CN108882669A - A kind of positioning of SPEED VISION and double-station flexibility mounting device and its attaching method - Google Patents
A kind of positioning of SPEED VISION and double-station flexibility mounting device and its attaching method Download PDFInfo
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- CN108882669A CN108882669A CN201810979701.2A CN201810979701A CN108882669A CN 108882669 A CN108882669 A CN 108882669A CN 201810979701 A CN201810979701 A CN 201810979701A CN 108882669 A CN108882669 A CN 108882669A
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- 230000007246 mechanism Effects 0.000 claims description 77
- 238000010438 heat treatment Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 9
- 239000004579 marble Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000003825 pressing Methods 0.000 description 7
- 208000027418 Wounds and injury Diseases 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
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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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
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/046—Surface mounting
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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
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
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Abstract
The invention discloses a kind of positioning of SPEED VISION and double-station flexibility mounting devices and its attaching method, it include pedestal, X-axis moves mould group, Y-axis moves mould group, vacuum absorbing platform, first material conveying device, second material conveying device, left attachment mould group, right attachment mould group, CCD vision positioning mould group, X-axis movement mould group and Y-axis movement mould group are arranged on pedestal, and X-axis movement mould group can move left and right on pedestal, Y-axis movement mould group can be moved forward and backward on pedestal, X-axis movement mould group and Y-axis movement mould group are vertically arranged and Y-axis movement mould group is located at the lower section that X-axis moves mould group, vacuum absorbing platform is fixed in Y-axis movement mould group, left attachment mould group, right attachment mould group, CCD vision positioning mould group is arranged in X-axis movement mould group.The device and its attaching method can effectively save move distance and the device space, greatly improve the speed and precision requirement of attachment.
Description
Technical field
The invention belongs to material mounting device technical field, in particular to a kind of SPEED VISION suitable for electronic product
Positioning and double-station flexibility mounting device and its attaching method.
Background technique
Traditional mounting device, double work mounting head can complete the movement of two mounting heads using double gantry support mechanisms
Control, CCD vision positioning movement mechanism need in addition to increase movement mechanism also come the work for positioning of completing to take pictures.Mechanism is very huge
Greatly, move distance is remote, and placement speed is slow.The functional entity of mounting head is layering connection simultaneously, and integrated level is poor, bulky,
Weight is laid particular stress on, so that movement mechanism load excessive, movement velocity are slow.For accelerate speed, need to just increase movement mechanism power and
Volume, movement inertia is big, and control precision is difficult, while volume is huger, at high cost.
In the patent application that number of patent application is CN200680002962.4, a kind of component mounting method and patch are disclosed
Fill device comprising：Mounting head；Recognition unit comprising shutter camera and when mounting head reach predetermined position when order it
Start the image of capturing element；And main control unit, since the instruction of image is being shot to by fast issuing according to mounting head
Door camera executes in the period of camera exposure the first distance that move to correct in the image shot by shutter camera
The position of shown element corrects the attachment that the mounting head will mount the element according to the position of the element after correction
Position, and control mounting head, thus the mounting position by the component mounter after calibration.
In the patent application that number of patent application is CN201721287195.8, a kind of mounting device, including bottom are disclosed
Seat, for placing the jig of workpiece, the first attachment mechanism, the first material stripping mechanism；First material stripping mechanism is set to the one of jig
Side；First attachment mechanism is set to the top of jig and the first material stripping mechanism；Described first mounts mechanism for the first stripping machine
First patch of structure removing is grabbed and is mounted on the workpiece of jig.First attachment mechanism draws the first patch from the first material stripping mechanism
Piece mounts workpiece, meanwhile, the second attachment mechanism draws the second patch from the second material stripping mechanism and is mounted on workpiece.
But the equipment placement speed implemented in the above-mentioned published patent application is slow, not can solve skill set forth above
Art problem.
Summary of the invention
To solve the above problems, the primary purpose of the present invention is that providing a kind of positioning of SPEED VISION and double-station flexible paste
Assembling device, the device can effectively save move distance and the device space, greatly improve the speed and precision requirement of attachment.
It is another object of the present invention to provide a kind of positioning of SPEED VISION and the attachments of double-station flexibility mounting device
Method can preferably realize quick and high-precision attachment, and operating effect is good, is easy to be widely popularized.
