CN109164105A - Wrong mixing automatic identification counting apparatus and implementation method - Google Patents
Wrong mixing automatic identification counting apparatus and implementation method Download PDFInfo
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- CN109164105A CN109164105A CN201811096081.4A CN201811096081A CN109164105A CN 109164105 A CN109164105 A CN 109164105A CN 201811096081 A CN201811096081 A CN 201811096081A CN 109164105 A CN109164105 A CN 109164105A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/40—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight
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Abstract
The present invention relates to a kind of wrong mixing automatic identification counting apparatus and implementation methods, belong to automatic field.The counting apparatus is made of PCB transfer robot, lifting assembly, weigh assembly, vision-based detection component, 5 part of transfer assembly.Transfer robot can realize the free movement of three coordinate directions.Lifting assembly is mounted in the rack of transfer robot, can auto-adjusting circuit plate objective table height.Weigh assembly is mounted in the rack of transfer robot, automatic to weigh.Vision-based detection component is mounted in linear mould group mobile progress shot detection using 3 high definition CCD cameras, is mounted in the rack of transfer robot.Transfer assembly is made of weighing transmission line and conveying transmission line, and weighing transmission line is installed on your top of weighing group valence, and conveying transmission line is installed on the outside of transfer robot rack, is connected with weighing transmission line.The present invention can substitute the artificial detection for carrying out circuit board, weighing and points work, reduce many and diverse at this stage hand labor and production cost, improve production efficiency.
Description
Technical field
The invention belongs to automatic fields, are related to wrong mixing automatic identification counting apparatus and implementation method.
Background technique
Wrong mixing automatic identification counting apparatus can substitute the artificial detection for carrying out circuit board, weighing and points work, with
China's human resources shortage, the increase of cost of labor, automated manufacturing upgrading are still extremely urgent.Circuit board detecting one
The very strong process procedure of repeatability, detection operation is simple, large labor intensity, is relatively suitble to using wrong mixing automatic identification counting apparatus
Substitution；Meanwhile artificial detection, weighing, there are low efficiency, the problems such as error-prone, large labor intensity for points.Now on the market also not
There is such detection, weighing, integrated machine of counting.Based on wrong mixing automatic identification counting apparatus is mainly detected with visual identity,
It is to weigh, supplemented by points and transport using the artificial motion platform of PCB conveying robot, weigh assembly and transfer assembly, has higher
Stability, speed and precision be entirely capable of replace artificial detection, points, weighing operation needs.For large, medium and small micro- enterprise
It can adapt to completely.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of wrong mixing automatic identification counting apparatus and implementation methods.It solves
It the problems such as repeatability height, large labor intensity, high labor cost of the characterization processes existing for the final inspection of PCB circuit board, can complete
Differentiation, carrying, weighing and the points function of PCB circuit board mistake mixing, cover all techniques of final inspection.
In order to achieve the above objectives, the invention provides the following technical scheme:
Wrong mixing automatic identification counting apparatus, including PCB transfer robot, weigh assembly, vision-based detection component, lifting assembly
And transfer assembly；
The PCB transfer robot for carrying, build by rack, the three linear mould groups built including aluminium alloy extrusions
Moving movement platform and sucked type gripper；Wherein, the moving movement platform that described three linear mould groups are built is fixedly mounted on aluminium
In the rack that alloy profile is built, sucked type gripper is mounted on moving movement platform by line slide rail；
The weigh assembly is for weighing and counting, the bracket built including aluminium alloy extrusions, the height for having communication function
Precision electronic scale and weighing transmission line；Wherein, the bracket that the aluminium alloy extrusions is built is fixedly mounted on PCB transfer robot
The groove at rack rear, high-precision electronic scale are lain in a horizontal plane on the bracket that aluminium alloy extrusions is built, and weighing transmission line is horizontal
It is placed on high-precision electronic scale；
The vision-based detection component is used to shoot and detect identification, including 3 high definition CCD cameras, camera support, straight line are slided
Rail and the linear mould group of camera axis；Wherein, the linear mould group of the camera axis and line slide rail are fixedly mounted on PCB transfer robot
In rack, camera support is fixedly installed on the linear mould group of camera axis and line slide rail, and 3 high definition CCD cameras are uniformly distributed peace
On camera support；
The lifting assembly includes decelerating motor, lead screw, feed screw nut, 2 bevel gears, 7 rollers, 2 guiding axis, 4
A guide shaft support, 4 linear bearings of usheing to seat, 2 bearing blocks, 2 cylinders, roller bracket, circuit board loading plate, upper support
Plate and lower supporting plate；Decelerating motor, upper backup pad and lower supporting plate are fixedly mounted on position among PCB transfer robot rack
On aluminum profile crossbeam, guide shaft support, bearing block are respectively and fixedly installed on upper backup pad and lower supporting plate, and lead screw is mounted on axis
Seat is held, guiding axis is mounted in guide shaft support, and feed screw nut is mounted on lead screw, and 2 bevel gears are respectively and fixedly installed to silk
On the motor shaft of thick stick and decelerating motor, linear bearing of usheing to seat is mounted on guiding axis, and roller bracket is fixedly mounted on straight line of usheing to seat
On bearing and feed screw nut, roller is laid on roller bracket, and cylinder is fixedly mounted on roller bracket by mounting bracket；
The transfer assembly is 2.5 meters of long transmission lines, for conveying the electricity for having detected, weighing and having counted and completed
On road plate to subsequent production line, it connect, is fixedly mounted on the ground with weighing transmission line.
