CN208289900U - A kind of electronic component hand eye coordination plug-in mechanism based on robot - Google Patents
A kind of electronic component hand eye coordination plug-in mechanism based on robot Download PDFInfo
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- CN208289900U CN208289900U CN201820706852.6U CN201820706852U CN208289900U CN 208289900 U CN208289900 U CN 208289900U CN 201820706852 U CN201820706852 U CN 201820706852U CN 208289900 U CN208289900 U CN 208289900U
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Abstract
The utility model discloses a kind of electronic component hand eye coordination plug-in mechanism based on robot；Main includes the movable changeover mechanism for mounting industrial camera that parallelly opening-and-closing type Pneumatic paw mechanism side is arranged in；Movable changeover mechanism includes the first pinboard, the second pinboard；First pinboard has a convex shoulder, and the second pinboard has a recessed shoulder corresponding with convex shoulder, and the convex shoulder is placed in recessed shoulder, and convex shoulder and recessed shoulder are movably connected by bolt axle, rotates the second pinboard around bolt axle.The electronic component hand eye coordination plug-in system structure is simple, it is easy to use, have camera optical axis it is parallel with end joints axes with intersect both of which, it can be achieved that electronic component to be inserted and observation while pcb board, are conducive to the inserting precision and production efficiency of raising electronic component.
Description
Technical field
The utility model relates to electronic component plug-in part technology field more particularly to a kind of electronic component hands based on robot
Eye coordinate plug-in mechanism.
Background technique
Electronic component plug-in machine is to realize the Core equipment of the plug-in unit assembling process of pcb board, as electronic functionalities are more
Sample, volume miniaturization, assembles precise treatment, the electronic component integration degree of pcb board plug-in mounting is higher and higher, and new process is to electronic component
Inserting precision and efficiency propose new challenge.The assembling process of conditional electronic component depends on manual inserting more, has effect
Rate is low, at high cost, and the disadvantages of phenomenon is serious is inserted in misplug and leakage, becomes and restricts an important factor for electronic component rapidly and efficiently inserts.
Currently, for improve conventional electronics plug-in unit efficiency method there are mainly two types of:
(1) manual plug-in unit (as referred to ZL 201610523784.5) is replaced using industrial robot；
(2) plug-in system with positioning function that industrial robot is combined with machine vision is (as with reference to ZL
201410340142.2 with ZL 201620065431.0).
The prior art helps to improve the plug-in unit assembly efficiency of pcb board, but there are still following some deficiencies, main to show
Are as follows:
1) replace the method for manual plug-in unit for different plates and different electronics members to be inserted using industrial robot
For part there is still a need for manual card teaching, plug-in system itself does not have identification positioning function, limits plug-in machine automatic capability.
2) arrangement that the plug-in system of existing trick collocation mostly uses camera axis parallel with mechanical arm, passes through compensation of taking pictures
Mode the hole location to be inserted of pcb board is identified and positioned.Camera is difficult directly to take plug-in unit electronic component and pcb board
Plug-in unit process, positioning accuracy are strictly dependent on the stated accuracy and installation accuracy of camera and mechanical arm, while also by machine
The influence of multiple uncertain factors such as the repeatable accuracy of people itself.
Summary of the invention
The shortcomings that the purpose of the utility model is to overcome the above-mentioned prior arts and deficiency provide a kind of based on robot
Electronic component hand eye coordination plug-in mechanism solves the industrial camera of existing electronic component hand eye coordination plug-in mechanism because angle can not
Adjustment, and then lead to plug-in unit low efficiency, the technical problems such as positioning difficulty.
The utility model is achieved through the following technical solutions:
A kind of electronic component hand eye coordination plug-in mechanism based on robot, including the industry four being set on workbench 1
Degree of freedom robot；The industry four-degree-of-freedom robot includes the screw rod 6 being installed on forearm 7；The lower end of screw rod 6 is equipped with one
Parallelly opening-and-closing type Pneumatic paw mechanism；The side of the parallelly opening-and-closing type Pneumatic paw mechanism is connected with one for mounting industrial phase
The movable changeover mechanism of machine 16；
The activity changeover mechanism includes the first pinboard 13, the second pinboard 14；First pinboard 13 has one
Convex shoulder 131, the second pinboard 14 have a recessed shoulder 141 corresponding with convex shoulder 131, and the convex shoulder 131 is placed in recessed shoulder 141, and
Convex shoulder 131 and recessed shoulder 141 are movably connected by bolt axle 151, rotate the second pinboard 14 around bolt axle 151；
The axis of the bolt axle 151 is perpendiculared to one another with the axis of screw rod 6.
