CN219908089U - Automatic dispensing equipment based on visual positioning - Google Patents

Abstract

The utility model relates to the technical field of circuit board dispensing, in particular to an automatic dispensing device based on visual positioning, which comprises a host, wherein a dispensing bin for dispensing is formed in the host; the dispensing bin is internally provided with a plurality of groups of tray components used for placing the circuit board, and is also provided with a dispensing component used for dispensing, wherein the dispensing component is connected with the X-Z displacement mechanism and moves along with the X-Z displacement mechanism to be adjusted to the position of the tray component for alignment; and a plurality of position detection cameras are further arranged in the dispensing bin and used for acquiring the alignment state of the dispensing assembly and the material tray assembly and feeding back detection results to the control assembly, and the control assembly is used for controlling the X-Z displacement mechanism to adjust the position of the dispensing assembly so as to realize alignment. Through setting up X-Z and moving the displacement mechanism in order to drive the dispensing subassembly and carry out the position movement and right the charging tray subassembly, still carry out visual identification and detect in order to carry out the position correction to improve the accuracy of dispensing, the yields of circuit board, the degree of automation and the dispensing quality of dispensing work.

Description

Automatic dispensing equipment based on visual positioning

Technical Field

The utility model relates to the technical field of circuit board dispensing, in particular to automatic dispensing equipment based on visual positioning.

Background

In the medical equipment production industry, especially the point gum field of integrated circuit board, all rely on mechanical type to walk the position mode of gluing for a long time, and the position point is glued to each point and is set up according to the theory distance of the two adjacent point of integrated circuit board glues the position, and integrated circuit board carries out the point through the appearance border simultaneously and glues the location. The mechanical dispensing mode has great error, and the quality of dispensing and the yield of the circuit board are difficult to ensure.

Specifically, in the dispensing process, the conventional mechanical dispensing point gum simply depends on the fixed dispensing point to perform dispensing operation, and due to the size deviation of the size of the integrated circuit board, the positioning accuracy of the circuit board, the distance error between the positions of the circuit board and the like, the dispensing accuracy and the dispensing quality are greatly affected, and meanwhile, the dispensing quality between different circuit boards is uneven, so that the quality cannot be ensured. If the deviation of a certain position is too large, the scrapping of the integrated circuit board is directly caused, and the production cost of the product is greatly increased.

In view of this situation, it is very necessary to develop a new dispensing device to change the traditional dispensing mode, improve the dispensing efficiency, improve the dispensing quality, and avoid frequent scrapping of the integrated circuit board. Therefore, a more reasonable technical scheme is required to be provided, and the technical problems in the prior art are solved.

Disclosure of Invention

At least to overcome the defects mentioned in the foregoing, the present utility model proposes an automatic dispensing device based on visual positioning, which performs real-time position monitoring and correction by moving a dispensing head in a three-dimensional coordinate system and performing visual recognition, so as to help to improve the precision of dispensing operation, thereby improving the dispensing quality and the yield of a circuit board.

In order to achieve the above purpose, the dispensing device disclosed by the utility model can adopt the following technical scheme:

an automatic dispensing device based on visual positioning comprises a host, wherein a dispensing bin for dispensing is formed in the host; the dispensing bin is internally provided with a plurality of groups of tray components for placing the circuit board and a dispensing component for dispensing, and the dispensing component is connected with the X-Z displacement mechanism and moves along with the X-Z displacement mechanism to be adjusted to the position of the tray component for alignment; and a plurality of position detection cameras are further arranged in the dispensing bin and used for acquiring the alignment state of the dispensing assembly and the material tray assembly and feeding back detection results to the control assembly, and the control assembly is used for controlling the X-Z displacement mechanism to adjust the position of the dispensing assembly so as to realize alignment.

According to the automatic dispensing equipment, the X-Z displacement mechanism is used for driving the dispensing assembly to adjust the positions of the dispensing assembly in the X direction and the Z direction so as to align the circuit board to be dispensed, and the detecting camera is used for visually detecting the dispensing position, so that the position of the dispensing assembly is corrected, the dispensing position is more accurate, the dispensing accuracy of the circuit board is improved, and the yield of the circuit board is improved.

Further, the composition of the dispensing assembly is not limited to only one, and a variety of possible options may be employed, where optimization is performed and one of the possible options is set forth: the dispensing assembly comprises a dispensing head and a dispensing camera used for shooting the dispensing process of the dispensing head and the circuit board. When the scheme is adopted, the glue dispensing head is connected with the glue solution supply system, and the glue supply pipeline is used for supplying glue solution to the glue dispensing head.

