CN203814058U - Touchpad fitting and position aligning system based on machine vision - Google Patents

Touchpad fitting and position aligning system based on machine vision Download PDF

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Publication number
CN203814058U
CN203814058U CN201420156406.4U CN201420156406U CN203814058U CN 203814058 U CN203814058 U CN 203814058U CN 201420156406 U CN201420156406 U CN 201420156406U CN 203814058 U CN203814058 U CN 203814058U
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China
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fixed
platform
conveying
loading plate
laminating
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CN201420156406.4U
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Chinese (zh)
Inventor
张俊峰
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Guangzhou Supersonic Automation Technology Co Ltd
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Guangzhou Supersonic Automation Technology Co Ltd
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Priority to CN201420156406.4U priority Critical patent/CN203814058U/en
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Abstract

The utility model discloses a touchpad fitting and position aligning system based on machine vision. The touchpad fitting and position aligning system includes a rack, a platform provided with a to-be-gripped position, a fitting position and a calibration position, a conveying positioning device, an input mechanism, an output mechanism for outputting a finished fitting product, a mechanical arm for gripping an aluminum piece and a calibration position aligning mechanism for calibrating the mechanical arm. The platform is horizontally disposed on the rack. The conveying positioning device, the input mechanism and the output mechanism protrude outward from the rack. A conveying outlet of the conveying positioning device is right toward the to-be-gripped position. A conveying outlet of the input mechanism and a conveying inlet of the output mechanism are respectively right toward the fitting position. The calibration position aligning mechanism is disposed right below the calibration position. The to-be-gripped position, the fitting position and the calibration position are disposed at intervals and in the projection coverage of the trajectory of the mechanical arm on the platform. The calibration position aligning mechanism and the mechanical arm are electrically connected. The touchpad fitting and position aligning system based on the machine vision can automatically and accurately align the position of an aluminum piece and fit the aluminum piece onto a touchpad.

Description

Touch pad laminating alignment system based on machine vision
Technical field
The utility model relates to laminating alignment device, is specifically related to the touch pad laminating alignment system based on machine vision.
Background technology
At present, in the paster technique of circuit board, often need first aluminium flake to be positioned, accurately this aluminium flake is labelled to circuit board, for example, in the attachment process of contact panel, two little aluminium flakes of rectangle and strip aluminium flake need to be labelled to the back side of touch pad, as capacitive sensing.
Touch-control manufacturer all suffers from identical problem, and that is exactly difficult lifting of yield of multi-point touch-control panel, especially large-sized contact panel, and aspect the processing procedures such as coating film on glass and laminating, the lifting of yield is difficulty quite.This is due to contact panel, is limited to the contraposition accuracy of attaching process in production technology, cause output defective products, and most contact panel can not be reprocessed after attaching process completes.This situation is especially particularly outstanding in the preparation of large touch panel.Be embodied in, if the laminating contraposition inaccuracy of each aluminium flake will affect assembling and affect electric capacity conductivity, the fraction defective of contact panel promoted.
Utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is touch pad based on machine vision laminating alignment system, can be automatically, toward contraposition on touch pad, mount aluminium flake accurately.
The purpose of this utility model adopts following technical scheme to realize:
Touch pad laminating alignment system based on machine vision, comprise frame, be provided with and wait to capture position, the platform of laminating position and calibration bits, for inputting and aluminium flake be positioned at the conveying and positioning device of waiting to capture position, for delivery of the input mechanism that enters touch pad, for exporting the output mechanism of adhesive product, for capturing the manipulator of aluminium flake and for calibrating the calibration contraposition mechanism of manipulator, the horizontal support of described platform is in frame, described conveying and positioning device, input mechanism and output mechanism are by protruding in frame, the conveying outlet of conveying and positioning device with wait to capture position over against, the conveying outlet of input mechanism and the conveying entrance of output mechanism respectively with laminating position over against, described calibration contraposition mechanism be positioned at calibration bits under, wait to capture position, laminating position and calibration bits all apart from one another by, and be all positioned at the coverage of Robotic Manipulator Motion Trajectory projection on platform, described calibration contraposition mechanism is electrically connected to manipulator.
Preferably, described conveying and positioning device comprises lifting platform, for carrying the loading plate of aluminium flake and for delivery of the conveyer belt of loading plate, described lifting platform is fixed in the frame of waiting to capture under position, and can do vertical lifting motion with respect to platform, lifting platform upper surface is fixed with upwardly extending a plurality of locating piece and at least one reference column, and the height of locating piece is greater than the height of reference column; Described in each, locating piece interval arranges, surround the coarse positioning assembly identical with the edge contour size of described loading plate and shape, this coarse positioning assembly has the entrance entering for loading plate level, the conveying outlet of described conveyer belt and described entrance over against, described reference column is positioned at coarse positioning assembly; On described platform, have the through hole that supplies locating piece and reference column to pass one by one, on described loading plate, have the location hole passing for reference column.