The industrial camera 16 is bolted by a camera installing plate 15 with the second pinboard 14；Industrial camera 16
It is connect with camera lens 17.
The axis of the camera lens 17 is coplanar with the axis of screw rod 6, can pass through the opposite of the first pinboard 13 and the second pinboard 14
Rotation realizes that the two is parallel or intersects.
The industry four-degree-of-freedom robot includes pedestal 2, and the large arm 3 being set on pedestal 2 is set in large arm 3
Forearm 7, the cable 4 being set between pedestal 2 and forearm 7 are installed on 7 upper screw rod 6 of forearm；
The pedestal 2 and large arm 3 constitute a rotary joint, and the large arm 3 constitutes a rotary joint, institute with forearm 7
It states screw rod 6 and forearm 7 constitutes a rotary joint and a linear joint perpendicular to 2 bottom surface direction of pedestal, they are constituted
Three rotary joints and a linear joint of industrial four-degree-of-freedom robot.
The parallelly opening-and-closing type Pneumatic paw mechanism includes sequentially connected lower stop block 8, guide shaft support from top to bottom
9, cylinder mounting plate 10, parallelly opening-and-closing type Pneumatic paw 11, profiling gripper 12；
The guide shaft support 9 hugs structure with screw thread and is installed on screw rod 6, and with 8 following table of lower stop block on screw rod 6
Face fits；Install stop block 5 in the upper end of screw rod 6；Upper stop block 5 and lower stop block 8 move up and down to limit screw rod 6
Stroke range；
Cylinder mounting plate 10 is connected using screw with 11 bottom surface of parallelly opening-and-closing type Pneumatic paw, and the first pinboard 13 uses screw
It is fixed on 10 side of cylinder mounting plate；Cylinder mounting plate 10 and guide shaft support 9 are fixed together by screw；
The profiling gripper 12 is fixed together by screw with parallelly opening-and-closing type Pneumatic paw 11, to realize different sizes
The clamping of electronic component.
The side of the workbench 1, the i.e. lower section of profiling gripper 12 are provided with one for transporting the transport platform of pcb board 18
20；A collimated backlight source 19, light source area >=pcb board 18 area in collimated backlight source 19 are equipped with inside transport platform 20.
The utility model compared with the existing technology, have following advantages and effects
1) the utility model pass through be arranged in parallelly opening-and-closing type Pneumatic paw mechanism side, it is for mounting industrial camera
Movable changeover mechanism, constitute the rotary joint between industrial camera and robot arm end effector, it can be achieved that camera rotation tune
Section greatly improves the adaptability for different electronic components inserting process.Based on designed rotary joint, camera axis
It can realize parallel with the axis of end-effector or intersect both of which, the vision positioning plug-in system of double mode improves slotting
Adaptability of the part system to different plug-in unit operating conditions.
2) the utility model activity changeover mechanism, the rotation constituted between industrial camera and robot arm end effector are closed
Section, the overall process of Observable stitch and hole location to be inserted are conducive to the accurate inserting of electronic component.When being designed using intersecting axle, by
The angle adjustable between industrial camera axis and end-effector axis, efficiently solve industrial camera loaded on arm and with
Under the parallel mode of end-effector axis, the problem of industrial camera can not take clamped electronic component；Meanwhile industrial phase
Machine can take overall process of the element stitch insertion to jack, detect the side combined with plug-in unit motion control by real-time vision
Formula avoids the stated accuracy progress plug-in unit positioning for only relying on mechanical arm repeatable accuracy and trick relative position, is conducive to change
The inserting precision of kind electronic component, especially suitable for the servo-controlled plug-in unit process of view-based access control model.
3) with the trick plug-in system work compound with detection identification function, can effectively save human resources and time at
This, reduces personnel labor intensity, improves plug-in unit yield rate and plug-in unit efficiency.
Detailed description of the invention
Fig. 1 is electronic component hand eye coordination plug-in mechanism overall structure diagram of the utility model based on robot.
Fig. 2 is Fig. 1 partial structural diagram.
Specific embodiment
The utility model is more specifically described in detail combined with specific embodiments below.