Further, in the visual inspection, the dispensing head is inspected from a plurality of angles, which is not particularly limited, and is optimized and one of the possible choices is presented herein: the position detection camera comprises a plane detection camera, the plane detection camera is perpendicular to the dispensing plane of the circuit board and synchronously ascends and descends along with the dispensing component in the Z direction, and the plane detection camera is used for acquiring the position difference between the dispensing component and the point to be dispensed on the dispensing plane and feeding back the detection result to the control component. When the scheme is adopted, the dispensing plane is an X-Y plane, and when the plane detection camera detects the dispensing plane, the image of the dispensing plane is obtained, and the position of the dispensing component is obtained at the same time, so that whether the position of the dispensing component reaches the designated position can be judged through image recognition analysis.

Further, in addition to the detection of the X-Y plane, the detection of the distance between the dispensing assembly and the circuit board is also required, where optimization is performed and one of the possible choices is presented: the position detection camera also comprises a height detection camera which is fixedly arranged and used for acquiring the height difference between the dispensing assembly and the dispensing plane and feeding back the detection result to the control assembly. When the scheme is adopted, the number of the height detection cameras is not limited only, the height detection cameras can be independently arranged on each tray assembly, and the plurality of tray assemblies can be detected by one height detection camera.

Further, before dispensing, the position of the dispensing assembly in the coordinate system needs to be corrected in order to maintain the accuracy of dispensing, and one of the possible choices is optimized and proposed here: the position detection camera also comprises a correction detection camera, wherein the correction detection camera is vertical to the dispensing face upwards and is used for correcting the dispensing center of the dispensing assembly. When the scheme is adopted, the correction detection camera is positioned below the dispensing assembly and fixed at a designated position in a coordinate system, and the dispensing assembly is moved to the correction detection camera for alignment when correction is carried out.

Further, in the present utility model, the possible solutions for the X-Z displacement mechanism are not limited only, and are optimized and one of the possible options is presented here: the X-Z displacement mechanism comprises an X-direction driving track, an X-direction displacement connecting block which moves back and forth along the X-direction driving track, a Z-direction driving track connected to the X-direction displacement connecting block and a Z-direction displacement connecting block which moves back and forth along the Z-direction driving track, and the dispensing component moves synchronously along with the Z-direction displacement connecting block. When the scheme is adopted, the unique X-direction mechanism drives the Z-direction displacement mechanism to reciprocate in the X-direction, and meanwhile, the Z-direction displacement mechanism drives the dispensing assembly to reciprocate in the Z-direction, so that the dispensing assembly moves in the X-direction and is switched to different tray assemblies, and the dispensing assembly is lifted in the Z-direction to be close to or far away from the circuit board.

Still further, in order to achieve X-Z displacements and to perform the displacements with high precision, optimization is performed here and some of the possible choices are presented: the X-Z displacement mechanism adopts a telescopic rod mechanism or a threaded rod mechanism to carry out reciprocating displacement in the X direction and the Z direction. When the scheme is adopted, the telescopic rod mechanism can adopt an air cylinder mechanism or a hydraulic cylinder mechanism, and the threaded rod mechanism can be driven by a servo motor.

Further, the tray assembly is used to hold the circuit board, where optimization is performed and one possible option is presented: the tray assembly comprises a Y-displacement mechanism and a tray which moves reciprocally along with the Y-displacement mechanism. When adopting such scheme, set up location structure on the charging tray subassembly and be used for placing the location, still be provided with and compress tightly the structure and compress tightly fixedly the circuit board. And the Y-displacement mechanism can adopt a similar telescopic rod mechanism or a threaded rod mechanism to drive the charging tray to reciprocate.

Further, in the present utility model, the host integrates automation control, where the optimization is performed and one of the possible choices is presented: the host machine is also provided with a control chamber, the control component is arranged in the control chamber, an operation component is arranged outside the dispensing bin, and the operation component is electrically connected with the control component.

Further, in the present utility model, a material opening is formed on the host machine, and the tray assembly extends to the material opening and is used for feeding or discharging the tray to the material opening.

Compared with the prior art, the technical scheme disclosed by the utility model has the following partial beneficial effects:

according to the utility model, the X-Z displacement mechanism is arranged to drive the dispensing assembly to carry out position displacement and align the charging tray assembly, and visual identification detection is carried out to carry out position correction before dispensing, so that the accuracy of dispensing is improved, the yield of a circuit board is improved, and the automation degree and the dispensing quality of dispensing work are greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of an automatic dispensing device.