Preferably, the upper end of described locating piece is provided with the approaching face of inclination, this approaching face by coarse positioning assembly to coarse positioning assembly extension; The upper end of described reference column is round end shape.
Preferably, be embedded with the locating ring passing for reference column in described location hole, this locating ring and reference column are slidably matched; On described reference column, cover is useful on the retainer ring of support locating ring, and this retainer ring and location hole are slidably matched.
Preferably, described conveying and positioning device also comprises the first cylinder and briquetting, the first cylinder is fixed on platform, the piston rod of the first cylinder is parallel to platform and stretches to coarse positioning assembly, the piston rod of described briquetting one end and the first cylinder is fixed, and the other end stretches in coarse positioning assembly and is positioned at loading plate top; Between the piston rod of described briquetting and the first cylinder, be connected with pushing block, this pushing block, perpendicular to loading plate, is slidably matched with platform, and fits with the side of loading plate; Described platform is provided with for loading plate and by push pedal, is laterally released the guide groove of guiding.
Preferably, described conveyer belt comprises support, be journaled into the deflector roll at support two ends, be wrapped in conduction band on deflector roll and for the conveying of loading plate is carried out to spacing adjusting bracket, described adjusting bracket comprises that a plurality of connecting rods and two are parallel to each other and spaced gag lever post, two gag lever posts extend along the transmission direction of described conveyer belt, one end of described connecting rod is connected with gag lever post is vertical, the other end of connecting rod is provided with the first regulating tank, on described support, are furnished with two support bars for supporting linkage, two support bars lay respectively at gag lever post both sides, on two support bars, have second regulating tank vertical with the first regulating tank, projection and second regulating tank of described the first regulating tank on the second regulating tank intersects.
Preferably, described calibration contraposition mechanism is a CCD photographic means; Described manipulator comprises and is fixed on the base of platform and the arm mechanism hinged with base, and the end of arm mechanism has for capturing the handgrip of aluminium flake; On described platform, have printing opacity mouth, CCD photographic means is positioned under this printing opacity mouth; Described CCD photographic means comprises two CCD probes that a fixed mount and space arrange, and described CCD probe is cylindrical, is vertically fixed on fixed mount, and the searchlighting direction of CCD probe is towards printing opacity mouth, and described fixed mount is fixed on frame.
Preferably, the fixed mount of described CCD photographic means comprises framework, light source and glass plate, and described framework is fixed on fixed mount upper end and is positioned at CCD probe top, and described glass plate level is laid on framework, and described light source is located on framework; Described framework is rectangular, and the upper surface of framework is intilted inclined plane, and described light source is uniform along the inclined plane of framework.
Preferably, described handgrip comprises that one is fixed on the fixed head on arm mechanism, three the second cylinders, a gangbar, two fixed levers and four slide posts that are vertically slidably matched with fixed head, the sucker that captures aluminium flake for adsorbing is all equipped with in the lower end of each slide post, wherein the upper end of two slide posts is individually fixed in the two ends of gangbar, and the upper end of another two slide posts is individually fixed on two fixed levers; Each second cylinder is all fixed on fixed head, and the piston rod of one of them the second cylinder is fixed on gangbar, and the piston rod of another two the second cylinders is fixed with two fixed levers respectively.
Preferably, on described platform, be also provided with for removing the pneumatic-finger of the diaphragm on aluminium flake; The conveying outlet top of described output mechanism is provided with pressurizer, and this pressurizer comprises pressing plate and the 3rd cylinder, and the 3rd cylinder is fixed on output mechanism, and the piston rod of the 3rd cylinder vertically stretches out and fixes with pressing plate, and described pressing plate is horizontally disposed with.
