CN204507453U - Based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection - Google Patents
Based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection Download PDFInfo
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- CN204507453U CN204507453U CN201520085500.XU CN201520085500U CN204507453U CN 204507453 U CN204507453 U CN 204507453U CN 201520085500 U CN201520085500 U CN 201520085500U CN 204507453 U CN204507453 U CN 204507453U
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Abstract
The utility model relates to a kind of high-speed, high precision Electronic Packaging robot based on machine vision and laser detection.Be a kind of mechanism that CCD NI Vision Builder for Automated Inspection, laser measurement calibration system, autonomous cruise speed system and high-speed, high precision Electronic Packaging robot are combined, high fix encapsulation can be carried out to electronic product.It is machinery and equipment CCD NI Vision Builder for Automated Inspection, laser measurement calibration system, autonomous cruise speed system and high-speed, high precision Electronic Packaging robot combined.It utilizes CCD NI Vision Builder for Automated Inspection to position electronic product, Measurement and calibration is carried out with laser detection system, combining image recognizer and motion control arithmetic detect, by high-speed, high precision motion platform, precise operation is carried out to electronic devices and components, ensure product design, improve Product Precision.
Description
Technical field
The utility model relates to a kind of high-speed, high precision Electronic Packaging robot based on machine vision and laser detection, be specifically related to a kind of mechanism CCD NI Vision Builder for Automated Inspection, laser measurement calibration system, autonomous cruise speed system and high-speed, high precision Electronic Packaging robot combined, high fix encapsulation can be carried out to electronic product.
Background technology
At present, on market, many electronic products in process of production, a large amount of employing Electronic Packaging technique for fixing.Because trickle electronic devices and components area is within 1 square millimeter, rely on the artificial task difficulty that carries out under eye gauge very high, and quality can not ensure to stablize.And external encapsulate machine employing is finish path of motion in advance, move to another position according to certain logical order from a position.This mode is when movement environment changes, and machine also can not reach the position of expectation according to original track, lacked adaptive ability.And be difficult to realize 1 micron-sized high precision encapsulation.
Summary of the invention
The purpose of this utility model is to provide a kind of high-speed, high precision Electronic Packaging robot based on machine vision and laser detection, it utilizes CCD NI Vision Builder for Automated Inspection to position electronic product, Measurement and calibration is carried out with laser detection system, combining image recognizer and motion control arithmetic detect, by high-speed, high precision motion platform, precise operation is carried out to electronic devices and components, ensures product design, improve Product Precision.
In order to solve the problem existing for background technology, the utility model by the following technical solutions: it by automatic control panel, Liquid Crystal Display, CCD NI Vision Builder for Automated Inspection, manipulator, conveyor line, telltale fixed mount, body, frock bracket, three-axis moving system, survey high sensor, alarm lamp, suspension holdfast, keyboard support, industry control cabinet and laser detection system and form; Automatic control panel is provided with on front side of the top of body, and in the middle part of it, being fixedly connected with telltale fixed mount, telltale fixed mount is provided with keyboard support, and keyboard support is provided with keypad and mouse, keypad and mouse are connected with industrial computer with data line respectively, and industrial computer is placed in industry control cabinet; Liquid Crystal Display is fixedly connected on telltale fixed mount, and Liquid Crystal Display is connected with the industrial computer in industry control cabinet by data line, and industry control cabinet is fixed on body bottom; The upper surface of industry control cabinet is fixedly connected with frock bracket, and frock bracket is connected with servomotor by power lead and data line, and CCD NI Vision Builder for Automated Inspection is fixed on frock bracket; Conveyor line is fixedly connected on the two sides of body; Three-axis moving system is fixed on the top of frock bracket; Survey high sensor to be fixedly connected on body, and be in the right side of three-axis moving system and the top of frock bracket; Laser detection system is fixed on body; Alarm lamp is fixedly connected on the top of body; Suspension holdfast is fixedly connected on the top of frock bracket.
The accuracy of identification of described CCD NI Vision Builder for Automated Inspection is trickle components and parts and the circuit of more than 0.01 millimeter, can measure the workpiece of more than 0.001 millimeter.
Described manipulator is also provided with displacement and speed sensor.
Described displacement and the signal transmission of speed sensor are to computing machine.
