CN214381618U - Get multiple discernment positioning system of material paster device - Google Patents
Get multiple discernment positioning system of material paster device Download PDFInfo
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- CN214381618U CN214381618U CN202120249816.3U CN202120249816U CN214381618U CN 214381618 U CN214381618 U CN 214381618U CN 202120249816 U CN202120249816 U CN 202120249816U CN 214381618 U CN214381618 U CN 214381618U
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Abstract
The utility model relates to the field of automatic manufacturing, in particular to a multiple identification and positioning system of a material taking and pasting device; the multiple recognition and positioning system comprises a first recognition module, a second recognition module and a third recognition module, wherein the first recognition module is used for recognizing the position and the angle of the storage tray; the utility model discloses a to the product in carrying, get the material suction nozzle and accomodate the paster groove on the tray and carry out multiple positioning and discernment, not only realized the product angular adjustment in advance before the paster, still effectively avoided getting the material suction nozzle and accomodate the tray because of the produced displacement deviation of mechanical error in reciprocating motion, further improved the precision of paster.
Description
Technical Field
The utility model relates to an automatic make the field, concretely relates to get material paster device's multiple discernment positioning system.
Background
In current printed circuit board production process, need become many fritter finished products with whole board cutting, get material and paster to accomodating the tray to these fritter finished products again, get material and paster in the fritter finished product in-process, all need pass through operating personnel manual operation in the past, it is big not only to adopt manual operation, and production efficiency is low, still can cause the paster precision low, also can bring some pollutions to its surface to the fritter finished product touch during manual operation, influence its performance.
With the continuous development and application of automatic production technology, in order to solve the problems caused by manual material taking and surface mounting, a full-automatic mechanical equipment mode is gradually adopted in the market to take materials and store surface mounting on a cut finished product, in order to ensure the operation accuracy of the full-automatic mechanical equipment, the importance of machine vision in the automation field is increasingly highlighted, and the positioning of the existing material taking and surface mounting device is realized by adopting a mark point to determine the diagonal line of the product, so that the position of the product is obtained, and meanwhile, the angle information is obtained, and the surface mounting accuracy is improved; there are a number of drawbacks with this existing positioning system:
1. although the accuracy of the prior material taking and pasting device is improved in the positioning process, the angle and the position of a product in the transition stage of material taking and pasting cannot be confirmed, so that the material taking device cannot perform angle adjustment in advance before pasting of the product, the workload is increased for the adjustment of the accuracy in the subsequent pasting process, and the production efficiency is reduced;
2. the positioning of the existing material taking and pasting device only positions products on the material taking device in the pasting process, but does not position and identify a pasting groove on a containing tray, and the inaccuracy brought by the displacement and angle error of the containing tray to the pasting is ignored.
Therefore, it is important to the art to design a multiple identification and positioning system for a pick and place device.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide a get material paster device's multiple discernment positioning system, overcome among the prior art defect that the paster precision is low and production efficiency is low.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a get multiple discernment positioning system of material paster device, get the material paster device including the unloading station of placing the product, be provided with get the material paster unit of getting of material module and be provided with the station of accomodating the tray, get the material module and snatch the product on the unloading station and paster to accomodating the tray on the station, its preferred scheme lies in: the multiple identification positioning system comprises a first identification module for identifying the position and the angle of a product, a second identification module for identifying the position and the angle of the accommodating tray and a third identification module for identifying the position and the angle of the material taking module.
Wherein, the preferred scheme is as follows: the first recognition module is fixedly arranged on the blanking station and comprises a first CCD camera used for photographing a product, a first driving assembly used for driving the first CCD camera to move and a first fixing plate fixedly arranged on the blanking station, the first CCD camera is arranged on the first driving assembly, and the first driving assembly is fixed with the blanking station through the first fixing plate.
Wherein, the preferred scheme is as follows: the first driving assembly comprises a first Z-axis motor platform and a first linear motor platform, wherein the first Z-axis motor platform is used for driving the first CCD camera to move up and down, and the first linear motor platform is used for driving the first CCD camera to move horizontally.
