CN206047347U - Welding processing area image recognizes follow-up mechanism - Google Patents
Welding processing area image recognizes follow-up mechanism Download PDFInfo
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- CN206047347U CN206047347U CN201621003794.8U CN201621003794U CN206047347U CN 206047347 U CN206047347 U CN 206047347U CN 201621003794 U CN201621003794 U CN 201621003794U CN 206047347 U CN206047347 U CN 206047347U
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Abstract
This utility model discloses a kind of welding processing area image identification follow-up mechanism, including laser instrument, laser head, the image pre-acquired module of welding processing area image is gathered in advance, weld the welding image acquisition module of dot image in collection welding processing region, to gathering the image processing module processed by image, and the control module according to image processing module processing structure to the corresponding control instruction of output, when welding image is identical with the image of advance collection, control laser instrument generation laser butt welding contact is welded, when there is deviation with the advance picture position for gathering in welding image, control instruction is sent to mechanism is followed the trail of, weld after identical.Image information due to acquiring pad before welding in advance, when being welded, the welding dot image of Real-time Collection is compared with collection image in advance, it may be determined that bond pad locations, self-adaptative adjustment is carried out when there is error simultaneously, thus welding precision and welding quality can be improved.
Description
Technical field
This utility model is related to laser welding technology field, more particularly to dress is followed the trail of in a kind of identification of welding processing area image
Put.
Background technology
Existing conventional pcb board machining area automatic identification is to realize positioning process image based on digital image system.
The process image alignment system is imprinted on the simple spy of PCB plates MARK points in advance using CCD photographic head and image pick-up card
Image zooming-out is levied to computer, removal then through picture noise, image segmentation, characteristic image edge extracting and characteristic image
Center solves etc. and the relative coordinates for obtaining characteristic image central point solved after Digital Image Processing, so that it is determined that Working position
Relative position.The premise that the picture system is accurately positioned is to must assure that pcb board does not occur any deformation before processing and adds
Work point relative coordinates are absolutely accurate, at present to ensure above-mentioned condition, can only be that pcb board is clamped in itself and corrected. and swash
The photocoagulation pcb board overwhelming majority is all the product that have passed through crest or reflow soldering, and product deflection itself is big and element is intensive,
It is not appropriate for forcing adjustment.
The content of the invention
This utility model recognizes follow-up mechanism mainly solving the technical problems that providing a kind of welding processing area image, should
Welding processing area image identification follow-up mechanism is realized the identification to welding machining area image and is chased after using another kind of new equipment
Track.
In order to solve above-mentioned technical problem, this utility model provides a kind of welding processing area image and recognizes follow-up mechanism,
The welding processing area image identification follow-up mechanism includes：
Laser instrument, produces welding laser；
Laser head, by las er-guidance to pad；
Image pre-acquired module, before welding, dot image is welded in collection welding processing region in advance；
Welding image acquisition module, the welding dot image in Real-time Collection welding processing region during welding；
Image processing module, carries out splicing to the image of advance collection, and by the image of welding image and pre-acquired
Compare and determine welding position；
Mechanism is followed the trail of, laser head is moved according to image comparison result and is followed the trail of solder joint；
Control module, coordinates image pre-acquired module, image processing module and welding image acquisition module and laser instrument
Work.
Further say, described image identification follow-up mechanism also includes adjusting the laser trimming head of laser head angle adjustment
Mechanism, the laser trimming head governor motion include making to be fixed with laser head, image pre-acquired module and welding image acquisition module
Fixed seat and make fixed seat rotate rotary drive motor.
Further say, the tracking mechanism is included being connected with control module signal and laser head is moved along X-direction
X-axis translation motor and make the Y-axis translation motor that laser head moved along Y direction.
Further say, the X-axis translation motor and Y-axis translation motor are respectively linear electric motors.
Further say, the tracking mechanism also includes being provided with storage Y-axis translation motor and Y-axis translation motor control signal
The protection chain of line and power line.
Further say, described image pre-acquired module and welding image acquisition module are located on rotatable fixed mount,
The optical axis of the image pre-acquired module and welding image acquisition module is with fixed mount rotary shaft apart from identical.
Further say, described image identification follow-up mechanism also includes being connected with control module signal makes what fixed mount was rotated
Rotary electric machine.
This utility model also provides another kind of welding processing area image identification follow-up mechanism, the welding processing area image
Identification follow-up mechanism includes：
Laser instrument, produces welding laser；
Laser head, by las er-guidance to pad；
Image capture module, the welding dot image in advance welding processing region before welding, Real-time Collection welding during welding add
The welding dot image in work area domain；
Image processing module, carries out splicing to the image of advance collection, and by the image of welding image and pre-acquired
Compare and determine welding position；
Mechanism is followed the trail of, laser head is moved according to image comparison result and is followed the trail of solder joint；
Control module, coordinate image pre-acquired mould, image processing module, welding image acquisition module, follow the trail of mechanism and
Laser works.
