CN203946596U - With the robot automatic substrate gathering machine of visual identifying system - Google Patents
With the robot automatic substrate gathering machine of visual identifying system Download PDFInfo
- Publication number
- CN203946596U CN203946596U CN201420388459.9U CN201420388459U CN203946596U CN 203946596 U CN203946596 U CN 203946596U CN 201420388459 U CN201420388459 U CN 201420388459U CN 203946596 U CN203946596 U CN 203946596U
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- line body
- robot
- substrate
- raising device
- conveying track
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Abstract
The utility model provides a kind of robot automatic substrate gathering machine with visual identifying system, comprise robot, suction disc handgrip, step-raising device, vision system, controller, robot is provided with suction disc handgrip, step-raising device top is provided with vision system, and vision system connects controller control.Suction disc handgrip on robot can adapt to the recovery operation of picking up of different size, difformity substrate; Determine position and the size of substrate by vision system, the recovery operation of auxiliary suction disc handgrip, the utility model can obviously reduce operator's labour intensity, effectively enhances productivity.
Description
Technical field
The utility model relates to test equipment field, particularly a kind of circuit board collecting device.
Background technology
Along with scientific and technical development, the electronic information processing demands of various product progressively strengthens, and emerging electronic product continues to bring out, and the purposes of circuit board product and market are constantly expanded.
In circuit-board industry, after the technique such as profile washing, reflow soldering of substrate completes, need manually the substrate full line of embarking on journey in line body to be collected, then put into transfer tool after permutation alignment at present, be then circulated to subsequent processing.Because manufacturing line is uninterruptedly produced, cause collecting terminal to need all the time manual work, and job content is uninteresting, intensity is larger.
Summary of the invention
For solving deficiency of the prior art, the utility model provides a kind of robot automatic substrate gathering machine with visual identifying system, can meet different size, and the recovery task of indefinite position substrate, greatly reduces labour intensity, enhances productivity.
The technical scheme adopting to achieve these goals: a kind of robot automatic substrate gathering machine with visual identifying system, comprise body, robot, step-raising device, line delivery, work bit line body, body upper is provided with robot, body upper substrate in-position is provided with step-raising device, step-raising device is provided with substrate laser detecting device, work bit line body is set in the middle of step-raising device and line delivery, it is characterized in that: on body, step-raising device top is provided with vision system, vision system control, robot is provided with suction disc handgrip.
Described vision system comprises image-pickup device, image recognizing and processing equipment, and controller, image-pickup device, image recognizing and processing equipment, controller are connected by data line successively, and controller connects robot.
In the middle of described step-raising device and work bit line body, be provided with substrate lowering means.
Described line delivery comprises that X is to line body, X to jacking system, Y-direction line body, Y-direction jacking system, X has upper and lower two-layer conveying track to line body and Y-direction line body, X is provided with X to jacking system to the input end of line body upper strata conveying track, X connects the input end of Y-direction line body upper strata conveying track to the mouth of line body upper strata conveying track, the mouth of Y-direction line body upper strata conveying track is provided with Y-direction jacking system; X is to line body and Y-direction line body levels rail transport opposite direction, and work bit line body vertically connects the mouth of Y-direction line body upper strata conveying track.
Use the utility model beneficial effect remarkable: the utility model adopts the robot automatic substrate gathering machine with visual identifying system, and the suction disc handgrip on robot can adapt to the recovery operation of picking up of different size, difformity substrate; Determine position and the size of substrate by vision system, the recovery operation of auxiliary suction disc handgrip, the utility model can obviously reduce operator's labour intensity, effectively enhances productivity.
Brief description of the drawings
Fig. 1 is the robot automatic substrate gathering machine front view with visual identifying system.
Fig. 2 is the robot automatic substrate gathering machine birds-eye view with visual identifying system.
Fig. 3 is the robot automatic substrate gathering machine lateral plan with visual identifying system.
Fig. 4 is the robot automatic substrate gathering machine A-A cutaway view with visual identifying system.
In figure, 1-robot, 2-suction disc handgrip, 3-vision system, 4-X is to line body, 5-X is to jacking system, and 6-Y is to line body, and 7-Y is to jacking system, 8-work bit line body, 9-substrate lowering means, 10-step-raising device, 11-electrical control cubicles, 12-operating case, 13-body, 14-substrate laser detecting device etc.
Detailed description of the invention
Describe the present invention in detail below in conjunction with specific embodiments and the drawings, but the utility model is not limited to specific embodiment.
embodiment 1
As shown in Figure 2, a kind of robot automatic substrate gathering machine with visual identifying system, comprise body, robot, step-raising device, work bit line body, body upper is provided with robot, body upper substrate in-position is provided with step-raising device, step-raising device is provided with substrate laser detecting device, robot bottom body midway location arranges work bit line body, on body, step-raising device top is provided with vision system, vision system control, robot is provided with suction disc handgrip, in the middle of step-raising device and work bit line body, is provided with substrate lowering means.Described vision system comprises image-pickup device, image recognizing and processing equipment, and controller, image-pickup device, image recognizing and processing equipment, controller are connected by data line successively, and controller connects robot.Power supply is wherein powered by electrical control cubicles 11, and operating case 12 provides the function such as setting parameter, sudden stop.
Under dead work state, operator need put empty tool work bit line body, starting outfit, and empty tool box arrives assigned address along work bit line body 8, and substrate lowering means 9 jack-up put in place, ready.
