CN115430574A - Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system - Google Patents
Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system Download PDFInfo
- Publication number
- CN115430574A CN115430574A CN202211051806.4A CN202211051806A CN115430574A CN 115430574 A CN115430574 A CN 115430574A CN 202211051806 A CN202211051806 A CN 202211051806A CN 115430574 A CN115430574 A CN 115430574A
- Authority
- CN
- China
- Prior art keywords
- mounting
- dispensing
- axis
- glue
- glue dispensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000003287 optical effect Effects 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 175
- 239000003292 glue Substances 0.000 claims abstract description 157
- 230000008569 process Effects 0.000 claims abstract description 33
- 238000010030 laminating Methods 0.000 claims abstract description 23
- 230000000694 effects Effects 0.000 claims abstract description 14
- 238000010422 painting Methods 0.000 claims description 73
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 239000000758 substrate Substances 0.000 claims 1
- 238000003672 processing method Methods 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 10
- 230000009977 dual effect Effects 0.000 description 5
- 238000004026 adhesive bonding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009966 trimming Methods 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
- B05C5/027—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention discloses a full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system, and belongs to the field of optical filter processing methods. According to the attaching method, the XYZ three-axis driving assembly is used for realizing the movement of the attaching mechanism, the XYZ three-axis driving assembly is a three-axis servo system, and a three-axis servo system PID control method with a friction link is adopted for controlling, so that the friction force of the three-axis servo system in the working process can be better overcome, the high-precision control is realized, the positioning accuracy between the attaching mechanism and a workpiece to be processed is greatly improved, the light filter glue dispensing attaching effect is improved, and the product yield is improved. The laminating system comprises a double-drawing glue dispensing mechanism, a conveying mechanism, a mounting mechanism and a double-feeding platform, and is used for implementing the box lifting method, so that the laminating system can improve the glue dispensing and laminating effects of the optical filter, and the product yield is improved.
Description
Technical Field
The invention relates to the technical field, in particular to a full-automatic high-precision vehicle-mounted security camera optical filter laminating method and system.
Background
With the rapid development of the automobile industry and security technology, the application of the vehicle-mounted security camera is more and more extensive, and becomes one of indispensable devices for traffic safety. As one of important components of the vehicle-mounted security camera, the optical filter has the functions of filtering infrared rays and trimming incoming light, and the shooting effect of the vehicle-mounted security camera is improved.
In the related field, in the production process of the optical filter of the vehicle-mounted security camera, the dispensing process and the laminating process are separated, and after the dispensing process is completed, conversion from equipment for mounting a wafer to a tray disc is needed, and then the laminating process is completed on laminating equipment, so that at least 3 kinds of equipment are needed for a processing system of the dispensing process and the laminating process, the cost is high, and the occupied space is large.
In order to solve the problems of high cost and large occupied space of a dispensing and gluing processing system of a vehicle-mounted security camera, the Chinese patent with the publication number of CN215088500U discloses an automatic light filter gluing machine, which comprises a tray, an assembling tray, a picking mechanism for picking workpieces on the tray, and an X-axis driving mechanism for driving the picking mechanism to place the workpieces on the assembling tray at corresponding assembling positions; the glue dispensing device also comprises a glue dispensing mechanism driven by the X-axis driving mechanism, a curing mechanism for curing glue on the workpiece subjected to glue dispensing, and a first Y-axis driving mechanism for moving the assembling disc to the curing mechanism; the lower camera positioning mechanism is arranged between the tray and the assembling tray and used for photographing and positioning the workpiece on the picking mechanism; the tray and the first Y-axis driving mechanism are both positioned below the bracket, and the X-axis driving mechanism and the curing mechanism are arranged on the bracket along the moving direction of the assembling tray; the optical filter is moved into the lens cone on the material loading disc of the assembly disc by the X-axis driving mechanism to complete the assembly of the optical filter, and the workpiece is further subjected to glue dispensing by the glue dispensing mechanism.
However, in the dispensing and bonding process of the above-mentioned scheme, the precise positioning of the dispensing and bonding position of the optical filter is difficult to achieve only through the cooperation of the X-axis driving mechanism and the Y-axis driving mechanism, which may cause deviation of the dispensing and bonding position, and finally results in poor dispensing and bonding effect of the optical filter and low product yield.
Disclosure of Invention
The invention aims to provide a full-automatic high-precision vehicle-mounted security camera optical filter laminating method and system, and aims to solve the problem that the laminating position is not accurately positioned in the optical filter glue dispensing laminating process.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a full-automatic high-precision vehicle-mounted security camera optical filter laminating method, which comprises the following steps of:
firstly, after a workpiece is conveyed to a glue dispensing station by a conveying mechanism arranged linearly, a double-glue dispensing mechanism moves to the position above the glue dispensing station, and a workpiece image before a glue dispensing process is shot by a first visual positioning system on the double-glue dispensing mechanism, so that the workpiece is positioned in a first direction and a second direction;
moving the double-painting glue dispensing mechanism relative to the workpiece to enable a glue dispensing component of the double-painting glue dispensing mechanism to complete a glue dispensing process on the workpiece; then, the first visual positioning system shoots the workpiece image after the dispensing process and judges the effect of the dispensing process;
after the dispensing process is finished, the workpiece is conveyed to a mounting station by the conveying mechanism; then, the mounting mechanism moves to the position above the mounting station and the position above the double-feeding platform respectively, the top of the mounting mechanism is used for centering the visual assembly to shoot the workpiece image before the mounting process and the image of the optical filter in the double-feeding platform, and the positioning of the workpiece and the optical filter is completed in the first direction and the second direction;
fourthly, the mounting head of the mounting mechanism sucks the optical filter from the double-feeding platform and moves the optical filter to the position above the mounting station, and meanwhile, the flight of the mounting mechanism aligns the optical filter adsorbed on the mounting head to the centering vision assembly; then, the mounting head of the mounting mechanism moves relative to the workpiece, and the optical filter is bonded with the workpiece;
after the laminating procedure is finished, conveying the workpiece to a blanking station by the conveying mechanism, and finishing blanking;
in the third step and the fourth step, the movement of the attaching mechanism is realized by utilizing an XYZ triaxial drive assembly, wherein the XYZ triaxial drive assembly is a triaxial servo system and is controlled by adopting a triaxial servo system PID control method with a friction link; the dynamic equation of the three-axis servo system is as follows:
in the formula:
the first derivative of the angle of rotation of the servo system to time;
the second derivative of the angle of the servo system rotation angle to time; k m The torque coefficient of the motor is; c e Is a voltage feedback coefficient; j is moment of inertia; r is an armature resistance; k u The amplification factor of the power amplifier; u (t) is a control input, i.e., a driving force F (t); .