Embodiment
As depicted in figs. 1 and 2.The electronic component hand eye coordination plug-in machine based on robot that the utility model discloses a kind of
Structure, including the industrial four-degree-of-freedom robot being set on workbench 1；The industry four-degree-of-freedom robot includes being installed on forearm
Screw rod 6 on 7；The lower end of screw rod 6 is equipped with a parallelly opening-and-closing type Pneumatic paw mechanism；The parallelly opening-and-closing type Pneumatic paw machine
The side of structure is connected with a movable changeover mechanism for mounting industrial camera 16；
The activity changeover mechanism includes the first pinboard 13, the second pinboard 14；First pinboard 13 has one
Convex shoulder 131, the second pinboard 14 have a recessed shoulder 141 corresponding with convex shoulder 131, and the convex shoulder 131 is placed in recessed shoulder 141, and
Convex shoulder 131 and recessed shoulder 141 are movably connected by bolt axle 151, rotate the second pinboard 14 around bolt axle 151；
By adjusting the elasticity of bolt axle 151, and then adjust the clamping force between recessed shoulder 141 and convex shoulder 131；But it can also be used
His mode, for example it can be made to hold out against adjusting bolt by tightening screw by the mounting screw on recessed shoulder 141 and convex shoulder 131
The bar portion of axis 151 realizes the fixed position relative of angle between the two.The axis of screw and the bar portion axis for adjusting bolt axle 151
To being mutually perpendicular to.
The axis of the bolt axle 151 is perpendiculared to one another with the axis of screw rod 6.
The industrial camera 16 is bolted by a camera installing plate 15 with the second pinboard 14；Industrial camera 16
It is connect with camera lens 17.
The axis of the camera lens 17 is coplanar with the axis of screw rod 6, can pass through the opposite of the first pinboard 13 and the second pinboard 14
Rotation realizes that the two is parallel or intersects.
The industry four-degree-of-freedom robot includes pedestal 2, and the large arm 3 being set on pedestal 2 is set in large arm 3
Forearm 7, the cable 4 being set between pedestal 2 and forearm 7 are installed on 7 upper screw rod 6 of forearm；The pedestal 2 and large arm 3 constitute one
A rotary joint, the large arm 3 constitute a rotary joint with forearm 7, and the screw rod 6 and forearm 7 constitute a rotary joint
With a linear joint perpendicular to 2 bottom surface direction of pedestal, three rotations that they constitute industrial four-degree-of-freedom robot are closed
Section and a linear joint.
The parallelly opening-and-closing type Pneumatic paw mechanism includes sequentially connected lower stop block 8, guide shaft support from top to bottom
9, cylinder mounting plate 10, parallelly opening-and-closing type Pneumatic paw 11, profiling gripper 12；
The guide shaft support 9 hugs structure with screw thread and is installed on screw rod 6, and with 8 following table of lower stop block on screw rod 6
Face fits；Install stop block 5 in the upper end of screw rod 6；Upper stop block 5 and lower stop block 8 move up and down to limit screw rod 6
Stroke range；
Cylinder mounting plate 10 is connected using screw with 11 bottom surface of parallelly opening-and-closing type Pneumatic paw, and the first pinboard 13 uses screw
It is fixed on 10 side of cylinder mounting plate；Cylinder mounting plate 10 and guide shaft support 9 are fixed together by screw；
The profiling gripper 12 is fixed together by screw with parallelly opening-and-closing type Pneumatic paw 11, to realize different sizes
The clamping of electronic component.
The side of the workbench 1, the i.e. lower section of profiling gripper 12 are provided with one for transporting the transport platform of pcb board 18
20；Inside transport platform 20 be equipped with a collimated backlight source 19, light source area >=pcb board 18 area in collimated backlight source 19, with
Guarantee that the plate face of entire pcb board 18 has preferable lighting effect.
Above-mentioned parallelly opening-and-closing type Pneumatic paw mechanism, industrial camera 16 constitute mechanical arm tail end trick structure, it can be with
Screw rod 6 realizes planar movement in space, and Z-direction moves up and down and 6 axis rotation of wire winding rod.
Profiling gripper 12 has shoulder block, and expand Pneumatic paw grabs size range, it can be achieved that various sizes of different
The clamping of type electronic component and inserting, clamping size range take 4~12mm.
As described above, the utility model can be realized preferably.
The embodiments of the present invention is simultaneously not restricted to the described embodiments, other are any without departing from the utility model
Made changes, modifications, substitutions, combinations, simplifications under spiritual essence and principle, should be equivalent substitute mode, are included in
Within the protection scope of the utility model.