In the time that the substrate of embarking on journey is discharged line by line from manufacturing line body, detect in substrate access arrangement actuation range by substrate laser detecting device 14, step-raising device 10 lifts full line substrate and conveyance is arrived vision system 3 within sweep of the eye, vision system 3 comprises image-pickup device, image recognizing and processing equipment, controller, after image-pickup device picked-up substrate position image, pass to image recognizing and processing equipment, image recognition transmitting device provides location information to controller, by the action position of controller control 1, suction disc handgrip 2 is drawn this row substrate one by one and is placed in tool box, the automatic decline a slice substrate thickness of substrate lowering means 9, then robot 1 continues to draw substrate mounted box, by that analogy, after this box is filled, robot 1 can be put next substrate to another sky tool box at once, to meet the uninterrupted operation of manufacturing line.
embodiment 2
As shown in Figure 2, a kind of robot automatic substrate gathering machine with visual identifying system, basic structure is identical with embodiment 1, on embodiment 1 basis also with line delivery, line delivery is positioned at work bit line body periphery, comprise that X is to line body 4, X is to jacking system 5, Y-direction line body 6 and Y-direction jacking system 7, wherein X has upper and lower two-layer conveying track to line body 4 and Y-direction line body 6, X is provided with X to jacking system 5 to the input end of line body 4 upper strata conveying tracks, X connects the input end of Y-direction line body 6 upper strata conveying tracks to the mouth of line body 4 upper strata conveying tracks, the mouth of Y-direction line body 6 upper strata conveying tracks is provided with Y-direction jacking system 7, X is to line body 4 and Y-direction line body 6 levels rail transport opposite directions, and work bit line body 8 vertically connects the mouths of Y-direction line body upper strata conveying tracks.
Under dead work state, operator need put empty tool X in line body 4 upper stratas, starting outfit, and empty tool box arrives assigned address along Y-direction line body 6, work bit line body 8 respectively.After suction disc work completes, full box substrate, along work bit line body 8, Y-direction line body 6, is delivered to Y-direction jacking system 7, so be down to YXiang Xianti 6 lower floors, then turn to X to line body 4, X to jacking system 5, rise to X to line body 4 upper stratas, operator takes out whole box substrate, completes one-period.
Claims (4)
1. the robot automatic substrate gathering machine with visual identifying system, comprise body, robot, step-raising device, work bit line body, body upper is provided with robot, body upper substrate in-position is provided with step-raising device, step-raising device is provided with substrate laser detecting device, and robot bottom body midway location arranges work bit line body, it is characterized in that: on body, step-raising device top is provided with vision system, vision system control, robot is provided with suction disc handgrip.
2. a kind of robot automatic substrate gathering machine with visual identifying system according to claim 1, it is characterized in that: described vision system comprises image-pickup device, image recognizing and processing equipment, controller, image-pickup device, image recognizing and processing equipment, controller are connected by data line successively, and controller connects robot.
3. a kind of robot automatic substrate gathering machine with visual identifying system according to claim 1, is characterized in that: in the middle of described step-raising device and work bit line body, be provided with substrate lowering means.
4. a kind of robot automatic substrate gathering machine with visual identifying system according to claim 2, it is characterized in that: external the enclosing of the bit line of working on described body is equipped with line delivery, line delivery comprises that X is to line body, X is to jacking system, Y-direction line body and Y-direction jacking system, wherein X has upper and lower two-layer conveying track to line body and Y-direction line body, X is provided with X to jacking system to the input end of line body upper strata conveying track, X connects the input end of Y-direction line body upper strata conveying track to the mouth of line body upper strata conveying track, the mouth of Y-direction line body upper strata conveying track is provided with Y-direction jacking system, X is to line body and Y-direction line body levels rail transport opposite direction, and work bit line body vertically connects the mouth of Y-direction line body upper strata conveying track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420388459.9U CN203946596U (en) | 2014-07-15 | 2014-07-15 | With the robot automatic substrate gathering machine of visual identifying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420388459.9U CN203946596U (en) | 2014-07-15 | 2014-07-15 | With the robot automatic substrate gathering machine of visual identifying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203946596U true CN203946596U (en) | 2014-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420388459.9U Expired - Fee Related CN203946596U (en) | 2014-07-15 | 2014-07-15 | With the robot automatic substrate gathering machine of visual identifying system |
Country Status (1)
| Country | Link |
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| CN (1) | CN203946596U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314394A (en) * | 2015-12-08 | 2016-02-10 | 长沙长泰机器人有限公司 | Robot transporting clamp and transporting system used for engine cylinder covers and based on vision |
| CN108584410A (en) * | 2018-03-27 | 2018-09-28 | 北京京东尚科信息技术有限公司 | Piece-supply system and piece supplying method |
| CN109665285A (en) * | 2019-02-01 | 2019-04-23 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board receives panel device automatically |
| CN109677868A (en) * | 2019-02-01 | 2019-04-26 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board receipts plate automation equipment |
-
2014
- 2014-07-15 CN CN201420388459.9U patent/CN203946596U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314394A (en) * | 2015-12-08 | 2016-02-10 | 长沙长泰机器人有限公司 | Robot transporting clamp and transporting system used for engine cylinder covers and based on vision |
| CN108584410A (en) * | 2018-03-27 | 2018-09-28 | 北京京东尚科信息技术有限公司 | Piece-supply system and piece supplying method |
| CN109665285A (en) * | 2019-02-01 | 2019-04-23 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board receives panel device automatically |
| CN109677868A (en) * | 2019-02-01 | 2019-04-26 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board receipts plate automation equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141119 Termination date: 20150715 |
|
| EXPY | Termination of patent right or utility model |