Fig. 2 is a schematic structural diagram of an automatic dispensing device in a dispensing bin.

Fig. 3 is a schematic structural diagram of the automatic dispensing device in the dispensing bin after the host is removed.

Fig. 4 is an enlarged schematic view of a partial structure at a in fig. 3.

In the above figures, the meaning of each reference numeral is:

1. a host; 2. dispensing bin; 3. a material port; 4. a control room; 5. an alarm mechanism; 6. a walking mechanism; 7. an operating assembly; 8. an X-direction driving track; 9. x-way displacement connecting block; 10. a Z-direction drive rail; 11. z-direction displacement connecting block; 12. dispensing heads; 13. a plane detection camera; 14. a dispensing camera; 15. a Y-displacement mechanism; 16. a material tray; 17. a height detection camera; 18. the detection camera is corrected.

Detailed Description

The utility model is further illustrated by the following description of specific embodiments in conjunction with the accompanying drawings.

Aiming at the situation that the conventional dispensing equipment is positioned only by mechanical running and is not corrected according to the actual alignment condition, so that the dispensing is not accurate enough and a circuit board is easily damaged to cause scrapping, the following embodiments are optimized to overcome the defects in the prior art.

Examples

As shown in fig. 1 to 4, the present embodiment provides an automatic dispensing device based on visual positioning, which includes a main machine 1, wherein a dispensing bin 2 for dispensing is formed in the main machine 1; the dispensing bin 2 is internally provided with a plurality of groups of material tray 16 assemblies for placing the circuit board, and is also provided with a dispensing assembly for dispensing, wherein the dispensing assembly is connected with an X-Z displacement mechanism and moves along with the X-Z displacement mechanism to be adjusted to the position of the material tray 16 assembly for alignment; the dispensing bin 2 is also internally provided with a plurality of position detection cameras for acquiring the alignment state of the dispensing assembly and the material tray 16 assembly and feeding back the detection result to a control assembly, and the control assembly is used for controlling the X-Z displacement mechanism to adjust the position of the dispensing assembly so as to realize alignment.

Preferably, in this embodiment, two sets of tray 16 assemblies are provided and feeding and discharging are performed respectively, and the dispensing assembly switches dispensing between the two sets of trays 16.

The automatic dispensing equipment disclosed by the embodiment drives the dispensing assembly to adjust the positions of the dispensing assembly in the X direction and the Z direction through the X-Z displacement mechanism so as to align the circuit board to be dispensed, and performs visual detection on the dispensing position through the detection camera, so that the position of the dispensing assembly is corrected, the dispensing position is more accurate, the dispensing accuracy of the circuit board is improved, and the yield of the circuit board is improved.

The composition of the dispensing assembly is not limited to a single one, and may be selected from a variety of possible choices, and the present embodiment is optimized and selected from one of the possible choices: the dispensing assembly includes a dispensing head 12 and a dispensing camera 14 for capturing a dispensing process of the dispensing head 12 and the circuit board. When the scheme is adopted, the glue dispensing head 12 is connected with a glue solution supply system, and a glue supply pipeline is used for supplying glue solution to the glue dispensing head 12.

In performing the visual inspection, the dispensing head 12 is inspected from a plurality of angles, particularly but not exclusively, the present embodiment is optimized and one of the possible choices is adopted: the position detection camera comprises a plane detection camera 13, the plane detection camera 13 is perpendicular to a dispensing plane of the circuit board and synchronously rises and falls along the Z direction along with the dispensing component, and the plane detection camera 13 is used for acquiring the position difference between the dispensing component and a point to be dispensed on the dispensing plane and feeding back the detection result to the control component. When the scheme is adopted, the dispensing plane is an X-Y plane, and when the plane detection camera 13 detects the dispensing plane, the image of the dispensing plane is acquired, and the position of the dispensing component is acquired at the same time, so that whether the position of the dispensing component reaches the designated position can be judged through image recognition analysis.

In addition to the detection of the X-Y plane, the detection of the distance between the dispensing assembly and the circuit board is also required, and this embodiment is optimized and uses one of the possible choices: the position detection camera also comprises a height detection camera 17, wherein the height detection camera 17 is fixedly arranged and used for acquiring the height difference between the dispensing component and the dispensing plane and feeding back the detection result to the control component. When the scheme is adopted, the number of the height detection cameras 17 is not limited only, the height detection cameras 17 can be arranged on each tray 16 assembly independently, and the plurality of tray 16 assemblies can be detected by one height detection camera 17.

Preferably, in this embodiment, a height detecting camera 17 is provided to detect the dispensing height of the two sets of trays 16.