Furthermore, in the third step and the fourth step,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the utility model is used, the water is discharged,
wherein F (t) is a driving force; f m Maximum static friction force; f c Coulomb friction; k is a radical of v Is a viscous friction torque proportionality coefficient; alpha and alpha 1 Is a very small, positive constant.
Furthermore, in the third step and the fourth step, the control rate of the three-axis servo system PID control method with the friction link is as follows,
in the formula, P is 18.9659445035411, I is 1.86490535854128, D is 0.107257341728836, and N is 100.309656915105.
Further, in the third step and the fourth step, F c Is 15 N.m, F m Is 20 N.m, k v Is 2Nms/rad, alpha is 0.01, alpha 1 The value is 1.
The system for implementing the full-automatic high-precision vehicle-mounted security camera optical filter attaching method comprises the following steps,
the conveying mechanism is provided with a drawing glue dispensing conveying line, a transition conveying line, a mounting conveying line and a tray discharging conveying line in a first direction, and workpieces are conveyed along the drawing glue dispensing conveying line, the transition conveying line, the mounting conveying line and the tray discharging conveying line; and the number of the first and second groups,
the double-painting glue dispensing mechanism comprises two glue dispensing assemblies; the painting glue dispensing conveying line is provided with a painting glue dispensing station, the double painting glue dispensing mechanisms are arranged in a manner of being attached to the painting glue dispensing station in the second direction, and the glue dispensing painting assembly can be positioned at the painting glue dispensing station in the first direction and the second direction and moves relative to a workpiece on the painting glue dispensing station to complete a painting glue dispensing process; and the number of the first and second groups,
the double-feeding platform comprises a first feeding assembly and a second feeding assembly; a mounting station is arranged on the mounting conveying line, and the double-feeding platform is arranged depending on the mounting station in a second direction; and (c) a second step of,
paste dress mechanism, paste dress mechanism includes a plurality of adsorption nozzle, paste dress mechanism depend on in the second direction paste dress station setting, paste dress mechanism by XYZ triaxial drive subassembly drive, paste dress mechanism can follow absorb the light filter on first feed subassembly and/or the second feed subassembly, and the laminating is in paste on the work piece on the dress station.
Furthermore, the painting glue dispensing conveying line and the mounting conveying line both comprise two parallel conveying belts, a first lifting mechanism is arranged below the painting glue dispensing station, and a second lifting mechanism is arranged below the mounting station; when a workpiece is conveyed to the position above the painting glue dispensing station, the first lifting mechanism can lift the painting glue dispensing station from the position below the painting glue dispensing conveying line and support the workpiece on the painting glue dispensing conveying line; when the workpiece is conveyed to the position above the mounting station, the second lifting mechanism can lift the mounting station from the position below the mounting conveying line and lift the workpiece on the mounting conveying line.
Further, the point is glued and is drawn subassembly and glue the base including the point to and install glue cylinder and vision positioning system on the point is glued and is drawn the base, the point is glued and is drawn the subassembly and can glue the station removal for the drawing is glued, vision positioning system is used for shooting work piece on the station is glued to the drawing point, in order to incite somebody to action the glue cylinder is located the work piece on the station is glued to the drawing point.
Further, the double-glue-dispensing mechanism comprises a first glue-dispensing component, a second glue-dispensing component and a first X-axis slide rail, the first glue-dispensing component comprises an XL axis moving component, an YL axis moving component and a ZL axis moving component, and the second glue-dispensing component comprises an XR axis moving component, an YR axis moving component and a ZR axis moving component;
the first dispensing glue base of the first dispensing glue component is arranged on the first X-axis sliding rail in a sliding mode through the XL-axis moving component, and the second dispensing glue base of the second dispensing glue component is arranged on the first X-axis sliding rail in a sliding mode through the XR-axis moving component.
The device further comprises a moving gantry mechanism, an X-axis driving assembly and a Y-axis driving assembly of the XYZ three-axis driving assembly are respectively an X-axis servo assembly and a Y-axis servo assembly of the moving gantry mechanism, and a Z-axis driving assembly of the XYZ three-axis driving assembly is a Z-axis servo assembly arranged in the attaching mechanism; the mounting mechanism is connected to the X-axis moving assembly in a sliding mode through a mounting plate, and the X-axis moving assembly is connected to the Y-axis moving assembly in a sliding mode.