Compared to existing technology, the beneficial effects of the utility model are:
(1) the utility model conveying and positioning device can be delivered to aluminium flake and wait to capture position, and aluminium flake is located, for manipulator, precisely pick up, also be beneficial to follow-up accurate laminating contraposition, manipulator moves to calibration bits by aluminium flake, by proofreading and correct contraposition mechanism, picked up aluminium flake is carried out to position correction, and feed back to manipulator, revise the movement locus of manipulator, manipulator moves to laminating position after revising, aluminium flake is pressed down and is labelled on the touch pad of sending into through input mechanism, finished product after having fitted is exported through output mechanism, realize aluminium flake automatic, be fitted in accurately on touch pad, can guarantee the electric capacity electric conductivity of contact panel, greatly promote the yields of contact panel,
(2) CCD photographic means of the present utility model can be visited to penetrate and takes pictures capturing aluminium flake on handgrip, for obtaining the relative position of aluminium flake, thereby feed back to the movement locus of manipulator adjustment calibration, correction manipulator, aluminium flake can be fitted on laminating position by high-precision relative position, guarantee the quality of the rear product of laminating, for touch pad product, can guarantee electric capacity electric conductivity; And light source is because the inclined plane along framework is uniformly distributed, so the light that light source irradiates is gathered on the aluminium flake that handgrip captures, and light source can not take other space and CCD probe is caused to obstruction;
(3) handgrip of the present utility model has four suckers, wherein two suckers can together adsorb the aluminium flake that captures strip, another two suckers can capture respectively another two aluminium flakes, to realize handgrip, once move to behind CCD photographic means top, after taking pictures to each aluminium flake respectively, two CCD probes just can complete the calibration of three aluminium flakes, improving production efficiency, wherein, aluminium flake for strip, the calibration of can simultaneously taking pictures of two CCD probe, to once complete high-precision calibration correction manipulator, and then be beneficial to the high accuracy laminating contraposition after follow-up manipulator moves;
(4) the utility model is in lifting platform rise process, can be existing to loading plate coarse positioning by coarse positioning assembly, when lifting platform continues to rise, by reference column, loading plate is carried out to fine positioning again, the mode of classification location can prevent that reference column is too quickly by friction damage on the one hand, has also realized on the other hand loading plate and has accurately been located being delivered to after capturing position, and corresponding aluminium flake has also obtained the accurate location after automatic transport, be beneficial to handgrip and accurately pick up smoothly aluminium flake, improving production efficiency;
(5) lifting platform of the present utility model is in rise process, and briquetting has played the effect of pressure holding loading plate, prevents that loading plate is because the friction of locating piece or reference column is by jack-up, promotes the accurately effect of location; And pushing block and block are arranged on the piston rod of same the first cylinder, to save space, saved cost, the loading plate of pushing block after also can aluminium flake is crawled released outside platform, is beneficial to automated production.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is the perspective view of the touch pad laminating alignment system of the utility model based on machine vision;
Fig. 2 is the plan structure schematic diagram of the touch pad laminating alignment system of the utility model based on machine vision;
Fig. 3 is the structural representation of the utility model conveying and positioning device;
Fig. 4 is the A place enlarged diagram in Fig. 1;
Fig. 5 is the structural representation (removing a retainer ring) of the utility model lifting platform;
Fig. 6 is the Facad structure schematic diagram of the utility model handgrip;
Fig. 7 is the structure schematic diagram of the utility model handgrip;
Fig. 8 is the structural representation of the utility model CCD photographic means;
Fig. 9 is the structural representation of the utility model pressurizer.
In figure: 100, loading plate; 101, location hole; 102, locating ring; 103, stopper slot; 104, angle; 1, CCD photographic means; 11, fixed mount; 111, framework; 112, light source; 113, glass plate; 114, sliding panel; 115, horizontal guide rail; 116, upright guide rail; 12, CCD probe; 2, conveyer belt; 21, support; 211, support bar; 212, the second regulating tank; 22, deflector roll; 230, conduction band; 24, adjusting bracket; 241, connecting rod; 242, gag lever post; 243, the first regulating tank; 200, manipulator; 201, base; 202, arm mechanism; 203, handgrip; 231, fixed head; 232, the second cylinder; 233, gangbar; 234, fixed lever; 236, slide post; 237, sucker; 3, lifting platform; 31, locating piece; 311, approaching face; 32, reference column; 33, retainer ring; 34, drive cylinder; 35, lifter plate; 4, frame; 5, wait to capture position; 6, platform; 61, through hole; 62, guide groove; 63, printing opacity mouth; 64, laminating position; 65, calibration bits; 7, coarse positioning assembly; 71, entrance; 8, the first cylinder; 9, briquetting; 10, pushing block; 300, pneumatic-finger; 400, aluminium flake; 500, input mechanism; 600, output mechanism; 700, touch pad; 800, pressurizer; 801, pressing plate; 802, the 3rd cylinder.
