CN205572467U - Three -axis manipulator automatic correction of mechanism - Google Patents
Three -axis manipulator automatic correction of mechanism Download PDFInfo
- Publication number
- CN205572467U CN205572467U CN201620317847.7U CN201620317847U CN205572467U CN 205572467 U CN205572467 U CN 205572467U CN 201620317847 U CN201620317847 U CN 201620317847U CN 205572467 U CN205572467 U CN 205572467U
- Authority
- CN
- China
- Prior art keywords
- ccd
- adjustable plate
- axis manipulator
- reference block
- fixing seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model relates to a three -axis manipulator automatic correction of mechanism mainly comprises last CCD, lower CCD and CCD reference block, it fixes to go up CCD three -axis manipulator's Z is epaxial, CCD and CCD reference block are fixed on the automatic burning machine's of IC board down, the benchmark round hole has on the CCD reference block. It follows the fever record seat that three -axis manipulator treated the use and shoots to go up CCD to with the photo when moulding board image, three -axis manipulator snatchs IC and moves backward that CCD shoots the top under to, obtains IC's current picture, vision detection system passes through analytical comparison the current image and template image, compensate offset quick and X that the refined calculation goes out and Y direction three -axis manipulator's X and Y's motor shaft on, compensate the rotation axis of suction nozzle to the rotation angle offset that calculates on, then just can be accurately put the fever with IC and burn the record in recording.
Description
Technical field
This utility model relates to a kind of IC automatic recording machine, a kind of three axle robert automatic correcting mechanism.
Background technology
It is to be automatically performed crawl and the placement of IC that IC automatic recording machine is different from the maximum feature of manual cd-rom recorder, automatically carries out the burning of program after placement.Owing to there is gap between pallet and IC, want the correct crawl completing IC and placement action, be necessary for the position to mechanical hand and carry out relatively position.
Utility model content
The purpose of this utility model is to provide a kind of three axle robert automatic correcting mechanism, and the compensating property of motion of mechanical hand can be corrected, so that IC puts in socket burnt-in seat exactly by this mechanism.
For reaching above-mentioned purpose, the technical solution of the utility model is as follows:
A kind of three axle robert automatic correcting mechanism, mainly it is made up of upper CCD, lower CCD and CCD reference block, described upper CCD is fixed on the Z axis of described three axle robert, and described lower CCD and CCD reference block is fixed on the board of IC automatic recording machine, and described CCD reference block has benchmark circular hole.
It is further, described upper CCD is formed by imaging first, flash lamp one, fixing seat one and adjustable plate one, described fixing seat one is fixed on the Z axis of described three axle robert, described shooting is first and flash lamp one is fixed on described adjustable plate one, being provided with an elongate holes one on described adjustable plate one, described adjustable plate one is passed from elongate holes one by bolt and is locked on described fixing seat one.
Moreover, described lower CCD is made up of photographic head two, flash lamp two, fixing seat two and adjustable plate two, described fixing seat two is fixed on the board of IC automatic recording machine, described photographic head two and flash lamp two are fixed on described adjustable plate two, being provided with an elongate holes two on described adjustable plate two, described adjustable plate two is passed from elongate holes two by bolt and is locked on described fixing seat two.
Compared with prior art, the beneficial effects of the utility model are: upper CCD follows three axle robert and takes pictures socket burnt-in seat to be used, and by photo as template image；Three axle robert moves to take pictures above lower CCD after capturing IC, it is thus achieved that the photo current of IC；Vision detection system passes through com-parison and analysis present image and template image, in the offset compensation of X that is quick and that accurately calculate and Y-direction to the motor shaft of X and Y of three axle robert, in the anglec of rotation offset compensation calculated to the rotary shaft of suction nozzle, the most just accurately IC can be put in socket burnt-in seat and carry out burning.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, in describing embodiment below, the required accompanying drawing used is briefly described.
Fig. 1 is the structural representation of the upper CCD disclosed in this utility model embodiment；
Fig. 2 is the structural representation of the CCD reference block disclosed in this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described.
A kind of three axle robert automatic correcting mechanism, is mainly made up of upper CCD, lower CCD and CCD reference block.See Fig. 1, upper CCD is by imaging first 1, flash lamp 1, fixing seat 1 and adjustable plate 1 forms, fixing seat one is fixed on the Z axis of three axle robert, image first and flash lamp one to be fixed on adjustable plate one, being provided with an elongate holes 1 on adjustable plate one, adjustable plate one is passed from elongate holes one by bolt and is locked on fixing seat one；Lower CCD is made up of photographic head two, flash lamp two, fixing seat two and adjustable plate two, fixing seat two is fixed on the board of IC automatic recording machine, photographic head two and flash lamp two are fixed on adjustable plate two, being provided with an elongate holes two on adjustable plate two, adjustable plate two is passed from elongate holes two by bolt and is locked on fixing seat two.The position of upper CCD and lower CCD all can regulate.
There is on CCD reference block benchmark circular hole 6(and see Fig. 2), this CCD reference block is the benchmark of upper CCD, when setting at the beginning of machine, by the suction nozzle alignment fiducials circular hole 6 on three axle robert, record coordinate, then by the center alignment fiducials circular hole 6 of upper CCD, re-record lower coordinate；The operating system of machine calculates the relative coordinate of upper CCD and suction nozzle according to the two coordinate.