Furthermore, the double-feeding platform comprises two feeding assemblies, each feeding assembly comprises a rotating platform, a rotating driving piece and a jacking mechanism, the rotating driving piece is used for driving the rotating platform to rotate, and the jacking mechanism is used for lifting the rotating platform; and optical filters with different wavelengths are placed on the rotating platforms of the two material supply assemblies.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) According to the attaching method, the XYZ three-axis driving assembly is used for realizing the movement of the attaching mechanism, the XYZ three-axis driving assembly is a three-axis servo system, and a three-axis servo system PID control method with a friction link is adopted for controlling, so that the friction force of the three-axis servo system in the working process can be better overcome, the high-precision control is realized, the positioning accuracy between the attaching mechanism and a workpiece to be processed is greatly improved, the light filter glue dispensing attaching effect is improved, and the product yield is improved.
(2) The laminating system comprises a double-drawing glue dispensing mechanism, a conveying mechanism, a pasting mechanism and a double-feeding platform, and is used for implementing the box lifting method, so that the laminating system can improve the effect of glue dispensing and laminating of the optical filter, and the yield of products is improved.
(3) According to the double-glue dispensing mechanism, the two glue dispensing and drawing assemblies can be used for dispensing and drawing glue on the workpiece at the same time, so that the processing speed of dispensing and drawing glue is increased; two feeding assemblies are arranged in the double-feeding platform, and optical filters with different wavelengths can be placed on the rotating platforms of the two feeding assemblies, so that the dispensing and gluing processing of vehicle-mounted security cameras with different optical filtering requirements can be met, and the universality of the gluing system is improved.
Drawings
FIG. 1 is a schematic view of a bonding system according to the present invention;
FIG. 2 is a schematic structural view of a double-painting glue dispensing mechanism according to the present invention;
FIG. 3 is a schematic structural view of a conveying mechanism according to the present invention;
FIG. 4 is a schematic structural view of the attaching mechanism of the present invention;
FIG. 5 is a schematic diagram of a matching manner of a moving gantry mechanism and a mounting mechanism in the invention;
FIG. 6 is a schematic structural view of a dual-feeding platform according to the present invention;
FIG. 7 is a schematic view of the engagement between the lifting mechanism and the rotary platform according to the present invention;
FIG. 8 is a diagram of a three-axis servo control architecture with friction links according to the present invention;
FIG. 9 is a schematic diagram of position tracking and velocity tracking according to the present invention;
FIG. 10 is a schematic diagram of the change of friction force with angular velocity according to the present invention.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. In addition, the terms "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.
Referring to fig. 1, the embodiment provides a full-automatic high-precision vehicle-mounted security camera optical filter laminating system. Specifically, the attaching system includes a conveying mechanism 300, a double-painting glue dispensing mechanism 200, a double-feeding platform 600 and an attaching mechanism 400, and the conveying mechanism 300, the double-painting glue dispensing mechanism 200, the double-feeding platform 600 and the attaching mechanism 400 may be arranged on the base 100; the conveying mechanism 300 is used for bearing the workpiece 700 and conveying the workpiece 700 along a first direction, the double-painting glue dispensing mechanism 200, the double-feeding platform 600 and the mounting mechanism 400 are arranged along a second direction and attached to the conveying mechanism 300, the double-painting glue dispensing mechanism 200 is used for painting glue and dispensing glue on the workpiece 700 on the conveying mechanism 300, the double-feeding platform 600 is used for providing the optical filter, and the mounting mechanism 400 is used for attaching the optical filter to the workpiece 700.
It should be noted that, in the present embodiment, the first direction is the conveying direction of the workpiece 700, i.e., the x direction shown in fig. 1 to 7; the second direction is perpendicular to the first direction and is in the same horizontal plane with the first direction, namely, the y direction shown in fig. 1 to 7; the third direction is a direction perpendicular to the first direction and perpendicular to the second direction, i.e., the z direction shown in fig. 1 to 7.
More specifically, referring to fig. 3, the conveying mechanism 300 of the present embodiment includes a drawing glue dispensing conveying line 310, a transition conveying line 320, a mounting conveying line 330 and a tray discharging conveying line 340, the drawing glue dispensing conveying line 310, the transition conveying line 320, the mounting conveying line 330 and the tray discharging conveying line 340 are arranged along a first direction, that is, the conveying mechanism 300 can be divided into the drawing glue dispensing conveying line 310, the transition conveying line 320, the mounting conveying line 330 and the tray discharging conveying line 340 along the first direction, and the workpiece 700 can be conveyed along the drawing glue dispensing conveying line 310, the transition conveying line 320, the mounting conveying line 330 and the tray discharging conveying line 340. A painting glue dispensing station 311 can be arranged in the painting glue dispensing conveying line 310, a mounting station 331 can be arranged in the mounting conveying line 330, and when the workpiece 700 is conveyed to the painting glue dispensing station 311, the double painting glue dispensing mechanism 200 can perform glue dispensing and painting processing on the workpiece 700 positioned on the painting glue dispensing station 311; when the workpiece 700 is conveyed to the mounting station 331, the mounting station 331 may attach the filter provided in the dual feeding stage 600 to the workpiece 700.
As an embodiment, the conveying mechanism 300 may be composed of two parallel conveying belts, and the dispensing conveying line 310, the transition conveying line 320, the mounting conveying line 330, and the tray discharging conveying line 340 are respectively one section of the conveying belts; as another embodiment, the dispensing conveyor 310, the transition conveyor 320, the mounting conveyor 330, and the tray discharging conveyor 340 may be independent conveyor belts, and the conveyor belts of the dispensing conveyor 310, the transition conveyor 320, the mounting conveyor 330, and the tray discharging conveyor 340 together form the conveying mechanism 300; as another example, the conveying mechanism 300 may be the roller conveying mechanism 300 or any other mechanism capable of conveying the workpiece 700 in the first direction.