Embodiment
The touch pad laminating alignment system based on machine vision as shown in Figure 1 and 2, comprise frame 4, be provided with and wait to capture position 5, the platform 6 of laminating position 64 and calibration bits 65, for inputting and aluminium flake 400 be positioned at the conveying and positioning device of waiting to capture position 5, for delivery of the input mechanism 500 that enters touch pad 700, for exporting the output mechanism 600 of adhesive product, for capturing the manipulator 200 of aluminium flake 400 and for calibrating the calibration contraposition mechanism of manipulator 200, the horizontal support of platform 6 is in frame 4, conveying and positioning device, input mechanism 500 and output mechanism 600 are interior protruding by frame 4, the conveying outlet of conveying and positioning device with wait to capture position 5 over against, the conveying outlet of input mechanism 500 and the conveying entrance of output mechanism 600 respectively with laminating position 64 over against, calibration contraposition mechanism be positioned at calibration bits 65 under, wait to capture position 5, laminating position 64 and calibration bits 65 all apart from one another by, and be all positioned at the coverage of manipulator 200 movement locus projection on platform 6, calibration contraposition mechanism is electrically connected to manipulator 200.
Conveying and positioning device can be delivered to aluminium flake 400 waits to capture position 5, and by aluminium flake 400 location, for manipulator 200, precisely pick up, also be beneficial to follow-up accurate laminating contraposition, manipulator 200 moves to calibration bits 65 by aluminium flake 400, by proofreading and correct contraposition mechanism, picked up aluminium flake 400 is carried out to position correction, and feed back to manipulator 200, revise the movement locus of manipulator 200, manipulator 200 moves to laminating position 64 after revising, aluminium flake 400 is pressed down to accurate contraposition to be labelled on the touch pad 700 of sending into through input mechanism 500, finished product after having fitted is through output mechanism 600 outputs.
Wherein, input mechanism 500 and output mechanism 600 can adopt conventional belt transport sector, correspondence is provided for touch pad 700 to push at input mechanism 500 pushing mechanism of laminating position 64, is provided for adhesive product to be pushed into another pushing mechanism of the conveying entrance of output mechanism 600 at output mechanism 600.In the conveying outlet of input mechanism 500 and the conveying entrance of output mechanism 600, also can increase transducer, position for touch sensitive plate 700 or adhesive product, with the corresponding interruption action that drives input mechanism 500, output mechanism 600 of feedback signal, be beneficial to automated production.
Conveying and positioning device can adopt conventional belt transport sector, is aided with transducer aluminium flake 400 is carried out to position feedback.Also can adopt this routine conveying and positioning device, as shown in Fig. 3 ~ 4, shown in, it comprises lifting platform 3, for carrying the loading plate 100 of aluminium flake 400 and for delivery of the conveyer belt 2 of loading plate 100, lifting platform 3 is fixed in the frame 4 of waiting to capture under position 5, and can do vertical lifting motion with respect to platform 6.Lifting platform 3 upper surfaces are fixed with upwardly extending a plurality of locating piece 31 and at least one reference column 32, and the height of locating piece 31 is greater than the height of reference column 32; Each locating piece 31 intervals arrange, surround the coarse positioning assembly 7 identical with the edge contour size of loading plate 100 and shape, this coarse positioning assembly 7 has the entrance 71 entering for loading plate 100 levels, the space of these coarse positioning assembly 7 interior restrictions is above-mentioned waiting and captures position 5, the conveying outlet of conveyer belt 2 and entrance 71 over against, reference column 32 is positioned at coarse positioning assembly 7; On platform 6, have the through hole 61 that supplies locating piece 31 and reference column 32 to pass one by one, on loading plate 100, have the location hole 101 passing for reference column 32.
As shown in Fig. 4 ~ 5, loading plate 100 enters the entrance 71 of coarse positioning assembly 7 after the transmission of conveyer belt 2, and corresponding aluminium flake 400 is also admitted on loading plate 100 waits to capture position 5.Now, lifting platform 3 rises, reference column 32 and locating piece 31 are through through hole 61, and because locating piece 31 is higher than reference column 32, locating piece 31 first produces coarse positioning effect to loading plate 100, proofread and correct the position of loading plate 100, after lifting platform 3 continues to rise, 32 pairs of location holes of reference column 101 produce fine positioning effect, realize the classification of loading plate 100 and accurately locate, aluminium flake 400 has also obtained accurately locating in the classification for the treatment of crawl position 5, is beneficial to follow-up manipulator 200 and accurately picks up aluminium flake 400.
Wherein, as shown in Figure 5, this routine reference column 32 is two, and locating piece 31 is five, also can arrange arbitrarily according to the needs of location.
In order further to promote effect, the efficiency of location, extend the life-span of locating piece 31, reference column 32, this example is provided with the approaching face 311 of inclination in the upper end of locating piece 31, and this approaching face 311 is interior to coarse positioning assembly 7 extensions by coarse positioning assembly 7.The upper end of reference column 32 is round end shape.When locating piece 31 and loading plate 100 contact action, will first by approaching face 311, come automatic calibration, automatic centering loading plate 100, the round end shape upper end of reference column 32 is also beneficial to and location hole 101 automatic centerings.
