CN203579106U - Positioning device with two vision sensors - Google Patents
Positioning device with two vision sensors Download PDFInfo
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- CN203579106U CN203579106U CN201320616752.1U CN201320616752U CN203579106U CN 203579106 U CN203579106 U CN 203579106U CN 201320616752 U CN201320616752 U CN 201320616752U CN 203579106 U CN203579106 U CN 203579106U
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Abstract
The utility model discloses a positioning device with two vision sensors. The positioning device comprises the upper vision sensor and the lower vision sensor, wherein the upper vision sensor is used for detecting the position of a lower workpiece, the lower vision sensor is used for detecting the position of an upper workpiece, the upper vision sensor is arranged on a movable detection platform, and the lower vision sensor is arranged on a base. The lower workpiece is arranged on a workbench which is in sliding connection with the base. The upper workpiece is fixed on the movable detection platform. According to the positioning device, after positioning signals of the upper workpiece and positioning signals of the lower workpiece are calculated, a controller is used for adjusting the transverse position and the longitudinal position of the upper workpiece, the transverse position and the longitudinal position of the lower workpiece and the deflection between the upper workpiece and the lower workpiece, and therefore installation of the upper workpiece and the lower workpiece can be realized. Since the two vision sensors are installed in a mutually staggered mode, installation space is saved; besides, the two vision sensors are used for acquiring positional information of two different workpieces, the operation and processing speed is increased, and the installation rate of the two workpieces can be increased.
Description
Technical field
The utility model relates to a kind of positioner, more particularly refers to the positioner that adopts two vision sensors.
Background technology
At present, while adopting the vision sensors such as CCD or CMOS to position detection to workpiece, what conventionally adopt is single vision sensor.Because the detection and localization function that single vision sensor has is very limited, and while multiple workpiece being carried out to vision-based detection location by a vision sensor, speed is slow, cannot improving production efficiency, especially for the production line of automation, single vision sensor is difficult to meet Production requirement at a high speed.
Therefore, be necessary the visual detection positioning device that exploitation makes new advances, to enhance productivity, and can be applicable to automated production equipment.
Utility model content
The purpose of this utility model is to overcome the defect of prior art, and the positioner of two vision sensors of a kind of employing is provided.
For achieving the above object, the utility model is by the following technical solutions:
Adopt the positioner of two vision sensors, comprise for detection of the upper vision sensor of the next location of workpiece with for detection of the lower vision sensor of the upper location of workpiece, described upper vision sensor is located at mobile monitor station, and described lower vision sensor is located at base; Described the next workpiece is located at the workbench connecting with base sliding; Described upper workpiece is fixed on mobile monitor station.
Its further technical scheme is: described workbench is that longitudinal sliding motion connects with base; Described mobile monitor station and base are for being laterally slidably connected.
Its further technical scheme is: described mobile monitor station has also vertically been slidably connected vertical slide unit, and described vertical slide unit is provided with the suction jig for the upper workpiece of sticking.
Its further technical scheme is: described the next workpiece and workbench are fixedly connected, and described the next workpiece is at least provided with two identification points for upper vision sensor detection and location; Described lower vision sensor carries out detection and location to the full-sized of upper workpiece.
Its further technical scheme is: described the next workpiece is FPC plate, and described upper workpiece is reinforced sheet, and described FPC plate is provided with the fixed bit of several reinforced sheets.
Its further technical scheme is: described base is provided with portal frame, and described portal frame is provided with the horizontal slide rail being slidably connected with mobile monitor station.
Its further technical scheme is: on described base, be also provided with the longitudinal slide rail being slidably connected with workbench.
Its further technical scheme is: also comprise longitudinal transmission for driving longitudinal sliding motion and for driving the horizontal transmission of horizontal slip, and with longitudinal motor of longitudinal transmission driving coupling, with the horizontal cross motor of transmission driving coupling; Also comprise the controller that longitudinal motor, cross motor, upper vision sensor, lower vision sensor electrically connect.