Described manipulator front end is the piezoelectric type spray valve of 150 quantitative glue sprayings per second with spray velocity, and often dripping atomizing of liquids minimum is 2 receive liter.
The X-Y-Z repetitive positioning accuracy of described manipulator reaches +/-0.001mm; Maximum speed reaches 10m/s; Peak acceleration reaches 100m/s^2.
Industrial computer in described industry control cabinet there are data collecting card, motion control card and control software design.
Motion control card and image recognition algorithm and motion control arithmetic is had in described industrial computer.
Described image recognition algorithm, CCD machine vision auxiliary under, the trickle components and parts of more than 0.01 millimeter can be identified.
Described teaching machine adopts touch-screen to realize.
Principle of work of the present utility model is: CCD machine vision auxiliary under, system, by manipulator and three-axis moving system, is carried out accurate operation to components and parts, and is coordinated the devices such as conveyor line, realizes automatic packaging operation.In order to accurately control glue spraying amount, also can be in process of production, the CCD NI Vision Builder for Automated Inspection in machine is utilized to carry out on-line measurement to glue spraying amount, compare according to result of a measurement and the glue spraying amount preset, software automatically can calculate glue spraying amount whether in the normal range preset, if not in the normal range preset, control software design can adjust glue spraying number of times to control glue spraying amount in the normal range preset.
Utilize said apparatus localization method, its positioning step is as follows:
1) search for: utilize pick up camera to search for components and parts, lock onto target in the ken;
2) space line obtains: processed target image by the image processing software in vision module, obtain two-dimensional coordinate, can in the hope of being pointed to the space line of target's center by camera coordinates initial point;
3) object ranging: control module sends instruction adjustment laser range sensor alignment procedures 2) in the direction of space line that obtains find range, the data obtained are the distance between target and laser range sensor;
4) three-dimensional coordinate obtains: by step 2) in the space line that obtains and step 3) in distance parameter synthesis after be converted to further in manipulator base reference frame, resulting in the 3 d space coordinate of target hole, complete location.
Step 1)-4) coordinate data of moving in process all with manipulator base for reference system of axes.
The utility model has following beneficial effect: combined with manipulator by CCD optical lens, add triaxial movement platform, components and parts are accurately located, as eye recognition, coordinate the glue spraying valve of high-speed, high precision, then be aided with laser detection function, on-line calibration, the technological process of accurate glue spraying encapsulation can be realized fast, and ensure product design, improve conforming product rate.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is structural representation of the present utility model,
Fig. 2 is the front view of Fig. 1.
Detailed description of the invention
The technical matters solved to make the utility model, technical scheme and beneficial effect are clearly understood, below in conjunction with drawings and Examples, are further elaborated to the utility model.
As shown in Figure 1, detailed description of the invention described in the utility model is by the following technical solutions: it by automatic control panel 1, Liquid Crystal Display 2, CCD NI Vision Builder for Automated Inspection 3, manipulator 4, conveyor line 5, telltale fixed mount 6, body 7, frock bracket 8, three-axis moving system 9, survey high sensor 10, alarm lamp 11, suspension holdfast 12, keyboard support 13, industry control cabinet 14 and laser detection system 15 and form; Automatic control panel 1 is provided with on front side of the top of body 7, and in the middle part of it, be fixedly connected with telltale fixed mount 6, telltale fixed mount 6 is provided with keyboard support 13, keyboard support 13 is provided with keypad and mouse, keypad and mouse are connected with industrial computer with data line respectively, and industrial computer is placed in industry control cabinet 14; Liquid Crystal Display 2 is fixedly connected on telltale fixed mount 6, and Liquid Crystal Display 2 is connected with the industrial computer in industry control cabinet 14 by data line, and industry control cabinet 14 is fixed on body 7 bottom; The upper surface of industry control cabinet 14 is fixedly connected with frock bracket 8, and frock bracket 8 is connected with servomotor by power lead and data line, and CCD NI Vision Builder for Automated Inspection 3 is connected with manipulator 4 and is fixed on frock bracket 8; Conveyor line 5 is fixedly connected on the two sides of body 7; Three-axis moving system 9 is fixed on the top of frock bracket 8; Survey high sensor 10 to be fixedly connected on body 7, and be in the right side of three-axis moving system 9 and the top of frock bracket 8; Laser detection system 15 is fixed on body 7, and is in the lower outer of three-axis moving system 9, and the main body of laser detection system 15 is in industry control cabinet 14; Alarm lamp 11 is fixedly connected on the top of body 7; Suspension holdfast 12 is fixedly connected on the top of frock bracket 8.
