CN208307899U - A kind of multi-spindle machining hand configuration vision system puts catcher - Google Patents
A kind of multi-spindle machining hand configuration vision system puts catcher Download PDFInfo
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- CN208307899U CN208307899U CN201820622540.7U CN201820622540U CN208307899U CN 208307899 U CN208307899 U CN 208307899U CN 201820622540 U CN201820622540 U CN 201820622540U CN 208307899 U CN208307899 U CN 208307899U
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Abstract
The utility model relates to plate processing equipment accessory technical fields, in particular disclose a kind of multi-spindle machining hand configuration vision system puts catcher, including rack, be respectively arranged at rack for receiving mechanism, elevating mechanism, transfer positioning mechanism, dust-sticking mechanism, vision positioning mechanism and six axis robot, in use, elevating mechanism is used to pick up the plate carried for receiving mechanism and plate rise；The plate that transfer positioning mechanism carrying elevating mechanism is risen, dust-sticking mechanism are dusted plate；The position of vision positioning mechanism positioning plate；Plate is delivered to process equipment and the plate after processing is delivered to for receiving mechanism by six axis robot；Without operating personnel manually by process equipment blowing, the plate processing caused by reducing because of manual work is bad, realizes that plate enters the high accuracy positioning and high-efficiency homework of process equipment, processing yield and processing efficiency of the service hoisting process equipment to plate.
Description
Technical field
The utility model relates to plate processing equipment accessory technical fields, in particular disclose a kind of multi-spindle machining hand configuration view
Feel system puts catcher.
Background technique
In the manufacturing process of printed circuit board (PCB) and flexible circuit board (FPC), with electronic product it is light, it is thin, short,
The continuous development and environmental requirement of smallization are more stringent, and some traditional production technologies and process have been unable to meet actual production
Demand, some new production technologies and process also continue to bring out.
Laser direct imaging technology (is commonly called as LDI), be the method based on laser scanning directly by image on circuit boards at
Picture, image is finer than conventional exposure, and fine wire is up to 20um or so；Laser direct imaging technology also eliminates traditional exposure
Egative film process in photoreduction process, saves time and raw material cost.
Automatic optics inspection (is commonly called as AOI), is based on optical principle come common scarce to what is encountered during board production
It is trapped into one of important procedure of row detection, by using AOI as the tool for reducing defect, can be searched in production process early stage
It avoids for bad plate being sent to the subsequent production phase, repairing can be substantially reduced to realize good processing procedure control with elimination mistake
Cost.
Character spray printing (is commonly called as text spray printing), is the working principle with addition process, according to CAM make Gerber data,
It will solidify immediately in specific text ink jet printing to circuit board and by ultraviolet lamp again, to complete circuit board printing word
Operation makes the text printout time very brief using character spray printing, and it is left to shorten 70% than the production cycle of traditional fabrography
The right side, expense needed for a large amount of expensive devices of purchase can also be saved, moreover it is possible to avoid bring waste water produced by existing text printout.
Laser direct imaging technology, automatic optics inspection, character spray printing are high-precision production technologies, to the essence of production
It spends more demanding, mainly plate is put into process equipment manually using operating personnel in the prior art, construction equipment to be added is complete
After the processing of pair of plate members, operating personnel again takes out plate, but position when plate is put into process equipment by operating personnel
Accuracy rate is lower, and operating personnel picks and places plate efficiency also extremely lowly to process equipment manually, leads to the manufacturing yield of plate
It is lower, and manufacture efficiency is low.
Utility model content
In order to overcome shortcoming and defect existing in the prior art, the purpose of this utility model is to provide a kind of multiaxis machines
Tool hand configuration vision system puts catcher, without operating personnel manually by process equipment blowing, reduces because of manual work institute
Caused by plate processing it is bad, realize that plate enters the high accuracy positioning and high-efficiency homework of process equipment, service hoisting processing
Processing yield and processing efficiency of the equipment to plate.