Wherein, the preferred scheme is as follows: the second recognition module is fixedly arranged on the material taking and pasting unit and comprises a second CCD camera used for accommodating the tray to take pictures, a second driving assembly used for driving the second CCD camera to move and a second fixing plate fixedly arranged on the material taking and pasting unit, the second CCD camera is arranged on the second driving assembly, and the second driving assembly is fixed with the material taking and pasting unit through the second fixing plate.
Wherein, the preferred scheme is as follows: the second driving assembly comprises a second Z-axis motor platform and a second linear motor platform, wherein the second Z-axis motor platform is used for driving the second CCD camera to move up and down, and the second linear motor platform is used for driving the second CCD camera to move horizontally.
Wherein, the preferred scheme is as follows: the third recognition module is fixedly arranged at the storage station and comprises a third CCD camera used for photographing the material taking module, and the third CCD camera is connected with the storage station.
Wherein, the preferred scheme is as follows: the blanking station comprises a conveying belt for conveying blanking products and a first support for mounting a first identification module, and the first identification module is arranged on the first support to identify the position and the angle of the products on the conveying belt.
Wherein, the preferred scheme is as follows: the material taking module is a material taking suction nozzle, and the material taking paster unit further comprises a rotating piece used for driving the material taking suction nozzle to rotate.
Wherein, the preferred scheme is as follows: the accommodating station comprises a guide rail for installing the third identification module and a moving carrying platform for placing the accommodating tray, and the moving carrying platform can drive the accommodating tray to move along the guide rail.
Wherein, the preferred scheme is as follows: the material taking and pasting device further comprises a main control unit, wherein the main control unit is connected with the multiple identification and positioning system to acquire the position and angle information of the product, the material taking suction nozzle and the storage tray, and controls the material taking module to adjust the position and angle according to the position and angle information of the product, the material taking suction nozzle and the storage tray.
The beneficial effects of the utility model reside in that, compared with the prior art, the utility model discloses a design a high accuracy material picking and mounting device with multiple positioning identification, realized high-efficient and accurate automation material picking and mounting, wherein, through carrying out location and identification to the product in transit, realize carrying out the angle adjustment in advance before the paster to the product, effectively reduced the work load of precision adjustment in the follow-up paster process, effectively improved production efficiency; furthermore, by positioning and identifying the patch slot on the accommodating tray, displacement and angle errors of the accommodating tray are effectively avoided, and the patch accuracy is improved; furthermore, the material taking suction nozzle is positioned and identified, so that the displacement of the material taking suction nozzle caused by mechanical errors in the working process is effectively avoided, and the accuracy of surface mounting is further improved.
Drawings
The invention will be further explained with reference to the drawings and examples, wherein:
fig. 1 is a schematic structural diagram of a multiple identification positioning system of a material pick-up and placement device according to the present invention;
fig. 2 is a schematic structural diagram of a first identification module in the present invention;
fig. 3 is a schematic structural diagram of a second identification module in the present invention;
fig. 4 is a schematic structural diagram of a third identification module in the present invention;
fig. 5 is a schematic structural view of a blanking station in the present invention;
fig. 6 is a schematic structural view of the material taking and pasting unit of the present invention;
fig. 7 is a schematic structural diagram of the storage station in the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a multi-recognition positioning system for a pick-and-place device.
The utility model provides a get multiple discernment positioning system of material paster device, refers to fig. 1, gets material paster device including the unloading station 1 of placing the product, be provided with get material module 21 get material paster unit 2 and be provided with the station 3 of accomodating tray 31, get material module 21 and snatch the product on unloading station 1 and the paster to accomodating tray 31 on the station 3, multiple discernment positioning system is including the first identification module 41 that is used for discerning product position and angle, is used for discerning the second identification module 42 of accomodating tray 31 position and angle and is used for discerning the third identification module 43 of getting material module 21 position and angle.
