CN204330609U - Six axis robot AOI detection system - Google Patents
Six axis robot AOI detection system Download PDFInfo
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- CN204330609U CN204330609U CN201420768935.XU CN201420768935U CN204330609U CN 204330609 U CN204330609 U CN 204330609U CN 201420768935 U CN201420768935 U CN 201420768935U CN 204330609 U CN204330609 U CN 204330609U
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Abstract
The utility model provides a kind of six axis robot AOI detection system, comprise CCD camera, camera lens, light-source system and power-supply system, and respectively with described CCD camera, the industrial control host that camera lens and light-source system are electrically connected, also comprise the six axis robot device be electrically connected with described industrial control host, described CCD camera, camera lens and light-source system are arranged on described six axis robot device front end, by six axis robot device adjustment CCD camera and angle lens, improve coverage rate and the dirigibility of detection, the blind area of detection can be reduced, reduce the rate of false alarm detected, and inspection speed is fast.
Description
Technical field
The utility model relates to AOI detection system field, particularly a kind of six axis robot AOI detection system.
Background technology
The rise of AOI (Automatic Optic Inspection) detection technique greatly reducing detection field, the particularly human cost of SMT detection field, also substantially increases product percent of pass and production efficiency simultaneously.In full-automatic optical detection field, 2D AOI still occupies an leading position at present, 2D AOI is the equipment detected the common deficiency run in welding production based on optical principle, machine is by camera autoscan pcb board, gather image, test solder joint and database in qualified parameter compare, through image procossing, check out defect on pcb board, and by display or Automatic Logos Flaw display out, repair for maintenance personal.But what 2D AOI adopted is that single CCD camera is carried out plane in fixed focal length and taken pictures, 2D plane is taken pictures and can be there is the dead angle that some cameras cannot photograph, this mode cannot cover, for highly differing larger element and needing the workpiece carrying out side inspection then cannot detect completely for the detection that vertical floating rosin joint that is high and that be blocked is bad.
For above this situation, solution main at present has: 1. increase oblique camera lens; 2. adopt 3D AOI; 3. adopt X-Ray to detect.
Oblique camera lens is owing to being subject to the restriction of the camera lens depth of field and light source installation, general is all be fixed on certain angle to take pictures, and rate of false alarm can control within 0.5% substantially under existing 2D AOI condition, so oblique camera lens can not play the effect reducing wrong report in most cases, on the contrary because oblique camera lens all needs to take as vertical direction camera lens at every turn, a large amount of data need to be transferred to PC, therefore cause the processing time long, can not play the effect of increasing work efficiency.
Current 3D AOI technology can restore the 3D model of components and parts and solder joint, but because it is realized by color rendition based on 2D AOI, so the dead angle area of taking pictures for 2D camera can only carry out approximate simulation, so there is no fundamentally solve the detection to these blind areas.
X-Ray checkout equipment can detect rosin joint, and solder joint is restored 3D effect, but relatively traditional AOI, and this detection mode speed is slow, and high cost can allow most of client hang back.
Utility model content
Based on above problem, the utility model patent object is to devise a kind of six axis robot AOI detection system, improves coverage rate and the dirigibility of detection, can reduce the blind area of detection, reduces the rate of false alarm detected, and inspection speed is fast.
The utility model is achieved through the following technical solutions:
A kind of six axis robot AOI detection system, comprise light-source system, CCD camera, camera lens and power-supply system, and respectively with described light-source system, the industrial control host that CCD camera and camera lens are electrically connected, described power-supply system connects described light-source system, CCD camera, camera lens and industrial control host, described light-source system adopts red, green, blue, Bai Sise annular light source, described six axis robot AOI detection system also comprises the six axis robot device be electrically connected with described industrial control host, described light-source system, CCD camera and camera lens are arranged on described six axis robot device front end.
Further, system described in the utility model comprises the PLC be electrically connected with described industrial control host further, and described PLC is connected with step actuator, and described step actuator drives step motor adjustment test tracks width.
Further, light-source system described in the utility model also comprises light source controller.
Further, camera lens described in the utility model adopts the CCTV LENS camera lens of Fuji's energy.
