CN108575053A - Electronic component inserts positioning device and automatism card machine - Google Patents
Electronic component inserts positioning device and automatism card machine Download PDFInfo
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- CN108575053A CN108575053A CN201710133349.6A CN201710133349A CN108575053A CN 108575053 A CN108575053 A CN 108575053A CN 201710133349 A CN201710133349 A CN 201710133349A CN 108575053 A CN108575053 A CN 108575053A
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- 206010003830 Automatism Diseases 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 230000005484 gravity Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000002390 adhesive tape Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
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- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of electronic component inserting positioning device and automatism card machines.It includes pin station acquisition device, jack position harvester, processing unit and control unit that electronic component, which inserts positioning device,.Pin station acquisition device includes the first CCD camera for shooting pin image；Jack position harvester includes the second CCD camera for shooting jack image；Processing unit is for receiving and processing coordinate value and second CCD camera coordinate value under camera coordinates system of coordinate value and first CCD camera of coordinate value, jack of the pin under image coordinate system under image coordinate system under camera coordinates system, it is the coordinate value of reference with world coordinate system to obtain pin, jack, the first CCD camera and each leisure of the second CCD camera respectively, and the compensation rate needed for pin and the coincidence of corresponding jack can be calculated；Control unit carries electronic component for control machinery hand and is moved according to compensation rate, to realize the positioning of the pin of electronic component and the jack of PCB.
Description
Technical field
The present invention relates to a kind of electronic component inserting positioning device and automatism card machines.
Background technology
Automatism card machine is by the process equipment of various electronic components inserting to PCB (electronic circuit board) designated position.
Electronic component generally comprises device main body and multiple pins, and PCB is equipped with the jack of the pin of multiple corresponding electronic components.
Automatism card machine include workbench, setting be used for transmission on the table PCB PCB feed units, be used for transmission
The device feed unit of electronic component is used to pick up electronic component from component feeding device and be inserted to substrate
On component pickup unit, and the control unit for controlling each device action.The control list of some automatism card machines
Member includes that electronic component inserts positioning device, and control unit identifies pin position and control component and picks up according to the harvester
Take the moving direction and distance of unit.
Automatism card machine in process of production, PCB is sequentially sent to by PCB feeding devices from the front to the back in the horizontal direction
It waits at card address, electronic component is sequentially sent to and waits at feeding position by component feeding device, component pickup unit
It is taken out from waiting for feeding position and waits for the electronic component of plug-in unit and inserted to PCB.
Assembly of traditional automatism card machine for normal components such as capacitance, resistance on PCB, basic can realize were assembled
Process automation improves production efficiency to a certain extent instead of handwork.However, for terminal, connector, battery case, change
The shaped pieces such as depressor and pin have certain normal components of deformation, dislocation, the electronics member in above-mentioned traditional automatism card machine
The pin location information inaccuracy that device inserting positioning device can acquire, often result in electronic component be mistaken for it is unqualified
It either causes pin to be not aligned with the jack of PCB and plugs by force and cause electronic component to damage or PCB is caused to damage；With
This simultaneously, operating efficiency is also very low.Therefore, it traditional automatism card machine special-shaped electronic component also relatively difficult to achieve and connects
Foot has certain standard electronic components automation inserting of deformation, dislocation.
Above- mentioned information is only used for reinforcing the understanding to the background of the disclosure disclosed in background technology part, therefore it can be with
Including not constituting the information to the prior art known to persons of ordinary skill in the art.
Invention content
To solve the above problem of the prior art, electronics member can be accurately positioned it is an object of the present invention to provide a kind of
The electronic component of device and PCB insert positioning device；
It is another object of the present invention to provide one kind including electronic component of the present invention inserting positioning device or identification
The automatism card machine of device.
