CN212580931U

CN212580931U - Circuit board grabbing device based on machine vision

Info

Publication number: CN212580931U
Application number: CN202020785272.8U
Authority: CN
Inventors: 裴楚君
Original assignee: Linksense Shenzhen Co ltd
Current assignee: Linksense Shenzhen Co ltd
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-02-23
Anticipated expiration: 2030-05-13

Abstract

The utility model discloses a circuit board grabbing device based on machine vision, the circuit board grabbing device comprises a conveying mechanism, the conveying mechanism comprises a driving component and a conveying component which are arranged on a frame, the conveying component comprises a plurality of rollers which are arranged at intervals and a supporting pad which is sleeved on the rollers at even intervals, the driving component drives the rollers to rotate to drive the supporting pad to rotate so as to convey a circuit board which is positioned on the supporting pad; the robot is arranged close to the conveying mechanism, and a grabbing mechanism for grabbing the circuit board is arranged at the free end of a mechanical arm of the robot; the image acquisition mechanism comprises a support frame and a camera arranged on the support frame, and the camera is positioned above the roller; and the processing terminal is electrically connected with the conveying mechanism, the robot and the camera. The utility model discloses technical scheme reduces the damage to the circuit board when aiming at reduction in production cost.

Description

Circuit board grabbing device based on machine vision

Technical Field

The utility model relates to an industrial robot technical field, in particular to circuit board grabbing device based on machine vision.

Background

With the continuous development and perfection of industrial robots, the industrial robots are widely applied. At present, industrial robots are widely applied to monotonous or complex operations such as welding, carrying, assembling, spraying, trimming, picking, packaging, stacking, feeding and discharging, a large amount of labor cost is saved for enterprises, and the labor productivity is greatly improved. As an indispensable important equipment and means in the modern industrial field, robots have become an important mark for measuring the science and technology and the manufacturing level of a country.

At present, a circuit board needs to be transported in a processing process and transported from one position to another position, the manual transportation cost is high, the efficiency is low, and in the robot transportation process, the circuit component can be damaged due to the fact that the robot arm does not accurately grasp the circuit board.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a circuit board grabbing device based on machine vision reduces the damage to the circuit board when aiming at reduction in production cost.

In order to achieve the above object, the utility model provides a circuit board grabbing device based on machine vision includes:

the conveying mechanism comprises a driving assembly and a conveying assembly which are arranged on the frame, the conveying assembly comprises a plurality of rollers which are arranged at intervals and supporting pads which are sleeved on the rollers at uniform intervals, and the driving assembly drives the rollers to rotate to drive the supporting pads to rotate so as to convey the circuit board on the supporting pads;

the robot is arranged close to the conveying mechanism, and a grabbing mechanism for grabbing the circuit board is arranged at the free end of a mechanical arm of the robot;

the image acquisition mechanism comprises a support frame and a camera arranged on the support frame, and the camera is positioned above the roller;

a processing terminal electrically connected with the conveying mechanism, the robot, and the camera.

Further, the material of supporting pad is silica gel.

Further, the image acquisition mechanism also comprises a sensor arranged on the support frame, the sensor is arranged close to the camera, and the sensor is electrically connected with the processing terminal.

Further, the driving assembly comprises a driving motor and a chain, the driving motor and the chain are arranged on the rack, a driven wheel is arranged at the end of the roller, and the driving wheel of the rotating shaft of the driving motor and the driven wheel are sleeved with the chain.

Further, the circuit board grabbing device still includes the light source, the light source is located the frame just is located the below of camera.

Furthermore, the grabbing mechanism comprises a servo motor and a screw rod connected with the servo motor, two ends of the screw rod are respectively provided with a clamping block, the servo motor drives the screw rod to rotate so as to drive the two clamping blocks to be close to or away from each other, and therefore the two clamping blocks clamp or loosen the circuit board.