To achieve the above object, a kind of multi-spindle machining hand of the utility model configures the catcher of putting of vision system, packet
Including rack, be respectively arranged at rack for receiving mechanism, elevating mechanism, transfer positioning mechanism, dust-sticking mechanism, vision positioning mechanism
And six axis robot, elevating mechanism are located at the top for receiving mechanism, elevating mechanism is used to pick up to be carried for receiving mechanism
Extraneous plate simultaneously rises the plate picked up；Transfer positioning mechanism includes the objective table for being movably set in rack, objective table
The plate risen for carrying elevating mechanism, objective table are equipped with multiple absorption holes for carried plate to be sucked；Binding dust
The plate that mechanism is used to carry objective table is dusted；Vision positioning mechanism carries objective table after dust-sticking mechanism dedusting
Plate carry out shooting image and according to the position of captured framing plate；Six axis robot includes being movably set in machine
Six shaft mechanical arms of frame, be set to six shaft mechanical arms end pick-up piece, pick-up piece for pick up vision positioning mechanism positioning
Plate afterwards, six axis robot are used to for plate being delivered to extraneous process equipment and carry out processing and convey the plate after processing
To for receiving mechanism.
Preferably, the transfer positioning mechanism includes being set to the first support of rack, and objective table is movably set in first
Bracket, for dust-sticking mechanism between first support and elevating mechanism, dust-sticking mechanism is located at the top of objective table, and dust-sticking mechanism is equipped with
The binding dust wheel of rotation, the plate that binding dust wheel is used to carry objective table are dusted.
Preferably, the dust-sticking mechanism further includes the second support for being installed in rack, the branch for being movably set in second support
Support, binding dust wheel include the elastic wheel body for being rotatably dispose in support frame, the dust sticky paper for being set around the external side of elastic wheel, and dust sticky paper uses
It is dusted in the plate carried to objective table.
Preferably, the objective table include the support board for being movably set in rack, two actuators for being installed in support board,
Two calibration plates connecting respectively with the output end of two actuators, support board are drawn hole and are arranged in loading for carrying plate
On plate, two actuators are for driving two calibration plates close to each other or away from each other, the moving direction and support board of calibration plate
Moving direction it is arranged in a crossed manner, calibration plate is for contradicting the plate that support board is carried.
Preferably, the support board is set there are two blind slot is limited, and two limit blind slots are recessed from the two sides of support board respectively
It forms, the bottom wall of two limit blind slots for contradicting two calibration plates respectively.
Preferably, the vision positioning mechanism includes the third bracket for being installed in rack, is slideably positioned in third bracket
Industrial camera is bolted in third bracket and is used to drive the screw rod part of industrial camera, and industrial camera is located at the top of objective table, spiral shell
Rod piece is for driving industrial camera close to or far from objective table.
Preferably, the pick-up piece includes the 4th bracket for being installed in the end of six shaft mechanical arms, is installed in the 4th bracket
Two elastic suction nozzles, two elastic suction nozzles are located at the two sides of the 4th bracket, and elastic suction nozzle is for drawing plate.
Preferably, described for receiving mechanism includes the supply assembly and rewinding component for being respectively arranged at rack, supply assembly
Positioned at the lower section of elevating mechanism, elevating mechanism is for picking up the plate that supply assembly is carried；Six axis robot is used for plate
Extraneous process equipment is delivered to process and the plate after processing is delivered to rewinding component.
The utility model has the beneficial effects that in use, elevating mechanism is used to pick up the plate carried for receiving mechanism simultaneously
Plate rises；The plate that transfer positioning mechanism carrying elevating mechanism is risen, dust-sticking mechanism are dusted plate；Vision positioning
The position of mechanism positioning plate；Plate is delivered to process equipment and the plate after processing is delivered to for rewinding by six axis robot
Mechanism；Without operating personnel manually by process equipment blowing, the plate processing caused by reducing because of manual work is bad, realizes plate
Part enters the high accuracy positioning and high-efficiency homework of process equipment, and service hoisting process equipment is to the processing yield of plate and processing
Efficiency.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is the main view of the six axis robot of the utility model；
Fig. 4 is the main view of the dust-sticking mechanism of the utility model；
Fig. 5 is the top view of the transfer positioning mechanism of the utility model；
Fig. 6 is the main view of the vision positioning mechanism of the utility model.