To achieve the above object, technical scheme is as follows：
The present invention provides a kind of positioning of SPEED VISION and double-station flexibility mounting device, includes pedestal, X-axis movement mould
Group, Y-axis movement mould group, the vacuum absorbing platform for adsorbing object to be mounted, first material conveying device, second material conveying
Device, left attachment mould group, right attachment mould group, CCD vision positioning mould group, the X-axis movement mould group and Y-axis movement mould group are equal
On the base, and X-axis movement mould group can move left and right on the base for setting, and Y-axis movement mould group can be
It is moved forward and backward on the pedestal, the X-axis movement mould group is vertically arranged with Y-axis movement mould group and Y-axis movement mould group is located at
The lower section of the X-axis movement mould group, the vacuum absorbing platform are fixed in the Y-axis movement mould group, the left attachment mould group,
Right attachment mould group, CCD vision positioning mould group are arranged in the X-axis movement mould group, and the left attachment mould group, right attachment mould
Group is located at the two sides of the CCD vision positioning mould group, and the X-axis movement mould group can drive left attachment mould group, right patch respectively
Die-filling group, CCD vision positioning mould group move left and right, the first material conveying device, second material conveying device are arranged at
On the pedestal and it is located at the two sides that the Y-axis moves mould group.In the present invention, SPEED VISION positioning and double-station are soft
Property mounting device can be set on the production line of automation, and be electrically connected with external control devices, first material conveying device,
The object mounted in advance is placed in very by second material conveying device for conveying attachment material, the movement Working rack on production line
On empty absorption platform, then controls equipment control Y-axis movement mould group and vacuum absorbing platform is driven to be moved forward and backward to make pre- attachment
Object be moved to the lower section of CCD vision positioning mould group, CCD vision positioning mould group is taken pictures the number of the object mounted in advance after positioning
It is sent to control equipment according to coordinate, control equipment transfers information to left attachment mould group and right attachment mould group, at this time left attachment mould
Group moves to the both ends of material with right attachment Mo Zu respectively, adsorbs the first conveying material device and the second conveying material device respectively
Attachment material, then successively mounted on the object mounted in advance by left and right sequence, CCD vision positioning mould group is finished taking pictures
It is moved left and right afterwards to avoid position of the left and right attachment mould group in attachment；By above-mentioned setting, make left attachment mould group and right attachment
Mould group and CCD vision positioning mould group are placed in simultaneously in the same X-axis movement mould group, by the left attachment mould groups of two sides with
Right attachment mould group works alternatively, the mode of CCD vision positioning mould group positioned alternate, effectively saves move distance and equipment is empty
Between, the speed and precision requirement of attachment is greatly improved, the above-mentioned external control devices referred to and movement Working rack are existing
There is technology, can be realized above-mentioned function.
Further, the lower end of CCD vision positioning mould group is additionally provided with vision light source.By vision light source to mounting in advance
The irradiation of body surface, the feature of the object mounted in advance is shown it is more obvious, make CCD vision positioning mould group take mutually more
Clearly, positioning accuracy is improved.
Further, the material of the pedestal is marble material, is additionally provided with fixing seat, the fixation on the pedestal
Seat is marble portal frame, and the X-axis movement mould group, which is arranged on the base by the fixing seat and is located at the Y-axis, transports
The top of dynamic model group, the notch of N shape is offered in the middle part of the fixing seat, and the Y-axis movement mould group is located at X-axis on pedestal and transports
It is moved forward and backward below dynamic model group by the N v notch v.In the present invention, keep the use of the device more square by above-mentioned setting
Just.
Further, the X-axis movement mould group includes X-axis Linear motor device, and the X-axis Linear motor device includes
There are stator, mover, sliding block, guide rail, right baffle-plate, right shell body, the right baffle-plate and right shell body are separately fixed in the fixing seat,
The stator is arranged between the right baffle-plate and right shell body, and the mover and sliding block are 3, and the guide rail is 2, described
For 2 guide rails in being arranged in parallel between right baffle-plate and right shell body up and down, the two sides up and down of 3 sliding blocks are separately positioned on 2
On guide rail, and 3 sliding blocks can move left and right on the guide rail, and 3 movers are respectively set on 3 sliding blocks, lead to
3 sliding blocks are crossed to horizontally slip on guide rail, the left attachment mould group, right attachment mould group, CCD vision positioning Mo Zu respectively with 3
Mover is drivingly connected, and the X-axis Linear motor device is additionally provided with 3 beams, and 3 beams are separately positioned on described
The left and right ends of X-axis Linear motor device and medium position.In the present invention, by above-mentioned setting, linear motor is utilized
The characteristic that multiple movers can be used to move respectively, by left attachment mould group, right attachment mould group, CCD vision positioning mould group three movements
Mould group is drivingly connected respectively with 3 movers moves simultaneously, saves space and can promote speed.
Further, the Y-axis movement mould group includes Y-axis linear motor, and the vacuum absorbing platform setting is straight in Y-axis
On line motor, by Y-axis linear motor, front and back moves linearly on pedestal.
Further, the left attachment mould group and right attachment mould group include installation positioning plate, vacuum generator, straight line
Stepper motor, pressure output mechanism, rotation Jiu Zi mechanism, heating suction nozzle, rotating electric machine；Positioning plate is installed to be arranged in the mover
On, the vacuum generator, linear stepping motor are installed on the installation positioning plate, and the linear stepping motor can be
It moves up and down vertically on installation positioning plate, the pressure output mechanism and the straight line driving mechanism are drivingly connected, the straight line
Driving mechanism can drive the pressure output mechanism to move up and down, and the rotation Jiu Zi mechanism and the pressure output mechanism drive
Connection, the pressure output mechanism can drive the rotation Jiu Zi mechanism to move up and down, and the lower end of the rotation Jiu Zi mechanism connects
It is connected to heating suction nozzle and rotating electric machine, the rotating electric machine can drive the rotation of rotation Jiu Zi mechanism to drive heating suction nozzle to turn
It is dynamic.
