is adopted, judgment differences, states and proficiency degrees of different employees are different, false detection and omission detection are easily caused, detection standards are different, manual work is replaced by machine vision, the product detection standards are consistent and uniform, and the quality level of the product of a production line is improved; the detection precision is high, the detection time is short, the detection time of a production line is shortened, the time is saved, and the production efficiency and the yield of the production line are improved.
2. The device is simple and easy to debug, after the six-axis robot sucks a product by using the vacuum chuck, the clamping mechanism fixes the PCB connector to move to a camera shooting point of the visual detection mechanism, the robot triggers the camera to shoot to carry out horizontal direction visual positioning compensation after the six-axis robot arrives at the position, the camera moves to the laser displacement sensor mechanism after shooting, the robot triggers the laser displacement sensor to carry out vertical direction height measurement after the six-axis robot arrives at the position, then the six-axis robot moves the product to a carrying platform inserting position, and offset in the horizontal direction and the vertical direction of the vision is received to carry out deviation rectification compensation movement. And moving the Y-axis module to move the connector plug to plug the module connector. After the insertion is finished, the carrying platform supports the product through the plane platform, and then the product is lightened for detection.
To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Description of the drawings:
fig. 1 is a schematic structural diagram of a six-axis robot provided by the present invention.
Fig. 2 and fig. 3 are schematic diagrams of automatic insertion and automatic alignment provided by the present invention, respectively.
Fig. 4a and 4b are schematic structural diagrams of a camera portion provided by the present invention.
Fig. 5a and 5b are schematic structural diagrams of the carrier provided by the present invention.
Fig. 6 is a schematic structural diagram of a clamping mechanism provided by the invention.
Fig. 7 is a schematic structural diagram of the motion X-axis module and the motion Y-axis module provided by the present invention.
The specific implementation mode is as follows:
the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown.
Referring to fig. 1-6, the display module connector laser height measurement and vision automatic alignment plugging system includes a six-axis robot 100, a carrier 200, a laser displacement sensor height measurement mechanism and a vision positioning mechanism: the six-axis robot 100 is used for absorbing product movement and receiving visual horizontal direction and vertical direction offset for deviation rectification compensation movement.
Carrier 200 is used to hold the product and to secure the connector plug for back and forth movement.
The laser displacement sensor height measuring mechanism is used for measuring the vertical height from the product connector to the laser sensor and converting communication data; the vision positioning mechanism is used for installing a CDD area array camera, a lens and a coaxial light source, the center of the camera lens and the center of the lens of the coaxial light source are on the same shaft, and the camera collects images from bottom to top of the product connector, calculates horizontal deviation and carries out vision alignment compensation. Therefore, automatic alignment, insertion and lighting detection of the connector of the vehicle-mounted liquid crystal display module is realized.
In the invention, the six-axis robot 100 comprises an adapter plate 104, a vacuum chuck 103 and a clamping mechanism 102, wherein the adapter plate 104 comprises a linear slide rail and a slide rail guide wheel which are used for fixing the vacuum chuck and fixing and adjusting the clamping position of the clamping mechanism, the vacuum chuck comprises an adjustable workpiece and a suction nozzle rod which is used for sucking a module product, an object to be inspected and a camera can be ensured to be parallel by adjusting the position and the height of the suction nozzle rod, and the imaging effect is ensured, and the clamping mechanism 102 comprises a transverse air cylinder 10201, a lifting air cylinder 10202, an air claw 10203 and an air cylinder sensor. The cylinder and the gas claw are used for fixing a PCB (printed circuit board) connector of a module product, and the cylinder sensor is used for feeding back a signal in place through the motion of the cylinder. The action flow of the clamping mechanism is that the transverse air cylinder 10201 extends out, the lifting air cylinder 10202 descends, the transverse air cylinder 10201 retracts, and the clamping jaw 10203 clamps the product PCB for positioning. The adapter plate 104 comprises a linear slide rail and a slide rail guide wheel and is used for fixing the clamping position of the vacuum chuck 103 and fixing and adjusting the clamping mechanism 102, the vacuum chuck 103 comprises an adjustable workpiece and a suction nozzle rod and is used for sucking a module product, and the position and the height of the suction nozzle rod can be adjusted to ensure that an object to be checked is parallel to a camera, so that the imaging effect is ensured. The six-axis robot 102 clamping mechanism is used for clamping the product PCB connector for automatic alignment and insertion, and the lighting success rate is as high as 99.9%. 10000 slices are run during verification, and the success rate reaches 9992 slices.
