CN115318554A - Visual online automatic following dynamic dispenser and control method thereof - Google Patents
Visual online automatic following dynamic dispenser and control method thereof Download PDFInfo
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- CN115318554A CN115318554A CN202210952113.6A CN202210952113A CN115318554A CN 115318554 A CN115318554 A CN 115318554A CN 202210952113 A CN202210952113 A CN 202210952113A CN 115318554 A CN115318554 A CN 115318554A
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- pcba board
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 73
- 239000003292 glue Substances 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- RVCKCEDKBVEEHL-UHFFFAOYSA-N 2,3,4,5,6-pentachlorobenzyl alcohol Chemical compound OCC1=C(Cl)C(Cl)=C(Cl)C(Cl)=C1Cl RVCKCEDKBVEEHL-UHFFFAOYSA-N 0.000 claims abstract 23
- 238000007599 discharging Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004026 adhesive bonding Methods 0.000 abstract 1
- 239000003990 capacitor Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Coating Apparatus (AREA)
Abstract
The invention is suitable for the technical field of PCBA, and provides a visual online automatic following dynamic dispenser and a control method thereof, wherein the control method comprises the following steps: the main machine frame is provided with a Z-axis motion module, a Y-axis motion module and an X-axis motion module respectively; the Y-axis movement module is mounted on the X-axis movement module, the Z-axis movement module is mounted on the Y-axis movement module, an angle adjusting assembly is mounted on the Z-axis movement module through an R-axis rotating motor, and a dispensing head assembly is mounted on the angle adjusting assembly; the transmission assembly is arranged on one side of the machine table main frame, the dispensing head assembly extends to the top of the transmission assembly and is matched with the transmission assembly, and the beneficial effects of the invention are as follows: the efficiency of gluing is improved, avoids fixed PCBA, need not that the tool is fixed, has reduced PCBA board point and has glued manufacturing cost, can come the volume and the speed of control point gluey according to PCBA's position simultaneously, realizes accurate point and glues.
Description
Technical Field
The invention belongs to the technical field of PCBAs, and particularly relates to a visual online automatic following dynamic dispenser and a control method thereof.
Background
There are two ways for dispensing electronic components of PCBA boards on the market, one is manual dispensing, and the other is a machine dispensing way for fixing PCBA boards by using jigs, the first way needs manual dispensing, and the efficiency is lower; secondly, a fixed dispensing mode is adopted, the PCBA is fixed by a jig, and the machine moves to the position of each element for dispensing, so that the manual operation cannot be replaced, the dispensing efficiency cannot be improved, and the dispensing quality is improved.
Disclosure of Invention
The embodiment of the invention aims to provide a visual online automatic following dynamic dispenser and a control method thereof, and aims to solve the problems in the prior art determined in the background technology.
The embodiment of the invention is realized in such a way that, on one hand, the visual online automatic following dynamic dispenser comprises:
the main machine platform frame is provided with a Z-axis movement module, a Y-axis movement module and an X-axis movement module respectively;
the Y-axis movement module is mounted on the X-axis movement module, the Z-axis movement module is mounted on the Y-axis movement module, an angle adjusting assembly is mounted on the Z-axis movement module through an R-axis rotating motor, and a dispensing head assembly is mounted on the angle adjusting assembly;
the transmission assembly is arranged on one side of the machine platform main frame, and the dispensing head assembly extends to the top of the transmission assembly and is matched with the transmission assembly;
the dynamic vision system component is arranged on the Z-axis motion module and is used for identifying the PCBA contour outline or the PCBA characteristic points on the transmission assembly and feeding back the identified information to the equipment control element so as to obtain the characteristic point information;
and the equipment control part is used for receiving the identification information of the dynamic vision system component and controlling the glue outlet information of the glue dispensing head assembly so as to dispense glue to the characteristic point positions according to the characteristic point information on the PCBA board.