In the present invention, when left attachment mould group and right attachment mould group work, heat suction nozzle by vacuum generator heat with
And adsorption capacity is generated, then the heating suction nozzle will mount material absorption, and material is heated by CCD vision positioning mould simultaneously
Group takes pictures to pre- attachment object, calculates the coordinate and angle of pre- attachment object, and external control devices receive CCD vision positioning mould
It controls linear stepping motor after the specific location data that group is taken pictures to move downward, so that driving pressure export structure drives rotation
Turn to entangle appearance structure down close to pre- attachment object, while external control devices control rotating electric machine rotation, so that rotation be driven to entangle
The rotation of appearance mechanism, then carries out angle to entangle appearance, then carries out pressing docile, the pressure output machine by rotating Jiu Zi mechanism
The setting of structure can control pressure when pressing；It is arranged by above structure, the work of vacuum suction attachment material can be completed,
To attachment the corrected work of material, to attachment pressure and when pressure control, to material heating fitting work；Left attachment mould
Group integrates above-mentioned several functions with right attachment mould group, and structure setting is compact, can reduce the volume of mounting device, and
And since volume reduces, weight saving, structure is more flexible, to make to mount material faster more precisely, vacuum generator is existing
There is technology, can be realized above-mentioned function.
Further, pressure output mechanism includes connecting plate, connecting column, baffle, spring, and the baffle is fixed on described
The lower end of linear stepping motor, one end of the spring are connect with the baffle, the other end of the spring and the connecting column
Upper end connection, the lower end of the connecting column is fixed on the connecting plate, and the connecting plate and the rotation Jiu Zi mechanism consolidate
Fixed connection.In the present invention, when linear stepping motor moves down, pressure output mechanism is driven to move down, to drive
Rotation Jiu Zi mechanism moves down to be supported on attachment object in advance, and the pre- reaction force for mounting object can be made through rotation Jiu Zi mechanism
It uses on spring, by the compression ratio of the up and down motion distance controlling spring of linear stepping motor to the implementation pressure of pre- attachment object
Power, the injury so as to avoid rigid pressure when pressing to pre- attachment object.
Further, the pressure output mechanism further includes having up and down motion alignment sensor, the up and down motion positioning
Sensor is 2, and is separately positioned on the bottom both ends of the connecting plate.In the present invention, pass through up and down motion orientation sensing
Device can sense move distance, to preferably pass through the compression ratio of the up and down motion distance controlling spring of linear motor
Pressure is implemented to object, guarantees soft to the pressure of pre- attachment object when docile, rigid pressure pair when can effectively avoid pressing
The injury of pre- attachment object.
Further, the rotation Jiu Zi mechanism includes support plate, rotation band, rotary shaft, and the rotating electric machine includes
Have rotation axis, the support plate is fixedly connected with the connecting plate, the rotating electric machine be arranged in the lower part of the support plate and
The rotation axis of the rotating electric machine passes through the top that the support plate stretches out the support plate, and the rotary shaft is arranged in the branch
It can rotate on fagging and on the supporting plate, the top of the support plate is stretched out in the upper end of the rotary shaft, under the rotary shaft
End is stretched out the lower section of the support plate and is connect with the heating suction nozzle, and the rotation band is annular, one end of ring rotation band
With the rotation axis connection, the other end of ring rotation band and the rotation axis connection, band turn when the rotating electric machine rotates
Moving axis drives rotary shaft rotation by rotation band, and then heating suction nozzle rotation is driven to adjust angle.In the present invention, by above-mentioned
Setting realizes that angle is adjusted in rotation Jiu Zi mechanism and entangles appearance, then can more preferably carry out attachment material.
The present invention also provides a kind of positioning of SPEED VISION and the attaching methods of double-station flexibility mounting device, including following step
Suddenly：
Step 1, pre- attachment object is placed on the vacuum absorbing platform, while attachment material is placed on the first object
On material conveying device and second material conveying device；
Step 2, Y-axis movement mould group drives vacuum absorbing platform mobile to make pre- mounted object transport to CCD vision
The lower section of positioning module；
Step 3, CCD vision positioning mould group takes pictures to the object mounted in advance and data coordinates are sent to control set after positioning
It is standby；
Step 4, control equipment transfers information to left attachment mould group and right attachment mould group, at this time left attachment mould group and right patch
The die-filling group of both ends for moving to material respectively, adsorb the attachment object of first material conveying device and second material conveying device respectively
Then material is successively mounted on the object mounted in advance by left and right sequence；
Step 5, CCD vision positioning mould group moved left and right after taking pictures with avoid left and right attachment mould group attachment when
Position.In the present invention, when left attachment mould group is mounted, CCD vision positioning mould group is just mobile toward the right, when right attachment mould
With regard to mobile toward the left side when group is mounted, attachment respectively left and right in left and right alternately, can keep attachment position continuously to mount, from
And preferably realize quick and high-precision attachment, operating effect is good, is easy to be widely popularized.