Appended drawing reference includes:
1-rack 2-is for 3-elevating mechanism of receiving mechanism
4-transfer positioning mechanism 5-dust-sticking mechanism, 6-vision positioning mechanisms
7-six axis robot, 8-six shaft mechanical 9-pick-up piece of arm
91-the four bracket 92-elastic suction nozzle, 11-binding dust wheel
12-13-dust sticky paper of elastic wheel body, 14-support boards
15-calibration plate 16-limit, 17-industrial cameras of blind slot
18-screw rod part 19-supply assembly, 21-rewinding components.
Specific embodiment
For the ease of the understanding of those skilled in the art, the utility model is made below with reference to examples and drawings further
Explanation, the content that embodiment refers to not is restriction to the utility model.
Shown in please referring to Fig.1 to Fig.3, a kind of the putting for multi-spindle machining hand configuration vision system of the utility model receives plate dress
Set, including rack 1, rack 1 is made of metal material, be separately mounted in rack 1 for receiving mechanism 2, elevating mechanism 3,
Transfer positioning mechanism 4, dust-sticking mechanism 5, vision positioning mechanism 6 and six axis robot 7 are used to carry the external world for receiving mechanism 2
Plate, elevating mechanism 3 are located at the top for receiving mechanism 2, and elevating mechanism 3 is for picking up the plate carried for receiving mechanism 2
And the plate picked up is risen；Transfer positioning mechanism 4 includes the objective table (unlabeled in figure) being movably arranged in rack 1,
Objective table is provided on objective table for carrying the plate that elevating mechanism 3 is risen for the multiple of carried plate to be sucked
It draws hole (unlabeled in figure), during objective table is mobile, prevents plate from moving relative to objective table；Dust-sticking mechanism 5
Plate for being carried to objective table is dusted；Vision positioning mechanism 6 carries objective table after 5 dedusting of dust-sticking mechanism
Plate carries out shooting image and according to the position where captured framing plate；Six axis robot 7 includes activity setting
Six shaft mechanical arms 8 in rack 1, the pick-up piece 9 being arranged on the end of six shaft mechanical arms 8, pick-up piece 9 is for picking up vision
Plate after the positioning of positioning mechanism 6, six axis robot 7 are used to for plate being delivered to extraneous process equipment and carry out processing and will add
Plate after work is delivered to for receiving mechanism 2.
In actual use, it is used to carry extraneous plate for receiving mechanism 2, elevating mechanism 3 is for picking up for receiving mechanism 2
The plate and plate carried is raised above, and the objective table of transfer positioning mechanism 4 is moved to the lower section of elevating mechanism 3, is then risen
The plate risen is placed on objective table by descending mechanism 3, and absorption hole is sucked plate and makes plate strong fix on objective table,
Then the plate carried is moved near dust-sticking mechanism 5 by objective table, and the plate that dust-sticking mechanism 5 carries objective table carries out
Dedusting；Vision positioning mechanism 6 positions the position for the plate that objective table after dedusting mechanism dedusting is carried；Six axis machines
The pick-up piece 9 of tool hand 7 picks up the plate after vision positioning mechanism 6 positions again, and plate is delivered to process equipment and is processed,
Plate after then six axis robot 7 again processes process equipment is delivered to for receiving mechanism 2；It will add manually without operating personnel
Construction equipment blowing, the plate processing caused by reducing because of manual work is bad, realizes that plate enters the high-precision fixed of process equipment
Position and high-efficiency homework, processing yield and processing efficiency of the service hoisting process equipment to plate.
Shown in please referring to Fig.1 to Fig.4, the transfer positioning mechanism 4 includes the first support that is arranged in rack 1 (in figure
It is unlabeled), objective table is movably arranged in first support, and in the present embodiment, objective table is slidably arranged in first support, and first
Be installed on bracket for driving objective table close to or far from the driving motor of elevating mechanism 3 or driving cylinder, dust-sticking mechanism 5
Between first support and elevating mechanism 3, dust-sticking mechanism 5 is located at the top of objective table, and dust-sticking mechanism 5 is provided with the binding dust of rotation
Wheel 11, the plate that binding dust wheel 11 is used to carry objective table are dusted.