Preferably, the Z-axis movement module comprises a Z-axis movement module body and a moving block slidably mounted on the Z-axis movement module body, the moving block is in threaded connection with a lead screw rotatably mounted on the Z-axis movement module body, the lead screw is driven by a stepping motor, wherein the R-axis rotating motor and the dynamic vision system component are both mounted on the moving block, the angle adjusting component comprises a base rotatably mounted on the moving block, the base is driven by the R-axis rotating motor, an arc-shaped plate is mounted on the base, an arc-shaped chute is formed in the arc-shaped plate in an inclined mode, the dispensing head component is slidably mounted on the arc-shaped chute in a damping mode, an air cylinder is mounted on the arc-shaped plate in a hinged mode, an extending end of the air cylinder is hinged to the dispensing head component main body, and the air cylinder is electrically connected with the device control component.
On the other hand, the control method of the dispenser comprises the following steps:
detecting whether a PCBA board enters a visual area of the dynamic visual system component or not through the dynamic visual system component;
when detecting that the PCBA board enters a visible area of the dynamic visual system component, the dynamic visual system component acquires the board outline external information of the PCBA or the characteristic points of the PCBA board, and feeds the identified information back to the equipment control piece for processing;
the equipment control part controls at least one of the R-axis rotating motor, the Z-axis moving module, the Y-axis moving module and the X-axis moving module to move so that a glue outlet needle of a glue dispensing valve of the glue dispensing head assembly keeps a relative coordinate position with a feature point on the PCBA board to facilitate glue dispensing;
after the dynamic vision system component completes all dispensing work of one PCBA board along with the dynamic dispensing head component, the dispensing head component and the dynamic vision system component reset to wait for the arrival of the next PCBA board;
and circulating the steps.
The method further comprises the following steps:
receiving board outline external information of the PCBA;
and comparing the information outside the PCBA board outline with a standard PCBA board template, and positioning feature points in the PCBA board outline, wherein the standard PCBA board template is provided with preset template feature points.
The method further comprises the following steps: and identifying the information of the components on the PCBA, wherein the information of the components comprises a component image and coordinate information, when the component image is identified as a target characteristic component, positioning the target characteristic component, and using the coordinate information of the target characteristic component as a characteristic point position of the PCBA board.
The equipment control part controls at least one action in R axle rotating electrical machines, Z axle motion module, Y axle motion module and the X axle motion module to make dispensing valve of dispensing head subassembly go out gluey syringe needle and PCBA board on the characteristic point keep relative coordinate position specifically to include:
correcting the coordinates of the processing point of the dispensing head assembly through the characteristic point;
and superposing the real-time motion information of the PCBA board following the transmission assembly to the motion information of the target axis of the dispensing head assembly in real time.
The method further comprises the following steps: for each processing point position, controlling the dispensing head assembly to move to the processing point position and then opening the dispensing valve according to the preset duration, stopping according to the preset duration, wherein the longer the single-point stopping time is, the more the glue amount is; and for the linear movement, glue is discharged according to the set speed, the glue discharging amount is different at different set speeds, and the glue discharging amount is increased when the set speed of the linear movement is slower.
The method further comprises the following steps: and controlling the cylinder and the R-axis rotating motor to act according to the type of the target characteristic component so as to realize oblique rotation dispensing.
The visual online automatic following dynamic dispensing machine and the control method thereof provided by the embodiment of the invention can replace manual work, improve dispensing efficiency, avoid fixing the PCBA, do not need fixture fixing, reduce the dispensing production cost of the PCBA board, and simultaneously can control the dispensing amount and speed according to the position of the PCBA, thereby realizing accurate dispensing.
Drawings
Fig. 1 is a main structural diagram of a visual online automatic following dynamic dispenser according to an embodiment of the present invention;
fig. 2 is a three-dimensional view of a visual online automatic following dynamic dispenser according to an embodiment of the present invention;
FIG. 3 is a schematic view of a portion a of FIG. 2;
FIG. 4 is a perspective view of a visual on-line automatic following dynamic dispenser according to another embodiment of the present invention;
FIG. 5 is a perspective view of the adjustment of dispensing angle provided in FIG. 4;
FIG. 6 is a front view of a visual on-line automatic following dynamic dispenser according to an embodiment of the present invention;
FIG. 7 is a top view of a visual online automatic following dynamic dispenser according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a Z-axis motion module according to an embodiment of the present invention.