Its further technical scheme is: described suction jig connects for rotating with vertical slide unit, and described vertical slide unit is provided with the electric rotating machine for driving suction jig rotation.
The utility model beneficial effect is compared with prior art: the utility model adopts two vision sensors, is located on fixing base for one, and the upper workpiece that top is moved positions detection; One be located at for mobile upper workpiece mobile monitor station, the next workpiece on the workbench of below is positioned to detection, after the framing signal of the two is calculated, by controller, regulate the horizontal and vertical position between two workpiece, and the deflection between upper workpiece and the next workpiece, with this, realize the installation of upper workpiece and the next workpiece.Owing to having adopted the installation of mutually staggering of two vision sensors, saved installing space, and two vision sensors gather respectively the positional information of two different workpieces, accelerated calculation process speed, can improve two kinds of installation rates between workpiece.When installation between a large workpiece (as FPC plate) and several small workpiece (as reinforced sheet), the positional information of large workpiece only needs to detect once when same once mounting, has greatly promoted production efficiency.The utility model has adopted the version of upper and lower two vision sensors, is extremely suitable in the automation installation process of manufactured parts.
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
Accompanying drawing explanation
Fig. 1 is the floor map (reinforced sheet for FPC plate mounts operation) that the utility model adopts the positioner specific embodiment of two vision sensors;
Fig. 2 is the electrical control block diagram in embodiment illustrated in fig. 1;
Fig. 3 is the schematic flow sheet (CCD1 is upper vision sensor, and CCD2 is lower vision sensor) of the visual identity in embodiment illustrated in fig. 1;
Fig. 4 A is the coordinate identification schematic diagram of the reinforced sheet standard state in embodiment illustrated in fig. 1;
Fig. 4 B is the coordinate identification schematic diagram that the reinforced sheet virtual condition in embodiment illustrated in fig. 1 is compared with standard state;
Fig. 4 C is the coordinate identification schematic diagram of the FPC plate standard state in embodiment illustrated in fig. 1;
Fig. 4 D is the coordinate identification schematic diagram that the FPC plate virtual condition in embodiment illustrated in fig. 1 is compared with standard state.
Reference numeral
20 times vision sensors of vision sensor on 10
30 move the vertical slide unit of monitor station 31
32 suction jig 40 bases
41 longitudinal slide rail 50 workbench
The horizontal slide rail of 80 portal frame 81
90 controller 91 electric rotating machines
92 longitudinal motor 93 cross motors
The upper workpiece of the next workpiece S2 of S1
The specific embodiment
In order to more fully understand technology contents of the present utility model, below in conjunction with specific embodiment, the technical solution of the utility model is further introduced and explanation, but be not limited to this.
As Figure 1-4, adopt the positioner of two vision sensors, comprise for detection of larger area FPC plate in the next workpiece S1(the present embodiment) the upper vision sensor 10 of position and for detection of being reinforced sheet in upper workpiece S2(the present embodiment) the lower vision sensor 20 of position, upper vision sensor 10 is located at mobile monitor station 30, and lower vision sensor 20 is located at base 40; The next workpiece S1 is located at the workbench 50 being slidably connected with base 40; Upper workpiece S2 is fixed on the vertical slide unit 31 being vertically slidably connected with mobile monitor station 30.Workbench 50 and base 40 connect for longitudinal sliding motion; Mobile monitor station 30 and base 40 are for being laterally slidably connected.Vertical slide unit 31 is provided with the suction jig 32 for the upper workpiece of sticking.Suction jig 32 connects for rotating with vertical slide unit 31, and vertical slide unit 31 is provided with the electric rotating machine 91 for driving suction jig 32 to rotate.Also comprise longitudinal transmission (not shown) for driving longitudinal sliding motion and for driving the horizontal transmission (not shown) of horizontal slip, and with longitudinal motor 92 of longitudinal transmission driving coupling, with the horizontal cross motor 93 of transmission driving coupling; Also comprise electric rotating machine 91, the controller 90 that longitudinally motor 92, cross motor 93, upper vision sensor 10, lower vision sensor 20 electrically connect.