In actual use, the plate that objective table carrying elevating mechanism 3 rises, and plate is moved to the viscous of dust-sticking mechanism 5
The lower section of dirt wheel 11, binding dust wheel 11 contradict on the plate that objective table is carried, objective table continues to move to, until binding dust wheel 11 from
One end of plate is rolled to the other end of plate, is removed the grit on plate using binding dust wheel 11, to complete dust-sticking mechanism 5
Dedusting operation to plate.
The dust-sticking mechanism 5 further includes the second support (unlabeled in figure) being installed in rack 1, is movably arranged on second
Support frame (unlabeled in figure) on bracket, the elastic wheel body 12 of free end of the binding dust wheel 11 including being rotatably arranged on support frame,
It is wound around the dust sticky paper 13 in elastic 12 outside of wheel body, the plate that dust sticky paper 13 is used to carry objective table is dusted.
After plate body is moved to the lower section of dust-sticking mechanism 5 by objective table, the related binding dust wheel 11 of second support is moved down,
So that binding dust wheel 11 contradicts on plate body, using the elasticity of elastic wheel body 12, prevent binding dust wheel 11 from damaging plate body, it is preferable that bullet
Property wheel body 12 be made of silica gel；Dust sticky paper 13 is used to adhere to grit on plate, when a dust sticky paper 13 sticks grit can not
When continuing to use, it is disassembled from elastic wheel body 12, re-replaces new dust sticky paper 13.
It please refers to shown in Fig. 1 to Fig. 5, the objective table includes the support board 14 being movably arranged in rack 1, is installed in load
Two actuators (unlabeled in figure) on object plate 14, two calibration plates 15 being connect respectively with the output end of two actuators,
The substantially rectangular plate of support board 14, two actuators are respectively positioned on the lower section of support board 14, and support board 14 is for carrying elevator
The plate that structure 3 is risen is drawn hole and is arranged on support board 14, draws hole and runs through support board 14, draws hole and extraneous pump gas
Component (such as vacuum pump) connection, two actuators are for driving two calibration plates 15 close to each other or away from each other, calibration plate
The moving direction of 15 moving direction and support board 14 is arranged in a crossed manner, in the present embodiment, the moving direction of calibration plate 15 and loading
The moving direction of plate 14 is mutually perpendicular to each parallel to horizontal plane, the moving direction of the moving direction and support board 14 of calibration plate 15,
Calibration plate 15 is for contradicting the plate that support board 14 is carried.
After the plate that objective table carrying elevating mechanism 3 rises, two actuators drive two calibration plates 15 towards each other
Close direction is mobile, until two calibration plates 15 are contradicted respectively on the two sides of plate, then extraneous pump pneumatic module starting,
Plate is sucked using hole is drawn, plate is steadily located on support board 14.
Setting is there are two blind slot 16 is limited on the support board 14, and two limit blind slots 16 are respectively from the two sides of support board 14
Recessed to form, the bottom wall of two limit blind slots 16 for contradicting two calibration plates 15 respectively；When two actuators drive two schools
When quasi- plate 15 is close to each other, calibration plate 15 is mobile relative to support board 14, until the bottom wall of limit blind slot 16 contradicts calibration plate 15, prevents
Only two calibration plates 15 crush plate because excessive close.
It please refers to shown in Fig. 1 to Fig. 6, the vision positioning mechanism 6 includes the third bracket that is installed in rack 1 (in figure
It is unlabeled), the industrial camera 17 that is slidably arranged on third bracket, be screwed on third bracket and for driving industrial camera 17
The screw rod part 18 of opposite third bracket slide, industrial camera 17 are located at the top of objective table, and screw rod part 18 is for driving industrial phase
Machine 17 is close to or far from objective table.According to actual needs, industrial camera 17 and 14 institute of support board are adjusted via rotation screw rod part 18
The distance between plate of carrying size, it is ensured that industrial camera 17 can shoot clearly plate image.Preferably, elasticity is inhaled
Mouth 92 is made of silica gel.