In the drawings: 1-a dispensing head assembly; 2-dynamic vision system components; 3-R axis rotating electrical machines; a 4-Z axis motion module; a 41-Z axis motion module body; 42-a moving block; 43-a stepper motor; 5-Y axis motion module; a 6-X axis motion module; 7-the machine main frame; 8-equipment controls; 9-transmission component.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1 to fig. 6, a structure diagram of a visual online automatic following dynamic dispenser and a control method thereof provided for an embodiment of the present invention is a dispenser, where the dispenser includes:
the main machine frame 7 is provided with a Z-axis motion module 4, a Y-axis motion module 5 and an X-axis motion module 6 respectively; the Z-axis motion module 4, the Y-axis motion module 5 and the X-axis motion module 6 are all linear motion modules, which can be respectively a screw rod moving assembly or driven by a linear air cylinder.
The Y-axis movement module 5 is installed on the X-axis movement module 6, the Z-axis movement module 4 is installed on the Y-axis movement module 5, and the dispensing head assembly 1 is installed on the Z-axis movement module 4 through the R-axis rotating motor 3;
the transmission component 9 is arranged on one side of the machine platform main frame 7, and the dispensing head component 1 extends to the top of the transmission component 9 and is matched with the transmission component 9;
the dynamic vision system component 2 is arranged on the Z-axis motion module 4 and is used for identifying the PCBA contour outline or the PCBA characteristic points on the transmission assembly 9 and feeding back the identified information to the equipment control element 8 so as to obtain characteristic point information; the dynamic vision system component 2 may be a CCD camera.
And the equipment control part 8 is used for receiving the identification information of the dynamic vision system component 2 and controlling glue outlet information of the glue dispensing head assembly 1 so as to dispense glue to the characteristic points according to the characteristic point information on the PCBA.
As shown in fig. 2 and 3, in an example of the present invention, the Z-axis moving module 4 includes a Z-axis moving module body 41 and a moving block 42 slidably mounted on the Z-axis moving module body 41, the moving block 42 is in threaded connection with a lead screw rotatably mounted on the Z-axis moving module body 41, the lead screw is driven by a stepping motor 43, the R-axis rotating motor 3 and the dynamic vision system component 2 are both mounted on the moving block 42, the angle adjusting component includes a base rotatably mounted on the moving block, the base is driven by the R-axis rotating motor, an arc-shaped plate is mounted on the base, an arc-shaped chute is obliquely formed on the arc-shaped plate, the dispensing head component is slidably mounted on the arc-shaped chute in a damping manner, and the arc-shaped chute is used for adjusting an inclination angle of the dispensing head component to implement oblique angular rotary dispensing; the sliding of the dispensing head assembly on the arc-shaped sliding groove can be completed through a cylinder (not shown in the figure) which is hinged on the arc-shaped plate, the extending end of the cylinder is hinged with the dispensing head assembly main body, and the cylinder is electrically connected with an equipment control element so as to realize automatic control and adjustment of the dispensing angle.
In an alternative embodiment, as shown in fig. 4 and 5, the angle adjustment assembly comprises a dispensing head assembly rotatably mounted on the base through a U-axis, wherein the U-axis is driven by a stepping motor, and the rotation direction of the dispensing head assembly is opposite to the rotation direction of the base;
specifically, the benefits of dispensing are illustrated: if the circular large capacitor is fully dispensed around the circumference of the capacitor, the rotary dispensing efficiency is much higher, and is as fast as a scribing line, and if the capacitor is dispensed only by one point, the dispensing is performed by one point and is more than that when N points are found on the circumference to connect the points into a circle, which is not beneficial and improves the dispensing speed.