The beneficial effects of the present invention are：Compared with the prior art, in the present invention, SPEED VISION positioning and duplex
The flexible mounting device in position can be set on the production line of automation, and be electrically connected with external control devices, and first material conveys
Device, second material conveying device put the object mounted in advance for conveying attachment material, the movement Working rack on production line
It is placed on vacuum absorbing platform, then controls equipment control Y-axis movement mould group and vacuum absorbing platform is driven to be moved forward and backward to make
The object mounted in advance is moved to the lower section of CCD vision positioning mould group, and CCD vision positioning mould group is taken pictures the object that will be mounted in advance after positioning
The data coordinates of body are sent to control equipment, and control equipment transfers information to left attachment mould group and right attachment mould group, left at this time
Attachment mould group and right attachment Mo Zu move to the both ends of material respectively, adsorb the first conveying material device and the second conveying object respectively
Expect the attachment material of device, is then successively mounted on the object mounted in advance by left and right sequence, CCD vision positioning mould group is being clapped
It is moved left and right according to after to avoid position of the left and right attachment mould group in attachment；By above-mentioned setting, make left attachment mould group with
Right attachment mould group and a CCD vision positioning mould group are placed in simultaneously in the same X-axis movement mould group, pass through the left attachment of two sides
Mould group and right attachment mould group work alternatively, the mode of CCD vision positioning mould group positioned alternate, effectively save move distance with
The device space greatly improves the speed and precision requirement of attachment.
Detailed description of the invention
Fig. 1 is the embodiment schematic diagram of a kind of SPEED VISION positioning of the present invention and double-station flexibility mounting device.
Fig. 2 is the front view of a kind of SPEED VISION positioning of the present invention and double-station flexibility mounting device.
Fig. 3 is the top view of a kind of SPEED VISION positioning of the present invention and double-station flexibility mounting device.
Fig. 4 is a kind of SPEED VISION positioning of the present invention and the left attachment mould group of double-station flexibility mounting device, right attachment mould
Group, CCD vision positioning mould group are mounted on the embodiment schematic diagram of X-axis movement mould group.
Fig. 5 is a kind of SPEED VISION positioning of the present invention and the left attachment mould group of double-station flexibility mounting device, right attachment mould
Group, CCD vision positioning mould group are mounted on the front view of X-axis movement mould group.
Fig. 6 is the interior of the X-axis Linear motor device of a kind of SPEED VISION positioning of the present invention and double-station flexibility mounting device
Portion's structural schematic diagram.
Fig. 7 is the left attachment mould group or right attachment of a kind of SPEED VISION positioning of the present invention and double-station flexibility mounting device
The structural schematic diagram of mould group.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to shown in Fig. 1-7, it includes bottom that the present invention, which provides a kind of SPEED VISION positioning and double-station flexibility mounting device,
Seat 1, X-axis movement mould group 2, Y-axis movement mould group 3, the vacuum absorbing platform 4 for adsorbing object to be mounted, first material conveying
Device 5, second material conveying device 6, left attachment mould group 7, right attachment mould group 8, CCD vision positioning mould group 9, X-axis move mould group 2
It is arranged on pedestal 1 with Y-axis movement mould group 3, and X-axis movement mould group 2 can move left and right on pedestal 1, Y-axis moves mould group 3
It can be moved forward and backward on pedestal 1, X-axis movement mould group 2 is vertically arranged with Y-axis movement mould group 3 and Y-axis movement mould group 3 is located at X-axis fortune
The lower section of dynamic model group 2, vacuum absorbing platform 4 are fixed in Y-axis movement mould group 3, left attachment mould group 7, right attachment mould group 8, CCD view
Feel that positioning module 9 is arranged in X-axis movement mould group 2, and left attachment mould group 7, right attachment mould group 8 are located at CCD vision and determine
The two sides of position mould group 9, X-axis movement mould group 2 can drive left attachment mould group 7, right attachment mould group 8, CCD vision positioning mould group 9 respectively
It moves left and right, first material conveying device 5, second material conveying device 6 are arranged on pedestal 1 and are located at Y-axis movement
The two sides of mould group 3.In the present invention, the life in automation can be set in SPEED VISION positioning and double-station flexibility mounting device
It in producing line, and is electrically connected with external control devices, first material conveying device 5, second material conveying device 6 are for conveying attachment
The object mounted in advance is placed on vacuum absorbing platform 4 by material, the movement Working rack on production line, then controls equipment control
Y-axis movement mould group 3 processed drives vacuum absorbing platform 4 to be moved forward and backward that pre- mounted object is made to be moved to CCD vision positioning mould
The lower section of group 9, CCD vision positioning mould group 9 take pictures and the data coordinates of the object mounted in advance are sent to control equipment after positioning, control
Control equipment transfers information to left attachment mould group 7 and right attachment mould group 8, and left attachment mould group 7 is transported respectively with right attachment mould group 8 at this time
The attachment material for adsorbing the first conveying material device and the second conveying material device respectively to the both ends of material is moved, then successively
It is mounted on the object mounted in advance by left and right sequence, CCD vision positioning mould group 9 is moved left and right after taking pictures to avoid a left side
Position of the right attachment mould group 8 in attachment；By above-mentioned setting, regard left attachment mould group 7 with right attachment mould group 8 and a CCD
Feel that positioning module 9 is placed in simultaneously in the same X-axis movement mould group 2, passes through the left attachment mould group 7 and right attachment mould group 8 of two sides
It works alternatively, the mode of 9 positioned alternate of CCD vision positioning mould group effectively saves move distance and the device space, mentions significantly
Mounted speed and precision requirement is risen, the above-mentioned external control devices referred to and movement Working rack are the prior art, energy
Enough realize above-mentioned function.