The next workpiece S1 is fixed and is connected by modes such as vacuum suction with workbench 50, and the next workpiece S1 is provided with three identification points for upper vision sensor detection and location; Lower vision sensor 20 carries out detection and location to the full-sized of upper workpiece S2.In the present embodiment, the next workpiece is FPC plate, and upper workpiece is reinforced sheet, and FPC plate is provided with the reinforced sheet fixed bit of several matrix distribution.
Wherein, base 40 is provided with portal frame 80, and portal frame 80 is provided with the horizontal slide rail 81 being slidably connected with mobile monitor station 30.On base 40, be also provided with the longitudinal slide rail 41 being slidably connected with workbench 50.
In the course of work, suction jig by stamping-out out or the reinforced sheet (being upper workpiece) brought of feed mechanism hold, by the driving of cross motor, move to the top of lower vision sensor 20, by lower vision sensor, the position of upper workpiece is detected, if when the angle of the virtual condition of reinforced sheet and standard state have skew (as shown in Figure 4 D), offset information is sent to controller, through the processing of controller, send and drive signal to electric rotating machine, deviation angle is regulated and compensated.Electric rotating machine only compensates angle, after angle adjustment, if still have horizontal and vertical skew, by the movement of cross motor and longitudinal motor, is compensated.While being positioned over workbench due to the next workpiece (being FPC plate), also have angular deflection problem, therefore, the standard state of reinforced sheet can be set according to the virtual condition of FPC plate.When a new FPC plate is positioned on workbench, upper vision sensor can carry out to it detection (as shown in Figure 4 B) of position.According to three identification points on FPC plate, carry out position probing (being the identification point of Mark11, Mark12, tri-actual identification points of Mark13 and Mark1, Mark2, tri-standards of Mark3), through the calculation process of controller, calculate the deviation value of virtual condition and standard state.Because workbench can not as the suction jig, carry out location again to the next workpiece, therefore, the side-play amount of each FPC plate is recorded in the process that mounts of each reinforced sheet thereafter, and by longitudinal motor and cross motor, and electric rotating machine compensates.Concrete control flow as shown in Figure 3.
In other embodiment, also can be for the installation between other workpiece, such as the installation between electronic component and pcb board.
In other embodiment, also can adopt portal frame.
In other embodiment, the structure of base, mobile monitor station can actual use need and set.Upper vision sensor also can be located on vertical slide unit.
In other embodiment, can also between workbench and base, increase electric rotating machine, to realize the angle adjustment of the next workpiece.
In sum, the utility model adopts two vision sensors, is located on fixing base for one, and the upper workpiece that top is moved positions detection; One be located at for mobile upper workpiece mobile monitor station, the next workpiece on the workbench of below is positioned to detection, after the framing signal of the two is calculated, by controller, regulate the horizontal and vertical position between two workpiece, and the deflection between upper workpiece and the next workpiece, with this, realize the installation of upper workpiece and the next workpiece.Owing to having adopted the installation of mutually staggering of two vision sensors, saved installing space, and two vision sensors gather respectively the positional information of two different workpieces, accelerated calculation process speed, can improve two kinds of installation rates between workpiece.When installation between a large workpiece (as FPC plate) and several small workpiece (as reinforced sheet), the positional information of large workpiece only needs to detect once when same once mounting, has greatly promoted production efficiency.The utility model has adopted the version of upper and lower two vision sensors, is extremely suitable in the automation installation process of manufactured parts.
Above-mentionedly only with embodiment, further illustrate technology contents of the present utility model; so that reader is easier to understand; but do not represent that embodiment of the present utility model only limits to this, any technology of doing according to the utility model is extended or recreation, is all subject to protection of the present utility model.Protection domain of the present utility model is as the criterion with claims.
Claims (9)
1. adopt the positioner of two vision sensors, it is characterized in that comprising for detection of the upper vision sensor of the next location of workpiece with for detection of the lower vision sensor of the upper location of workpiece, described upper vision sensor is located at mobile monitor station, and described lower vision sensor is located at base; Described the next workpiece is located at the workbench connecting with base sliding; Described upper workpiece is fixed on mobile monitor station.