Claims (6)
1. a kind of electronic component hand eye coordination plug-in mechanism based on robot, including the industry four being set on workbench (1)
Degree of freedom robot；The industry four-degree-of-freedom robot includes the screw rod (6) being installed on forearm (7)；Pacify the lower end of screw rod (6)
Equipped with a parallelly opening-and-closing type Pneumatic paw mechanism；It is characterized by: the side of the parallelly opening-and-closing type Pneumatic paw mechanism connects
There is a movable changeover mechanism for mounting industrial camera (16)；
The activity changeover mechanism includes the first pinboard (13), the second pinboard (14)；First pinboard (13) has
One convex shoulder (131), the second pinboard (14) have a recessed shoulder (141) corresponding with convex shoulder (131), and the convex shoulder (131) is placed in
In recessed shoulder (141), and convex shoulder (131) and recessed shoulder (141) are movably connected by bolt axle (151), make the second switching
Plate (14) is rotated around bolt axle (151)；
The axis of the bolt axle (151) is perpendiculared to one another with the axis of screw rod (6).
2. the electronic component hand eye coordination plug-in mechanism based on robot according to claim 1, it is characterised in that: the work
Industry camera (16) is bolted by a camera installing plate (15) with the second pinboard (14)；Industrial camera (16) and camera lens
(17) it connects.
3. the electronic component hand eye coordination plug-in mechanism based on robot according to claim 2, it is characterised in that: the mirror
The axis of head (17) is coplanar with the axis of screw rod (6), can pass through the relative rotation of the first pinboard (13) and the second pinboard (14) reality
Both existing parallel or intersection.
4. the electronic component hand eye coordination plug-in mechanism based on robot according to claim 2, it is characterised in that: the work
Industry four-degree-of-freedom robot includes pedestal (2), the large arm (3) being set on pedestal (2), the forearm being set on large arm (3)
(7), the cable (4) being set between pedestal (2) and forearm (7) is installed on forearm (7) upper screw rod (6)；
The pedestal (2) and large arm (3) constitute a rotary joint, and the large arm (3) and forearm (7) constitute a rotation and close
Section, the screw rod (6) and forearm (7) constitute a rotary joint and a linear joint perpendicular to pedestal (2) bottom surface direction,
They constitute three rotary joints and a linear joint of industrial four-degree-of-freedom robot.
5. the electronic component hand eye coordination plug-in mechanism based on robot according to claim 2, it is characterised in that: described flat
Row open and close type Pneumatic paw mechanism includes sequentially connected lower stop block (8), guide shaft support (9), cylinder installation from top to bottom
Plate (10), parallelly opening-and-closing type Pneumatic paw (11), profiling gripper (12)；
The guide shaft support (9) hugs structure with screw thread and is installed on screw rod (6), and with the lower stop block (8) on screw rod (6)
Lower surface fits；Install stop block (5) in the upper end of screw rod (6)；Upper stop block (5) and lower stop block (8), to limit silk
The stroke range that bar (6) moves up and down；
Cylinder mounting plate (10) is connected using screw with parallelly opening-and-closing type Pneumatic paw (11) bottom surface, and the first pinboard (13) uses spiral shell
Nail is fixed on cylinder mounting plate (10) side；Cylinder mounting plate (10) and guide shaft support (9) are fixed together by screw；
The profiling gripper (12) is fixed together by screw with parallelly opening-and-closing type Pneumatic paw (11), to realize different sizes
The clamping of electronic component.
6. the electronic component hand eye coordination plug-in mechanism based on robot according to claim 2, it is characterised in that: the work
Make the side of platform (1), i.e., is provided with one below profiling gripper (12) for transporting the transport platform (20) of pcb board (18)；Defeated
It send and is equipped with a collimated backlight source (19), light source area >=pcb board (18) area of collimated backlight source (19) inside platform (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820706852.6U CN208289900U (en) | 2018-05-10 | 2018-05-10 | A kind of electronic component hand eye coordination plug-in mechanism based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820706852.6U CN208289900U (en) | 2018-05-10 | 2018-05-10 | A kind of electronic component hand eye coordination plug-in mechanism based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208289900U true CN208289900U (en) | 2018-12-28 |
Family
ID=64727003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820706852.6U Active CN208289900U (en) | 2018-05-10 | 2018-05-10 | A kind of electronic component hand eye coordination plug-in mechanism based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208289900U (en) |
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2018
- 2018-05-10 CN CN201820706852.6U patent/CN208289900U/en active Active
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