Further say, described image identification follow-up mechanism also includes adjusting the laser trimming head of laser head angle adjustment
Mechanism, the laser trimming head governor motion include making to be fixed with laser head, image pre-acquired module and welding image acquisition module
Fixed seat and make fixed seat rotate rotary drive motor.
Further say, the tracking mechanism is included being connected with control module signal and laser head is moved along X-direction
X-axis translated linear motor and make the Y-axis translated linear motor that laser head moved along Y direction.
This utility model welding processing area image recognizes follow-up mechanism, including produces the laser instrument of welding laser, will swash
Light is adopted when being directed to the laser head of pad, the image pre-acquired module of collection welding processing area image, welding in advance in real time
Weld the welding image acquisition module of dot image, gather at image and welding image to advance respectively in collection welding processing region
The image processing module of reason, and it is corresponding according to image processing module by welding image and in advance collection image output of comparing
Control instruction, when welding image is identical with the image of advance collection, control laser instrument generation laser butt welding contact is welded,
When welding image has deviation with the advance picture position for gathering, control instruction is sent to mechanism is followed the trail of, welded after identical
Connect.Due to acquiring the image information of pad in advance before welding, when being welded, by the welding dot image of Real-time Collection and
Collection image is compared in advance, it may be determined that bond pad locations, while self-adaptative adjustment is carried out when there is error, thus can carry
High welding precision and welding quality.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, and the accompanying drawing in describing is this practicality
Some new embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is to connect machining area image recognition follow-up mechanism embodiment electrical schematics.
Fig. 2 is to follow the trail of mechanism embodiment structural representation.
Fig. 3 is laser trimming head governor motion example structure schematic diagram.
With reference to embodiment, and referring to the drawings, the realization, functional characteristics and advantage to this utility model purpose is made into one
Step explanation.
Specific embodiment
In order that the purpose of utility model, technical scheme and advantage are clearer, implement below in conjunction with this utility model
Accompanying drawing in example, is clearly and completely described to the technical scheme in this utility model embodiment, it is clear that described reality
It is a part of embodiment of utility model to apply example, rather than the embodiment of whole.Based on the embodiment in this utility model, this area
The every other embodiment obtained on the premise of creative work is not made by those of ordinary skill, belongs to this practicality new
The scope of type protection.
Such as Fig. 1, a kind of welding processing area image identification follow-up mechanism embodiment of this utility model offer
The welding processing area image identification follow-up mechanism includes：Laser instrument 1, produces welding laser；Laser head, by laser
It is directed to pad；Image pre-acquired module 4, before welding, dot image is welded in collection welding processing region in advance；Welding image is adopted
Collection module 5, the welding dot image in Real-time Collection welding processing region during welding；Image processing module 3, the image to advance collection
Splicing is carried out, and the image by welding image with pre-acquired compares determination welding position；Mechanism 6 is followed the trail of, according to image ratio
Solder joint is followed the trail of to result movement laser head；Control module 2, coordinates image pre-acquired mould, image processing module, welding image collection
Module, tracking mechanism and laser works.
Specifically, the laser instrument 1 can produce the laser of the power that welding needs, and which adopts prior art, specifically
Select which kind of type laser is selected according to welding material feature, the present embodiment is not particularly limited.Described image process
Module 3 is not that the present invention changes scheme, therefore is not particularly limited, and can be implemented using prior art.Welding image is gathered
Module 5 and image pre-acquired module 4 generally can select the digital camera head of the digital camera head or CCD of CMOS as needed.
During work, each weld point image on the PCB for need welding is first gathered by image pre-acquired module 4, by image procossing
Module 3 carry out processing be spliced to form complete pcb board image deposit in which, it is real by welding image acquisition module 5 again during welding
When collection welding dot image, the image that gathers when welding is compared with default image by image processing module 3, by following the trail of
Mechanism 6 is followed the trail of laser head to solder joint place pcb board particular location according to image comparison result, and which is welded.Due to weldering
Acquire the image information of pad before connecing in advance, when being welded, by the welding dot image of Real-time Collection and collection in advance
Image is compared, and follows the trail of mechanism 6 and laser head is followed the trail of to the bond pad locations for determining according to image comparison result, works as welding image
When identical with the image of advance collection, control laser instrument generation laser butt welding contact is welded, while carrying out when there is error certainly
Adjustment is adapted to, thus welding precision and welding quality can be improved.