Specifically, a patch slot for product patch is arranged on the receiving tray 31; after laser cutting is carried out on the printed circuit board, a plurality of small products are formed and then are discharged, and then need to be sorted and stored, after the products are discharged, the products can be conveyed to the material taking and pasting unit 2 through the discharging station 1, then are grabbed through the material taking module 21 on the material taking and pasting unit 2, and are pasted on a storage tray 31 on the storage station 3; in the whole process of conveying and taking the materials for mounting, in order to accurately grasp and mount the products into the mounting grooves on the accommodating tray 31, the products need to be positioned; in the prior art, generally, a CCD positioning and identifying system is arranged on a product conveying device or a material taking and pasting device, the CCD positioning and identifying system is used to obtain the position and angle information of a product to be pasted, and the product to be pasted is grabbed and pasted according to the position and angle information, the method can only obtain the position information of the product, can not obtain the position and angle of a suction nozzle used for grabbing the product with the paste on the material taking and pasting device, and can not obtain the position and angle of a paste groove, even if the positions of the suction nozzle and the paste groove are confirmed in advance before the material is pasted, the positions of the suction nozzle and the paste groove can not be guaranteed in the process of grabbing and pasting in a reciprocating manner, in the actual situation, the suction nozzle and the paste groove can not displace easily due to mechanical errors in the process of the continuous reciprocating movement of the paste device, thus, in the prior art, a recognition system adopting single CCD for positioning cannot realize high-precision material taking and surface mounting; in the embodiment, by designing the multiple identification and positioning system of the material taking and pasting device, the multiple identification and positioning system comprises a first identification module 41 which is arranged on the blanking station 1 and used for identifying the position and the angle of a product, a second identification module 42 which is arranged on the material taking and pasting unit 2 and used for identifying the position and the angle of the accommodating tray 31, and a third identification module 43 which is arranged on the accommodating station 3 and used for identifying the position and the angle of the material taking module 21, and multiple positioning and identification are respectively carried out on the product, the material taking module 21 and the accommodating tray 31, the position and the angle information of the whole period of the product to be pasted before grabbing, after grabbing and pasting can be realized, the errors of material taking and pasting are effectively reduced, the material taking and pasting accuracy is further improved, and the real high-precision material taking and pasting is realized.
Furthermore, get material paster device still includes the main control unit, the main control unit is connected with multiple discernment positioning system in order to acquire the product, get the material suction nozzle and accomodate the position and the angle information of tray to according to this product, get the material suction nozzle and accomodate the position and the angle information control of tray and get the material module and carry out position and angle adjustment.
Specifically, when a product to be subjected to surface mounting is output to a material taking and surface mounting module area through a blanking station 1, the first identification module 41 identifies the position and the angle of the product, transmits the identified position and angle information of the product before surface mounting to the main control unit, and after the main control unit acquires the position and angle information, adjusts the position and the angle of the material taking module before material taking in advance to accurately grab the product; before the material taking module carries out surface mounting, the second identification module 42 identifies the position and the angle of a surface mounting groove on the storage tray 31 and sends the identified position and angle information to the main control unit, the third identification module 43 identifies the position and the angle of the material taking module and a product on the material taking module and transmits the identified position and angle information to the main control unit, and the main control unit adjusts the position and the angle of the material taking module before surface mounting to realize more accurate surface mounting after acquiring the position and the angle information of the material taking module and the surface mounting groove.
Get material paster device and not only can realize the product snatch with paste the dress and accomodate the full-automatic flow of in-process, can also snatch and the paster operation to a plurality of products simultaneously, the device can realize getting the material paster to the small-size circuit board product that the size is little to 4mm, its paster precision can all reach 0.05mm in x direction and y direction, can reach 0.5 degree in the angle, its processing speed of getting the material paster can reach 2500 PS/hour.
As shown in fig. 2, the present invention provides a preferred embodiment of the first identification module.
Referring to fig. 2, the first recognition module 41 is fixedly disposed on the discharging station 1, and includes a first CCD camera 411 for photographing a product, a first driving assembly for driving the first CCD camera 411 to move, and a first fixing plate 412 fixedly disposed on the discharging station 1, wherein the first CCD camera 411 is disposed on the first driving assembly, and the first driving assembly is fixed to the discharging station 1 through the first fixing plate 412.