In the present embodiment, the lower end of CCD vision positioning mould group 9 is additionally provided with vision light source 91.Pass through vision light source 91
Irradiation to the body surface mounted in advance, the feature of the object mounted in advance is shown more obvious, makes CCD vision positioning mould group
9 take mutually is more clear, and improves positioning accuracy.
In the present embodiment, the material of pedestal 1 is marble material, is additionally provided with fixing seat 11, fixing seat 11 on pedestal 1
For marble portal frame, X-axis movement mould group 2 is arranged on pedestal 1 by fixing seat 11 and is located at the top that Y-axis moves mould group 3,
The middle part of fixing seat 11 offers the notch 111 of N shape, and Y-axis moves mould group 3 and leads to below X-axis movement mould group 2 on pedestal 1
Cross the back-and-forth motion of N v notch v 111.In the present invention, the more convenient to use of the device is made by above-mentioned setting.
In the present embodiment, X-axis movement mould group 2 includes X-axis Linear motor device 21, and X-axis Linear motor device 21 wraps
Stator 211, mover 212, sliding block 213, guide rail 214, right baffle-plate 215, right shell body 216, right baffle-plate 215 and right shell body 216 are included
It is separately fixed in fixing seat 11, stator 211 is arranged between right baffle-plate 215 and right shell body 216, and mover 212 and sliding block 213 are equal
It is 3, guide rail 214 is 2, and 2 guide rails 214 are in be arranged in parallel between right baffle-plate 215 and right shell body 216 up and down, 3 sliding blocks
213 two sides up and down are separately positioned on 2 guide rails 214, and 3 sliding blocks 213 can move left and right on guide rail 214, and 3 dynamic
Son 212 is respectively set on 3 sliding blocks 213, is horizontally slipped on guide rail 214 by 3 sliding blocks 213, left attachment mould group 7, right patch
Die-filling group 8, CCD vision positioning mould group 9 be drivingly connected respectively with 3 movers 212, X-axis Linear motor device 21 is additionally provided with 3
217,3 beams 217 of beam are separately positioned on left and right ends and the medium position of X-axis Linear motor device 21.At this
In invention, by above-mentioned setting, the characteristic that multiple movers 212 can be used to move respectively for linear motor is utilized, by left attachment mould
9 three group 7, right attachment mould group 8, CCD vision positioning mould group movement mould groups are drivingly connected respectively with 3 movers 212 move simultaneously,
It saves space and speed can be promoted.
In the present embodiment, Y-axis movement mould group 3 includes Y-axis linear motor 31, and the setting of vacuum absorbing platform 4 is straight in Y-axis
On line motor 31, by Y-axis linear motor 31, front and back moves linearly on pedestal 1.
In the present embodiment, left attachment mould group 7 includes installation positioning plate 101, vacuum generator with right attachment mould group 8
102, linear stepping motor 103, pressure output mechanism 104, rotation Jiu Zi mechanism 105, heating suction nozzle 106, rotating electric machine 107；
Positioning plate 101 is installed to be arranged on mover 212, vacuum generator 102, linear stepping motor 103 are installed in installation positioning plate
On 101, and linear stepping motor 103 can move up and down vertically on installation positioning plate 101, pressure output mechanism 104 and straight line
Driving mechanism be drivingly connected, straight line driving mechanism can driving pressure output mechanism 104 move up and down, rotation Jiu Zi mechanism 105 with
Pressure output mechanism 104 is drivingly connected, and pressure output mechanism 104 can drive rotation Jiu Zi mechanism 105 to move up and down, and appearance is entangled in rotation
The lower end of mechanism 105 is connected with heating suction nozzle 106 and rotating electric machine 107, and rotating electric machine 107 can drive rotation Jiu Zi mechanism 105
Rotation is to drive heating suction nozzle 106 to rotate.
In the present invention, when left attachment mould group 7 works with right attachment mould group 8, heating suction nozzle 106 passes through vacuum generator
102 heating and generation adsorption capacity, material absorption will be mounted by then heating suction nozzle 106, and material is heated by CCD simultaneously and regards
Feel that positioning module 9 takes pictures to pre- attachment object, calculate the coordinate and angle of pre- attachment object, external control devices receive CCD
It controls linear stepping motor 103 after the specific location data that vision positioning mould group 9 is taken pictures to move downward, thus driving pressure
Export structure drives rotation to entangle appearance structure down close to pre- attachment object, while external control devices control 107 turns of rotating electric machine
It is dynamic, so that rotation Jiu Zi mechanism 105 be driven to rotate, then angle is carried out to entangle appearance by rotating Jiu Zi mechanism 105, then be carried out
Docile is pressed, the setting of pressure output mechanism 104 can control pressure when pressing；It is arranged by above structure, can be completed
Vacuum suction mount material work, to attachment the corrected work of material, to attachment pressure and when pressure control, to material
Heat the work of fitting；Left attachment mould group 7 integrates above-mentioned several functions with right attachment mould group 8, and structure setting is compact,
The volume of mounting device can be reduced, and since volume reduces, weight saving, structure is more flexible, to make to mount material
Faster more precisely, vacuum generator 102 is the prior art, can be realized above-mentioned function.