As shown in Figure 4, be embedded with the locating ring 102 passing for reference column 32 in location hole 101, this locating ring 102 is slidably matched with reference column 32, and locating ring 102 first coordinates with location hole 101, and locating ring 102 is slidably matched to realize fine positioning with reference column 32 again.By the quality of fit of locating ring 102, reference column 32 is set, can the lowland of cost realize the hi-Fix of aluminium flake 400.And after fit dimension is worn and changes, locating ring 102 is replaceable, locating ring 102 can be made with brass.As shown in Figure 5, on reference column 32, cover is useful on the retainer ring 33 of support locating ring 102, and this retainer ring 33 is slidably matched with location hole 101.Retainer ring 33 supports locating ring 102, prevents that locating ring 102 from coming off.
As shown in Figure 4, this example also increases and is provided with the first cylinder 8 and briquetting 9, the first cylinder 8 is fixed on platform 6, the piston rod of the first cylinder 8 is parallel to platform 6 and stretches to coarse positioning assembly 7, the piston rod of briquetting 9 one end and the first cylinder 8 is fixed, and the other end stretches in coarse positioning assembly 7 and is positioned at loading plate 100 tops.The first cylinder 8 can enter the interior rear ability of coarse positioning assembly 7 at loading plate 100 and briquetting 9 be stretched to above loading plate 100, also can keep the position of briquetting 9 above loading plate 100.Briquetting 9, for compressing loading plate 100, prevents loading plate 100 raised locating piece 31 or reference column 32 jack-up, generally by the situation of jack-up, is appeared at after long-term use, when the fit tolerance of locating piece 31, reference column 32 and loading plate 100 changes.
Between the piston rod of briquetting 9 and the first cylinder 8, be connected with pushing block 10, this pushing block 10, perpendicular to loading plate 100, is slidably matched with platform 6, and fits with the side of loading plate 100; Platform 6 is provided with for loading plate 100 and is laterally released the guide groove 62 of guiding by pushing block 10.Guide groove 62 can be enclosed and be formed by the wall body in platform 6 projections.Pushing block 10, under the piston rod of the first cylinder 8 drives, can laterally be released the loading plate 100 being captured after aluminium flake 400 by manipulator 200 outside platform 6.
Lifting platform 3 can adopt and can order about the mechanism that reference column 32 and locating piece 31 move up and down, this routine lifting platform 3 can be set as following mechanism: comprise and drive cylinder 34 and lifter plate 35, lifter plate 35 is parallel with platform 6, the bottom surface of lifter plate 35 is fixed with driving the piston rod of cylinder 34, and locating piece 31, reference column 32 are fixed on the end face of lifter plate 35; Drive cylinder 34 to be fixed in frame 4, drive the piston rod of cylinder 34 perpendicular to platform 6.
As shown in Figure 3, this routine conveyer belt 2 comprises support 21, be journaled into the deflector roll 22 at support 21 two ends, be wrapped in conduction band 230 on deflector roll 22 and for the conveying of loading plate 100 is carried out to spacing adjusting bracket 24, adjusting bracket 24 comprises that a plurality of connecting rods 241 and two are parallel to each other and spaced gag lever post 242, two gag lever posts 242 extend along the transmission direction of conveyer belt 2, one end of connecting rod 241 is connected with gag lever post 242 is vertical, the other end of connecting rod 241 is provided with the first regulating tank 243, on support 21, are furnished with two support bars 211 for supporting linkage 241, two support bars 211 lay respectively at gag lever post 242 both sides, on two support bars 211, have second regulating tank 212 vertical with the first regulating tank 243, projection and second regulating tank 212 of the first regulating tank 243 on the second regulating tank 212 intersects.By regulating the vertically opposite position of connecting rod 241 and support bar 211, position that can corresponding adjusting gag lever post 242, with fastening of bolt etc., through the first regulating tank 243 and the second regulating tank 212, lock simultaneously, thereby regulate the motion track of loading plate 100 in course of conveying, be beneficial to loading plate 100 and enter and wait to capture position 5 by entrance 71 places, be further beneficial to the locating effect that promotes loading plate 100.
Further, as shown in Figure 4, spacing for aluminium flake 400 is stablized, can on loading plate 100, offer the stopper slot 103 for spacing aluminium flake 400, the edge of stopper slot 103 also has for pointing at least one angle 104 of gripping aluminium flake 400.Angle 104 is convenient in stopper slot 103, take out aluminium flake 400 or put into aluminium flake 400 by hand.The quantity of angle 104 arranges arbitrarily as required.