According to an aspect of the present invention, a kind of electronic component inserting positioning device, including pin station acquisition device,
Jack position harvester, processing unit and control unit.Wherein pin station acquisition device includes one first CCD camera, institute
The image of pin of first CCD camera for shooting the electronic component is stated, and obtains the pin under image coordinate system
Coordinate value；Jack position harvester includes one second CCD camera, and second CCD camera is used to shoot inserting for the PCB
The image in hole, and obtain coordinate value of the jack under image coordinate system；Processing unit is for receiving and processing the pin
The coordinate value and first CCD camera of coordinate value, the jack under image coordinate system under image coordinate system is in phase
The coordinate value of coordinate value and second CCD camera under camera coordinates system under machine coordinate system, with obtain respectively the pin,
The jack, the first CCD camera and each leisure of the second CCD camera are with the coordinate value that world coordinate system is reference；The processing is single
Member is further ginseng with world coordinate system according to the pin, the jack, the first CCD camera and each leisure of the second CCD camera
The coordinate value examined calculates the pin and overlaps required compensation rate with the corresponding jack, wherein the world coordinate system is
Refer to the reference frame of the manipulator；Control unit carries the electronic component according to described for controlling the manipulator
Compensation rate moves, to realize the positioning of the pin of the electronic component and the jack of the PCB.
According to another aspect of the present invention, a kind of automatism card machine comprising electronic component of the present invention is inserted
Fill positioning device.
As shown from the above technical solution, advantages of the present invention and advantageous effects are：The electronic component of the present invention
Inserting positioning device sets the jack position of pin position and PCB that acquisition electronic component is respectively used to there are two CCD camera；
The present invention is additionally provided with processing unit, and the jack position of pin position and PCB is converted to the location information consistent with manipulator,
And it the electronic component is carried by manipulator is moved to pin under the control of the control unit and aligned with corresponding jack
Position.The present invention can be accurately positioned the pin of electronic component and the jack of PCB, realize automation inserting, promote working efficiency,
And reduce material casting rate.
By description of a preferred embodiment referring to the drawings in the present invention, the above and other purposes of the present invention,
Feature and advantage will be apparent from.
Description of the drawings
Figure 1A is the structural schematic diagram of electronic component pin station acquisition device first embodiment of the present invention；
Figure 1B is the structural schematic diagram of the barn door in the electronic component pin station acquisition device described in Figure 1A；
Fig. 1 C are the photos obtained using the electronic component pin station acquisition device described in Figure 1A；
Fig. 2A is the structural schematic diagram of electronic component pin station acquisition device second embodiment of the present invention；
Fig. 2 B are the stereograms of the light constraint component in the electronic component pin station acquisition device described in Fig. 2A；
Fig. 2 C are the photos obtained using the electronic component pin station acquisition device described in Fig. 2A；
Fig. 3 is the structural schematic diagram of electronic component pin station acquisition device third embodiment of the present invention；
Fig. 4 A are the structural schematic diagrams of the 4th embodiment of electronic component pin station acquisition device of the present invention；
Fig. 4 B are the stereograms of the light constraint component in the electronic component pin station acquisition device described in Fig. 4 A；
Fig. 5 A show the center of gravity of multiple pins of electronic component；
Fig. 5 B show coordinate transition diagram；
Fig. 5 C show the decomposition diagram of electronic component movement.
In figure：100, electronic component；101, device body；102, pin；10, the first CCD camera；11,13,14, light
Source；110,130,140, illuminator；111, bearing；12, barn door；120, pre- jack；131, bottom wall；132, cylinder；133, side
Wall.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Identical attached drawing in figure
Label indicates same or similar structure, thus will omit their detailed description.
Automatism card machine
Automatism card machine of the present invention includes workbench, the PCB feed units for being used for transmission PCB on the table, use is arranged
In the device feed unit of transmission electronic component, for picking up electronic component from component feeding device and being inserted
The electronic component of manipulator and the present invention on to substrate inserts positioning device.
Automatism card machine in process of production, PCB is sequentially sent to by PCB feeding devices from the front to the back in the horizontal direction
It waits at card address, electronic component is sequentially sent to and waits at feeding position by component feeding device, and manipulator is from waiting for feeding
It is taken out at position and waits for the electronic component of plug-in unit and insert its pin into the jack of PCB.