Further, snatch the mechanism and still including locating the mount pad of arm, the mount pad encloses to establish and is formed with the mounting groove, the lead screw is located the lateral wall of mounting groove, the diapire of mounting groove is equipped with the spout, the one end of clamp splice is passed the spout with lead screw sliding connection.

Further, the robot arm is a robot arm having 6 degrees of freedom.

The utility model discloses technical scheme is through adopting the image of camera acquisition circuit board, handles and the spatial position of discernment circuit board through processing terminal to control the mechanical arm and snatch suitable position, not only avoid damaging circuit element, can snatch the removal that the mechanism was snatched in root circuit board size and position adjustment moreover, snatch the circuit board with the accuracy. In addition, the mechanical arm simulates the grabbing action and function of hands and arms, and replaces heavy labor of people to realize mechanization and automation of production, so that the production efficiency is improved, and the cost is reduced. The supporting pad can avoid the wearing and tearing that the rotation of cylinder caused the circuit board in transportation process, thereby the supporting pad can support the circuit board moreover and be convenient for snatch the circuit board, further improves and snatchs efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a circuit board gripping device according to the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a schematic structural diagram of the grasping mechanism in fig. 1.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Circuit board gripping device	222	Clamping block
10	Conveying mechanism	223	Screw mandrel
				11	Rack	224	Mounting seat
121	Driving motor	2241	Mounting groove
				13	Conveying assembly	2242	Sliding chute
131	Roller	30	Image acquisition mechanism
				1311	Driven wheel	31	Supporting frame
132	Supporting pad	32	Camera with a camera module
				20	Robot	33	Sensor with a sensor element
21	Mechanical arm	40	Processing terminal
				22	Grabbing mechanism	50	Light source
221	Servo motor	200	Circuit board

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a circuit board grabbing device 100 based on machine vision.

Referring to fig. 1 and 2, the circuit board grabbing apparatus 100 includes:

the conveying mechanism 10, the conveying mechanism 10 includes a driving assembly and a conveying assembly 13 which are arranged on the frame 11, the conveying assembly 13 includes a plurality of rollers 131 which are arranged at intervals and supporting pads 132 which are sleeved on the rollers 131 at even intervals, the driving assembly drives the rollers 131 to rotate to drive the supporting pads 132 to rotate, so as to convey the circuit board 200 which is positioned on the supporting pads 132;

the robot 20 is arranged adjacent to the conveying mechanism 10, and the free end of a mechanical arm 21 of the robot 20 is provided with a grabbing mechanism 22 for grabbing the circuit board 200;

the image acquisition mechanism 30, the image acquisition mechanism 30 includes the support frame 31 and locates the camera 32 of the support frame 31, the camera 32 locates above the cylinder 131;

the processing terminal 40, and the processing terminal 40 is electrically connected to the conveying mechanism 10, the robot 20, and the camera 32.

It should be noted that the camera 32 captures an image of the circuit board 200, and the processing terminal 40 is configured to receive the image, perform calculation analysis on the image, obtain a coordinate position of the circuit board 200 on the three-dimensional space coordinate system of the drum 131, and convert coordinates of the circuit board 200 from the three-dimensional space coordinate system of the drum 131 into the coordinate system of the robot 20 so as to control the grasping mechanism 22 to grasp the circuit board.

The shape of the supporting pad 132 is circular ring shape, the circular ring-shaped supporting pad 132 is sleeved on the circumferential wall of the roller 131, and each roller 131 is sleeved with a plurality of supporting pads 132 to adapt to the circuit boards 200 with different sizes. The driving assembly drives the roller 131 to rotate to drive the supporting pad 132 to rotate, thereby realizing the transportation of the circuit board 200.