2. the positioner of two vision sensors of employing according to claim 1, is characterized in that described workbench is that longitudinal sliding motion connects with base; Described mobile monitor station and base are for being laterally slidably connected.
3. the positioner of two vision sensors of employing according to claim 2, is characterized in that described mobile monitor station has also vertically been slidably connected vertical slide unit, and described vertical slide unit is provided with the suction jig for the upper workpiece of sticking.
4. the positioner of two vision sensors of employing according to claim 3, is characterized in that described the next workpiece and workbench are fixedly connected, and described the next workpiece is at least provided with two identification points for upper vision sensor detection and location; Described lower vision sensor carries out detection and location to the full-sized of upper workpiece.
5. the positioner of two vision sensors of employing according to claim 4, is characterized in that described the next workpiece is FPC plate, and described upper workpiece is reinforced sheet, and described FPC plate is provided with the fixed bit of several reinforced sheets.
6. the positioner of two vision sensors of employing according to claim 5, is characterized in that described base is provided with portal frame, and described portal frame is provided with the horizontal slide rail being slidably connected with mobile monitor station.
7. according to the positioner of two vision sensors of employing described in claim 4,5 or 6, it is characterized in that being also provided with the longitudinal slide rail being slidably connected with workbench on described base.
8. the positioner of two vision sensors of employing according to claim 7, characterized by further comprising longitudinal transmission for driving longitudinal sliding motion and for driving the horizontal transmission of horizontal slip, and with longitudinal motor of longitudinal transmission driving coupling, with the horizontal cross motor of transmission driving coupling; Also comprise the controller that longitudinal motor, cross motor, upper vision sensor, lower vision sensor electrically connect.
9. the positioner of two vision sensors of employing according to claim 8, is characterized in that described suction jig connects for rotating with vertical slide unit, and described vertical slide unit is provided with the electric rotating machine for driving suction jig rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320616752.1U CN203579106U (en) | 2013-09-30 | 2013-09-30 | Positioning device with two vision sensors |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320616752.1U CN203579106U (en) | 2013-09-30 | 2013-09-30 | Positioning device with two vision sensors |
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| CN203579106U true CN203579106U (en) | 2014-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320616752.1U Expired - Lifetime CN203579106U (en) | 2013-09-30 | 2013-09-30 | Positioning device with two vision sensors |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104930970A (en) * | 2015-06-12 | 2015-09-23 | 上海大学 | Large workpiece laser measuring system and measuring method |
| CN107639746A (en) * | 2017-09-28 | 2018-01-30 | 广东开放大学（广东理工职业学院） | With reference to the side shaping processing unit (plant) of flat work four and processing method of vision positioning |
| CN111070210A (en) * | 2020-01-02 | 2020-04-28 | 中车青岛四方机车车辆股份有限公司 | Workpiece positioning and calibrating method |
| CN113418548A (en) * | 2021-06-10 | 2021-09-21 | 江苏汇鼎智能装备有限公司 | Visual non-contact automatic detection device |
-
2013
- 2013-09-30 CN CN201320616752.1U patent/CN203579106U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104930970A (en) * | 2015-06-12 | 2015-09-23 | 上海大学 | Large workpiece laser measuring system and measuring method |
| CN107639746A (en) * | 2017-09-28 | 2018-01-30 | 广东开放大学（广东理工职业学院） | With reference to the side shaping processing unit (plant) of flat work four and processing method of vision positioning |
| CN111070210A (en) * | 2020-01-02 | 2020-04-28 | 中车青岛四方机车车辆股份有限公司 | Workpiece positioning and calibrating method |
| CN113418548A (en) * | 2021-06-10 | 2021-09-21 | 江苏汇鼎智能装备有限公司 | Visual non-contact automatic detection device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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| CX01 | Expiry of patent term |
Granted publication date: 20140507 |