Preferably, the elastic suction nozzle 92 is slidably arranged on the 4th bracket 91, and the outer sheath of elastic suction nozzle 92 is equipped with bullet
Spring (unlabeled in figure), the both ends of spring are contradicted respectively on elastic suction nozzle 92 and on the 4th bracket 91, the driving of six shaft mechanical arms 8
When pick-up piece 9 picks up plate, the impact force between the further snubber elastomeric suction nozzle 92 of the expansion performance of spring and plate is utilized.
The pick-up piece 9 includes the 4th bracket 91 being installed on the end of six shaft mechanical arms 8, is installed in the 4th bracket 91
On two elastic suction nozzles 92, two elastic suction nozzles 92 are located at the two sides up and down of the 4th bracket 91, and elastic suction nozzle 92 is used for
Draw plate.When elastic suction nozzle 92 draws plate, using the elastic buffer impact force between the two of elastic suction nozzle 92 itself,
Prevent pick-up piece 9 from damaging plate.In actual use, process equipment is drawn using the elastic suction nozzle 92 of 91 side of the 4th bracket to process
Plate afterwards draws the plate of generation processing using the elastic suction nozzle 92 of 91 other side of the 4th bracket, and service hoisting is for rewinding efficiency.
Shown in please referring to Fig.1 to Fig.3, the supply assembly 19 and receipts for receiving mechanism 2 including being respectively arranged at rack 1
Expect component 21, for supplying plate to be processed, rewinding component 21 is used to carry the plate after processing supply assembly 19, prevent to
The plate of processing and the plate generation after processing are mutually obscured, and supply assembly 19 is located at the lower section of elevating mechanism 3, elevating mechanism 3
The plate carried for picking up supply assembly 19；Six axis robot 7 is used to for plate to be delivered to extraneous process equipment and carry out
It processes and the plate after processing is delivered to rewinding component 21.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (8)
1. a kind of multi-spindle machining hand configuration vision system puts catcher, it is characterised in that: including rack, be respectively arranged at machine
Frame for receiving mechanism, elevating mechanism, transfer positioning mechanism, dust-sticking mechanism, vision positioning mechanism and six axis robot, elevator
Structure is located at the top for receiving mechanism, and elevating mechanism is used to pick up the plate in the external world carried for receiving mechanism and will be picked up
Plate rise；Transfer positioning mechanism includes the objective table for being movably set in rack, and objective table is risen for carrying elevating mechanism
The plate risen, objective table are equipped with multiple absorption holes for carried plate to be sucked；Dust-sticking mechanism is for holding objective table
The plate of load is dusted；The plate that vision positioning mechanism carries objective table after dust-sticking mechanism dedusting carries out shooting image simultaneously
According to the position of captured framing plate；Six axis robot includes the six shaft mechanical arms for being movably set in rack, setting
Pick-up piece in the end of six shaft mechanical arms, pick-up piece are used to pick up the plate after the positioning of vision positioning mechanism, six axis robot
Process and the plate after processing is delivered to for receiving mechanism for plate to be delivered to extraneous process equipment.
2. multi-spindle machining hand configuration vision system according to claim 1 puts catcher, it is characterised in that: the shifting
Carrying positioning mechanism includes being set to the first support of rack, and objective table is movably set in first support, and dust-sticking mechanism is located at first
Between bracket and elevating mechanism, dust-sticking mechanism is located at the top of objective table, and dust-sticking mechanism is equipped with the binding dust wheel of rotation, and binding dust wheel is used
It is dusted in the plate carried to objective table.
3. multi-spindle machining hand configuration vision system according to claim 2 puts catcher, it is characterised in that: described viscous
Dirt mechanism further includes the second support for being installed in rack, the support frame for being movably set in second support, and binding dust wheel includes that rotation is set
It is placed in the elastic wheel body of support frame, is set around the dust sticky paper of the external side of elastic wheel, dust sticky paper is used for the plate carried to objective table
Part is dusted.
4. multi-spindle machining hand configuration vision system according to claim 1 puts catcher, it is characterised in that: the load
Object platform includes the support board for being movably set in rack, two actuators for being installed in support board, defeated with two actuators respectively
Two calibration plates of outlet connection, support board are drawn hole and are arranged on support board, two actuators are for driving for carrying plate
Dynamic two calibration plates are close to each other or away from each other, and the moving direction of calibration plate and the moving direction of support board are arranged in a crossed manner, school
Quasi- plate is for contradicting the plate that support board is carried.