Electronic component inserts positioning device
Electronic component of the present invention inserts positioning device, including pin station acquisition device, jack position harvester, place
Manage unit and control unit.Wherein pin station acquisition device includes one first CCD camera, and first CCD camera is for clapping
The image of the pin of the electronic component is taken the photograph, and obtains coordinate value of the pin under image coordinate system；Jack position is adopted
Acquisition means include one second CCD camera, and second CCD camera is used to shoot the image of the jack of the PCB, and described in acquisition
Coordinate value of the jack under image coordinate system；Processing unit is for receiving and processing coordinate of the pin under image coordinate system
Value, coordinate value of coordinate value and first CCD camera of the jack under image coordinate system under camera coordinates system and
Coordinate value of second CCD camera under camera coordinates system, to obtain the pin, the jack, the first CCD camera respectively
With the second CCD camera it is each it is comfortable with world coordinate system be the coordinate value referred to；The processing unit further according to the pin,
The jack, the first CCD camera and each leisure of the second CCD camera calculate described connect with the coordinate value that world coordinate system is reference
Foot overlaps required compensation rate with the corresponding jack, wherein the world coordinate system refers to the reference coordinate of the manipulator
System；Control unit is moved for controlling the manipulator carrying electronic component according to the compensation rate, to realize
State the positioning of the pin of electronic component and the jack of the PCB.
In one embodiment, processing unit includes demarcating module and coordinate transferring.Demarcating module is for true respectively
Determine image coordinate system, camera coordinates system is converted to the conversion coefficient of world coordinate system；Coordinate transferring is according to the conversion
Coordinate value, jack coordinate value under image coordinate system of the pin under image coordinate system is respectively converted by number
Coordinate value under world coordinate system.
In one embodiment, the process flow that processing unit is further described is as follows：
World coordinate system can be the reference frame of manipulator, and further, the reference frame of the manipulator is
The coordinate system of automatism card machine.World coordinate system includes orthogonal axis, such as Xw,Yw,Zw.Camera coordinates system is camera peace
The reference frame of holding position, camera coordinates system include orthogonal axis, such as XC,YC,ZC.Image coordinate system indicates camera
The image pixel coordinate of shooting, for describing specific location of the feature object in image in image, specifically, image coordinate
System indicates in the image of the first CCD camera jack position in the reference frame of pin position and the image of the second CCD camera
Reference frame.
As shown in Figure 5A, Fig. 5 A show the center of gravity of multiple pins of electronic component.By taking the transformer of 6 pins as an example,
A polygon is formed by connecting 6 pins, polygon center of gravity G (x, y) calculates as follows：
In some other embodiment, center of gravity G can also be replaced by the geometric reference central point of electronic component pin.
Image coordinate is converted to the coefficient of relationship of world coordinates system:
When the point in known N (such as 9 standardizations) a spatial point and corresponding image, one can be obtained and contain 2*
The equation group of N number of equation：
AL=0
[p11,p12,p13,p14,p21,p22,p23,p24,p31,p32,p33,p34]T
As shown in Figure 5 B, Fig. 5 B show coordinate transition diagram.Using calibration algorithm, the coordinate value that camera is obtained is converted
Coordinate value under to world coordinate system, that is to say, that obtain the coordinate value of each pin and each jack under world coordinate system.
As shown in Figure 5 C, Fig. 5 C show the decomposition diagram of electronic component movement.As shown in Figure 5 C, position of manipulator is sat
P0 (Xp, Yp, Up) is marked, to make jack of each pin of the electronic component all to the just described PCB, manipulator carry electronics member device
Part, that is, center of gravity G1 (X, Y) rotates the angles θ around manipulator and is rotated in place G1 ' (X1, Y1), then translates △ x, △ y from G1 ' (X1, Y1)
Jack center of gravity G2 (X2, Y2) to PCB is completed to positive motion.