In the present invention, the carrier 200 includes a flat surface platform 201, a motion X-axis module 202, a motion Y-axis module 203, and a connector holder 204. The plane platform 201 is used for supporting a product; the moving X-axis module 202 is used to position the connector insert holder 204-X-axis position; the moving Y-axis module 203 is used for positioning the connector plug holder 204 in the Y-axis direction, and during plugging, the moving Y-axis module 203 drives the connector plug holder 204 to move forward to perform the plugging action. According to the invention, the positioning and inserting accuracy can be ensured by the aid of the transverse air cylinder 10201, the lifting air cylinder 10202, the air claw 10203 and the air cylinder sensor, the vacuum chuck 103, the movement X-axis module 202 and the movement Y-axis module 203, and the inserting action, and the lighting success rate is up to 99.9%.
The laser displacement sensor height measuring mechanism comprises a laser sensor 205, an amplifier unit, a communication converter and a fixing component, and is used for measuring the vertical height from a product connector to the laser sensor 205 and converting communication data. The visual positioning mechanism comprises a CCD area array camera, a lens, a coaxial light source and a fixed workpiece, and the CCD area array camera, the lens, the coaxial light source and the fixed workpiece are used for being installed in the horizontal direction; the camera is used for performing visual alignment compensation on the horizontal direction (X left-right direction, Y front-back direction and R angle) of the product connector by shooting from bottom to top. Further preferably, the visual positioning mechanism comprises a CCD area-array camera 208, a lens 207, a coaxial light source 206 and a fixed workpiece, and the CCD area-array camera 208, the lens 207, the coaxial light source 206 and the fixed workpiece are used for mounting in the horizontal direction; the camera is used for performing visual alignment compensation on the horizontal direction (X left-right direction, Y front-back direction and R angle) of the product connector by shooting from bottom to top.
In the invention, the principle of horizontal direction compensation is as follows: through a teaching mode of the six-axis robot 100, the six-axis robot 100 is manually controlled to suck a product connector to a camera mechanism 206 to take a picture to carry out point location teaching, namely two fixed feature points are searched from the left side and the right side of an image, the middle point of the two feature points is calculated, the middle point is used as a reference point to record x and y of the reference point, and the reference angle is recorded according to the angle of the two feature points. Then when the robot runs in the automatic mode, the six-axis machine can absorb the product connector to a camera shooting point for shooting, then the vision software can automatically calculate the deviation of the x, y, angle and reference value of the current product, and the deviation is sent to the manipulator for compensation.
The principle of vertical direction compensation is as follows: through six axis robot 100 teaching modes, manual control six axis robot 100 absorbs the product and carries out the teaching of height finding point position to laser displacement sensor 205 top, and the sensor can automatic measurement go out the product surface to the distance on laser displacement sensing surface, regards this height finding point as the benchmark. And then the robot can automatically absorb the product to the height measuring point of the laser displacement sensor during the automatic mode operation, and the sensor can automatically measure the distance from the surface of the current product to the surface of the sensor. A difference between the current value and the reference point is sent to the visual computation. And after the compensation of the six-axis robot is finished, the product is moved to a splicing position for splicing.
A specific example is provided below
Example 1
Referring to fig. 1-6, the laser height measurement and vision automatic alignment plugging system for the display module connector comprises a six-axis robot 100, a carrier 200, a laser displacement sensor height measurement mechanism and a vision positioning mechanism: the six-axis robot is used for absorbing product movement and receiving visual horizontal direction and vertical direction offset for deviation rectification compensation movement. The carrier is used for supporting the product and fixing the connector plug to move back and forth. The laser displacement sensor height measurement mechanism is used for measuring the vertical height from a product connector to a laser sensor and communicating and converting data, the visual positioning mechanism is used for installing a CDD area array camera, a lens and a coaxial light source, the center of the camera lens and the center of a lens of the coaxial light source are on the same axis, the camera collects images from bottom to top of the product connector, and the horizontal direction deviation is calculated to perform visual alignment compensation. Therefore, automatic alignment, splicing, lighting and detection of the connector of the vehicle-mounted liquid crystal display module are realized. The six-axis robot 100 comprises an adapter plate 104, a vacuum chuck and a clamping mechanism 102, wherein the adapter plate 104 comprises a linear slide rail and a slide rail guide wheel, the linear slide rail is used for fixing the vacuum chuck and fixing and adjusting the clamping position of the clamping mechanism, the vacuum chuck comprises an adjustable workpiece and a suction nozzle rod, the suction nozzle rod is used for sucking a module product, the position and the height of the suction nozzle rod can be adjusted to ensure that an inspected object is parallel to a camera, the imaging effect is ensured, and the clamping mechanism 102 comprises a transverse installation cylinder, a longitudinal installation cylinder, a chuck and a sensor. The clamping head is used for fixing a PCB connector of a module product, and the sensor is used for feeding back a signal in place by the motion of the cylinder of the clamping mechanism 102;
the carrier 200 includes a planar platform 201, a motion X-axis module 202, a motion Y-axis module 203, and a connector holder 204. The plane platform 201 is used for supporting a product; the moving X-axis module 202 is used to position the connector insert holder 204-X-axis position; the motion Y-axis module 203 is used for positioning the connector plug holder 204 in the Y-axis direction, and during plugging, the motion Y-axis module 203 drives the connector plug holder 204 to move forward to perform plugging.