In order to ensure the picture position concordance of image pre-acquired module and the collection of welding image acquisition module, one is provided with
Fixed mount, image pre-acquired module and welding image acquisition module are fixed on the fixed mount, the image pre-acquired module and weldering
The optical axis of image capture module is connect with fixed mount rotary shaft apart from identical, when collection image pre-acquired module gather one completely
Pcb board after, then welding image acquisition module position and image pre-acquired module position is located at same by rotating fixed mount
One position, that is, when gathering image, the optical axis of welding image acquisition module and image pre-acquired module is located along the same line, it is ensured that
Gather angle, the size of image etc. identical, reduce pattern distortion, further improve the quality of collection image, be easy to image to compare
Accuracy.Described image identification follow-up mechanism also includes being connected the rotary electric machine for rotating fixed mount with control module signal,
Welding image acquisition module acquisition state can be switched to automatically after the completion of the collection of image pre-acquired module by rotary electric machine, carried
High automatization level.
Described image identification follow-up mechanism also includes the laser trimming head governor motion for making laser head angle adjustment, the laser
Trim head governor motion includes the fixed seat 73 for making to be fixed with laser head 74, image pre-acquired module and welding image acquisition module
With make fixed seat rotate rotary drive motor 72, as shown in Figure 3.When laser head is stopped by other components and parts, by the laser
Trim head governor motion turns to laser head 74 can be with welding position, in rotation process, projection of the laser head 74 on pcb board
Position is constant.
In order to ensure welding precision, error is reduced, described image identification follow-up mechanism also includes exporting according to control module
Control instruction tracking mechanism 6 that laser head position is finely adjusted, as shown in Figure 2.The tracking mechanism 6 includes and control mould
2 signal of block connects and makes laser head along X-direction the X-axis translation motor 62 for moving and the Y-axis for making laser head move along Y direction
Translation motor 61, described 62 one end of X-axis translation motor are coordinated with Y-axis translation motor 61, and the other end is coordinated with guide rail 63, are realized
X-direction is steadily moved.When welding image has deviation with the advance picture position for gathering, refer to mechanism's transmission control is followed the trail of
Order, welds after identical.Image information due to acquiring pad before welding in advance, when being welded, is adopted in real time
The welding dot image of collection is compared with collection image in advance, it may be determined that bond pad locations, while carrying out when there is error adaptive
Should adjust, thus welding precision and welding quality can be improved.
In order to protect Y-axis translation motor and Y-axis translation motor control signal wire and power line, the tracking mechanism also to include
The protection chain of protection control signal wire and power line.
In upper embodiment, described image pre-acquired module 4 and welding image acquisition module 5 are two independent, its knot
Structure is relative complex.This utility model also provides another kind of welding processing area image identification follow-up mechanism, the welding processing region
Image recognition follow-up mechanism includes：
Laser instrument, produces welding laser；
Laser head, by las er-guidance to pad；
Image capture module, the welding dot image in advance welding processing region before welding, Real-time Collection welding during welding add
The welding dot image in work area domain；
Image processing module, carries out splicing to the image of advance collection, and by the image of welding image and pre-acquired
Compare and determine welding position；
Mechanism is followed the trail of, laser head is moved according to image comparison result and is followed the trail of solder joint；
Control module, coordinate image pre-acquired mould, image processing module, welding image acquisition module, follow the trail of mechanism and
Laser works.
Specifically, Real-time Collection welding processing region when the welding dot image in pre-acquired welding processing region and welding
Welding dot image shares an image capture module, and other structures and principle are same as the previously described embodiments, the raw technical efficiency of production
Also it is identical, repeat no more.Due to reducing associated components so that device is simpler, while reducing parts machining presence
Error, precision also get a promotion.
Above example only to illustrate the technical solution of the utility model, rather than a limitation；Although with reference to aforementioned reality
Apply example to be described in detail this utility model, it will be understood by those within the art that：Which still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic, and these
Modification is replaced, and does not make the essence of appropriate technical solution depart from the spirit and model of each embodiment technical scheme of this utility model
Enclose.
Claims (10)
1. welding processing area image recognizes follow-up mechanism, it is characterised in that include：
Laser instrument, produces welding laser；
Laser head, by las er-guidance to pad；
Image pre-acquired module, before welding, dot image is welded in collection welding processing region in advance；
Welding image acquisition module, the welding dot image in Real-time Collection welding processing region during welding；
Image processing module, carries out splicing to the image of advance collection, and the image by welding image with pre-acquired is compared
Determine welding position；
Mechanism is followed the trail of, laser head is moved according to image comparison result and is followed the trail of solder joint；
Control module, coordinates image pre-acquired mould, image processing module, welding image acquisition module, tracking mechanism and laser
Device works.
2. welding processing area image recognizes follow-up mechanism according to claim 1, it is characterised in that：Described image identification is chased after
Track device also includes the laser trimming head governor motion for making laser head angle adjustment, and the laser trimming head governor motion includes making admittedly
Surely there are laser head, the fixed seat of image pre-acquired module and welding image acquisition module and make the rotation driving that fixed seat is rotated electric
Machine.