As one preferred embodiment, the painting glue dispensing conveying line 310 may include a painting glue dispensing station 311, a first lifting mechanism 312 and two parallel conveying belts, the first lifting mechanism 312 is located below the painting glue dispensing station 311 and is in transmission connection with the painting glue dispensing station 311, the first lifting mechanism 312 can drive the painting glue dispensing station 311 to move relative to the conveying belts of the painting glue dispensing conveying line 310 in the third direction, so that when the workpiece 700 reaches above the painting glue dispensing station 311, the first lifting mechanism 312 can drive the painting glue dispensing station 311 to lift up from below the painting glue dispensing conveying line 310 to lift up the workpiece 700, and at this time, no matter whether the conveying belts of the painting glue dispensing conveying line 310 move or not, the positions of the workpiece 700 in the first direction and the second direction remain unchanged, which is more beneficial for the positioning of the workpiece 700 by the double painting glue dispensing mechanism 200, and can improve the effects of dispensing and painting glue dispensing.
Similarly, the mounting conveyor line 330 may include a mounting station 331, a second lifting mechanism 332, and two parallel conveyor belts, where the second lifting mechanism 332 is located below the mounting station 331 and is in transmission connection with the mounting station 331, and the second lifting mechanism 332 can drive the mounting station 331 to move relative to the mounting conveyor line 330 in the third direction, so that after the workpiece 700 reaches the top of the mounting station 331, the mounting mechanism 400 can be lifted and lift the workpiece 700 on the mounting station 331, and at this time, the positions of the workpiece 700 in the first direction and the second direction remain unchanged no matter whether the conveyor belt of the mounting conveyor line 330 moves, which is more beneficial for positioning the workpiece 700 by the mounting mechanism 400, and can improve the bonding effect of the optical filter.
As a further optimization, the tray conveyor line 340 may be provided with a push rod assembly 341, and when the workpiece 700 is conveyed to the end of the conveyor mechanism 300 in the first direction, that is, when the workpiece 700 reaches the end of the tray conveyor line 340, the workpiece 700 loses the driving force of the conveyor mechanism 300, or the received driving force is reduced to be unable to move continuously, the push rod assembly 341 can push the workpiece 700 out of the conveyor mechanism 300, so as to prevent the workpiece 700 from being accumulated at the end of the tray conveyor line 340. The push rod assembly 341 may be located above the tray discharge conveyor line 340, or below the tray discharge conveyor line 340, and is preferably disposed above the tray discharge conveyor line 340, so that the workpiece 700 is prevented from being lifted from the tray discharge conveyor line 340 in cooperation with the supporting force of the tray discharge conveyor line 340 on the workpiece 700.
The double-painting glue dispensing mechanism 200 of the present embodiment may include two glue dispensing components, and the glue dispensing components may be positioned at the painting glue dispensing station 311 in the first direction and the second direction, and move relative to the workpiece 700 at the painting glue dispensing station 311 to complete the painting glue dispensing process.
Referring to fig. 2, as a specific embodiment, the double-dispensing mechanism 200 may include a first dispensing module 210, a second dispensing module 220, and a first X-axis slide, where the first dispensing module 210 and the second dispensing module 220 are slidably disposed on the first X-axis slide and can move along the first X-axis slide in a first direction relative to the dispensing station 311.
More specifically, the first dispensing assembly 210 may include a first dispensing base, a first glue syringe 211, a first vision positioning system 213, an XL axis movement assembly 214, a YL axis movement assembly 215, and a ZL axis movement assembly 216. The first glue syringe 211 and the first visual positioning system 213 may be installed on a first glue dispensing base, the first glue dispensing base is slidably disposed on the ZL axis moving assembly 216, the ZL axis moving assembly 216 is slidably disposed on the YL axis moving assembly 215, and the YL axis moving assembly 215 is slidably connected to the first X axis through the XL axis moving assembly 214; the first glue syringe 211 is provided with a first glue dispensing head 212, the first glue dispensing and painting assembly 210 can position the first glue dispensing head 212 and the workpiece 700 on the glue dispensing station 311 through the first visual positioning system 213, and the first glue dispensing head 212 is controlled to move relative to the workpiece 700 through the XL axis moving assembly 214, the YL axis moving assembly 215 and the ZL axis moving assembly 216, and the glue dispensing and painting processing is completed during the movement.
Likewise, the second dispensing assembly 220 may include a second dispensing base, a second glue syringe 221, a second visual positioning system 223, an XR axis movement assembly 224, a YR axis movement assembly 225, and a ZR axis movement assembly 226. The second glue syringe 221 and the second visual positioning system 223 may be mounted on a second glue dispensing base, the second glue dispensing base is slidably disposed on the ZR axis moving assembly 226, the ZR axis moving assembly 226 is slidably disposed on the YR axis moving assembly 225, the YR axis moving assembly 225 is slidably connected to the second X axis through the XR axis moving assembly 224, and the second glue dispensing head 222 is disposed on the second glue syringe 221.
The first and second vision positioning systems 213 and 223 may each include a CCD camera, and the first and second vision positioning systems 213 and 223 capture images of the workpiece 700 through the CCD camera, thereby completing the positioning of the workpiece 700. The action process of the second dispensing glue painting component 220 can be the same as that of the first dispensing glue painting component 210, and the double-dispensing glue painting mechanism 200 can only use the first dispensing glue painting component 210 or the second dispensing glue painting component 220 to complete dispensing and glue painting processing, and can also use the first dispensing glue painting component 210 and the second dispensing glue painting component 220 to complete dispensing and glue painting processing, and can be specifically adjusted according to the processing requirements.
The mounting mechanism 400 of this embodiment includes a plurality of mounting head, and the mounting head can be the adsorption nozzle, and the mounting mechanism 400 is attached to the setting of pasting dress station 331 in the second direction, and the mounting mechanism 400 is driven by XYZ triaxial drive assembly, and the mounting mechanism 400 can follow and absorb the light filter on two feeding platforms 600 to the laminating is on pasting work piece 700 on dress station 331.