6 vectors can be obtained with each pin in electronic component center of gravity G1:(i=1,2,3,4,5,6)
6 vectors can be obtained with each jack in jack center of gravity G2:(i=1,2,3,4,5,6)
X1=(X-Xp) * cos θ-(Y-Yp) * sin θs
Y1=(Y-Yp) * cos θ+(X-Xp) * sin θs
Show that compensation rate is by above-mentioned algorithm：
△ x=X2-X1
△ y=Y2-Y1
θ=arccos θ
Control unit according to above-mentioned compensation rate △ x, △ y, θ control electronic component movements, then make pin reach with it is corresponding
Jack aligned position, i.e., final manipulator purpose coordinate P0 ' (Xp ', Yp ', Up ') be：
Xp '=Xp+ △ x
Yp '=Yp+ △ y
Up '=U+ θ
Pin station acquisition device in the present invention includes light source and the first CCD camera, due to light source illumination range only
Including multiple pins without device body and the adjuncts such as the adhesive tape that is pasted onto in device body including electronic device,
The image that first CCD camera can be absorbed is mainly the image of pin, and the image of pin is very prominent non-in entire photo
Often clearly, therefore, the pin station acquisition device energy precise acquisition electronic component pin position images in the present invention；In turn
So that subsequent processor is more easily handled, and be easier to obtain accurate pin location information, to use this hair
Plug-in unit quality and working efficiency is substantially improved in the automatic insertion function of bright electronic component inserting positioning device.
The pin station acquisition device in the present invention is described in detail below.
A referring to Fig.1, the present invention in pin station acquisition device, can be applied to automatism card machine, automatism card machine is used for
The pin 102 of electronic component 100 is plugged into the jack to a PCB (not shown).Electronic component 100 may include device sheet
Body 101 and multiple pins 102 set on 101 the same side of device body.
Pin station acquisition device in the present invention is mainly used for acquiring 102 position of pin of electronic component 100, special
It is not 102 terminal position of pin, and avoids collecting the other positions such as device body 101 of electronic component 100, is attached to device
The information of adhesive tape on part ontology 101 etc. obtains accurate pin position picture to reduce the interference of other image informations, this
Purpose can be realized by designing the modes such as illumination range, the radiation direction for designing light source and design light path, such as make light
The illumination range in source 11 only includes multiple pins 102, without such as device body of the other positions including electronic component 100
101 etc., the following detailed description of.
Pin station acquisition device embodiments 1
A and Figure 1B referring to Fig.1, Figure 1A are the structural schematic diagrams of pin station acquisition device first embodiment of the present invention；
Figure 1B is the structural schematic diagram of the barn door in the pin station acquisition device described in Figure 1A.
As shown in Figure 1A, pin station acquisition device first embodiment of the present invention includes first CCD camera 10, two
A light source 11 and barn door 12.
Light source 11 includes bearing 111 and the illuminator 110 being installed in bearing 111.The first embodiment includes two
Light source 11, two light sources 11 are set to the side with pin 102 of device body 101, and connecing positioned at electronic component 100
The outside of foot 102, and be arranged symmetrically.One 60 °~170 ° of folder can be formed between two light center lines of two light sources 11
Angle, in the first embodiment, the two angle is 90 °, that is, is mutually perpendicular to.Certainly the present invention is not limited thereto, in other implementations
In mode, the angle between two light center lines of two light sources 11 can also be 80 °, 100 °, 120 ° or 150 ° etc., only
It wants two light sources 11 and can be irradiated to the scheme of pin 102 to be feasible.The quantity of light source 11 is also not necessarily limited to two, can be appropriate
Increase or decrease, when multiple pins 102 be divided into left and right two groups when, light source 11 preferably be arranged in pairs, per a pair of light source irradiation pair
The pin 102 for the left or right side answered, so that the uniform-illumination at each pin 102, keeps subsequent image procossing more convenient.
First CCD camera 10 is used to shoot the image of pin 102, be set to device body 101 with pin 102
Side, it is preferable that the symmetrical overlapping of axles of the center line of the camera lens of the first CCD camera 10 and two group of pins 102.
As shown in Figure 1B, barn door 12 can be stainless steel plate or plastic plate etc., which is provided with multiple pre- jacks 120, more
The position of a pre- jack 120 is corresponding with the terminal position of multiple pins 102 of electronic component 100, so that multiple pins 102
Corresponding it can be plugged in multiple pre- jacks 120.The main function of barn door 12 is to block the device body of electronic component 100
101 and the adhesive tape etc. pasted, and pin 102 is only exposed, it is further advanced by between adjustment barn door 12 and device body 101
Distance can expose pin 102 as little as possible, such as only expose the end of pin 102.In the more of electronic component 100
The correspondence of a pin 102 is plugged in the case of multiple pre- jacks 120 of barn door 12, and the surrounding of barn door 12 protrudes out electronics member device
The surrounding of part 100, that is to say, that the area of barn door 12 is larger, it is sufficient to cover electronic component 100 device body 101 and
Adjunct advantageously reduces the difficulty of subsequent image processing in this way to which light source 11 is only capable of being irradiated to pin 102.