Specifically, the first driving assembly comprises a first Z-axis motor platform 413 and a first linear motor platform 414, wherein the first Z-axis motor platform 413 is used for driving the first CCD camera 411 to move up and down, the first linear motor platform 414 is used for driving the first CCD camera 411 to move horizontally, when the unloading station 1 conveys a product to be pasted to the lower side of the first CCD camera 411, the first linear motor platform 414 controls the first CCD camera 411 to move right above the product to be pasted, and the first Z-axis motor platform 413 precisely adjusts the object distance of the first CCD camera 411 so that the first CCD camera 411 can acquire a clear image of the product.
As shown in fig. 3, the present invention provides a preferred embodiment of the second identification module.
Referring to fig. 3, the second recognition module is fixedly disposed on the material taking and mounting unit 2, and includes a second CCD camera 421 for taking a picture of the tray 32, a second driving assembly for driving the second CCD camera 421 to move, and a second fixing plate 422 fixedly disposed on the material taking and mounting unit 2, wherein the second CCD camera 421 is disposed on the second driving assembly, and the second driving assembly is fixed to the material taking and mounting unit 2 through the second fixing plate 422.
Specifically, the second driving assembly comprises a second Z-axis motor platform 423 used for driving the second CCD camera 421 to move up and down and a second linear motor platform 424 used for driving the second CCD camera 421 to move horizontally, before the material taking assembly 21 is subjected to surface mounting, the second linear motor platform 424 controls the second CCD camera 421 to move above the storage tray 32, and the second Z-axis motor platform 423 precisely adjusts the shooting object distance of the second CCD camera 421, so that the second CCD camera 421 can acquire a clear image of the storage tray 32, further, the second recognition unit performs mark point analysis on the image to acquire the position and angle information of the storage tray 32, and sends the position and angle information to the main control unit.
As shown in fig. 4, the present invention provides a preferred embodiment of the third identification module.
Referring to fig. 4, the third recognition module is fixedly disposed on the storage station 3, and includes a third CCD camera 431 for taking a picture of the material taking module 31, and the third CCD camera 431 is connected to the storage station 3.
Specifically, the third CCD camera is used for photographing the material taking module to acquire the position and angle information of the material taking module, and sending the position and angle information to the main control unit.
As shown in fig. 5, the present invention provides a preferred embodiment of the blanking station.
Referring to fig. 5, the blanking station includes a conveyor belt 11 for conveying a blanked product and a first bracket 12 for mounting a first recognition module, which is disposed on the first bracket 12 to perform position and angle recognition on the product on the conveyor belt 11.
Specifically, after laser cutting is carried out on the printed circuit board, the conveying belt 11 which can form a plurality of small products and then pass through the discharging station is discharged to the material taking and pasting unit, and the position and angle information of the product before material taking can be accurately acquired by arranging the first identification module above the conveying belt.
As shown in fig. 6, the present invention provides a preferred embodiment of the material pick-up and placement unit.
Referring to fig. 6, the material taking module 21 is a material taking nozzle, and the material taking and mounting unit further includes a fixing plate 22 for mounting the second identification module 42 and a rotating member for driving the material taking nozzle 21 to rotate.
Specifically, the material taking module can be provided with a plurality of suction nozzles so as to take materials and patch a plurality of products at the same time; the rotating piece can be a rotating motor and is used for driving the material taking suction nozzle to rotate so as to grab a product.
As shown in fig. 7, the present invention provides a preferred embodiment of the receiving station.
Referring to fig. 7, the receiving station includes a guide rail 32 for mounting the third recognition module 43 and a moving stage 33 for placing the receiving tray 31, and the moving stage 33 drives the receiving tray 31 to move along the guide rail 32.
Specifically, a patch groove for accommodating a product is formed in the accommodating tray 31, the moving carrier 33 is used for driving the accommodating tray 31 to move along the guide rail 32, before material patch is taken, the moving carrier 33 drives the accommodating tray 31 to move along the guide rail 32 to a material-taking patch unit, the material-taking patch unit grabs the product and patches the product to the patch groove on the accommodating tray 31, and after patch is completed, the accommodating tray 31 is driven to move along the guide rail 32 by the moving carrier 33, wherein the position and angle information of the material-taking suction nozzle after the product is grabbed can be accurately acquired by installing the third identification module 43 at the accommodating station, and the position and angle information of the accommodating tray 31 identified by the second identification module are combined, so that the angle and position of the material-taking suction nozzle are adjusted, and the patch accuracy is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, which is intended to cover all equivalent changes and modifications made within the scope of the present invention.