In the present embodiment, pressure output mechanism 104 includes connecting plate 1041, connecting column 1042, baffle 1043, spring
1044, baffle 1043 is fixed on the lower end of linear stepping motor 103, and one end of spring 1044 is connect with baffle 1043, spring
1044 other end is connect with the upper end of connecting column 1042, and the lower end of connecting column 1042 is fixed on connecting plate 1041, connecting plate
1041 are fixedly connected with rotation Jiu Zi mechanism 105.In the present invention, when linear stepping motor 103 moves down, band dynamic pressure
Output mechanism 104 moves down, supports on attachment object in advance so that rotation Jiu Zi mechanism 105 be driven to move down, pre- to mount
The reaction force of object can be rotated Jiu Zi mechanism 105 and is applied on spring 1044, and the fortune up and down of linear stepping motor 103 is passed through
The compression ratio of dynamic distance controlling spring 1044 is to the pre- implementation pressure for mounting object, so as to avoid rigid pressure when pressing to pre-
Mount the injury of object.
In the present embodiment, pressure output mechanism 104 further includes having up and down motion alignment sensor 1045, and it is fixed to move up and down
Level sensor 1045 is 2, and is separately positioned on the bottom both ends of connecting plate 1041.In the present invention, fixed by moving up and down
Level sensor 1045 can sense move distance, to preferably pass through the up and down motion distance controlling bullet of linear motor
The compression ratio of spring 1044 implements pressure to object, guarantees soft to the pressure of pre- attachment object when docile, can effectively avoid pressing
Injury of the rigid pressure to pre- attachment object when conjunction.
In the present embodiment, rotation Jiu Zi mechanism 105 includes support plate 1051, rotation band 1052, rotary shaft 1053, rotation
Rotating motor 107 includes rotation axis 1071, and support plate 1051 is fixedly connected with connecting plate 1041, and the setting of rotating electric machine 107 is being propped up
The lower part of fagging 1051 and the rotation axis 1071 of rotating electric machine 107 pass through the top of the stretching support plate 1051 of support plate 1051, rotation
Shaft 1053 is arranged in support plate 1051 and can rotate in support plate 1051, and support plate is stretched out in the upper end of rotary shaft 1053
1051 top, the lower end of rotary shaft 1053 are stretched out the lower section of support plate 1051 and are connect with heating suction nozzle 106, and band 1052 is rotated
One end for annular, ring rotation band 1052 is connect with rotation axis 1071, the other end and rotary shaft of ring rotation band 1052
1053 connections drive rotation axis 1071 to drive rotary shaft 1053 to rotate by rotation band 1052, in turn when rotating electric machine 107 rotates
The heating rotation of suction nozzle 106 is driven to adjust angle.In the present invention, realize rotation Jiu Zi mechanism 105 to angle by above-mentioned setting
It is adjusted and entangles appearance, then can more preferably carry out attachment material.
The present invention also provides a kind of positioning of SPEED VISION and the attaching methods of double-station flexibility mounting device, including following step
Suddenly：
Step 1, pre- attachment object is placed on vacuum absorbing platform 4, while attachment material is placed on first material
In conveying device 5 and second material conveying device 6；
Step 2, Y-axis movement mould group 3 drives vacuum absorbing platform 4 mobile to make pre- mounted object transport to CCD and regard
Feel the lower section of positioning module 9；
Step 3, CCD vision positioning mould group 9 takes pictures to the object mounted in advance and data coordinates are sent to control set after positioning
It is standby；
Step 4, control equipment transfers information to left attachment mould group 7 and right attachment mould group 8, at this time left attachment mould group 7 and
Right attachment mould group 8 moves to the both ends of material respectively, adsorbs first material conveying device 5 and second material conveying device 6 respectively
Attachment material, then successively mounted on the object mounted in advance by left and right sequence；
Step 5, CCD vision positioning mould group 9 is moved left and right after taking pictures to avoid left and right attachment mould group 8 in attachment
Position.In the present invention, when left attachment mould group 7 is mounted, CCD vision positioning mould group 9 is just mobile toward the right, when right patch
With regard to mobile toward the left side when being mounted for die-filling group 8, attachment respectively left and right in left and right alternately, can keep attachment position continuously to paste
Dress, to preferably realize quick and high-precision attachment, operating effect is good, is easy to be widely popularized.