As a specific example, referring to fig. 4, the mounting mechanism 400 may include a mounting base, and a mirror moving assembly 410, a flight centering vision assembly 420, and a top centering vision assembly 430 disposed on the mounting base. The absorption nozzles can be arranged on the mounting base, and the absorption nozzles can finish high-precision positioning of the optical filter on the absorption nozzles on the workpiece 700 on the mounting station 331 by the reflector moving assembly 410, the flight centering visual assembly 420 and the top centering visual assembly 430. Both the flight centering vision assembly 420 and the top centering vision assembly 430 may be CCD cameras. In addition, each suction nozzle is moved in the third direction with respect to the mounting base by a Z-axis servo unit 440, and is rotated with respect to the mounting base by an R-axis rotating unit 450.
As a further optimization of the above embodiment, the mounting mechanism 400 may include a first suction nozzle and a second suction nozzle. The mounting mechanism 400 may be provided with a first mirror moving assembly 410, a first flying centering vision assembly 420 and a first top centering vision assembly 430, which are attached to the first suction nozzle, the first suction nozzle is driven by a first Z-axis servo assembly 440 to move in a third direction relative to the mounting base, the first suction nozzle is driven by a first R-axis rotating assembly 450 to rotate relative to the mounting base, and the first mirror moving assembly 410, the first flying centering vision assembly 420 and the first top centering vision assembly 430 complete high-precision positioning relative to the workpiece 700 on the mounting station 331; the mounting mechanism 400 may further include a second mirror moving assembly 410, a second flying centering vision assembly 420, and a second top centering vision assembly 430 attached to a second suction nozzle, the second suction nozzle is driven by a second Z-axis servo assembly 440 to move in a third direction with respect to the mounting base, driven by a second R-axis rotating assembly 450 to rotate with respect to the mounting base, and the second mirror moving assembly 410, the second flying centering vision assembly 420, and the second top centering vision assembly 430 perform high-precision positioning with respect to the workpiece 700 at the mounting station 331.
In addition, the suction nozzle of the mounter 400 may suck and drop the workpiece 700 by turning off the vacuum solenoid 460. When the mounting mechanism 400 includes the first suction nozzle and the second suction nozzle, a first vacuum solenoid valve 460 and a second vacuum solenoid valve 460 may be provided on the mounting mechanism 400, the first vacuum solenoid valve 460 being used to control the first suction nozzle, and the second vacuum solenoid valve 460 being used to control the second suction nozzle.
The dual feed platform 600 of this embodiment may include two feed assemblies. The feeding assembly comprises a rotary platform, a rotary driving piece and a jacking mechanism, wherein the rotary driving piece is used for driving the rotary platform to rotate, and the jacking mechanism is used for lifting the rotary platform. Optical filters with the same wavelength can be placed on the two feeding assemblies, so that when one feeding assembly feeds materials, the other feeding assembly is fed; or, optical filters with different wavelengths can be placed on the two feeding assemblies, so that the optical filters with different wavelengths can be conveniently attached to the workpiece 700, and different design requirements can be met.
Referring to fig. 6 and 7, as a specific example, the dual feed platform 600 may include a second X-axis slide 630, a first feed assembly 610, and a second feed assembly 620. The first feeding assembly 610 may include a first rotary platform 611, a first rotary driving element 612, a first lifting mechanism 613, and a first sliding seat 614, wherein the first rotary platform 611, the first rotary driving element 612, and the first lifting mechanism 613 are disposed on the first sliding seat 614, the first sliding seat 614 is slidably connected to the second X-axis sliding rail 630, the first rotary driving element 612 is configured to drive the first rotary platform 611 to rotate, and the first lifting mechanism 613 is configured to drive the first rotary platform 611 to move in a third direction; the second feeding assembly 620 may include a second rotary platform 621, a second rotary driving element 622, a second lifting mechanism 623 and a second sliding seat 624, wherein the second rotary platform 621, the second rotary driving element 622 and the second lifting mechanism 623 are disposed on the second sliding seat 624, the second sliding seat 624 is slidably connected to the second X-axis sliding rail 630, the second rotary driving element 622 is configured to drive the second rotary platform 621 to rotate, and the second lifting mechanism 623 is configured to drive the second rotary platform 621 to move in a third direction.
As a further optimization of the present embodiment, the mounting system may further include a moving gantry mechanism 500, an X-axis driving component and a Y-axis driving component of the xyz tri-axis driving component are an X-axis servo component 520 and a Y-axis servo component 510 of the moving gantry mechanism 500, respectively, and a Z-axis driving component of the xyz tri-axis driving component is a Z-axis servo component 440 provided in the mounting mechanism 400; the mounting mechanism 400 is slidably connected to the X-axis moving assembly through a mounting plate 521, and the X-axis moving assembly is slidably connected to the Y-axis moving assembly.
Specifically, referring to fig. 5, the moving gantry mechanism 500 includes a Y-axis servo assembly 510 and an X-axis servo assembly 520, and the placement mechanism 400 may be slidably coupled to the X-axis servo assembly 520 through a mounting plate 521 and driven by an X-axis servo motor to move in a first direction; the X-axis servo unit 520 is slidably disposed on the Y-axis servo unit 510 and is driven by a Y-axis servo motor 511 of the Y-axis servo unit 510, so that the mounting mechanism 400 on the mounting plate 521 can move in the second direction.