Further, the PCB transfer robot inner hollow, for installing various components.
Further, the moving movement platform that described three linear mould groups are built is built using XYZ Three-coordinate type, sucked type hand
Pawl includes vacuum generator, the gentle link block of vacuum chuck, and it is flat to be fixedly mounted on the moving movement that three linear mould groups are built
In the z axis mould group of platform.
Further, the high-precision electronic scale lies in a horizontal plane in the top of support, does not touch with any components of surrounding；Claim
Line sending is retransmitted using the flat rubber belting of PVC material as conveyer belt, transmission line has speed-regulating function；Transmission line is horizontally arranged at high-precision
On the objective table of electronic scale, and do not touched with any components of surrounding.
Implementation method based on the counting apparatus, comprising the following steps: mixing automatic identification counting apparatus wrong first powers on, electricity
Road plate loading plate drops to proper height, upward by the two dimensional code of PCB circuit board to be detected, character, while plate and plate
Between be aligned and put；
It allows machine to return original automatically after putting in the controls, eliminates error, while inputting institute in the controls
Want the relevant information of test object；
After input, the adjustment of position is carried out to sucked type cleft hand, the position of vacuum chuck should avoid and PCB electricity as far as possible
Aperture is overlapped on the plate of road, prevents gas leakage；
It after position adjusts, and is tested, determines the reliability carried；
After confirmation, robot will automatically begin to work, the movement of C axis mould group, and picture is transmitted back to by camera shooting
System carries out detection identification, if correct PCB circuit board will be carried on the PVC flat rubber belting of weighing transmission line, system is automatic
Weight is measured, simultaneity factor will calculate automatically ejecting plate number according to comparison amount；
When PCB circuit board quantity reaches original set value, PCB circuit board transfer robot stops working, and transmission line is opened
Circuit board is delivered on conveying transmission line by beginning work；
After circuit board reaches, worker will test the circuit board finished and remove；
If worker does not remove, when circuit board reaches conveying transmission line end, automatic trigger photoelectric sensor, machine stops
It only works, until circuit board is removed；
Counting apparatus will repeat carrying, detection, weighing, points and transmission work automatically, up to there is no circuit board on workbench,
Whole flow process terminates, and system will save data and be uploaded in the MES system of factory, while connect printer automatically, automatically
Print related data；
When there is wrong mixing, PCB transfer robot will be put into wrong mixing the workbench on side, with normal circuit plate
It is distinguish.
The beneficial effects of the present invention are: the present invention to have the characteristics that structure is simple, speed is fast, flexible operation, at low cost,
Have automatic transporting, detection identification, weighing and points function.The present invention can also adjust automatically according to the output capacity of subsequent pipeline
The working condition of whole the machine.Do not occur such detection detection also on the market now, weigh, the machine of points one, this wrong mixing
Automatic identification counting apparatus has biggish prospect in PCB circuit board production industry.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Overall structure figure Fig. 1 of the invention；
Fig. 2 PCB circuit board transfer robot structure chart of the present invention；
Fig. 3 weigh assembly structure chart of the present invention；
Fig. 4 lifting assembly structure chart of the present invention；
Fig. 5 lifting assembly backsight structure chart of the present invention；
Fig. 6 vision-based detection assembly assumption diagram of the present invention；
Fig. 7 transfer assembly structure chart of the present invention.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in FIG. 1 to FIG. 7, wrong mixing automatic identification counting apparatus integrally includes PCB transfer robot, vision-based detection group
Part, weigh assembly, lifting assembly, five part of transfer assembly composition.
PCB transfer robot can be divided into rack 8, linear mould group mobile platform 6, sucked type cleft hand 7, linear slide rail 9 etc. zero
Part composition.Rack 8 builds composition, inner hollow, mountable various components using aluminium alloy.Linear mould group mobile platform 6 is adopted
Composition is built in XYZ Three-coordinate type with three linear mould groups, linear 6 one end of mould group mobile platform is fixed in rack 8, the other end
It is fixed in rack 8 by linear slide rail 9.Sucked type cleft hand 7 is by parts such as vacuum generator, vacuum chuck, gas link blocks
Composition, is fixedly mounted in the z axis mould group of linear mould group mobile platform 6.
Weigh assembly is by bracket 12, the components compositions such as electronic scale 11, weighing transmission line.Support 12 is by one flat plate and aluminium
Profile composition.Flatbed horizontal is fixedly installed on aluminum profile bracket.Support 12 is placed in PCB circuit board transfer robot rack 8
In the groove at rear.The selection of electronic scale 11 is existing, and precision is higher in the market and has the electronic scale of communication.The output of electronic scale 11 is believed
Number line is connected using 232 serial ports with control system, provides measurement data in real time.Electronic scale 11 lies in a horizontal plane in the upper of support 12
Side is not touched with any components of surrounding.Transmission line 10 of weighing uses the flat rubber belting of PVC material as conveyer belt.Transmission line has
Speed-regulating function.Transmission line is horizontally arranged on the objective table of electronic scale 11, and is not touched with any components of surrounding.