Preferably, the color of the one side of the first CCD camera of direction 10 of barn door 12 is black, such as on barn door 12
It pastes one layer of black thin film or barn door 12 is made of black material.The direction the of barn door 12 actually in the present invention
The one side of one CCD camera 10 is not necessarily black, can also be Dark grey, navy blue etc., as long as the color pair with pin 102
The color more larger than degree is all feasible.Because usual pin 102 is metal light tone, the first CCD of direction of barn door 12
The color of the one side of camera 10 is preferably black, and background is more pure in the image that such first CCD camera 10 takes
Black can highlight 102 image of pin of metal light tone.
Referring to Fig. 1 C, Fig. 1 C are the photos obtained using the pin station acquisition device described in Figure 1A.As shown in Figure 1 C, make
It is clearly shown in the pre- jack 120 of the photo obtained with the pin station acquisition device described in Figure 1A, secondary series and the 5th row
The location information of 102 end of pin.
Pin station acquisition device embodiments 2
It is the structural schematic diagram of pin station acquisition device second embodiment of the present invention with reference to Fig. 2A and Fig. 2 B, Fig. 2A；
Fig. 2 B are the stereograms of the light constraint component in the pin station acquisition device described in Fig. 2A.Second embodiment of the invention is with before
The difference for stating first embodiment essentially consists in light-source structure, the following detailed description of.
In the second embodiment, including two light sources 13 positioned opposite that are open.Each light source 13 includes illuminator 130
With light constraint component.Light constraint component has one to be opened for what illuminator 130 was emitted for housing the accommodating cavity and one of illuminator 130
Mouth 135.The light to radially distribute that light source 13 is sent out after 135 outgoing of opening by forming direction more consistent light beam or light
Band.The structure of light constraint component can be varied, as long as the light that can be sent out to illuminator 130 carries out shaping and forms light beam
Or the structure of light belt is all feasible.
As shown in Figure 2 A and 2 B, a kind of illustrative light constraint component includes bottom wall 131 and the cylinder with accommodating space
Body.Cylinder includes the two side walls 133 for the two opposite sides for being connected to bottom wall 131 and is connected to the bottom wall 131 and side
Two end walls 132 of wall 133.Illuminator 130 is installed on bottom wall 131, and such illuminator 130 is by two of two side walls 133
End wall 132 surrounds, i.e., is surrounded by the cylinder.
The opening 135 of light constraint component is located at the one end opposite with bottom wall 131, goes out in the light along illuminator 130
Penetrate direction, i.e., along the directions length L1 of cylinder, the length of side wall 133 be more than illuminator 130 in this direction 2 times of length with
On such as 4 times, 5 times, 6 times, 8 times, the light to radially distribute that illuminator 130 is sent out is by two side walls 133 and two
After the blocking of a end wall 132, is projected from opening 135, form direction more consistent light belt or light beam.The light belt or light
The range of exposures of column only includes the end of pin 102, and without including device body 101, at this moment the first CCD camera 10 is only capable of acquiring
To the terminal position image of pin 102, and without the image of device body 101 etc..
Referring to Fig. 2 C, Fig. 2 C are the photos obtained using the pin station acquisition device described in Fig. 2A.As shown in Figure 2 C, make
The photo obtained with the pin station acquisition device described in Fig. 2A, apparent show the location information of 102 end of pin, i.e.,
Other image interference information are not present in photo for 6 bright spots.
Other aspects of the second embodiment are essentially identical with foregoing first embodiment, and which is not described herein again.
Pin station acquisition device embodiments 3
It is the structural schematic diagram of pin station acquisition device third embodiment of the present invention referring to Fig. 3, Fig. 3.Such as Fig. 3 institutes
Show, pin station acquisition device third embodiment of the present invention, with the difference is that only for second embodiment：
Collector lens 14 is installed at the opening 135 of light constraint component such as concavees lens, collimation lens, illuminator
130 light sent out form collimated light beam after collector lens 14, and the collimated light beam at this includes the feelings that light beam is slightly gathered
Shape, the collimated light beam are illuminated by the end of pin 102, to which the first CCD camera 10 is only capable of collecting pin 102
Terminal position image, and without the image of device body 101 etc..