The beneficial effects of the present invention are：Compared with the prior art, in the present invention, SPEED VISION positioning and duplex
The flexible mounting device in position can be set on the production line of automation, and be electrically connected with external control devices, and first material conveys
Device 5, second material conveying device 6 are for conveying attachment material, the object that the movement Working rack on production line will mount in advance
Be placed on vacuum absorbing platform 4, then control equipment control Y-axis movement mould group 3 drive vacuum absorbing platform 4 be moved forward and backward from
And pre- mounted object is made to be moved to the lower section of CCD vision positioning mould group 9, CCD vision positioning mould group 9 is taken pictures and will be pasted in advance after positioning
The data coordinates of the object of dress are sent to control equipment, and control equipment transfers information to left attachment mould group 7 and right attachment mould group
8, left attachment mould group 7 and right attachment mould group 8 move to the both ends of material respectively at this time, adsorb respectively the first conveying material device with
The attachment material of second conveying material device, is then successively mounted on the object mounted in advance by left and right sequence, CCD vision is fixed
Position mould group 9 is moved left and right after taking pictures to avoid position of the left and right attachment mould group 8 in attachment；By above-mentioned setting, make
Left attachment mould group 7 is placed in the same X-axis movement mould group 2 simultaneously with right attachment mould group 8 and a CCD vision positioning mould group 9,
It is worked alternatively by the left attachment mould group 7 of two sides and right attachment mould group 8, the mode of 9 positioned alternate of CCD vision positioning mould group has
Effect saves move distance and the device space, greatly improves the speed and precision requirement of attachment.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of SPEED VISION positioning and double-station flexibility mounting device, it is characterised in that include pedestal, X-axis movement mould group, Y
Axis moves mould group, the vacuum absorbing platform for adsorbing object to be mounted, first material conveying device, second material conveying dress
It sets, left attachment mould group, right attachment mould group, CCD vision positioning mould group, the X-axis movement mould group is all provided with Y-axis movement mould group
It sets on the base, and X-axis movement mould group can move left and right on the base, the Y-axis movement mould group can be in institute
It states and is moved forward and backward on pedestal, the X-axis movement mould group is vertically arranged with Y-axis movement mould group and Y-axis movement mould group is located at institute
The lower section of X-axis movement mould group is stated, the vacuum absorbing platform is fixed in the Y-axis movement mould group, the left attachment mould group, the right side
Attachment mould group, CCD vision positioning mould group are arranged in the X-axis movement mould group, and the left attachment mould group, right attachment mould group
The two sides of the CCD vision positioning mould group are located at, the X-axis movement mould group can drive left attachment mould group, right attachment respectively
Mould group, CCD vision positioning mould group move left and right, and the first material conveying device, second material conveying device are arranged at institute
State on pedestal and be located at the two sides of the Y-axis movement mould group.
2. SPEED VISION positioning according to claim 1 and double-station flexibility mounting device, it is characterised in that the CCD view
Feel that the lower end of positioning module is additionally provided with vision light source.
3. SPEED VISION positioning according to claim 1 and double-station flexibility mounting device, it is characterised in that the pedestal
Material be marble material, fixing seat is additionally provided on the pedestal, the fixing seat is marble portal frame, the X-axis
It moves mould group and is arranged on the base and is located at the top that the Y-axis moves mould group, the fixing seat by the fixing seat
Middle part offer the notch of N shape, the Y-axis movement mould group is located at scarce by the N shape below X-axis movement mould group on pedestal
Mouth is moved forward and backward.
4. SPEED VISION positioning according to claim 3 and double-station flexibility mounting device, it is characterised in that the X-axis fortune
Dynamic model group includes X-axis Linear motor device, and the X-axis Linear motor device includes stator, mover, sliding block, guide rail, left gear
Plate, right shell body, the right baffle-plate and right shell body are separately fixed in the fixing seat, the stator setting the right baffle-plate with
Between right shell body, the mover and sliding block are 3, and the guide rail is 2, and 2 guide rails are arranged in parallel in a left side in upper and lower
Between baffle and right shell body, the two sides up and down of 3 sliding blocks are separately positioned on 2 guide rails, and 3 sliding blocks can be
It being moved left and right on the guide rail, 3 movers are respectively set on 3 sliding blocks, it is horizontally slipped on guide rail by 3 sliding blocks,
The left attachment mould group, right attachment mould group, CCD vision positioning Mo Zu are drivingly connected with 3 movers respectively, the X-axis straight-line electric
Machine device is additionally provided with 3 beams, and 3 beams are separately positioned on the left and right ends of the X-axis Linear motor device
And medium position.
5. SPEED VISION positioning according to claim 1 and double-station flexibility mounting device, it is characterised in that the Y-axis fortune
Dynamic model group includes Y-axis linear motor, and the vacuum absorbing platform is arranged on Y-axis linear motor, is existed by Y-axis linear motor
Front and back linear movement on pedestal.
6. SPEED VISION positioning according to claim 4 and double-station flexibility mounting device, it is characterised in that the left patch
Die-filling group includes installation positioning plate, vacuum generator, linear stepping motor, pressure output mechanism, rotation with right attachment mould group
Zhuan Jiu appearance mechanism, heating suction nozzle, rotating electric machine；Positioning plate is installed to be arranged on the mover, the vacuum generator, straight line step
It is installed on the installation positioning plate into motor, and the linear stepping motor vertical on installation positioning plate can be transported up and down
Dynamic, the pressure output mechanism and the straight line driving mechanism are drivingly connected, and the straight line driving mechanism can drive the pressure
Output mechanism moves up and down, and the rotation Jiu Zi mechanism and the pressure output mechanism are drivingly connected, the pressure output mechanism
The rotation Jiu Zi mechanism can be driven to move up and down, the lower end of the rotation Jiu Zi mechanism is connected with heating suction nozzle and electric rotating
Machine, the rotating electric machine can drive the rotation of rotation Jiu Zi mechanism to drive heating suction nozzle rotation.