As shown in Fig. 6 ~ 7, the calibration contraposition mechanism of this example is a CCD photographic means 1, manipulator 200 comprises and is fixed on the base 201 of platform 6 and the arm mechanism 202 hinged with base 201, the end of arm mechanism 202 has for capturing the handgrip 203 of aluminium flake 400, handgrip 203 can be by aluminium flake 400 from waiting that capturing position 5 captures, move to CCD photographic means 1 top, after 1 calibration of CCD photographic means, handgrip 203 moves to aluminium flake 400 laminating position 64 again and moves down laminating again; On platform 6, have printing opacity mouth 63, CCD photographic means 1 is positioned under this printing opacity mouth 63; As shown in Figure 8, it is 12 cylindrical that CCD photographic means 1 comprises that two CCD probe 12, CCD that a fixed mount 11 and space arrange pop one's head in, and is vertically fixed on fixed mount 11, and the searchlighting direction of CCD probe 12 is towards printing opacity mouth 63, and fixed mount 11 is fixed on frame 4; On platform 6, be also provided with the laminating position 64 for the contraposition of fitting, this laminating position 64 is positioned at the coverage of handgrip 203 movement locus projection on platform 6, moves down laminating after making handgrip 203 be movable to directly over laminating position 64; CCD photographic means 1 is electrically connected to manipulator 200, for feeding back the relative position of aluminium flake 400.
After the handgrip 203 of manipulator 200 is picked up aluminium flake 400, arm mechanism 202 drive handgrips 203 move to CCD photographic means 1 directly over, by CCD probe 12, upwards visited to penetrate and take pictures, obtain the relative position of aluminium flake 400, it can be the position with respect to pre-established absolute coordinate system, also can be with respect to the position of laminating position 64, the station-keeping data of acquisition is fed back to manipulator 200, make manipulator 200 proofread and correct the movement locus of revising follow-up laminating contraposition.This routine manipulator 200 adopts existing conventional manipulator, also referred to as robot.
Laminating position 64 can be arranged to be arranged to supporting construction, for supporting circuit board or the touch pad 700 of being fitted by aluminium flake 400.
As shown in Figure 8, for simplifying the structure of CCD photographic means 1, reduce shared volume, the fixed mount 11 of CCD photographic means 1 comprises framework 111, light source 112 and glass plate 113, framework 111 is fixed on fixed mount 11 upper ends and is positioned at CCD 12 tops of popping one's head in, glass plate 113 levels are laid on framework 111, and light source 112 is located on framework 111.Glass plate 113 is quartz glass plate, for the protection of CCD probe 12.Framework 111 is rectangular, and the upper surface of framework 111 is intilted inclined plane, and light source 112 is uniform along the inclined plane of framework 111, and light source 112 has formed constant slope, produces light and assemble on handgrip 203, and the sufficient light of taking pictures is provided.
For ease of regulating the position of CCD probe 12, framework 111, to facilitate the relative position of debugging CCD probe 12 aluminium flakes that obtained 400, fixed mount 11 can be set to following mechanism: fixed mount 11 also comprises sliding panel 114, horizontal guide rail 115 and upright guide rail 116, two CCD probes 12 are individually fixed in the two ends of sliding panel 114, the bottom of sliding panel 114 and horizontal guide rail 115 along continuous straight runs are slidably matched, and framework 111 is slidably matched along vertical side with upright guide rail 116.
As shown in Fig. 6 ~ 7, handgrip 203 comprises that one is fixed on fixed head on arm mechanism 202 231, three the second cylinders 232, a gangbar 233, two fixed levers 234 and four slide posts 236 that are vertically slidably matched with fixed head 231, the sucker 237 that captures aluminium flake 400 for adsorbing is all equipped with in the lower end of each slide post 236, and the accessible external vacuum negative pressure source of sucker 237 is to provide negative pressure to pick up aluminium flake 400.Wherein the upper end of two slide posts 236 is individually fixed in the two ends of gangbar 233, and the upper end of another two slide posts 236 is individually fixed on two fixed levers 234; Each second cylinder 232 is all fixed on fixed head 231, and the piston rod of one of them the second cylinder 232 is fixed on gangbar 233, and the piston rod of another two the second cylinders 232 is fixing with two fixed levers 234 respectively.
When handgrip 203 is fitted contraposition in laminating position 64, the sucker 237 being connected with gangbar 233 can together adsorb the aluminium flake 400 that captures strip, now, gangbar 233 is driven and is moved up and down by one of them second cylinder 232, realizes the contraposition laminating of strip aluminium flake 400.Other two aluminium flakes 400 can move up and down laminating by another two suckers 237 respectively, and these another two suckers 237 drive by another two the second cylinders 232 respectively.Wherein, each slide post 236 is all vertically slidably matched with fixed head 231, is beneficial to the precision that guarantees laminating contraposition.