Before dispensing, the position of the dispensing assembly in the coordinate system needs to be corrected so as to maintain the accuracy of dispensing, and this embodiment is optimized and adopts one of the possible choices: the position detecting camera further comprises a correction detecting camera 18, wherein the correction detecting camera 18 is vertical to the dispensing face upwards and is used for correcting the dispensing center of the dispensing assembly. When the scheme is adopted, the correction detection camera 18 is positioned below the dispensing assembly and fixed at a designated position in a coordinate system, and the dispensing assembly is moved to the correction detection camera 18 for alignment when correction is carried out.

In this embodiment, the X-Z displacement mechanism may be implemented by a scheme that is not limited only, but is optimized and one of the possible options is adopted in this embodiment: the X-Z displacement mechanism comprises an X-direction driving track 8, an X-direction displacement connecting block 9 which moves back and forth along the X-direction driving track 8, a Z-direction driving track 10 which is connected to the X-direction displacement connecting block 9, and a Z-direction displacement connecting block 11 which moves back and forth along the Z-direction driving track 10, wherein the dispensing component moves synchronously along with the Z-direction displacement connecting block 11. When the scheme is adopted, the unique X-direction mechanism drives the Z-direction displacement mechanism to reciprocate in the X-direction, and meanwhile, the Z-direction displacement mechanism drives the dispensing assembly to reciprocate in the Z-direction, so that the dispensing assembly moves in the X-direction and is switched to different tray 16 assemblies, and the dispensing assembly is lifted in the Z-direction to be close to or far away from the circuit board.

In order to achieve X-Z displacement and to perform displacement with high accuracy, this embodiment is optimized and uses some of the possible choices: the X-Z displacement mechanism adopts a telescopic rod mechanism or a threaded rod mechanism to carry out reciprocating displacement in the X direction and the Z direction. When the scheme is adopted, the telescopic rod mechanism can adopt an air cylinder mechanism or a hydraulic cylinder mechanism, and the threaded rod mechanism can be driven by a servo motor.

Preferably, in the embodiment, the X-displacement mechanism adopts a telescopic rod structure to push the X-displacement connecting block 9 to move along the X-direction driving track 8, and the Z-displacement mechanism adopts a threaded rod mechanism to push the Z-displacement connecting block 11 to move along the Z-direction driving track 10.

The tray 16 assembly is used to house circuit boards, and this embodiment is optimized and uses one of the possible options: the tray 16 assembly comprises a Y-displacement mechanism 15 and a tray 16 which moves reciprocally along with the Y-displacement mechanism 15. When adopting this scheme, set up location structure on the charging tray 16 subassembly and be used for placing the location, still be provided with and compress tightly the structure and compress tightly fixedly the circuit board. And the Y-displacement mechanism 15 may employ a similar telescopic rod mechanism or threaded rod mechanism to drive the tray 16 to reciprocate.

Preferably, the Y-displacement mechanism 15 in this embodiment employs a telescopic rod mechanism to push the tray 16 to reciprocate.

In this embodiment, the host 1 integrates an automation control, which is optimized and adopts one of the possible choices: the host computer 1 still be formed with control room 4, control assembly sets up in control room 4, and the outside of some glue storehouses 2 is provided with operating element 7, operating element 7 be connected with the control assembly electricity.

In this embodiment, the main machine 1 is formed with a material port 3, and the tray 16 assembly extends to the material port 3 and is used for feeding or discharging the tray 16 to the material port 3.

Preferably, in this embodiment, a travelling mechanism 6 is further disposed below the host 1, and an alarm mechanism 5 is further disposed on the host 1, where the alarm mechanism 5 is connected to the control component and is controlled by the control component to start or stop.

According to the dispensing device disclosed in the embodiment, a working example is listed, and the process is as follows:

the circuit board is placed in the left tray, the circuit board is tightly pressed with the tray, the left starting button is pressed, and the tray is withdrawn after the left station machine automatically completes the feeding and dispensing processes. In the left dispensing waiting process, the circuit board is placed in the right tray, so that the circuit board and the tray are tightly attached and compacted, the right starting button is pressed, and the tray is withdrawn after the feeding and dispensing processes are automatically completed by the right station machine. And in the right dispensing waiting process, taking the left station to finish dispensing the circuit board and placing a new circuit board. After the dispensing of the right station is completed, the left starting button is pressed down, and the circulation is orderly and alternately performed, so that the uninterrupted automatic dispensing production of the double stations is realized.