In addition, the embodiment also provides a full-automatic high-precision vehicle-mounted security camera optical filter attaching method which can be implemented by the attaching system of the embodiment. Specifically, the bonding method of the present embodiment includes the steps of:
step one, after a workpiece 700 is conveyed to a glue dispensing station 311 by a conveying mechanism 300 arranged linearly, a double glue dispensing mechanism 200 moves to a position above the glue dispensing station, and images of the workpiece 700 before the glue dispensing process are shot by a first vision positioning system 213 on the double glue dispensing mechanism 200, so that the workpiece 700 is positioned in a first direction and a second direction;
step two, the double-painting glue dispensing mechanism 200 moves relative to the workpiece 700, so that a glue dispensing process on the workpiece 700 is completed by a glue dispensing component of the double-painting glue dispensing mechanism 200; then, the first vision positioning system 213 shoots the image of the workpiece 700 after the dispensing process and judges the effect of the dispensing process;
step three, after the dispensing process is completed, the workpiece 700 is conveyed to the mounting station 331 by the conveying mechanism 300; then, the mounting mechanism 400 moves to the position above the mounting station 331 and the position above the dual feeding platform 600 respectively, and the top of the mounting mechanism 400 is used to center the vision assembly 430 to shoot the image of the workpiece 700 before the mounting process and the image of the optical filter in the dual feeding platform 600, and the positioning of the workpiece 700 and the optical filter is completed in the first direction and the second direction;
step four, the mounting head of the mounting mechanism 400 sucks the optical filter from the double-feeding platform 600 and moves to the position above the mounting station 331, and meanwhile, the flying centering of the mounting mechanism 400 finishes positioning the optical filter adsorbed on the mounting head on the vision assembly 420; then, the mounting head of the mounting mechanism 400 moves relative to the workpiece 700, and the optical filter is attached to the workpiece 700;
and step five, after the laminating procedure is finished, conveying the workpiece 700 to a blanking station by the conveying mechanism 300, and finishing blanking.
In the attaching method of the present embodiment, in order to improve the accuracy of the attaching mechanism 400 to the workpiece 700 and the optical filter, so as to improve the attaching effect, in the third step and the fourth step, the movement of the attaching mechanism 400 may be realized by using an XYZ triaxial drive assembly, which is a triaxial servo system and is controlled by using a triaxial servo system PID control method having a friction link; fig. 8 is a control architecture of a three-axis servo system with a friction element. Referring to formula (1), the dynamic equation of the three-axis servo system is:
in the formula: in the formula:
the first derivative of the angle of rotation of the servo system to time;
the second derivative of the angle of the servo system rotation angle to time; k m The torque coefficient of the motor is; c e Is a voltage feedback coefficient; j is moment of inertia(ii) a R is an armature resistance; k is u Amplifying the power amplifier by the factor; u (t) is a control input, i.e., a driving force F (t);
wherein when
Time, friction force F f (t) can be calculated by the equation (2),
when in use
Time, friction force F f (t) can be calculated by the equation (2),
wherein F (t) is a driving force; f m Maximum static friction force; f c Coulomb friction; k is a radical of formula v Is a viscous friction torque proportionality coefficient; alpha and alpha 1 Is a very small, positive constant.
The control rate of the three-axis servo system PID control method with the friction link can be calculated according to the formula (4),
in the formula, P is 18.9659445035411, I is 1.86490535854128, D is 0.107257341728836, and N is 100.309656915105.
As a specific example of the bonding method of the present embodiment, F c Is 15 N.m, F m Is 20 N.m, k v Is 2Nms/rad, alpha is 0.01, alpha 1 The value is 1. And in this embodiment, K m Is 6 N.m/A; c e Is 1.2V/(rad/s); j is 0.6kg · m 2 (ii) a R is 7.77 omega; k u Is 11V/V. Assigning the above parameters to generationAnd (4) obtaining a position tracking result graph, a speed tracking result graph and a friction force variation graph along with the angular speed.
Specifically, the position tracking and velocity tracking results of this embodiment are shown in fig. 9, and the friction force as a function of the angular velocity is shown in fig. 10. As can be seen from fig. 9 and 10, under the condition of friction, the position tracking has a "flat top" phenomenon, and the speed tracking has a "dead zone" phenomenon.
Therefore, in the bonding method of the embodiment, the control method of the XYZ three-axis drive assembly can better overcome the friction force of the three-axis servo system during operation, and more accurate control is performed on the mounting mechanism 400, so that high-precision control of the mounting head of the mounting mechanism 400 is realized, the bonding effect of the optical filter is improved, and the yield of the optical filter dispensing and bonding processing is improved.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. A full-automatic high-precision vehicle-mounted security camera optical filter laminating method is characterized by comprising the following steps: the method comprises the following steps:
firstly, after a workpiece is conveyed to a glue dispensing station by a conveying mechanism arranged linearly, a double-glue dispensing mechanism moves to the position above the glue dispensing station, and a workpiece image before a glue dispensing process is shot by a first visual positioning system on the double-glue dispensing mechanism, so that the workpiece is positioned in a first direction and a second direction;
moving the double-drawing glue dispensing mechanism relative to the workpiece to enable a glue dispensing component of the double-drawing glue dispensing mechanism to complete a glue dispensing process on the workpiece; then, the first vision positioning system shoots the workpiece image after the dispensing process and judges the effect of the dispensing process;
after the dispensing process is finished, the workpiece is conveyed to a mounting station by the conveying mechanism; then, the mounting mechanism moves to the position above the mounting station and the position above the double-feeding platform respectively, the top of the mounting mechanism is used for centering the visual assembly to shoot the workpiece image before the mounting process and the image of the optical filter in the double-feeding platform, and the positioning of the workpiece and the optical filter is completed in the first direction and the second direction;
fourthly, the mounting head of the mounting mechanism sucks the optical filter from the double-feeding platform and moves the optical filter to the position above the mounting station, and meanwhile, the flight of the mounting mechanism aligns the optical filter adsorbed on the mounting head to the centering vision assembly; then, the mounting head of the mounting mechanism moves relative to the workpiece, and the optical filter is bonded with the workpiece;
after the laminating process is finished, conveying the workpiece to a blanking station by the conveying mechanism, and finishing blanking;
in the third step and the fourth step, the movement of the attaching mechanism is realized by utilizing an XYZ triaxial drive assembly, wherein the XYZ triaxial drive assembly is a triaxial servo system and is controlled by adopting a triaxial servo system PID control method with a friction link; the dynamic equation of the three-axis servo system is as follows:
in the formula:
the first derivative of the angle of rotation of the servo system to time;
the second derivative of the angle of the servo system rotation angle to time; k m The torque coefficient of the motor is; c e Is a voltage feedback coefficient; j is rotational inertia; r is an armature resistance; k u The amplification factor of the power amplifier; u (t) is a control input, i.e., a driving force F (t);F f (t) is a function of friction versus time.