Accompanying drawing explanation
Referring to accompanying drawing, the utility model embodiment is described further, wherein:
Fig. 1 is the schematic diagram of prior art;
Fig. 2 is three coloured light schematic diagrams of prior art;
Fig. 3 is the structural drawing of the utility model six axis robot AOI detection system.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Single CCD camera that what the 2D AOI of prior art adopted is is carried out plane in fixed focal length and is taken pictures, refer to the schematic diagram that Fig. 1 is prior art, 2D plane is taken pictures and can be there is the dead angle that some cameras cannot photograph, this mode cannot cover, for highly differing larger element and needing the workpiece carrying out side inspection then cannot detect completely for the detection that vertical floating rosin joint that is high and that be blocked is bad.
Refer to the three coloured light schematic diagrams that Fig. 2 is prior art, cross the scolding tin surface unusual light of stove, mirror-reflection is there is when illumination is above, according to the principle of mirror-reflection, the incident angle of light equals emergence angle, light source is followed successively by R from top to bottom, G, B tri-coloured light, the effect of normal solder joint in CCD camera after imaging as shown in Figure 2, outwards B is followed successively by from component body, G, R, wherein blue light crevice projection angle is minimum, certain blind area can be there is being less than blue light crevice projection angle place, in this region, CCD is reflexed to without any light, therefore this part region is shown as black.If there is rosin joint in this region, CCD camera will be difficult to the information obtaining rosin joint, if therefore detected parameters arranges and AOI appearance too loosely will be caused undetected, this will have a strong impact on the yields of product, if it is defective products that detected parameters arranges too strict just easy wrong report by mistake by non-defective unit, this, by increasing the workload of back segment visual inspection personnel, affects production efficiency.
The utility model proposes a kind of six axis robot AOI detection system, refer to the structural drawing that Fig. 3 is the utility model six axis robot AOI detection system, comprise CCD camera, camera lens, light-source system and power-supply system, and respectively with described CCD camera, the industrial control host that camera lens and light-source system are electrically connected, described light-source system adopts red, green, blue, Bai Sise annular light source, described six axis robot AOI detection system also comprises the six axis robot device be electrically connected with described industrial control host, described CCD camera, camera lens and light-source system are arranged on described six axis robot device front end.
Described system comprises the PLC be electrically connected with described industrial control host further, and described PLC is connected with step actuator, and described step actuator drives step motor adjustment test tracks width.
Six axis robot device repeatable accuracy is high, and moving radius is large, can arrive any coordinate in space, and can carry out the rotation of any direction in range of movement on all coordinates.Six axis robot device can adjust the angle of camera the Lights section and vertical direction flexibly, as described in Figure 3, CCD camera can 360 degree of rotations in activity space, during normal detection, mechanical arm AOI is the same with common AOI detects in two dimensional surface, when there is wrong report, mechanical arm will for wrong report type adjustment angle, and carrying out takes pictures reexamines.
Further, light-source system described in the utility model comprises light source controller and red, green, blue, Bai Sise annular light source is a set of, adopts four look annular light sources can match axis light and combinationally uses, polychrome multi-angle irradiation, can give prominence to product surface hierarchical information.
Described camera lens adopts the CCTV LENS camera lens of Fuji's energy, focal length 25mm or 35mm.
The six axis robot AOI detection system rate-determining steps that the utility model provides is as follows:
1. by support plate system, pcb board or other workpiece are delivered to appointment position to be detected;
2. industrial control host controls six axis robot and moves to given place, and simultaneously six axis robot controller sends signal and triggers camera and carry out plane and take pictures;
3. industrial control host calculates the coordinate that walks correcting rear six axis robot according to photo, and sends to six axis robot controller by industrial control host;
4. six axis robot controller controls mechanical arm and carries out a series of motion, and controls camera and get figure, detects the image obtained.
This mode can greatly reduce the blind area of detection, reduces the rate of false alarm detected, and reduces person works's amount, and can not have much impact to detection speed.
The above embodiment of the present utility model, does not form the restriction to the utility model protection domain.Any various other made according to technical conceive of the present utility model change and distortion accordingly, all should be included in the protection domain of the utility model claim.
Claims (4)
1. a six axis robot AOI detection system, comprise light-source system, CCD camera, camera lens and power-supply system, and respectively with described light-source system, the industrial control host that CCD camera and camera lens are electrically connected, described power-supply system connects described light-source system, CCD camera, camera lens and industrial control host, it is characterized in that, described light-source system adopts red, green, blue, Bai Sise annular light source, described six axis robot AOI detection system also comprises the six axis robot device be electrically connected with described industrial control host, described light-source system, CCD camera and camera lens are arranged on described six axis robot device front end.