The utility model discloses technical scheme is through adopting camera 32 to gather circuit board 200's image, handles and discerns circuit board 200's spatial position through processing terminal 40 to control arm 21 snatchs suitable position, not only avoids damaging circuit element, and the size that can root circuit board 200 and position adjustment snatch the removal of mechanism 22 moreover, with the accuracy snatchs circuit board 200. In addition, the mechanical arm 21 simulates the grabbing action and function of a human hand and an arm, and replaces the heavy labor of a human to realize the mechanization and automation of production, thereby improving the production efficiency and reducing the cost. The supporting pad 132 can avoid abrasion to the circuit board 200 caused by rotation of the roller 131 in the conveying process, and the supporting pad 132 can support the circuit board 200 so as to facilitate grabbing of the circuit board 200, thereby further improving grabbing efficiency.

Specifically, the material of the supporting pad 132 is silicone.

In this embodiment, the material of the supporting pad 132 is a soft rubber material, preferably silicone rubber. The silica gel has stable chemical property and good thermal stability, and is convenient to process; and the silica gel has certain elasticity and certain buffering effect. The silica gel pad can with the perisporium interference fit of cylinder 131, can also evenly set up the annular strip on the perisporium of cylinder 131, the inner wall of supporting pad 132 corresponds the annular strip and sets up the spacing groove, so set up the location that not only can realize supporting pad 132, can prevent moreover that supporting pad 132 from removing at will.

Referring to fig. 1, the image capturing mechanism 30 further includes a sensor 33 disposed on the supporting frame 31, the sensor 33 is disposed adjacent to the camera 32, and the sensor 33 is electrically connected to the processing terminal 40.

In this embodiment, the supporting frame 31 may be made of an aluminum alloy section, the supporting frame 31 is disposed in an inverted "L" shape, the camera 32 is disposed on the supporting frame 31, and the sensor 33 is disposed adjacent to the camera 32. The sensor 33 may be an infrared photosensor 33 or an ultrasonic sensor 33. Specifically, the drum 131 rotates to convey the circuit board 200, detects that the circuit board 200 enters the photographing region of the camera 32, stops the operation of the driving assembly, and starts the camera 32 to photograph an image of the circuit board 200. The position of the circuit board 200 on the drum 131 is detected by the sensor 33, and the camera 32 is prevented from shooting all the time, so that the memory of the camera 32 can be reduced.

Referring to fig. 2, the driving assembly includes a driving motor 121 and a chain (not shown) disposed on the frame 11, a driven pulley 1311 is disposed at an end of the drum 131, and a driving pulley (not shown) and the driven pulley 1311 sleeved on a rotation shaft of the driving motor 121 are sleeved by the chain.

Specifically, the driving assembly includes a driving motor 121 and a chain, and the driving motor 121 may be a stepping driving motor 121. After the system is powered on, the point processing terminal 40 monitors the start button on the interface, so as to control the operation of the driving motor 121, the driving motor 121 drives the driving wheel to rotate, and the driving wheel drives the driven wheel 1311 to rotate through the chain, so as to rotate the drum 131.

Referring to fig. 1, the circuit board grabbing device 100 further includes a light source 50, and the light source 50 is disposed on the frame 11 and located below the camera 32.

In the present embodiment, the light source 50 is disposed adjacent to the shooting area, thereby ensuring the sharpness of the shot image and further improving the accuracy of the capturing. In a preferred embodiment, a light refraction plate can be used to effectively convert the parallel light emitted by the light source 50 disposed at the side of the light refraction plate into uniform vertical light, so that the light loss rate is low, the utilization rate is high, the light is uniform and soft, a better image effect can be obtained than that of the conventional light source 50, and a more stable processing result can be provided in the subsequent processing.

Referring to fig. 1 and 3, the grabbing mechanism 22 includes a servo motor 221 and a screw rod 223 connected to the servo motor 221, two ends of the screw rod 223 are respectively provided with a clamping block 222, the servo motor 221 drives the screw rod 223 to rotate so as to drive the two clamping blocks 222 to approach or separate from each other, so that the two clamping blocks 222 clamp or loosen the circuit board 200.