The operation principle of above-mentioned aligning gear is:
1. go up CCD to follow three axle robert socket burnt-in seat to be used is taken pictures, and by photo as template image；
2. three axle robert moves to take pictures above lower CCD after capturing IC, it is thus achieved that the photo current of IC；
3. vision detection system passes through com-parison and analysis present image and template image, in the offset compensation of X that is quick and that accurately calculate and Y-direction to the motor shaft of X and Y of three axle robert, in the anglec of rotation offset compensation calculated to the rotary shaft of suction nozzle, the most just accurately IC can be put in socket burnt-in seat and carry out burning.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, and generic principles defined herein can realize in the case of without departing from spirit or scope of the present utility model in other embodiments.Therefore, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (3)
1. a three axle robert automatic correcting mechanism, it is characterized in that, mainly it is made up of upper CCD, lower CCD and CCD reference block, described upper CCD is fixed on the Z axis of described three axle robert, described lower CCD and CCD reference block is fixed on the board of IC automatic recording machine, and described CCD reference block has benchmark circular hole.
A kind of three axle robert automatic correcting mechanism the most according to claim 1, it is characterized in that, described upper CCD is formed by imaging first, flash lamp one, fixing seat one and adjustable plate one, described fixing seat one is fixed on the Z axis of described three axle robert, described shooting is first and flash lamp one is fixed on described adjustable plate one, being provided with an elongate holes one on described adjustable plate one, described adjustable plate one is passed from elongate holes one by bolt and is locked on described fixing seat one.
A kind of three axle robert automatic correcting mechanism the most according to claim 2, it is characterized in that, described lower CCD is made up of photographic head two, flash lamp two, fixing seat two and adjustable plate two, described fixing seat two is fixed on the board of IC automatic recording machine, described photographic head two and flash lamp two are fixed on described adjustable plate two, being provided with an elongate holes two on described adjustable plate two, described adjustable plate two is passed from elongate holes two by bolt and is locked on described fixing seat two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620317847.7U CN205572467U (en) | 2016-04-14 | 2016-04-14 | Three -axis manipulator automatic correction of mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620317847.7U CN205572467U (en) | 2016-04-14 | 2016-04-14 | Three -axis manipulator automatic correction of mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205572467U true CN205572467U (en) | 2016-09-14 |
Family
ID=56862912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620317847.7U Expired - Fee Related CN205572467U (en) | 2016-04-14 | 2016-04-14 | Three -axis manipulator automatic correction of mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205572467U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112440104A (en) * | 2019-08-27 | 2021-03-05 | 苏州汉扬精密电子有限公司 | Automatic product assembling equipment and method |
| CN114347011A (en) * | 2020-10-12 | 2022-04-15 | 丰田自动车株式会社 | Position correction system, position correction method, and storage medium storing position correction program |
-
2016
- 2016-04-14 CN CN201620317847.7U patent/CN205572467U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112440104A (en) * | 2019-08-27 | 2021-03-05 | 苏州汉扬精密电子有限公司 | Automatic product assembling equipment and method |
| CN112440104B (en) * | 2019-08-27 | 2024-05-14 | 苏州汉扬精密电子有限公司 | Automatic product assembling equipment and method |
| CN114347011A (en) * | 2020-10-12 | 2022-04-15 | 丰田自动车株式会社 | Position correction system, position correction method, and storage medium storing position correction program |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105993212B (en) | Kludge | |
| CN106514201B (en) | A kind of automatic connector assembly robot system and its control method | |
| CN104570264B (en) | The device that lens assembling, offset detect and gap detection is three-in-one | |
| CN114174006B (en) | Robot hand-eye calibration method, device, computing equipment, medium and product | |
| CN104570384B (en) | Process method integrating three functions of lens assembly, segment difference detection and gap detection | |
| TWI244710B (en) | Alignment method and mounting method using the alignment method | |
| US20180368296A1 (en) | Component mounting apparatus | |
| RU2014141156A (en) | PROJECTOR AND CONTROL METHOD FOR THE PROJECTOR | |
| CN205572467U (en) | Three -axis manipulator automatic correction of mechanism | |
| CN109442170B (en) | CCD adjustment mechanism | |
| TW200641564A (en) | The correction method of plotting device | |
| CN105593396A (en) | Alignment method and alignment device | |
| CN103874343B (en) | High-precision full-automatic BGA repair workbench | |
| CN105933605A (en) | Automatic correction device and method for focusing part of camera | |
| US10875186B2 (en) | Robot system | |
| KR101715175B1 (en) | Method of calibrating coordinate system in laser vision sensor | |
| TWI696390B (en) | Method and system for testing and aligning projection screen of projector | |
| CN105914171B (en) | A kind of machine vision flight system | |
| JP2009283682A (en) | Surface mounting apparatus | |
| JP2012248717A (en) | Position recognition camera and position recognition device | |
| CN105137706A (en) | Panoramic holder | |
| JP6475165B2 (en) | Mounting device | |
| CN109064513A (en) | The automatic calibration algorithm of six degree of freedom in a kind of encapsulation of camera | |
| CN105489525B (en) | Device position indicates system and device position indicating means | |
| CN108063104A (en) | For adjusting the system of the relative position between the component of engagement device |
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: 20160914 Termination date: 20210414 |