5. multi-spindle machining hand configuration vision system according to claim 4 puts catcher, it is characterised in that: the load
Object plate is set there are two blind slot is limited, and two limit blind slots are formed from the two sides of support board are recessed respectively, the bottom of two limit blind slots
Wall for contradicting two calibration plates respectively.
6. multi-spindle machining hand configuration vision system according to claim 1 puts catcher, it is characterised in that: the view
Feel that positioning mechanism includes the third bracket for being installed in rack, the industrial camera for being slideably positioned in third bracket, is bolted in third branch
Frame and the screw rod part for being used to drive industrial camera, industrial camera are located at the top of objective table, and screw rod part is for driving industrial camera
Close to or far from objective table.
7. multi-spindle machining hand configuration vision system according to claim 1 puts catcher, it is characterised in that: described to pick up
Pickup includes the 4th bracket for being installed in the end of six shaft mechanical arms, two elastic suction nozzles for being installed in the 4th bracket, two bullets
Property suction nozzle be located at the two sides of the 4th bracket, elastic suction nozzle is for drawing plate.
8. multi-spindle machining hand configuration vision system according to claim 1 puts catcher, it is characterised in that: the confession
Receiving mechanism includes the supply assembly and rewinding component for being respectively arranged at rack, and supply assembly is located at the lower section of elevating mechanism, is risen
Descending mechanism is for picking up the plate that supply assembly is carried；Six axis robot be used to for plate being delivered to extraneous process equipment into
Row is processed and the plate after processing is delivered to rewinding component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820622540.7U CN208307899U (en) | 2018-04-27 | 2018-04-27 | A kind of multi-spindle machining hand configuration vision system puts catcher |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820622540.7U CN208307899U (en) | 2018-04-27 | 2018-04-27 | A kind of multi-spindle machining hand configuration vision system puts catcher |
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| Publication Number | Publication Date |
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| CN208307899U true CN208307899U (en) | 2019-01-01 |
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| CN201820622540.7U Active CN208307899U (en) | 2018-04-27 | 2018-04-27 | A kind of multi-spindle machining hand configuration vision system puts catcher |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109650060A (en) * | 2019-02-01 | 2019-04-19 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board cleaning line receives plate connecting line equipment automatically |
| CN109682837A (en) * | 2019-02-28 | 2019-04-26 | 深圳市宝盛自动化设备有限公司 | A kind of full-automatic LCD lighting check machine |
| CN110271872A (en) * | 2019-07-10 | 2019-09-24 | 迅得机械（东莞）有限公司 | A kind of manipulator collocation reading code puts catcher automatically |
| CN111477558A (en) * | 2020-04-28 | 2020-07-31 | 天津福莱迪科技发展有限公司 | Visual detection equipment of product |
-
2018
- 2018-04-27 CN CN201820622540.7U patent/CN208307899U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109650060A (en) * | 2019-02-01 | 2019-04-19 | 广东若贝特智能机器人科技有限公司 | A kind of pcb board cleaning line receives plate connecting line equipment automatically |
| CN109682837A (en) * | 2019-02-28 | 2019-04-26 | 深圳市宝盛自动化设备有限公司 | A kind of full-automatic LCD lighting check machine |
| CN110271872A (en) * | 2019-07-10 | 2019-09-24 | 迅得机械（东莞）有限公司 | A kind of manipulator collocation reading code puts catcher automatically |
| CN110271872B (en) * | 2019-07-10 | 2024-05-14 | 迅得机械（东莞）有限公司 | Automatic board releasing and collecting device for matching and reading codes by mechanical arm |
| CN111477558A (en) * | 2020-04-28 | 2020-07-31 | 天津福莱迪科技发展有限公司 | Visual detection equipment of product |
| CN111477558B (en) * | 2020-04-28 | 2020-12-25 | 天津福莱迪科技发展有限公司 | Visual detection equipment of product |
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