Other aspects of the third embodiment are essentially identical with aforementioned second embodiment, and which is not described herein again.
Pin station acquisition device embodiments 4
It is the structural schematic diagram of the 4th embodiment of pin station acquisition device of the present invention referring to Fig. 4 A and Fig. 4 B, Fig. 4 A；
Fig. 4 B are the stereograms of the light constraint component in the pin station acquisition device described in Fig. 4 A.
As shown in Figure 4 A and 4 B shown in FIG., the difference of four embodiment of the invention and aforementioned second embodiment mainly exists
In light-source structure.Specifically, the 4th embodiment only includes a light source 20, and light source 20 includes light constraint component and shines
Body 130.
Light constraint component in the 4th embodiment of the present invention includes enclosure wall 25 and the two side walls example being mutually parallel
Such as upper wall 21 and lower wall 22.Enclosure wall 25 can be in flat drum shape, and upper wall 21 and lower wall 22 are dish type such as disc, polygonal plate shape
(outer profile of upper wall 21 or lower wall 22 is in polygon), upper wall 21 and lower wall 22 have the hollow portion 23 aligned.Flat drum shape
The both ends of enclosure wall 25 are respectively fixedly connected in the outer of upper wall 21 and lower wall 22, upper wall 21 and lower wall 22 it is interior along be mutually not connected to from
And form opening 200.
Illuminator 130 is mounted on enclosure wall 25.Along in the radial direction, the length L2 of upper wall 21 is more than 13 length of light source
2 times or more such as 2 times, 3 times, 4 times, 5 times.The light to radially distribute that illuminator 130 is sent out is in upper wall 21 under
It is projected towards hollow portion 23 under the light blocking effect of wall 22, forms the more consistent light beam in direction.The multiple of electronic component 100 connect
Foot 102 stretches into the hollow portion 23 and is illuminated, and further only multiple 102 terminal parts of pin stretch into the hollow portion 23, then only have
The terminal part of pin 102 is illuminated, to which the first CCD camera 10 is only capable of collecting the terminal position image of pin 102, without
The image of sampler ontology 101 etc..
Other aspects of 4th embodiment are essentially identical with aforementioned second embodiment, and which is not described herein again.
Pin station acquisition device embodiments 5
5th embodiment and the difference of foregoing first embodiment essentially consist in light-source structure, say in detail below
It is bright.
In 5th embodiment, light source includes illuminator and light path.Light path is set between illuminator and pin, especially
It is disposed between illuminator and leg end, the light shaping to radially distribute that light path can send out illuminator becomes side
To more consistent light beam or light belt.
Light path may include collimation lens, parabolic mirror or concavees lens, or including multiple lens or plane mirror
Combination.
Other aspects of 5th embodiment are essentially identical with foregoing first embodiment, and which is not described herein again.
Although the term of relativity, such as "upper" "lower" is used to describe a component of icon for another in this specification
The relativeness of one component, but these terms are in this manual merely for convenient, for example, with reference to the accompanying drawings in it is exemplary
Direction.It is appreciated that, if making it turn upside down the device overturning of icon, describing the component in "upper" will become
Component in "lower".When certain structure is in other structures "upper", it is possible to refer to that certain structural integrity is formed in other structures, or
Refer to " direct " setting of certain structure in other structures, or refers to certain structure and be arranged in other structures by the way that another structure is " indirect ".
Term " first ", " second " and " third " etc. is only used as label, is not the quantity limitation to its object.
In the claims, term "one", " one ", " " and "at least one" be indicating that there are one or more to want
Element/component part/etc.；Term "comprising", " comprising " and " having " are indicating the open meaning being included and be
Refer in addition to the element/component part/listed also may be present other than waiting other element/component part/etc..