7. SPEED VISION positioning according to claim 6 and double-station flexibility mounting device, it is characterised in that pressure output
Mechanism includes connecting plate, connecting column, baffle, spring, and the baffle is fixed on the lower end of the linear stepping motor, the bullet
One end of spring is connect with the baffle, and the other end of the spring is connect with the upper end of the connecting column, under the connecting column
End is fixed on the connecting plate, and the connecting plate is fixedly connected with the rotation Jiu Zi mechanism.
8. SPEED VISION positioning according to claim 7 and double-station flexibility mounting device, it is characterised in that the pressure
Output mechanism further includes having up and down motion alignment sensor, and the up and down motion alignment sensor is 2, and is separately positioned on institute
State the bottom both ends of connecting plate.
9. SPEED VISION positioning according to claim 8 and double-station flexibility mounting device, it is characterised in that the rotation
Jiu Zi mechanism include support plate, rotation band, rotary shaft, the rotating electric machine includes rotation axis, the support plate with it is described
Connecting plate is fixedly connected, and the lower part of the support plate is arranged in the rotating electric machine and the rotation axis of the rotating electric machine passes through institute
The top that support plate stretches out the support plate is stated, the rotary shaft is arranged in the support plate and can rotate on the supporting plate,
The top of the support plate is stretched out in the upper end of the rotary shaft, the lower end of the rotary shaft stretch out the lower section of the support plate and with
The heating suction nozzle connection, the rotation band is annular, one end of ring rotation band and the rotation axis connection, ring rotation band
The other end and the rotation axis connection, the rotating electric machine rotate when drive rotation axis by rotation band drive rotary shaft rotation
Turn, and then heating suction nozzle rotation is driven to adjust angle.
10. a kind of -9 described in any item SPEED VISION positioning and the attachment of double-station flexibility mounting device according to claim 1
Method includes the following steps：
Step 1, pre- attachment object is placed on the vacuum absorbing platform, at the same will attachment material to be placed on first material defeated
It send in device and second material conveying device；
Step 2, Y-axis movement mould group drives vacuum absorbing platform mobile to make pre- mounted object transport to CCD vision positioning
The lower section of mould group；
Step 3, CCD vision positioning mould group takes pictures to the object mounted in advance and data coordinates is sent to control equipment after positioning；
Step 4, control equipment transfers information to left attachment mould group and right attachment mould group, at this time left attachment mould group and right attachment mould
Group moves to the both ends of material respectively, adsorbs the attachment material of first material conveying device and second material conveying device respectively,
Then it is successively mounted on the object mounted in advance by left and right sequence；
Step 5, CCD vision positioning mould group is moved left and right after taking pictures to avoid position of the left and right attachment mould group in attachment
It sets.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810979701.2A CN108882669A (en) | 2018-08-27 | 2018-08-27 | A kind of positioning of SPEED VISION and double-station flexibility mounting device and its attaching method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810979701.2A CN108882669A (en) | 2018-08-27 | 2018-08-27 | A kind of positioning of SPEED VISION and double-station flexibility mounting device and its attaching method |
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| CN108882669A true CN108882669A (en) | 2018-11-23 |
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| CN201810979701.2A Pending CN108882669A (en) | 2018-08-27 | 2018-08-27 | A kind of positioning of SPEED VISION and double-station flexibility mounting device and its attaching method |
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| CN109759815A (en) * | 2019-02-22 | 2019-05-17 | 惠州市华阳多媒体电子有限公司 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
| CN109904097A (en) * | 2019-03-04 | 2019-06-18 | 东莞倍胜智能科技有限公司 | A kind of modular multi-function IC chip mounting device |
| CN110104429A (en) * | 2019-06-14 | 2019-08-09 | 索亿智能装备(东莞)有限公司 | A kind of intelligence mounting device and intelligent attaching method |
| CN111645335A (en) * | 2020-06-28 | 2020-09-11 | 苏州亚朴智能科技有限公司 | Flexible intelligent assembling system based on visual identification and detection |
| CN112827754A (en) * | 2021-01-07 | 2021-05-25 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic packaging equipment for MEMS friction resistance sensor based on visual positioning technology |
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| CN113490346A (en) * | 2021-07-28 | 2021-10-08 | 苏州斯尔特微电子有限公司 | Chip mounter and chip mounting method |
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| CN112827754A (en) * | 2021-01-07 | 2021-05-25 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic packaging equipment for MEMS friction resistance sensor based on visual positioning technology |
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| CN113460693A (en) * | 2021-07-19 | 2021-10-01 | 苏州天准科技股份有限公司 | A loading attachment for 3C product equipment |
| CN113490346A (en) * | 2021-07-28 | 2021-10-08 | 苏州斯尔特微电子有限公司 | Chip mounter and chip mounting method |
| CN114291577A (en) * | 2022-01-21 | 2022-04-08 | 上海卫星装备研究所 | Reflective optical solar reflector plate cloth pasting equipment |
| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
| CN114538088B (en) * | 2022-02-11 | 2024-02-13 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision material taking and placing method based on fly shooting |
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