2. The method for bonding the optical filter of the full-automatic high-precision vehicle-mounted security camera according to claim 1, which is characterized in that: in the third step and the fourth step,
when the temperature is higher than the set temperature
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
wherein F (t) is a driving force; f m Maximum static friction force; f c Coulomb friction; k is a radical of v Is a viscous friction torque proportionality coefficient; alpha and alpha 1 Is a very small, positive constant.
3. The method for bonding the optical filter of the full-automatic high-precision vehicle-mounted security camera according to claim 2, which is characterized in that: in the third step and the fourth step, the control rate of the three-axis servo system PID control method with the friction link is as follows,
in the formula, the value of P is 18.9659445035411, the value of I is 1.86490535854128, the value of D is 0.107257341728836, and the value of N is 100.309656915105.
4. The method for attaching the optical filter of the full-automatic high-precision vehicle-mounted security camera according to claim 2 or 3, characterized in that: in the third step and the fourth step, F c Is 15 N.m, F m Is 20 N.m, k v Is 2Nms/rad, alpha is 0.01, alpha 1 The value is 1.
5. A system for implementing the full-automatic high-precision vehicle-mounted security camera optical filter attaching method according to any one of claims 1 to 4, is characterized in that: comprises the steps of (a) preparing a substrate,
the conveying mechanism is provided with a drawing glue dispensing conveying line, a transition conveying line, a mounting conveying line and a tray discharging conveying line in a first direction, and workpieces are conveyed along the drawing glue dispensing conveying line, the transition conveying line, the mounting conveying line and the tray discharging conveying line; and the number of the first and second groups,
the double-painting glue dispensing mechanism comprises two glue dispensing components; the painting glue dispensing conveying line is provided with a painting glue dispensing station, the double painting glue dispensing mechanisms are arranged in a manner of being attached to the painting glue dispensing station in the second direction, and the glue dispensing painting assembly can be positioned at the painting glue dispensing station in the first direction and the second direction and moves relative to a workpiece on the painting glue dispensing station to complete a painting glue dispensing process; and (c) a second step of,
the double-feeding platform comprises two feeding assemblies; a mounting station is arranged on the mounting conveying line, and the double feeding platforms are arranged depending on the mounting station in the second direction; and the number of the first and second groups,
paste dress mechanism, paste dress mechanism includes a plurality of adsorption nozzle, paste dress mechanism depend on in the second direction paste dress station setting, paste dress mechanism by XYZ triaxial drive subassembly drive, paste dress mechanism can follow absorb the light filter on first feed subassembly and/or the second feed subassembly, and the laminating is in paste on the work piece on the dress station.
6. A system according to claim 5, characterized in that: the painting glue dispensing conveying line and the mounting conveying line respectively comprise two parallel conveying belts, a first lifting mechanism is arranged below the painting glue dispensing station, and a second lifting mechanism is arranged below the mounting station; when a workpiece is conveyed to the position above the painting glue dispensing station, the first lifting mechanism can lift the painting glue dispensing station from the position below the painting glue dispensing conveying line and support the workpiece on the painting glue dispensing conveying line; when the workpiece is conveyed to the position above the mounting station, the second lifting mechanism can lift the mounting station from the position below the mounting conveying line and lift the workpiece on the mounting conveying line.
7. A system according to claim 5, characterized in that: the point is glued and is drawn gluey subassembly and glue the base including the point to and install glue cylinder and vision positioning system on the point is glued and is drawn gluey base, the point is glued and is drawn gluey subassembly and can glue the station removal for the drawing is glued, vision positioning system is used for shooting work piece on the station is glued to the drawing point, in order to incite somebody to action the glue cylinder is located the work piece on the station is glued to the drawing point.
8. A system according to claim 7, characterized in that: the double-glue-dispensing mechanism comprises a first glue-dispensing and drawing component, a second glue-dispensing and drawing component and a first X-axis sliding rail, the first glue-dispensing and drawing component comprises an XL (X-axis) moving component, an YL (Y-axis) moving component and a ZL (Z-axis) moving component, and the second glue-dispensing and drawing component comprises an XR (X-axis) moving component, an YR (Y-axis) moving component and a ZR (Z-axis) moving component;
the first dispensing glue base of the first dispensing glue component is arranged on the first X-axis sliding rail in a sliding mode through the XL-axis moving component, and the second dispensing glue base of the second dispensing glue component is arranged on the first X-axis sliding rail in a sliding mode through the XR-axis moving component.
9. A system according to claim 5, characterized in that: the X-axis driving assembly and the Y-axis driving assembly of the XYZ three-axis driving assembly are respectively an X-axis servo assembly and a Y-axis servo assembly of the moving gantry mechanism, and the Z-axis driving assembly of the XYZ three-axis driving assembly is a Z-axis servo assembly arranged in the mounting mechanism; the mounting mechanism is connected to the X-axis moving assembly in a sliding mode through a mounting plate, and the X-axis moving assembly is connected to the Y-axis moving assembly in a sliding mode.