Claims (3)
1., based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection, it is characterized in that: it by automatic control panel (1), Liquid Crystal Display (2), CCD NI Vision Builder for Automated Inspection (3), manipulator (4), conveyor line (5), telltale fixed mount (6), body (7), frock bracket (8), three-axis moving system (9), survey high sensor (10), alarm lamp (11), suspension holdfast (12), keyboard support (13), industry control cabinet (14) and laser detection system (15) and form; Automatic control panel (1) is provided with on front side of the top of body (7), and in the middle part of it, be fixedly connected with telltale fixed mount (6), telltale fixed mount (6) is provided with keyboard support (13), keyboard support (13) is provided with keypad and mouse, keypad and mouse are connected with industrial computer with data line respectively, and industrial computer is placed in industry control cabinet (14); Liquid Crystal Display (2) is fixedly connected on telltale fixed mount (6), and Liquid Crystal Display (2) is connected with the industrial computer in industry control cabinet (14) by data line, and industry control cabinet (14) is fixed on body (7) bottom; The upper surface of industry control cabinet (14) is fixedly connected with frock bracket (8), and frock bracket (8) is connected with servomotor by power lead and data line, and CCD NI Vision Builder for Automated Inspection (3) is connected with manipulator (4) and is fixed on frock bracket (8); Conveyor line (5) is fixedly connected on the two sides of body (7); Three-axis moving system (9) is fixed on the top of frock bracket (8); Survey high sensor (10) to be fixedly connected on body (7), and be in the right side of three-axis moving system (9) and the top of frock bracket (8); Laser detection system (15) is fixed on body (7), and is in the lower outer of three-axis moving system (9), and the main body of laser detection system (15) is in industry control cabinet (14); Alarm lamp (11) is fixedly connected on the top of body (7); Suspension holdfast (12) is fixedly connected on the top of frock bracket (8).
2. the high-speed, high precision Electronic Packaging robot based on machine vision and laser detection according to claim 1, is characterized in that: CCD camera combining image recognizer, can identify the trickle components and parts of more than 0.01 millimeter.
3. the high-speed, high precision Electronic Packaging robot based on machine vision and laser detection according to claim 1, it is characterized in that: accurately locate, pick up fast and put, wherein, X-Y-Z repetitive positioning accuracy reaches +/-0.001mm; Maximum speed reaches 10m/s; Peak acceleration reaches 100m/s^2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520085500.XU CN204507453U (en) | 2015-02-07 | 2015-02-07 | Based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520085500.XU CN204507453U (en) | 2015-02-07 | 2015-02-07 | Based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection |
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| Publication Number | Publication Date |
|---|---|
| CN204507453U true CN204507453U (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520085500.XU Expired - Fee Related CN204507453U (en) | 2015-02-07 | 2015-02-07 | Based on the high-speed, high precision Electronic Packaging robot of machine vision and laser detection |
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| Country | Link |
|---|---|
| CN (1) | CN204507453U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081259A (en) * | 2016-06-07 | 2016-11-09 | 苏州杰悦五金机械有限公司 | A kind of novel intelligent controls continuous-flow type packaging plant equipment |
| CN107607538A (en) * | 2016-07-12 | 2018-01-19 | 苏州市凌臣采集计算机有限公司 | Acetes chinensis equipment and its detection method |
| CN109141243A (en) * | 2018-10-29 | 2019-01-04 | 湖北三好电子有限公司 | High-precision laser measuring system |
-
2015
- 2015-02-07 CN CN201520085500.XU patent/CN204507453U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081259A (en) * | 2016-06-07 | 2016-11-09 | 苏州杰悦五金机械有限公司 | A kind of novel intelligent controls continuous-flow type packaging plant equipment |
| CN107607538A (en) * | 2016-07-12 | 2018-01-19 | 苏州市凌臣采集计算机有限公司 | Acetes chinensis equipment and its detection method |
| CN109141243A (en) * | 2018-10-29 | 2019-01-04 | 湖北三好电子有限公司 | High-precision laser measuring system |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150729 Termination date: 20190207 |