A control method of a dispenser comprises the following steps:
detecting whether a PCBA board enters a visible area of the dynamic vision system component 2 through the dynamic vision system component 2;
when detecting that the PCBA board enters a visible area of the dynamic vision system component 2, the dynamic vision system component 2 acquires board outline external information of the PCBA or PCBA board feature points, and feeds the identified information back to the equipment control element 8 for processing;
the equipment control part 8 controls at least one of the R-axis rotating motor 3, the Z-axis motion module 4, the Y-axis motion module 5 and the X-axis motion module 6 to keep the glue outlet needle of the glue dispensing valve of the glue dispensing head component 1 and the feature point on the PCBA board at the relative coordinate position so as to facilitate glue dispensing;
after the dynamic vision system component 2 finishes all dispensing work of one PCBA board along with the dynamic dispensing head component 1, the dispensing head component 1 and the dynamic vision system component 2 are reset to wait for the arrival of the next PCBA board;
and circulating the steps.
As another preferred embodiment of the present invention, the method further comprises:
receiving board outline external information of the PCBA;
and comparing the information outside the PCBA board outline with a standard PCBA board template, and positioning feature points in the PCBA board outline, wherein the standard PCBA board template is provided with preset template feature points.
The method further comprises the following steps: and identifying the information of the components on the PCBA, wherein the information of the components comprises a component image and coordinate information, when the component image is identified as a target characteristic component, positioning the target characteristic component, and using the coordinate information of the target characteristic component as a characteristic point position of the PCBA board.
correcting the coordinates of the processing point of the dispensing head assembly 1 through the characteristic point;
and superposing the real-time motion information of the PCBA board following the transmission component 9 to the motion information of the target axis of the dispensing head component 1 in real time.
The method further comprises the following steps: for each processing point position, controlling the dispensing head assembly 1 to move to the processing point position and then opening the dispensing valve according to the preset duration, stopping according to the preset duration, wherein the longer the single-point stopping time is, the more the dispensing amount is, and for linear movement, the dispensing is performed according to the set speed, the dispensing amounts at different set speeds are different, and the slower the linear movement is, the more the dispensing amount is.
The method further comprises the steps of identifying the type of the target characteristic component, and controlling the cylinder and the R-axis rotating motor 3 to act according to the type of the component so as to realize oblique rotation dispensing.
The embodiment of the invention provides a visual online automatic following dynamic dispensing machine and a control method thereof, which realize the replacement of manpower, improve the efficiency, avoid the fixation of a PCBA (printed circuit board assembly), do not need fixture fixation and reduce the dispensing production cost of the PCBA.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides an online automatic dynamic point gum machine of following of vision which characterized in that, the point gum machine includes:
the main machine frame is provided with a Z-axis motion module, a Y-axis motion module and an X-axis motion module respectively;
the Y-axis movement module is mounted on the X-axis movement module, the Z-axis movement module is mounted on the Y-axis movement module, an angle adjusting assembly is mounted on the Z-axis movement module through an R-axis rotating motor, and a dispensing head assembly is mounted on the angle adjusting assembly;
the transmission assembly is arranged on one side of the machine platform main frame, and the dispensing head assembly extends to the top of the transmission assembly and is matched with the transmission assembly;
the dynamic vision system component is arranged on the Z-axis motion module and is used for identifying the outline shape of the PCBA board or the characteristic points of the PCBA board on the transmission assembly and feeding back the identified information to the equipment control element so as to obtain the characteristic point information;
and the equipment control part is used for receiving the identification information of the dynamic vision system component and controlling the glue outlet information of the glue dispensing head assembly so as to dispense glue to the characteristic point positions according to the characteristic point information on the PCBA board.