It should be appreciated that the present invention is not limited in its application to the detailed construction and arrangement of the component of this specification proposition
Mode.The present invention can have other embodiment, and can realize and execute in many ways.Aforesaid deformation form and
Modification is fallen within the scope of the present invention.It should be appreciated that this disclosure and the present invention of restriction extend in text
And/or it is mentioned in attached drawing or all alternative combinations of two or more apparent independent features.It is all these different
Combination constitutes multiple alternative aspects of the present invention.The embodiment of this specification illustrates to become known for realizing the present invention most
Good mode, and those skilled in the art will be enable using the present invention.
Claims (17)
1. a kind of electronic component inserts positioning device, it is used for an automatism card machine, the automatism card machine to include manipulator, institute
The pin of an electronic component can be inserted into the jack of one PCB by stating manipulator, which is characterized in that the electronic component inserting is fixed
Position device include：
Pin station acquisition device comprising one first CCD camera, first CCD camera is for shooting the electronics member device
The image of the pin of part, and obtain coordinate value of the pin under image coordinate system；
Jack position harvester comprising one second CCD camera, second CCD camera are used to shoot the jack of the PCB
Image, and obtain coordinate value of the jack under image coordinate system；And
Processing unit, for receiving and processing coordinate value of the pin under image coordinate system, the jack in image coordinate
The coordinate value and second CCD camera of coordinate value and first CCD camera under camera coordinates system under system is in camera
Coordinate value under coordinate system, with obtain respectively the pin, the jack, the first CCD camera and the second CCD camera it is each it is comfortable with
World coordinate system is the coordinate value of reference；The processing unit is further according to the pin, the jack, the first CCD camera
The pin and the corresponding jack weight are calculated with the coordinate value that world coordinate system is reference with each leisure of the second CCD camera
Compensation rate needed for closing, wherein the world coordinate system refers to the reference frame of the manipulator；And
Control unit controls the manipulator carrying electronic component and is moved according to the compensation rate, described in realizing
The positioning of the pin of electronic component and the jack of the PCB.
2. electronic component as claimed in claim 1 inserts positioning device, which is characterized in that the processing unit includes：
Demarcating module, for determining that image coordinate system, camera coordinates system are converted to the conversion coefficient of world coordinate system respectively；
Coordinate transferring exists coordinate value, the jack of the pin under image coordinate system according to the conversion coefficient
Coordinate value under image coordinate system is respectively converted into the coordinate value under world coordinate system.
3. the electronic component such as claims 1 or 2 inserts positioning device, which is characterized in that the pin station acquisition device
Including：
One or more light sources, are set to the side with the pin of the device body, and the light source is configured to make it
The multiple pins of light cover；
First CCD camera is set to the side with the pin of the device body, for shooting the pin
Image.
4. electronic component as claimed in claim 3 inserts positioning device, which is characterized in that the light source is configured to make its light collection
The end section of the middle multiple pins of irradiation.
5. electronic component as claimed in claim 3 inserts positioning device, which is characterized in that the quantity of the light source is to set in pairs
It sets, and each pair of source symmetric is set to the both sides of the pin.
6. electronic component as claimed in claim 5 inserts positioning device, which is characterized in that the center line per a pair of light source exists
On same straight line or shape is at an angle.
7. electronic component as claimed in claim 3 inserts positioning device, which is characterized in that further include：
Barn door which is provided with multiple pre- jacks, multiple pins of the position and the electronic component of multiple pre- jacks
Terminal position it is corresponding so that multiple pins, which can correspond to, is plugged in multiple pre- jacks.
8. electronic component as claimed in claim 7 inserts positioning device, which is characterized in that multiple in the electronic component connect
Foot correspondence is plugged in the case of multiple pre- jacks of the barn door, and the surrounding of the barn door protrudes out the electronics member
The surrounding of device, to stop that the light source is irradiated to the device body.
9. electronic component as claimed in claim 7 inserts positioning device, which is characterized in that the barn door is towards described first
The color of the one side of CCD camera is black.
10. electronic component as claimed in claim 3 inserts positioning device, which is characterized in that the light source includes：
Illuminator；
Light constraint component, the beam projecting with an accommodating cavity for housing the illuminator and a confession illuminator
Opening, the light that the illuminator is sent out form a light beam or light belt after opening injection.
11. the electronic component such as claim 10 inserts positioning device, which is characterized in that the described of the smooth constraint component opens
Collector lens is installed at mouthful, parallel rays is formed through the light of the collector lens.