According to the automatic dispensing device disclosed by the embodiment, the following effects can be achieved:

1. the intelligent recognition and positioning are realized by matching with the visual positioning function, and the positioning precision is high;

2. the gantry motion structure is efficient and reliable in motion, strong in expandability and wide in application range;

3. the use function is obvious, and the high-precision dispensing requirement of the circuit board can be rapidly and efficiently realized;

4. the equipment has simple structure, convenient processing and manufacturing and low production cost;

5. the equipment is simple and convenient to use, easy to operate, double-station structure and high in production efficiency.

The application field of the automatic dispensing equipment disclosed by the embodiment is wide, and the automatic dispensing equipment comprises:

1. the high-precision dispensing device is suitable for high-precision dispensing requirements of integrated circuit boards of different types and sizes;

2. the method is suitable for visual positioning and high-precision dispensing of various panel products;

3. the structure can be considered to be used at the position with high-precision dispensing requirement, so that the rapid and efficient production of products can be realized;

4. the vision application principle and the mechanism principle can be applied to the places where the machine, the equipment or the parts have intelligent identification and positioning and high-precision movement requirements.

The above is an embodiment exemplified in this example, but this example is not limited to the above-described alternative embodiments, and a person skilled in the art may obtain various other embodiments by any combination of the above-described embodiments, and any person may obtain various other embodiments in the light of this example. The above detailed description should not be construed as limiting the scope of the present embodiments, which is defined in the appended claims.

Claims (10)

1. Automatic dispensing equipment based on visual positioning, its characterized in that: comprises a host machine (1), wherein a dispensing bin (2) for dispensing is formed in the host machine (1); a plurality of groups of material trays (16) for placing the circuit boards are arranged in the dispensing bin (2), and dispensing assemblies for dispensing are also arranged, and are connected with the X-Z displacement mechanism and are moved and adjusted to the positions of the material trays (16) along with the X-Z displacement mechanism to be aligned; and a plurality of position detection cameras are further arranged in the dispensing bin (2) and used for acquiring the alignment state of the dispensing assembly and the material tray (16) assembly, the detection result is fed back to the control assembly, and the control assembly is used for controlling the X-Z displacement mechanism to adjust the position of the dispensing assembly so as to realize alignment.

2. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the dispensing assembly comprises a dispensing head (12) and a dispensing camera (14) for shooting the dispensing process of the dispensing head (12) and the circuit board.

3. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the position detection camera comprises a plane detection camera (13), the plane detection camera (13) is perpendicular to a dispensing plane of the circuit board and synchronously ascends and descends along with the dispensing component in the Z direction, and the plane detection camera (13) is used for acquiring the position difference between the dispensing component and a point to be dispensed on the dispensing plane and feeding back a detection result to the control component.

4. A vision positioning based automatic dispensing apparatus as claimed in claim 1 or 3, wherein: the position detection camera also comprises a height detection camera (17), wherein the height detection camera (17) is fixedly arranged and used for acquiring the height difference between the dispensing assembly and the dispensing plane and feeding back the detection result to the control assembly.

5. A vision positioning based automatic dispensing apparatus as claimed in claim 1 or 3, wherein: the position detection camera also comprises a correction detection camera (18), wherein the correction detection camera (18) is vertical to the dispensing face upwards and is used for correcting the dispensing center of the dispensing assembly.

6. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the X-Z displacement mechanism comprises an X-direction driving track (8) and an X-direction displacement connecting block (9) which moves back and forth along the X-direction driving track (8), and also comprises a Z-direction driving track (10) connected to the X-direction displacement connecting block (9) and a Z-direction displacement connecting block (11) which moves back and forth along the Z-direction driving track (10), wherein the dispensing component moves synchronously along with the Z-direction displacement connecting block (11).

7. The vision-positioning-based automatic dispensing apparatus of claim 1 or 6, wherein: the X-Z displacement mechanism adopts a telescopic rod mechanism or a threaded rod mechanism to carry out reciprocating displacement in the X direction and the Z direction.

8. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the tray (16) assembly comprises a Y-displacement mechanism (15) and a tray (16) which moves reciprocally along with the Y-displacement mechanism (15).

9. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the host computer (1) still be formed with control room (4), control assembly sets up in control room (4), and the outside of some glue storehouses (2) is provided with operating element (7), operating element (7) be connected with the control assembly electricity.

10. The vision positioning-based automatic dispensing apparatus of claim 1, wherein: the main machine (1) is provided with a material opening (3), and the material tray (16) component extends to the material opening (3) and is used for conveying the material tray (16) to the material opening (3) for feeding or discharging.