2. The visual online automatic following dynamic dispenser according to claim 1, wherein the Z-axis motion module comprises a Z-axis motion module body and a moving block slidably mounted on the Z-axis motion module body, the moving block is in threaded connection with a lead screw rotatably mounted on the Z-axis motion module body, the lead screw is driven by a stepping motor, wherein the R-axis rotating motor and the dynamic visual system component are both mounted on the moving block, the angle adjusting assembly comprises a base rotatably mounted on the moving block, the base is driven by the R-axis rotating motor, an arc-shaped plate is mounted on the base, an arc-shaped chute is formed in the arc-shaped plate in an inclined manner, the dispenser assembly is slidably mounted on the arc-shaped chute in a damping manner, an air cylinder is mounted on the arc-shaped plate in an articulated manner, an extending end of the air cylinder is articulated with the dispenser head assembly body, and the air cylinder is electrically connected with the device control member.
3. A control method of a dispenser is characterized by comprising the following steps:
detecting whether a PCBA board enters a visual area of the dynamic visual system component or not through the dynamic visual system component;
when detecting that the PCBA board enters a visual area of the dynamic visual system component, the dynamic visual system component acquires board outline external information of the PCBA or PCBA board feature points, and feeds back the identified information to the equipment control piece for processing;
the equipment control part controls at least one of the R-axis rotating motor, the Z-axis moving module, the Y-axis moving module and the X-axis moving module to move so that a glue outlet needle of a glue dispensing valve of the glue dispensing head assembly keeps a relative coordinate position with a feature point on the PCBA board to facilitate glue dispensing;
after the dynamic vision system component finishes all dispensing work of one PCBA board along with the dynamic dispensing head component, the dispensing head component and the dynamic vision system component reset to wait for the arrival of the next PCBA board;
and circulating the steps.
4. The control method of a dispenser according to claim 3, characterized in that the method further comprises:
receiving board outline external information of the PCBA;
and comparing the information outside the PCBA board outline with a standard PCBA board template, and positioning feature points in the PCBA board outline, wherein the standard PCBA board template is provided with preset template feature points.
5. The control method of a dispenser according to claim 3, characterized in that the method further comprises: identifying the information of the components on the PCBA, wherein the information of the components comprises a component image and coordinate information, when the component image is identified as a target characteristic component, positioning the target characteristic component, and taking the coordinate information of the target characteristic component as a characteristic point of the PCBA board.
6. The method of claim 3, wherein the controlling of the device controller controls at least one of the R-axis rotating motor, the Z-axis moving module, the Y-axis moving module and the X-axis moving module to maintain the dispensing valve dispensing needle of the dispensing head assembly at a relative coordinate position with the feature point on the PCBA board, comprises:
correcting the coordinates of the processing point of the dispensing head assembly through the characteristic point;
and superposing the real-time motion information of the PCBA board following the transmission assembly to the motion information of the target shaft of the dispensing head assembly in real time.
7. The control method of the dispenser according to any one of claims 3 to 6, wherein the method further comprises: for each processing point, controlling the dispensing head assembly to move to the processing point and then opening the dispensing valve according to the preset duration, and stopping according to the preset duration, wherein the longer the single-point stopping time is, the more the glue amount is; and glue is discharged according to the set speed for the linear movement, the glue discharging amount at different set speeds is different, and the lower the set speed of the linear movement is, the more the glue discharging amount is.
8. The control method of a dispenser according to claim 5, characterized in that the method further comprises: and controlling the cylinder and the R-axis rotating motor to act according to the type of the target characteristic component so as to realize oblique rotation dispensing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210952113.6A CN115318554A (en) | 2022-08-09 | 2022-08-09 | Visual online automatic following dynamic dispenser and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210952113.6A CN115318554A (en) | 2022-08-09 | 2022-08-09 | Visual online automatic following dynamic dispenser and control method thereof |
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| CN115318554A true CN115318554A (en) | 2022-11-11 |
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| CN202210952113.6A Pending CN115318554A (en) | 2022-08-09 | 2022-08-09 | Visual online automatic following dynamic dispenser and control method thereof |
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