12. the electronic component such as claim 10 inserts positioning device, which is characterized in that the light source is that opening is positioned opposite
Two, the smooth constraint component of each light source includes：
Bottom wall, the illuminator are installed on the bottom wall；
Cylinder, one end are connected to the bottom wall edge, and the other end forms the opening, and the length of the cylinder is more than the hair
The 2 times or more of body of light length.
13. the electronic component such as claim 10 inserts positioning device, which is characterized in that the light source is one, the light
The smooth constraint component in source includes：
Enclosure wall, the illuminator are installed on the inside of the enclosure wall；
Two side walls, it is arranged in parallel, it is disk-shaped, and there is hollow portion, the outer of two side walls is individually fixed in
The both ends of the enclosure wall form the opening between the interior edge of two side walls, in the radial direction along the enclosure wall,
The length of the side wall is more than the 2 times or more of the luminous body length.
14. electronic component as claimed in claim 3 inserts positioning device, which is characterized in that the light source includes：
Illuminator；
Light path is set between the illuminator and the pin, and the light for sending out the illuminator is shaped to one
Light beam or light belt.
15. as claim 14 electronic component insert positioning device, which is characterized in that the light path include collimation lens,
At least one of parabolic mirror or concavees lens.
16. as claim 3-15 any one of them electronic components insert positioning device, which is characterized in that the pin packet
Two groups be arranged symmetrically are included, the center line of the camera lens of first CCD camera is set on the symmetry axis of pin described in two groups.
17. a kind of automatism card machine, which is characterized in that include the electronic component inserting positioning dress as described in claim 1-16
It sets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710133349.6A CN108575053B (en) | 2017-03-08 | 2017-03-08 | Electronic component inserting and positioning device and automatic component inserting machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710133349.6A CN108575053B (en) | 2017-03-08 | 2017-03-08 | Electronic component inserting and positioning device and automatic component inserting machine |
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| Publication Number | Publication Date |
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| CN108575053A true CN108575053A (en) | 2018-09-25 |
| CN108575053B CN108575053B (en) | 2020-03-27 |
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| CN201710133349.6A Active CN108575053B (en) | 2017-03-08 | 2017-03-08 | Electronic component inserting and positioning device and automatic component inserting machine |
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| CN109688786A (en) * | 2018-12-06 | 2019-04-26 | 珠海智新自动化科技有限公司 | A kind of high-precision plug-in machine |
| CN110167267A (en) * | 2019-04-16 | 2019-08-23 | 珠海中京电子电路有限公司 | A kind of automatic method for plugging |
| CN114531789A (en) * | 2022-02-21 | 2022-05-24 | 浙江蓝晶芯微电子有限公司 | Quartz crystal resonator pin positioning process with limiting mechanism |
| CN115008477A (en) * | 2022-08-09 | 2022-09-06 | 苏州华兴源创科技股份有限公司 | Manipulator movement compensation method, manipulator movement compensation device and computer-readable storage medium |
| CN115091070A (en) * | 2022-06-23 | 2022-09-23 | 岳阳耀宁新能源科技有限公司 | Closed-loop automatic compensation positioning method for welding of square aluminum shell pole |
| US11523552B2 (en) | 2020-09-08 | 2022-12-06 | Delta Electronics, Inc. | Automatic insertion apparatus |
| WO2023221496A1 (en) * | 2022-05-18 | 2023-11-23 | 中兴通讯股份有限公司 | Plugging method and system for plug-in connector and plug-in hole, related device and storage medium |
| TWI832749B (en) * | 2023-04-17 | 2024-02-11 | 台達電子工業股份有限公司 | Learning method for plug-in depth |
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| CN108575053B (en) | 2020-03-27 |
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Effective date of registration: 20210108 Address after: 523290 Xincheng District, Shijie Town, Dongguan City, Guangdong province (Delta Industrial Zone) Patentee after: DELTA ELECTRONICS (DONGGUAN) Co.,Ltd. Address before: 523308 Xincheng District, Shijie Town, Dongguan City, Guangdong Province Patentee before: DELTA ELECTRONICS POWER (DONG GUAN) Co.,Ltd. |
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