2. six axis robot AOI detection system according to claim 1, it is characterized in that, described system comprises the PLC be electrically connected with described industrial control host further, described PLC is connected with step actuator, and described step actuator drives step motor adjustment test tracks width.
3. six axis robot AOI detection system according to claim 1, it is characterized in that, described light-source system also comprises light source controller.
4. six axis robot AOI detection system according to claim 1, is characterized in that, described camera lens adopts the CCTV LENS camera lens of Fuji's energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420768935.XU CN204330609U (en) | 2014-12-09 | 2014-12-09 | Six axis robot AOI detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420768935.XU CN204330609U (en) | 2014-12-09 | 2014-12-09 | Six axis robot AOI detection system |
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| CN204330609U true CN204330609U (en) | 2015-05-13 |
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| CN201420768935.XU Expired - Fee Related CN204330609U (en) | 2014-12-09 | 2014-12-09 | Six axis robot AOI detection system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105890669A (en) * | 2016-06-01 | 2016-08-24 | 昆山云太基精密机械有限公司 | Universal image visual inspection robot |
| CN106931881A (en) * | 2017-03-03 | 2017-07-07 | 苏州云太基智能科技有限公司 | A kind of polyphaser visible detection method |
| CN109253874A (en) * | 2018-10-19 | 2019-01-22 | 日照职业技术学院 | A kind of robot arm flexibility ratio detection device |
| CN109387526A (en) * | 2018-11-16 | 2019-02-26 | 迈兴(厦门)电子有限公司 | A kind of online universal detection device of horizontal moulding and its application method |
| CN110044920A (en) * | 2019-04-26 | 2019-07-23 | 中国科学院自动化研究所 | Wire-shaped workpieces solder joint weld quality prediction system and method |
| CN110678275A (en) * | 2017-09-01 | 2020-01-10 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| TWI711817B (en) * | 2018-08-10 | 2020-12-01 | 鴻齡科技股份有限公司 | Appearance detection device |
| US11536668B2 (en) | 2020-07-09 | 2022-12-27 | Vitrox Technologies Sdn. Bhd. | Apparatus for use in an automated optical inspection |
-
2014
- 2014-12-09 CN CN201420768935.XU patent/CN204330609U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105890669A (en) * | 2016-06-01 | 2016-08-24 | 昆山云太基精密机械有限公司 | Universal image visual inspection robot |
| CN106931881A (en) * | 2017-03-03 | 2017-07-07 | 苏州云太基智能科技有限公司 | A kind of polyphaser visible detection method |
| CN110678275A (en) * | 2017-09-01 | 2020-01-10 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| CN110678275B (en) * | 2017-09-01 | 2021-01-26 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| TWI711817B (en) * | 2018-08-10 | 2020-12-01 | 鴻齡科技股份有限公司 | Appearance detection device |
| US11209267B2 (en) | 2018-08-10 | 2021-12-28 | Hongfujin Precision Electronics(Tianjin)Co., Ltd. | Apparatus for identifying and assessing surface variations and defects in a product from multiple viewpoints |
| CN109253874A (en) * | 2018-10-19 | 2019-01-22 | 日照职业技术学院 | A kind of robot arm flexibility ratio detection device |
| CN109253874B (en) * | 2018-10-19 | 2020-03-31 | 日照职业技术学院 | Robot arm flexibility ratio detection device |
| CN109387526A (en) * | 2018-11-16 | 2019-02-26 | 迈兴(厦门)电子有限公司 | A kind of online universal detection device of horizontal moulding and its application method |
| CN110044920A (en) * | 2019-04-26 | 2019-07-23 | 中国科学院自动化研究所 | Wire-shaped workpieces solder joint weld quality prediction system and method |
| CN110044920B (en) * | 2019-04-26 | 2021-04-06 | 中国科学院自动化研究所 | System and method for detecting welding quality of welding spot of linear workpiece |
| US11536668B2 (en) | 2020-07-09 | 2022-12-27 | Vitrox Technologies Sdn. Bhd. | Apparatus for use in an automated optical inspection |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20191209 |