In this embodiment, external threads in opposite directions can be arranged at two ends of the screw rod 223, the slide hole is formed in the two clamping blocks 222, internal threads are arranged on the side wall of the slide hole, the two clamping blocks 222 are respectively sleeved at two ends of the screw rod 223, the servo motor 221 is arranged at one end of the screw rod 223, the input end of the servo motor 221 is electrically connected with the output end of the external switch through a power line, the servo motor 221 drives the screw rod 223 to rotate, and therefore the two clamping blocks 222 are close to or far away from each other. The two clamping blocks 222 are driven to move by one servo motor 221, so that the overall structure is very simple, and the miniaturization design of the grabbing mechanism 22 is facilitated.

Referring to fig. 3, the grabbing mechanism 22 further includes a mounting seat 224 disposed on the mechanical arm 21, the mounting seat 224 is surrounded to form a mounting groove 2241, the screw rod 223 is disposed on a side wall of the mounting groove 2241, a sliding groove 2242 is disposed on a bottom wall of the mounting groove 2241, and one end of the clamping block 222 passes through the sliding groove 2242 and is slidably connected with the screw rod 223.

In this embodiment, the screw rod 223 is rotatably connected to the sidewall of the mounting groove 2241, the surface of the mounting seat 224 is provided with a sliding groove 2242, and the portion of the clamping block 222 penetrating through the sliding groove 2242 can slide in the sliding groove 2242. The distance that the clamping block 222 moves is the length of the sliding slot 2242, so the length of the sliding slot 2242 can be set as required. The servo motor 221 drives the screw rod 223 to rotate, so that the two clamping blocks 222 slide in the slide groove 2242.

Specifically, the robot arm 21 is a robot arm having 6 degrees of freedom.

In this embodiment, the mechanical arm 21 may be a 6-degree-of-freedom mechanical arm, and is composed of 4 TR213 steering engines and 2 TR205 steering engines, and the operating range of each steering engine is 0 to 180 degrees, so that the position of the mechanical arm 21 can be adjusted conveniently. It should be noted that, the peripheral outline of the workpiece is identified in the processing terminal 40 through image morphology and image thinning processing technology, and the processing terminal 40 is connected with the multi-axis motion controller on the robot 20 to send an instruction to the robot 20, adjust the pose of the mechanical arm 21, and complete the accurate grabbing of the circuit board 200.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A circuit board grabbing device based on machine vision, characterized by comprising:

2. The machine-vision-based circuit board grabbing device of claim 1, wherein the material of the supporting pad is silicone.

3. The machine-vision-based circuit board gripping device of claim 2, wherein the image capturing mechanism further comprises a sensor disposed on the support frame, the sensor is disposed adjacent to the camera, and the sensor is electrically connected to the processing terminal.

4. The machine vision-based circuit board gripping device as claimed in claim 1, wherein the driving assembly comprises a driving motor and a chain, the driving motor and the chain are arranged on the frame, a driven wheel is arranged at an end of the roller, and the chain is sleeved on a driving wheel and the driven wheel of a rotating shaft of the driving motor.

5. The machine-vision-based circuit board grasping apparatus according to claim 1, wherein the circuit board grasping apparatus further includes a light source disposed on the frame and below the camera.

6. The circuit board grabbing device based on machine vision of any one of claims 1 to 5, wherein the grabbing mechanism comprises a servo motor and a screw rod connected with the servo motor, two ends of the screw rod are respectively provided with a clamping block, and the servo motor drives the screw rod to rotate so as to drive the two clamping blocks to approach or move away from each other, so that the two clamping blocks clamp or loosen the circuit board.

7. The circuit board grabbing device based on machine vision of claim 6, wherein the grabbing mechanism further comprises a mounting seat arranged on the mechanical arm, the mounting seat is surrounded to form a mounting groove, the lead screw is arranged on the side wall of the mounting groove, the bottom wall of the mounting groove is provided with a sliding groove, and one end of the clamping block passes through the sliding groove to be slidably connected with the lead screw.

8. The machine-vision-based circuit board grasping apparatus according to claim 7, wherein the robot arm is a 6 degree-of-freedom robot arm.