When CCD probe 12 is taken pictures, with two CCD probes 12, strip aluminium flake 400 is taken pictures simultaneously, again with take pictures the respectively little aluminium flake 400 of another two rectangles of this two CCD probe 12, make handgrip 203 stop and once be movable to laminating position 64 in calibration bits 65, greatly saved the time.
As shown in Figure 2, for the situation of coated with protective film in advance on the binding face at aluminium flake 400, this example is also provided with for removing the pneumatic-finger 300 of the diaphragm on aluminium flake 400 on platform 6, and handgrip 203 first moves to aluminium flake 400 pneumatic-finger 300 places and removes one by one diaphragm and move to calibration bits 65 tops again; As shown in Fig. 1 ~ 2, Fig. 9, the conveying of output mechanism 600 outlet top is provided with pressurizer 800, and this pressurizer 800 comprises pressing plate 801 and the 3rd cylinder 802, and this routine pressing plate 801 and the 3rd cylinder 802 are positioned at a housing.The piston rod that the 3rd cylinder 802 is fixed on output mechanism 600, the three cylinders 802 vertically stretches out and fixes with pressing plate 801, and described pressing plate 801 is horizontally disposed with.When adhesive product is delivered to pressing plate 801 below, the 3rd cylinder 802 drives pressing plate 801 to press down, and mounting of aluminium flake 400 carried out to pressurize, strengthens and mounts stability.
In addition, it will be understood by those skilled in the art that, this touch pad laminating alignment system based on machine vision also can increase man-machine operation system, is beneficial to manipulator 200, CCD photographic means 1, conveying and positioning device, input mechanism 500, output mechanism 600 input instructions are aided with further automation and are controlled; Touch pad laminating alignment system based on machine vision of the present utility model also can be applicable in the laminating alignment process of sheet material laminating contraposition on circuit board, and sheet material is equivalent to aluminium flake 400, and circuit board is equivalent to touch pad 700.
Above-mentioned execution mode is only preferred implementation of the present utility model; can not limit with this scope of the utility model protection, the variation of any unsubstantiality that those skilled in the art does on basis of the present utility model and replacement all belong to the utility model scope required for protection.

Claims (10)

1. the touch pad based on machine vision laminating alignment system, it is characterized in that: comprise frame, be provided with and wait to capture position, the platform of laminating position and calibration bits, for inputting and aluminium flake be positioned at the conveying and positioning device of waiting to capture position, for delivery of the input mechanism that enters touch pad, for exporting the output mechanism of adhesive product, for capturing the manipulator of aluminium flake and for calibrating the calibration contraposition mechanism of manipulator, the horizontal support of described platform is in frame, described conveying and positioning device, input mechanism and output mechanism are by protruding in frame, the conveying outlet of conveying and positioning device with wait to capture position over against, the conveying outlet of input mechanism and the conveying entrance of output mechanism respectively with laminating position over against, described calibration contraposition mechanism be positioned at calibration bits under, wait to capture position, laminating position and calibration bits all apart from one another by, and be all positioned at the coverage of Robotic Manipulator Motion Trajectory projection on platform, described calibration contraposition mechanism is electrically connected to manipulator.
2. touch pad based on machine vision laminating alignment system according to claim 1, it is characterized in that: described conveying and positioning device comprises lifting platform, for carrying the loading plate of aluminium flake and for delivery of the conveyer belt of loading plate, described lifting platform is fixed in the frame of waiting to capture under position, and can do vertical lifting motion with respect to platform, lifting platform upper surface is fixed with upwardly extending a plurality of locating piece and at least one reference column, and the height of locating piece is greater than the height of reference column; Described in each, locating piece interval arranges, surround the coarse positioning assembly identical with the edge contour size of described loading plate and shape, this coarse positioning assembly has the entrance entering for loading plate level, the conveying outlet of described conveyer belt and described entrance over against, described reference column is positioned at coarse positioning assembly; On described platform, have the through hole that supplies locating piece and reference column to pass one by one, on described loading plate, have the location hole passing for reference column.
3. touch pad based on machine vision laminating alignment system according to claim 2, is characterized in that: the upper end of described locating piece is provided with the approaching face of inclination, this approaching face by coarse positioning assembly to coarse positioning assembly extension; The upper end of described reference column is round end shape.