Claims (10)
1. The utility model provides a get multiple discernment positioning system of material paster device, gets material paster device including the unloading station of placing the product, be provided with get material module get material paster unit and be provided with the station of accomodating the tray, get the material module and snatch product and paster on the unloading station to accomodating in the tray on the station, its characterized in that: the multiple identification positioning system comprises a first identification module for identifying the position and the angle of a product, a second identification module for identifying the position and the angle of the accommodating tray and a third identification module for identifying the position and the angle of the material taking module.
2. The multiple identification location system of claim 1, wherein: the first recognition module is fixedly arranged on the blanking station and comprises a first CCD camera used for photographing a product, a first driving assembly used for driving the first CCD camera to move and a first fixing plate fixedly arranged on the blanking station, the first CCD camera is arranged on the first driving assembly, and the first driving assembly is fixed with the blanking station through the first fixing plate.
3. The multiple-recognition positioning system of claim 2, wherein: the first driving assembly comprises a first Z-axis motor platform and a first linear motor platform, wherein the first Z-axis motor platform is used for driving the first CCD camera to move up and down, and the first linear motor platform is used for driving the first CCD camera to move horizontally.
4. The multiple identification location system of claim 1, wherein: the second recognition module is fixedly arranged on the material taking and pasting unit and comprises a second CCD camera used for accommodating the tray to take pictures, a second driving assembly used for driving the second CCD camera to move and a second fixing plate fixedly arranged on the material taking and pasting unit, the second CCD camera is arranged on the second driving assembly, and the second driving assembly is fixed with the material taking and pasting unit through the second fixing plate.
5. The multiple identification location system of claim 4, wherein: the second driving assembly comprises a second Z-axis motor platform and a second linear motor platform, wherein the second Z-axis motor platform is used for driving the second CCD camera to move up and down, and the second linear motor platform is used for driving the second CCD camera to move horizontally.
6. The multiple identification location system of claim 1, wherein: the third recognition module is fixedly arranged at the storage station and comprises a third CCD camera used for photographing the material taking module, and the third CCD camera is connected with the storage station.
7. The multiple identification location system of claim 1, wherein: the blanking station comprises a conveying belt for conveying blanking products and a first support for mounting a first identification module, and the first identification module is arranged on the first support to identify the position and the angle of the products on the conveying belt.
8. The multiple identification location system of claim 1, wherein: the material taking module is a material taking suction nozzle, and the material taking paster unit further comprises a rotating piece used for driving the material taking suction nozzle to rotate.
9. The multiple identification location system of claim 1, wherein: the accommodating station comprises a guide rail for installing the third identification module and a moving carrying platform for placing the accommodating tray, and the moving carrying platform can drive the accommodating tray to move along the guide rail.
10. The multiple identification and location system of any one of claims 1-9, wherein: the material taking and pasting device further comprises a main control unit, wherein the main control unit is connected with the multiple identification and positioning system to acquire the position and angle information of the product, the material taking suction nozzle and the storage tray, and controls the material taking module to adjust the position and angle according to the position and angle information of the product, the material taking suction nozzle and the storage tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120249816.3U CN214381618U (en) | 2021-01-28 | 2021-01-28 | Get multiple discernment positioning system of material paster device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120249816.3U CN214381618U (en) | 2021-01-28 | 2021-01-28 | Get multiple discernment positioning system of material paster device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214381618U true CN214381618U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120249816.3U Active CN214381618U (en) | 2021-01-28 | 2021-01-28 | Get multiple discernment positioning system of material paster device |
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| Country | Link |
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| CN (1) | CN214381618U (en) |
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2021
- 2021-01-28 CN CN202120249816.3U patent/CN214381618U/en active Active
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