3. welding processing area image recognizes follow-up mechanism according to claim 1, it is characterised in that：Tracking mechanism bag
Include the X-axis translation motor and make laser head move along Y direction for being connected with control module signal and making that laser head moved along X-direction
Dynamic Y-axis translation motor.
4. welding processing area image recognizes follow-up mechanism according to claim 3, it is characterised in that：The X-axis translation electricity
Machine and Y-axis translation motor are respectively linear electric motors.
5. welding processing area image recognizes follow-up mechanism according to claim 4, it is characterised in that：The tracking mechanism is also
Including the protection chain for being provided with storage Y-axis translation motor and Y-axis translation motor control signal wire and power line.
6. welding processing area image recognizes follow-up mechanism according to claim 1, it is characterised in that：Described image pre-acquired
Module and welding image acquisition module on rotatable fixed mount, the image pre-acquired module and welding image acquisition module
Optical axis with fixed mount rotary shaft apart from identical.
7. welding processing area image recognizes follow-up mechanism according to claim 6, it is characterised in that：Described image identification is chased after
Track device also includes being connected the rotary electric machine for rotating fixed mount with control module signal.
8. welding processing area image recognizes follow-up mechanism, it is characterised in that include：
Laser instrument, produces welding laser；
Laser head, by las er-guidance to pad；
Image capture module, the welding dot image in advance welding processing region, Real-time Collection welding processing area during welding before welding
The welding dot image in domain；
Image processing module, carries out splicing to the image of advance collection, and the image by welding image with pre-acquired is compared
Determine welding position；
Mechanism is followed the trail of, laser head is moved according to image comparison result and is followed the trail of solder joint；
Control module, coordinates image pre-acquired mould, image processing module, welding image acquisition module, tracking mechanism and laser
Device works.
9. welding processing area image recognizes follow-up mechanism according to claim 8, it is characterised in that：Described image identification is chased after
Track device also includes the laser trimming head governor motion for making laser head angle adjustment, and the laser trimming head governor motion includes making admittedly
Surely there are laser head, the fixed seat of image pre-acquired module and welding image acquisition module and make the rotation driving that fixed seat is rotated electric
Machine.
10. welding processing area image recognizes follow-up mechanism according to claim 8, it is characterised in that：The tracking mechanism
Including being connected and make the X-axis translated linear motor and make laser head along Y-axis that laser head moved along X-direction with control module signal
The Y-axis translated linear motor of direction movement.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107442961A (en) * | 2017-08-31 | 2017-12-08 | 苏州诺维博得智能装备科技有限公司 | Satellite solar array automatic soldering method and device |
| CN110871313A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Control method and device for crawling arc welding robot |
| CN111413355A (en) * | 2020-03-31 | 2020-07-14 | 无锡圆方软件科技有限公司 | Welding industry intelligent detection system based on high in clouds |
| CN112676676A (en) * | 2020-12-16 | 2021-04-20 | 武汉逸飞激光股份有限公司 | Tab welding method |
| CN112872639A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration preparation process allotment system |
| CN112872640A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration frame welding manufacturing system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107442961A (en) * | 2017-08-31 | 2017-12-08 | 苏州诺维博得智能装备科技有限公司 | Satellite solar array automatic soldering method and device |
| CN110871313A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Control method and device for crawling arc welding robot |
| CN111413355A (en) * | 2020-03-31 | 2020-07-14 | 无锡圆方软件科技有限公司 | Welding industry intelligent detection system based on high in clouds |
| CN112676676A (en) * | 2020-12-16 | 2021-04-20 | 武汉逸飞激光股份有限公司 | Tab welding method |
| CN112872639A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration preparation process allotment system |
| CN112872640A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration frame welding manufacturing system |
| CN112872640B (en) * | 2021-01-21 | 2023-10-03 | 日照中意华坤金属制造有限公司 | Iron art decorative frame welding manufacturing system |
| CN112872639B (en) * | 2021-01-21 | 2023-10-20 | 日照中意华坤金属制造有限公司 | Iron art decoration manufacturing process allotment system |
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Effective date of registration: 20200727 Address after: Baoan District Fuyong Great Ocean Road street Shenzhen city Guangdong province 518000 No. 90 COFCO (Fu'an) robot made Industrial Park incubator thirteenth building 3 floor Patentee after: SHENZHEN AIBEITE ELECTRONIC TECH. Co.,Ltd. Address before: 518000 Shenzhen City, Baoan District province Fuyong Town Street, Great Ocean Road, No. 90, Fu'an, Chi Chi, Chi Chi Industrial Park, building 13, building 3, building Patentee before: SHENZHEN AIAMD PRECISION TECHNOLOGY Co.,Ltd. |