The six-axis robot is simple to debug, after the six-axis robot absorbs a product through the vacuum chuck, the clamping mechanism fixes the PCB connector to move to a camera shooting point of the visual detection mechanism, the robot triggers the camera to shoot to perform visual positioning compensation in the horizontal direction after the six-axis robot arrives, the camera moves to the laser displacement sensor mechanism after shooting, the robot triggers the laser displacement sensor to perform height measurement in the vertical direction after the six-axis robot arrives, then the six-axis robot moves the product to a carrying platform inserting position to receive visual horizontal direction offset and vertical direction offset to perform deviation rectification compensation movement. And moving the Y-axis module to move the connector plug to plug the module connector. After the insertion is finished, the carrying platform supports the product through the plane platform, and then the product is lightened for detection.
The technical principle of the present invention has been described above with reference to specific embodiments, which are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. Other embodiments of the invention will occur to those skilled in the art without the exercise of inventive faculty, and such will fall within the scope of the invention.
Claims (8)
1. The laser height measurement and visual automatic alignment splicing system for the display module connector is characterized by comprising a six-axis robot and a carrying platform, wherein the six-axis robot is used for sucking the product connector and performing deviation rectification compensation motion according to received visual horizontal direction and vertical direction offset, and the carrying platform is used for supporting the product connector and fixing a connector plug to perform reciprocating motion, so that automatic alignment splicing of the product connector is completed.
2. The display module connector laser height measurement and visual automatic alignment plugging system as claimed in claim 1, wherein the carrier is provided with a laser displacement sensor height measurement mechanism and a visual positioning mechanism, the laser displacement sensor height measurement mechanism is used for measuring the vertical height from the product connector to the laser sensor, and the visual positioning mechanism collects images from bottom to top of the product connector and calculates the horizontal direction deviation to perform visual alignment compensation.
3. The display module connector laser height measurement and vision automatic alignment plugging system of claim 2, wherein the vision positioning mechanism comprises a CDD area array camera, a lens and a coaxial light source, and the laser displacement sensor height measurement mechanism comprises a laser sensor, an amplifier unit, a communication converter and a fixing component.
4. The display module connector laser height measurement and vision automatic alignment plugging system of claim 1, wherein the six-axis robot comprises an adapter plate, a vacuum chuck and a clamping mechanism, the adapter plate comprises a linear slide rail and a slide rail guide wheel for fixing the vacuum chuck and fixing and adjusting the clamping position of the clamping mechanism, the vacuum chuck comprises an adjustable workpiece and a suction nozzle rod for sucking the product connector, and the product connector and the camera are ensured to be parallel by adjusting the position and the height of the suction nozzle rod, so as to ensure the imaging effect.
5. The display module connector laser height measurement and vision automatic alignment plugging system of claim 4, wherein the clamping mechanism comprises a transverse mounting cylinder, a longitudinal mounting cylinder, a chuck and a sensor for fixing the product connector, and the sensor is used for feeding back a signal in place by the movement of the clamping mechanism cylinder.
6. The display module connector laser height finding and vision auto-alignment docking system of claim 4, wherein the stage comprises a planar platform for holding the product connector, a motion X-axis module for positioning the motion Y-axis module, and a motion Y-axis module.
7. The display module connector laser height measurement and vision automatic alignment plugging system of claim 6, wherein the fixed base of the motion Y-axis module is used for positioning the connector plug, and plugging and wire pulling actions are completed by controlling the Y-axis module.
8. The laser height measurement and visual automatic alignment plugging method for the display module connector is characterized by comprising the following steps of: absorbing the product through a six-axis robot and performing deviation rectifying compensation motion according to the offset of the receiving vision in the horizontal direction and the vertical direction; and adjusting the position of the connector plug to realize the plugging with the module connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210880241.4A CN115289962A (en) | 2022-07-25 | 2022-07-25 | Laser height measurement and visual automatic alignment plugging system and method for display module connector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210880241.4A CN115289962A (en) | 2022-07-25 | 2022-07-25 | Laser height measurement and visual automatic alignment plugging system and method for display module connector |
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| Publication Number | Publication Date |
|---|---|
| CN115289962A true CN115289962A (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210880241.4A Pending CN115289962A (en) | 2022-07-25 | 2022-07-25 | Laser height measurement and visual automatic alignment plugging system and method for display module connector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115289962A (en) |
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- 2022-07-25 CN CN202210880241.4A patent/CN115289962A/en active Pending
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