4. the touch pad laminating alignment system based on machine vision according to claim 3, is characterized in that: in described location hole, be embedded with the locating ring passing for reference column, this locating ring and reference column are slidably matched; On described reference column, cover is useful on the retainer ring of support locating ring, and this retainer ring and location hole are slidably matched.
5. according to the touch pad laminating alignment system based on machine vision described in claim 2 ~ 4 any one, it is characterized in that: described conveying and positioning device also comprises the first cylinder and briquetting, the first cylinder is fixed on platform, the piston rod of the first cylinder is parallel to platform and stretches to coarse positioning assembly, the piston rod of described briquetting one end and the first cylinder is fixed, and the other end stretches in coarse positioning assembly and is positioned at loading plate top; Between the piston rod of described briquetting and the first cylinder, be connected with pushing block, this pushing block, perpendicular to loading plate, is slidably matched with platform, and fits with the side of loading plate; Described platform is provided with for loading plate and by push pedal, is laterally released the guide groove of guiding.
6. touch pad based on machine vision laminating alignment system according to claim 5, it is characterized in that: described conveyer belt comprises support, be journaled into the deflector roll at support two ends, be wrapped in conduction band on deflector roll and for the conveying of loading plate is carried out to spacing adjusting bracket, described adjusting bracket comprises that a plurality of connecting rods and two are parallel to each other and spaced gag lever post, two gag lever posts extend along the transmission direction of described conveyer belt, one end of described connecting rod is connected with gag lever post is vertical, the other end of connecting rod is provided with the first regulating tank, on described support, are furnished with two support bars for supporting linkage, two support bars lay respectively at gag lever post both sides, on two support bars, have second regulating tank vertical with the first regulating tank, projection and second regulating tank of described the first regulating tank on the second regulating tank intersects.
7. touch pad based on machine vision laminating alignment system according to claim 1, is characterized in that: described calibration contraposition mechanism is a CCD photographic means; Described manipulator comprises and is fixed on the base of platform and the arm mechanism hinged with base, and the end of arm mechanism has for capturing the handgrip of aluminium flake; On described platform, have printing opacity mouth, CCD photographic means is positioned under this printing opacity mouth; Described CCD photographic means comprises two CCD probes that a fixed mount and space arrange, and described CCD probe is cylindrical, is vertically fixed on fixed mount, and the searchlighting direction of CCD probe is towards printing opacity mouth, and described fixed mount is fixed on frame.
8. touch pad based on machine vision laminating alignment system according to claim 7, it is characterized in that: the fixed mount of described CCD photographic means comprises framework, light source and glass plate, described framework is fixed on fixed mount upper end and is positioned at CCD probe top, described glass plate level is laid on framework, and described light source is located on framework; Described framework is rectangular, and the upper surface of framework is intilted inclined plane, and described light source is uniform along the inclined plane of framework.
9. according to the touch pad laminating alignment system based on machine vision described in claim 7 ~ 8 any one, it is characterized in that: described handgrip comprises that one is fixed on the fixed head on arm mechanism, three the second cylinders, a gangbar, two fixed levers and four slide posts that are vertically slidably matched with fixed head, the sucker that captures aluminium flake for adsorbing is all equipped with in the lower end of each slide post, wherein the upper end of two slide posts is individually fixed in the two ends of gangbar, and the upper end of another two slide posts is individually fixed on two fixed levers; Each second cylinder is all fixed on fixed head, and the piston rod of one of them the second cylinder is fixed on gangbar, and the piston rod of another two the second cylinders is fixed with two fixed levers respectively.
10. the touch pad laminating alignment system based on machine vision according to claim 1, is characterized in that: on described platform, be also provided with for removing the pneumatic-finger of the diaphragm on aluminium flake; The conveying outlet top of described output mechanism is provided with pressurizer, and this pressurizer comprises pressing plate and the 3rd cylinder, and the 3rd cylinder is fixed on output mechanism, and the piston rod of the 3rd cylinder vertically stretches out and fixes with pressing plate, and described pressing plate is horizontally disposed with.
CN201420156406.4U 2014-03-31 2014-03-31 Touchpad fitting and position aligning system based on machine vision Withdrawn - After Issue CN203814058U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103917055A (en) * 2014-03-31 2014-07-09 广州超音速自动化科技有限公司 Touchpad fitting alignment system based on machine vision
CN104960958A (en) * 2015-06-24 2015-10-07 苏州光宝康电子有限公司 Silicon rubber feeding mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103917055A (en) * 2014-03-31 2014-07-09 广州超音速自动化科技有限公司 Touchpad fitting alignment system based on machine vision
CN104960958A (en) * 2015-06-24 2015-10-07 苏州光宝康电子有限公司 Silicon rubber feeding mechanism

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