10. A system according to claim 5, characterized in that: the feeding assembly comprises a rotary platform, a rotary driving piece and a jacking mechanism, wherein the rotary driving piece is used for driving the rotary platform to rotate, and the jacking mechanism is used for lifting the rotary platform; and optical filters with different wavelengths are placed on the rotating platforms of the two material supply assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211051806.4A CN115430574A (en) | 2022-08-30 | 2022-08-30 | Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211051806.4A CN115430574A (en) | 2022-08-30 | 2022-08-30 | Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115430574A true CN115430574A (en) | 2022-12-06 |
Family
ID=84244537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211051806.4A Pending CN115430574A (en) | 2022-08-30 | 2022-08-30 | Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115430574A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116840994A (en) * | 2023-08-31 | 2023-10-03 | 中山市博测达电子科技有限公司 | Optical filter assembly equipment and assembly method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200813507A (en) * | 2006-09-15 | 2008-03-16 | Hon Hai Prec Ind Co Ltd | Method for measuring glue distribution |
| CN105562294A (en) * | 2016-02-04 | 2016-05-11 | 苏州光宝科技股份有限公司 | Online full-automatic high-speed jet dispenser |
| CN210808124U (en) * | 2019-11-14 | 2020-06-19 | 东莞市正远自动化设备有限公司 | High-speed precise mounting system for camera production |
| CN111498487A (en) * | 2020-03-18 | 2020-08-07 | 深圳市鑫三力自动化设备有限公司 | Camera laminating equipment under screen |
| CN111804516A (en) * | 2020-07-19 | 2020-10-23 | 中山市联申达科技有限公司 | Automatic chip mounter |
| CN214297817U (en) * | 2021-01-15 | 2021-09-28 | 深圳市鍂鑫科技有限公司 | Feeding device for automatic lens light filter sheet arranging machine |
| CN114042599A (en) * | 2021-12-20 | 2022-02-15 | 昆明北方红外技术股份有限公司 | double-Z-axis focus-adjustable visual precise dispensing mechanism |
| CN114439827A (en) * | 2020-11-03 | 2022-05-06 | 宁波舜宇光电信息有限公司 | Camera module assembly equipment and assembly method |
-
2022
- 2022-08-30 CN CN202211051806.4A patent/CN115430574A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200813507A (en) * | 2006-09-15 | 2008-03-16 | Hon Hai Prec Ind Co Ltd | Method for measuring glue distribution |
| CN105562294A (en) * | 2016-02-04 | 2016-05-11 | 苏州光宝科技股份有限公司 | Online full-automatic high-speed jet dispenser |
| CN210808124U (en) * | 2019-11-14 | 2020-06-19 | 东莞市正远自动化设备有限公司 | High-speed precise mounting system for camera production |
| CN111498487A (en) * | 2020-03-18 | 2020-08-07 | 深圳市鑫三力自动化设备有限公司 | Camera laminating equipment under screen |
| CN111804516A (en) * | 2020-07-19 | 2020-10-23 | 中山市联申达科技有限公司 | Automatic chip mounter |
| CN114439827A (en) * | 2020-11-03 | 2022-05-06 | 宁波舜宇光电信息有限公司 | Camera module assembly equipment and assembly method |
| CN214297817U (en) * | 2021-01-15 | 2021-09-28 | 深圳市鍂鑫科技有限公司 | Feeding device for automatic lens light filter sheet arranging machine |
| CN114042599A (en) * | 2021-12-20 | 2022-02-15 | 昆明北方红外技术股份有限公司 | double-Z-axis focus-adjustable visual precise dispensing mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116840994A (en) * | 2023-08-31 | 2023-10-03 | 中山市博测达电子科技有限公司 | Optical filter assembly equipment and assembly method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111761602B (en) | End effector, lamp strip assembling device and assembling method | |
| CN109351560B (en) | Integrated mobile phone camera assembling equipment | |
| CN109692782B (en) | Laminating equipment | |
| CN115430574A (en) | Full-automatic high-precision vehicle-mounted security camera optical filter attaching method and system | |
| CN209626184U (en) | A kind of automatic cutting device | |
| CN112706937B (en) | Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method | |
| CN113156596B (en) | Three-piece coupling device and coupling method | |
| CN113523794A (en) | High-speed automatic lens assembling equipment and assembling method thereof | |
| CN110434019B (en) | Automatic glue dispensing device for tablet personal computer | |
| CN104959810B (en) | Assembling system for tiny assemblies | |
| CN111323420A (en) | Automatic assembling and testing device for micro-optical assembly | |
| JP2004521514A (en) | Equipment for mounting components on boards | |
| CN114260671A (en) | Lens assembly and dispensing production line | |
| CN112676831A (en) | Lens component assembling equipment | |
| CN216758617U (en) | Polaroid cutting production line | |
| CN115488013B (en) | Glass screen feeding and discharging gluing equipment | |
| CN115610998A (en) | Fingerprint module detecting system and transport mechanism thereof | |
| CN114653621A (en) | Control method and device for LED and semiconductor laser chip conveying device | |
| CN210808124U (en) | High-speed precise mounting system for camera production | |
| CN212049533U (en) | Silicon chip carries dish and pushes away neat positioner and support plate conveying system | |
| CN116825702B (en) | Bonding chip mounter | |
| CN111933562A (en) | High-precision intelligent sorting equipment | |
| CN112354806A (en) | Intelligent dispensing equipment for semiconductor products | |
| CN110739258A (en) | wafer taking and separating device and method | |
| CN115394687B (en) | Chip mounter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |