CN108575053B - Electronic component inserting and positioning device and automatic component inserting machine - Google Patents
Electronic component inserting and positioning device and automatic component inserting machine Download PDFInfo
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- 150000003071 polychlorinated biphenyls Chemical class 0.000 description 6
- 238000005286 illumination Methods 0.000 description 4
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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
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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
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
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Abstract
The invention discloses an electronic component plug-in mounting positioning device and an automatic plug-in mounting machine. The electronic component inserting and positioning device comprises a pin position acquisition device, a jack position acquisition device, a processing unit and a control unit. The pin position acquisition device comprises a first CCD camera for shooting a pin image; the jack position acquisition device comprises a second CCD camera for shooting jack images; the processing unit is used for receiving and processing the coordinate values of the pins under the image coordinate system, the coordinate values of the jacks under the image coordinate system, the coordinate values of the first CCD camera under the camera coordinate system and the coordinate values of the second CCD camera under the camera coordinate system so as to respectively obtain the coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively based on the world coordinate system as reference, and can calculate the compensation amount required by the superposition of the pins and the corresponding jacks; the control unit is used for controlling the manipulator to carry the electronic component to move according to the compensation amount, so that the pins of the electronic component and the jacks of the PCB are positioned.
Description
Technical Field
The invention relates to an electronic component inserting and positioning device and an automatic inserting machine.
Background
An automatic component inserter is a processing device for inserting various electronic components to designated positions of a PCB (electronic circuit board). Electronic components generally include device main part and a plurality of pin, are equipped with the jack of a plurality of corresponding electronic components's pin on the PCB.
The automatic component inserter comprises a workbench, a PCB feeding unit, a component picking unit and a control unit, wherein the PCB feeding unit is arranged on the workbench and used for conveying PCBs, the component feeding unit is used for conveying electronic components, the component picking unit is used for picking the electronic components from the component feeding device and inserting the electronic components onto a substrate, and the control unit is used for controlling the actions of all devices. Some automatic plug-in components machine's the control unit includes electronic components cartridge positioner, and the control unit discerns the pin position and controls the moving direction and the distance that components and parts picked up the unit according to this collection system.
In the production process of the automatic component inserter, the PCB feeding device sequentially conveys PCBs to the position to be inserted from front to back in the horizontal direction, the component feeding device sequentially conveys electronic components to the position to be taken, and the component picking unit takes the electronic components to be inserted from the position to be taken and inserts the electronic components to the PCBs.
The traditional automatic component inserter can basically realize the automation of the assembly process for the assembly of standard components such as capacitors and resistors on a PCB, replaces manual operation, and improves the production efficiency to a certain extent. However, for some standard devices with deformed and dislocated pins and special-shaped components such as terminals, joints, battery boxes, transformers, etc., the pin position information that can be collected by the electronic component inserting and positioning device in the conventional automatic component inserter is inaccurate, which often causes the electronic component to be misjudged as unqualified or causes the pins not to align with the jacks of the PCB and to be forcibly inserted, thereby causing the damage of the electronic component or the damage of the PCB; at the same time, the work efficiency is very low. Therefore, the traditional automatic component inserter is difficult to realize the automatic insertion of special-shaped electronic components and certain standard electronic components with deformed and dislocated pins.
The above information disclosed in the background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute prior art that is known to a person of ordinary skill in the art.
Disclosure of Invention
In order to solve the problems of the prior art, an object of the present invention is to provide an electronic component inserting positioning device capable of accurately positioning an electronic component and a PCB;
another object of the present invention is to provide an automatic component inserter including the positioning device or recognition device for inserting the electronic component of the present invention.
According to one aspect of the invention, the electronic component plug-in mounting positioning device comprises a pin position acquisition device, a jack position acquisition device, a processing unit and a control unit. The pin position acquisition device comprises a first CCD camera, wherein the first CCD camera is used for shooting an image of a pin of the electronic component and obtaining a coordinate value of the pin under an image coordinate system; the jack position acquisition device comprises a second CCD camera, and the second CCD camera is used for shooting the image of the jack of the PCB and obtaining the coordinate value of the jack under an image coordinate system; the processing unit is used for receiving and processing the coordinate values of the pins under an image coordinate system, the coordinate values of the jacks under the image coordinate system, the coordinate values of the first CCD camera under a camera coordinate system and the coordinate values of the second CCD camera under the camera coordinate system so as to respectively acquire the coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system; the processing unit further calculates compensation amount required by superposition of the pins and the corresponding jacks according to coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system, wherein the world coordinate system refers to a reference coordinate system of the manipulator; the control unit is used for controlling the manipulator to carry the electronic component to move according to the compensation amount, so that the pins of the electronic component and the jacks of the PCB are positioned.
According to another aspect of the invention, an automatic component inserter comprises the electronic component inserting and positioning device.
According to the technical scheme, the advantages and beneficial effects of the invention are as follows: the electronic component plug-in mounting positioning device is provided with two CCD cameras which are respectively used for acquiring the pin positions of the electronic components and the jack positions of the PCB; the invention is also provided with a processing unit to convert the pin position and the jack position of the PCB into position information consistent with the manipulator, and the manipulator carries the electronic component to move to the position where the pin is aligned with the corresponding jack under the control of the control unit. The invention can accurately position the pins of the electronic components and the jacks of the PCB, realize automatic insertion, improve the working efficiency and reduce the material throwing rate.
The above and other objects, features and advantages of the present invention will become more apparent from the following description of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
Fig. 1A is a schematic structural view of a first embodiment of a pin position acquisition device for an electronic component according to the present invention;
fig. 1B is a schematic structural view of a light shielding plate in the electronic component pin position acquisition device shown in fig. 1A;
fig. 1C is a photograph obtained using the electronic component pin position acquisition apparatus shown in fig. 1A;
FIG. 2A is a schematic structural diagram of a second embodiment of a pin position collection device for electronic components according to the present invention;
fig. 2B is a perspective view of the light confining member in the electronic component pin position acquisition device shown in fig. 2A;
fig. 2C is a photograph obtained using the electronic component pin position acquisition apparatus shown in fig. 2A;
FIG. 3 is a schematic structural diagram of a third embodiment of a pin position collection device for electronic components according to the present invention;
FIG. 4A is a schematic structural diagram of a fourth embodiment of an apparatus for collecting pin positions of electronic components according to the present invention;
fig. 4B is a perspective view of the light confining member in the electronic component pin position acquisition device shown in fig. 4A;
fig. 5A shows the center of gravity of a plurality of pins of an electronic component;
FIG. 5B shows a schematic of coordinate transformation;
fig. 5C shows an exploded view of the movement of the electronic components.
In the figure: 100. an electronic component; 101. a device body; 102. a pin; 10. a first CCD camera; 11. 13, 20, a light source; 110. 130, a light emitter; 111. a support; 12. a visor; 120. pre-inserting holes; 131. a bottom wall; 132. an end wall; 133. a side wall; 14. a condenser lens.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
Automatic component inserter
The automatic component inserter comprises a workbench, a PCB feeding unit arranged on the workbench and used for conveying PCBs, a component feeding unit used for conveying electronic components, a manipulator used for picking up the electronic components from a component feeding device and inserting the electronic components onto a substrate, and an electronic component inserting and positioning device.
In the production process of the automatic component inserter, the PCB feeding device conveys the PCB to the position to be inserted from front to back along the horizontal direction in sequence, the component feeding device conveys the electronic components to the position to be taken in sequence, and the manipulator takes the electronic components to be inserted from the position to be taken and inserts the pins of the electronic components to be inserted into the jacks of the PCB.
Electronic component inserting and positioning device
The invention relates to an electronic component plug-in mounting positioning device, which comprises a pin position acquisition device, a jack position acquisition device, a processing unit and a control unit. The pin position acquisition device comprises a first CCD camera, wherein the first CCD camera is used for shooting an image of a pin of the electronic component and obtaining a coordinate value of the pin under an image coordinate system; the jack position acquisition device comprises a second CCD camera, and the second CCD camera is used for shooting the image of the jack of the PCB and obtaining the coordinate value of the jack under an image coordinate system; the processing unit is used for receiving and processing the coordinate values of the pins under an image coordinate system, the coordinate values of the jacks under the image coordinate system, the coordinate values of the first CCD camera under a camera coordinate system and the coordinate values of the second CCD camera under the camera coordinate system so as to respectively acquire the coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system; the processing unit further calculates compensation amount required by superposition of the pins and the corresponding jacks according to coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system, wherein the world coordinate system refers to a reference coordinate system of the manipulator; the control unit is used for controlling the manipulator to carry the electronic component to move according to the compensation amount, so that the pins of the electronic component and the jacks of the PCB are positioned.
In one embodiment, the processing unit includes a calibration module and a coordinate conversion module. The calibration module is used for respectively determining conversion coefficients of the image coordinate system and the camera coordinate system into a world coordinate system; and the coordinate conversion module converts the coordinate values of the pins under the image coordinate system and the coordinate values of the jacks under the image coordinate system into coordinate values under a world coordinate system respectively according to the conversion coefficients.
In one embodiment, the process flow of the processing unit is further detailed as follows:
the world coordinate system may be a reference coordinate system of the robot arm, and further, the reference coordinate system of the robot arm is a coordinate system of the automatic component inserter. The world coordinate system comprising mutually perpendicular axes, e.g. Xw,Yw,Zw. The camera coordinate system is a reference coordinate system of the mounting position of the camera, the camera coordinate system comprising mutually perpendicular axes, e.g. XC,YC,ZC. The image coordinate system represents the pixel coordinates of the image captured by the camera and is used to describe the specific position of the feature object in the image, and more particularly, the image coordinate system represents the reference coordinate system of the pin position in the image of the first CCD camera and the jack in the image of the second CCD cameraA reference coordinate system of the location.
As shown in fig. 5A, fig. 5A shows the center of gravity of a plurality of pins of an electronic component. Taking a transformer with 6 pins as an example, a polygon is formed by connecting 6 pins, and the center of gravity G (x, y) of the polygon is calculated as follows:
in other embodiments, the center of gravity G may be replaced by a geometric reference center point of the pin of the electronic component.
The image coordinates are converted into relation coefficients of a world coordinate system:
the left equation is eliminated by S, resulting in the following equation:
when N (e.g., 9 point calibration) spatial points and corresponding points on the image are known, a system of equations containing 2 × N equations can be obtained:
AL＝0
[p11,p12,p13,p14,p21,p22,p23,p24,p31,p32,p33,p34]T
as shown in fig. 5B, fig. 5B shows a coordinate conversion diagram. And converting the coordinate values obtained by the camera into coordinate values under a world coordinate system by using a calibration algorithm, namely obtaining the coordinate values of each pin and each jack under the world coordinate system.
As shown in fig. 5C, fig. 5C shows an exploded schematic view of the movement of the electronic component, as shown in fig. 5C, the robot carries the electronic component, i.e., the gravity center G1(X, Y) rotates around the robot to the position G1 '(X1, Y1) by an angle θ, and then translates △ X, △ Y from G1' (X1, Y1) to the gravity center G2(X2, Y2) of the jack of the PCB to complete the alignment movement.
The gravity center G1 of the electronic component and each pin can obtain 6 vectors (i ═ 1,2,3,4,5,6)
The jack gravity G2 and each jack can obtain 6 vectors (i ═ 1,2,3,4,5,6)
X1＝(X-Xp)*cosθ-(Y-Yp)*sinθ
Y1＝(Y-Yp)*cosθ+(X-Xp)*sinθ
The compensation obtained by the above algorithm is:
△x＝X2-X1
△y＝Y2-Y1
θ＝arccosθ
the control unit controls the movement of the electronic components according to the compensation amounts △ x, △ y and theta, so that the pins reach the alignment positions with the corresponding jacks, namely the final target coordinates P0 '(Xp', Yp ', Up') of the manipulator are as follows:
Xp’＝Xp+△x
Yp’＝Yp+△y
Up’＝U+θ
the pin position acquisition device comprises a light source and a first CCD camera, wherein the illumination range of the light source only comprises a plurality of pins but not comprises a device body of an electronic device and accessories such as adhesive tapes and the like adhered on the device body; therefore, the subsequent processor can process more conveniently and obtain accurate pin position information more easily, and the automatic plug-in machine adopting the electronic component plug-in positioning device can greatly improve the quality and the working efficiency of the plug-in machine.
The following describes the pin position acquisition device in the present invention in detail.
Referring to fig. 1A, the pin position detecting apparatus of the present invention may be applied to an automatic component inserter for inserting the pins 102 of the electronic component 100 into a socket of a PCB (not shown). The electronic component 100 may include a device body 101 and a plurality of leads 102 disposed on the same side of the device body 101.
The pin position collecting device of the present invention is mainly used for collecting the pin 102 position of the electronic component 100, especially the terminal position of the pin 102, so as to avoid collecting information of other positions of the electronic component 100, such as the device body 101, and an adhesive tape attached to the device body 101, so as to reduce interference of other image information and obtain an accurate pin position picture, and this purpose can be achieved by designing an illumination range, a light direction of a light source, and a light path, for example, so that the illumination range of the light source 11 only includes a plurality of pins 102, but not other positions of the electronic component 100, such as the device body 101, and the like, which will be described in detail below.
Embodiment 1 of the pin position detecting device
Referring to fig. 1A and 1B, fig. 1A is a schematic structural diagram of a pin position acquisition device according to a first embodiment of the present invention; fig. 1B is a schematic structural diagram of a light shielding plate in the pin position acquisition device shown in fig. 1A.
As shown in fig. 1A, the pin position detecting device according to the first embodiment of the present invention includes a first CCD camera 10, two light sources 11, and a light shielding plate 12.
The light source 11 includes a holder 111 and a light emitting body 110 mounted in the holder 111. The first embodiment includes two light sources 11, and the two light sources 11 are disposed on one side of the device body 101 having the pins 102, are located outside the pins 102 of the electronic component 100, and are symmetrically arranged. The two light ray center lines of the two light sources 11 may form an included angle of 60 ° to 170 °, and in the first embodiment, the included angle is 90 °, that is, they are perpendicular to each other. Of course, the present invention is not limited to this, and in other embodiments, the included angle between the central lines of the two light rays of the two light sources 11 may also be 80 °, 100 °, 120 °, or 150 °, and so on, as long as the two light sources 11 can irradiate the pin 102, which is possible. The number of the light sources 11 is not limited to two, and may be increased or decreased as appropriate, when the plurality of pins 102 are divided into two groups, the light sources 11 are preferably arranged in pairs, and each pair of light sources illuminates the corresponding left or right pins 102, so that the illumination of each pin 102 is uniform, and the subsequent image processing is more convenient.
The first CCD camera 10 is used for capturing images of the pins 102 and is disposed on one side of the device body 101 having the pins 102, and preferably, a center line of a lens of the first CCD camera 10 coincides with symmetry axes of the two sets of pins 102.
As shown in fig. 1B, the light shielding plate 12 may be a stainless steel plate, a plastic plate, or the like, and is provided with a plurality of pre-insertion holes 120, where the positions of the pre-insertion holes 120 correspond to the positions of the ends of the pins 102 of the electronic component 100, so that the pins 102 can be correspondingly inserted into the pre-insertion holes 120. The light shielding plate 12 mainly functions to shield the device body 101 of the electronic component 100 and an adhesive tape, etc. to expose only the pins 102, and further, the pins 102 can be exposed as little as possible by adjusting the distance between the light shielding plate 12 and the device body 101, for example, only the ends of the pins 102 are exposed. Under the condition that the pins 102 of the electronic component 100 are correspondingly inserted into the pre-insertion holes 120 of the light shielding plate 12, the periphery of the light shielding plate 12 protrudes out of the periphery of the electronic component 100, that is, the area of the light shielding plate 12 is large enough to shield the device body 101 and accessories of the electronic component 100, so that the light source 11 can only irradiate the pins 102, which is beneficial to reducing the difficulty of subsequent image processing.
Preferably, the side of the light shielding plate 12 facing the first CCD camera 10 is black, for example, a black film is attached to the light shielding plate 12, or the light shielding plate 12 is made of black material. In fact, the side of the light shielding plate 12 facing the first CCD camera 10 in the present invention is not necessarily black, and may be dark gray, dark blue, etc., as long as the color with a large contrast with the color of the pin 102 is feasible. Since the pin 102 is usually bright metal, the color of the side of the light shielding plate 12 facing the first CCD camera 10 is preferably black, so that the background in the image captured by the first CCD camera 10 is relatively pure black, and the bright metal pin 102 image can be highlighted.
Referring to fig. 1C, fig. 1C is a photograph obtained using the pin position detecting apparatus of fig. 1A. As shown in fig. 1C, the position information of the end of the pin 102 is clearly displayed in the pre-insertion holes 120 of the second row and the fifth row in the photograph obtained by using the pin position collecting apparatus shown in fig. 1A.
Embodiment 2 of the pin position detecting device
Referring to fig. 2A and 2B, fig. 2A is a schematic structural diagram of a pin position acquisition device according to a second embodiment of the present invention; fig. 2B is a perspective view of a light confining member in the pin position acquisition apparatus shown in fig. 2A. The second embodiment of the present invention differs from the first embodiment mainly in the light source structure, and will be described in detail below.
In this second embodiment, two light sources 13 with their openings arranged opposite to each other are included. Each light source 13 comprises a light emitter 130 and a light confining member. The light confining member has a receiving cavity for receiving the light emitter 130 and an opening 135 for the light emitter 130 to exit. The light beams emitted by the light source 13 and distributed radially exit from the opening 135 to form light beams or light bands with uniform directions. The light confining member may have various structures, and any structure that shapes the light emitted from the light emitting body 130 to form a light column or a light band is possible.
As shown in fig. 2A and 2B, an exemplary light confining member includes a bottom wall 131 and a cylinder having an accommodating space. The cartridge comprises two side walls 133 connected to opposite sides of the bottom wall 131 and two end walls 132 connected to said bottom wall 131 and side walls 133, respectively. The burner 130 is mounted on the bottom wall 131 such that the burner 130 is surrounded by two end walls 132 of two side walls 133, i.e. by the barrel.
The opening 135 of the light restriction member is located at an end opposite to the bottom wall 131, and in a light emitting direction of the light emitter 130, that is, in a direction along the length L1 of the barrel, the length of the side wall 133 is greater than 2 times or more, for example, 4 times, 5 times, 6 times, 8 times, etc., the light rays emitted by the light emitter 130 and distributed radially are blocked by the two side walls 133 and the two end walls 132, and then are emitted from the opening 135, so that a light band or a light column with a relatively uniform direction is formed. The irradiation range of the light band or the light beam only includes the end of the pin 102 and does not include the device body 101, and then the first CCD camera 10 can only acquire the image of the end position of the pin 102 and does not have the image of the device body 101 and the like.
Referring to fig. 2C, fig. 2C is a photograph obtained using the pin position capture device of fig. 2A. As shown in fig. 2C, the photo obtained by using the pin position capture device shown in fig. 2A clearly shows the position information of the end of the pin 102, i.e. 6 bright spots, and there is no other image interference information in the photo.
Other aspects of this second embodiment are substantially the same as those of the first embodiment described above, and are not described in detail here.
Embodiment 3 of the pin position detecting device
Referring to fig. 3, fig. 3 is a schematic structural diagram of a pin position acquisition device according to a third embodiment of the present invention. As shown in fig. 3, the third embodiment of the pin position detecting device of the present invention is different from the second embodiment only in that:
a condenser lens 14 such as a concave lens, a collimator lens, etc. is installed at the opening 135 of the light restriction member, and light emitted from the light emitter 130 passes through the condenser lens 14 to form parallel light beams, where the parallel light beams include a situation where the light beams are slightly converged, and the parallel light beams pass through the end of the pin 102 to illuminate the pin, so that the first CCD camera 10 can only acquire an image of the end position of the pin 102, and no image of the device body 101, etc.
Other aspects of this third embodiment are substantially the same as those of the second embodiment described above, and are not described in detail here.
Embodiment 4 of pin position detecting device
Referring to fig. 4A and 4B, fig. 4A is a schematic structural diagram of a fourth embodiment of a pin position acquisition device according to the present invention; fig. 4B is a perspective view of a light confining member in the pin position acquisition apparatus shown in fig. 4A.
As shown in fig. 4A and 4B, the fourth embodiment of the present invention is different from the foregoing second embodiment mainly in the light source structure. Specifically, the fourth embodiment comprises only one light source 20, the light source 20 comprising a light confining member and a light emitter 130.
The light confining member in this fourth embodiment of the present invention includes a surrounding wall 25 and two side walls parallel to each other, such as an upper wall 21 and a lower wall 22. The enclosing wall 25 may be in the shape of a flat cylinder, the upper wall 21 and the lower wall 22 are both in the shape of a disk, such as a circular disk, a polygonal disk (the outer contour of the upper wall 21 or the lower wall 22 is polygonal), and the upper wall 21 and the lower wall 22 have hollow portions 23 aligned with each other. The two ends of the flat cylindrical enclosure 25 are fixedly connected to the outer edges of the upper wall 21 and the lower wall 22, respectively, and the inner edges of the upper wall 21 and the lower wall 22 are not connected to each other to form the opening 200.
The light 130 is mounted on the enclosure 25. The length L2 of the upper wall 21 is greater than 2 times, e.g., 2 times, 3 times, 4 times, 5 times, etc., the length of the light source 13 in the radial direction. The light rays emitted by the light emitter 130 distributed radially are emitted toward the hollow portion 23 under the light blocking effect of the upper wall 21 and the lower wall 22, so as to form light beams with uniform directions. The plurality of pins 102 of the electronic component 100 extend into the hollow portion 23 to be illuminated, and further, only the end portions of the plurality of pins 102 extend into the hollow portion 23, only the end portions of the pins 102 are illuminated, so that the first CCD camera 10 can only acquire the images of the end positions of the pins 102, and does not acquire the images of the device body 101 and the like.
Other aspects of this fourth embodiment are substantially the same as those of the second embodiment described above, and are not described in detail here.
Embodiment 5 of pin position detecting device
The fifth embodiment differs from the first embodiment mainly in the light source structure, and will be described in detail below.
In this fifth embodiment, the light source includes a light emitter and a light path. The light path is arranged between the luminous body and the pin, particularly between the luminous body and the tail end of the pin, and can shape the radially distributed light rays emitted by the luminous body into light beams or light bands with more consistent directions.
The optical path may include a collimating lens, a parabolic mirror, or a concave lens, or a combination of multiple lenses or flat mirrors.
Other aspects of this fifth embodiment are substantially the same as those of the first embodiment described above, and are not described in detail here.
Although relative terms, such as "upper" and "lower," are used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples in the drawings. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via another structure. The terms "first," "second," and "third," etc. are used merely as labels, and are not limiting on the number of their objects.
In the claims, the terms "a", "an", "at least one" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.
It is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the description. The invention is capable of other embodiments and of being practiced and carried out in various ways. The foregoing variations and modifications fall within the scope of the present invention. It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute alternative aspects of the present invention. The embodiments of this specification illustrate the best mode known for carrying out the invention and will enable those skilled in the art to utilize the invention.
Claims (15)
1. The utility model provides an electronic components cartridge positioner for an automatic plug-in components machine, automatic plug-in components machine includes the manipulator, the manipulator can insert a PCB's jack with an electronic components's pin, a serial communication port, electronic components cartridge positioner includes:
the pin position acquisition device comprises a first CCD camera, wherein the first CCD camera is used for shooting an image of the pin of the electronic component and obtaining a coordinate value of the pin under an image coordinate system;
the jack position acquisition device comprises a second CCD camera, and the second CCD camera is used for shooting the image of the jack of the PCB and obtaining the coordinate value of the jack under an image coordinate system; and
the processing unit is used for receiving and processing the coordinate values of the pins under an image coordinate system, the coordinate values of the jacks under the image coordinate system, the coordinate values of the first CCD camera under a camera coordinate system and the coordinate values of the second CCD camera under the camera coordinate system so as to respectively acquire the coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system; the processing unit further calculates compensation amount required by superposition of the pins and the corresponding jacks according to coordinate values of the pins, the jacks, the first CCD camera and the second CCD camera which are respectively referenced by a world coordinate system, wherein the world coordinate system refers to a reference coordinate system of the manipulator; and
the control unit is used for controlling the manipulator to carry the electronic component to move according to the compensation amount, so that the pins of the electronic component and the jacks of the PCB are positioned;
the pin position acquisition device includes:
one or more light sources disposed at one side of the device body having the pins, the light sources being configured to concentrate light thereof to irradiate end portions of the pins;
the first CCD camera is arranged on one side of the device body, which is provided with the pins, and is used for shooting the images of the pins.
2. The electronic component mounting and positioning device according to claim 1, wherein the processing unit includes:
the calibration module is used for respectively determining conversion coefficients of the image coordinate system and the camera coordinate system into a world coordinate system;
and the coordinate conversion module is used for respectively converting the coordinate values of the pins under the image coordinate system and the coordinate values of the jacks under the image coordinate system into coordinate values under a world coordinate system according to the conversion coefficient.
3. The device for mounting and positioning electronic components as claimed in claim 1, wherein the number of the light sources is arranged in pairs, and each pair of the light sources is symmetrically arranged on two sides of the pins.
4. The electronic component mounting and positioning device of claim 3, wherein the center lines of each pair of the light sources are aligned or form an angle.
5. The electronic component mounting and positioning device as claimed in claim 1, further comprising:
the shading plate is provided with a plurality of pre-jacks, and the positions of the pre-jacks correspond to the tail end positions of a plurality of pins of the electronic component, so that the pins can be correspondingly inserted into the pre-jacks.
6. The electronic component inserting and positioning device as claimed in claim 5, wherein the light shielding plate is protruded from the periphery thereof to block the light source from irradiating the device body, in case that the plurality of pins of the electronic component are correspondingly inserted into the plurality of pre-insertion holes of the light shielding plate.
7. The electronic component mounting and positioning device according to claim 5, wherein the light shielding plate is black on a surface facing the first CCD camera.
8. The electronic component mounting and positioning device of claim 1, wherein the light source comprises:
a light emitter;
the light restriction component is provided with an accommodating cavity for accommodating the luminous body and an opening for emitting light rays of the luminous body, and the light rays emitted by the luminous body form a light column or a light band after being emitted through the opening.
9. An electronic component mounting and positioning device as claimed in claim 8, wherein a condenser lens is mounted at the opening of the light restriction member, and light passing through the condenser lens forms parallel light.
10. The electronic component mounting and positioning device as claimed in claim 8, wherein the light sources are two oppositely arranged openings, and the light confining member of each light source comprises:
the bottom wall is provided with the luminous body;
one end of the cylinder is connected to the edge of the bottom wall, the other end of the cylinder forms the opening, and the length of the cylinder is more than 2 times of that of the light-emitting body.
11. The electronic component mounting and positioning device as claimed in claim 8, wherein the number of the light source is one, and the light restricting member of the light source includes:
the light-emitting body is arranged on the inner side of the enclosing wall;
the two side walls are arranged in parallel, are both disc-shaped and are provided with hollow parts, the outer edges of the two side walls are respectively fixed at the two end parts of the enclosing wall, the opening is formed between the inner edges of the two side walls, and the length of the side walls is more than 2 times of the length of the light-emitting body along the radial direction of the enclosing wall.
12. The electronic component mounting and positioning device of claim 1, wherein the light source comprises:
a light emitter;
and the light path is arranged between the luminous body and the connecting pin and is used for integrating the light emitted by the luminous body into a light column or a light band.
13. The electronic component mounting and positioning device of claim 12, wherein the optical path includes at least one of a collimating lens, a parabolic mirror, or a concave lens.
14. The device for positioning inserted electronic components of claims 1 and 3-13, wherein the pins comprise two groups arranged symmetrically, and the center line of the lens of the first CCD camera is disposed on the symmetry axis of the two groups of pins.
15. An automatic component inserter comprising the electronic component mounting positioning device as claimed in any one of claims 1 to 14.
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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 | Priority date | Publication date | Assignee | Title |
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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 |
| CN110167267B (en) * | 2019-04-16 | 2020-10-02 | 珠海中京电子电路有限公司 | Automatic hole plugging method |
| CN114158249B (en) | 2020-09-08 | 2024-04-26 | 台达电子工业股份有限公司 | Automatic plug-in equipment |
| CN114531789B (en) * | 2022-02-21 | 2023-05-30 | 浙江蓝晶芯微电子有限公司 | Quartz crystal resonator pin positioning process with limiting mechanism |
| CN117132647A (en) * | 2022-05-18 | 2023-11-28 | 中兴通讯股份有限公司 | Plug-in connector, plug-in method and system of plug-in hole, related equipment and 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 |
| CN115008477B (en) * | 2022-08-09 | 2023-03-21 | 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 |
| 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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