The height of lifting assembly energy automatic circuit plate objective table.By decelerating motor 20, lead screw 26, feed screw nut 25,
Bevel gear 24, roller 17, guiding axis 14, guide shaft support 22, linear bearing 15 of usheing to seat, bearing block 23, cylinder 18, roller bracket
19, the components such as circuit board loading plate 16, upper and lower support plate 13, electric machine support 21 form.Decelerating motor 20 is fixedly mounted on
On electric machine support 21, electric machine support 21 is fixedly mounted on the aluminum profile crossbeam at the intermediate position of PCB transfer robot rack 8.Upper,
Lower supporting plate 13 is fixedly mounted on the aluminum profile crossbeam at the intermediate position of PCB transfer robot rack 8.4 guide shaft supports 22,
2 bearing blocks 23 are fixedly mounted in upper and lower support plate 13.Lead screw 26 is mounted on bearing block 23.Guiding axis 14 is vertically-mounted
In guide shaft support 22.Feed screw nut 25 is mounted on lead screw 26.Two bevel gears 24 are respectively and fixedly installed to 26 He of lead screw
The motor shaft of decelerating motor 20., linear bearing 15 of usheing to seat is mounted on guiding axis 14, roller bracket 19 be fixedly mounted on ushers to seat it is straight
Spool is held on 15 and feed screw nut 25, and 7 rollers 17 are laid on roller bracket 19, and cylinder 18 is fixedly mounted by mounting bracket
On roller bracket 19.
Vision-based detection component is by C axis mould group 27, camera support 29, camera 31, camera installing plate 32, light source 30, light
Source bracket 33, linear slide rail 28 form.Linear slide rail 28, C axis mould group 27 are fixedly mounted on PCB transfer robot rack 8
On.Camera support 29 is welded by stainless steel rectangular pipe, is fixedly mounted on linear slide rail 28, in C axis mould group 27.3
High definition camera 31 is evenly arranged on camera support 29 by camera installing plate 32.Light source 30 is fixedly mounted on phase by light source bracket 33
On machine support 29.
The transmission line that transfer assembly is one 2.5 meters is fixedly mounted on the ground by foundation bolt, while being passed with weighing
Band is sent to be aligned.
The entire workflow of wrong mixing automatic identification counting apparatus are as follows: mixing automatic identification counting apparatus wrong first powers on, electricity
Road plate loading plate drops to proper height, upward by the two dimensional code of PCB circuit board to be detected, character, while plate and plate
Between be aligned and put.It allows machine to return original automatically after putting in the controls, eliminates error, while in control system
The relevant information of middle the wanted test object of input.After input, the adjustment of position is carried out to sucked type cleft hand, vacuum chuck
Position should avoid being overlapped with aperture in PCB circuit board and (preventing gas leakage) as far as possible.It after position adjusts, and is tested, is determined
The reliability of carrying.After confirmation, robot will automatically begin to work, the movement of C axis mould group, camera shooting, by picture
The system of being transmitted back to carries out detection identification, if correct PCB circuit board will be carried on the PVC flat rubber belting of weighing transmission line, is
System automatic measurement weight, simultaneity factor will calculate automatically ejecting plate number according to comparison amount.It is set when PCB circuit board quantity reaches original
When definite value, PCB circuit board transfer robot stops working, and transmission line is started to work, and circuit board is delivered on conveying transmission line.
After circuit board reaches, worker will test the circuit board finished and remove.If worker does not remove, circuit board reaches conveying transmission
When line end, automatic trigger photoelectric sensor, machine stops working, until circuit board is removed.Counting apparatus repeats to remove by automatic
Fortune, detection, weighing, points and transmission work, until not having circuit board on workbench, whole flow process terminates, and system will save
Data are simultaneously uploaded in the MES system of factory, while connecting printer automatically, automatic printing related data.When the wrong mixing of appearance
When, PCB transfer robot will be put into wrong mixing the workbench on side, be distinguish with normal circuit plate.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (5)
1. wrong mixing automatic identification counting apparatus, it is characterised in that: including PCB transfer robot, weigh assembly, vision-based detection group
Part, lifting assembly and transfer assembly；
The PCB transfer robot is for carrying, the movement that rack, the three linear mould groups built including aluminium alloy extrusions are built
Motion platform and sucked type gripper；Wherein, the moving movement platform that described three linear mould groups are built is fixedly mounted on aluminium alloy
In the rack that profile is built, sucked type gripper is mounted on moving movement platform by line slide rail；
The weigh assembly is for weighing and counting, the bracket built including aluminium alloy extrusions, the high-precision for having communication function
Electronic scale and weighing transmission line；Wherein, the bracket that the aluminium alloy extrusions is built is fixedly mounted on the rack of PCB transfer robot
The groove at rear, high-precision electronic scale are lain in a horizontal plane on the bracket that aluminium alloy extrusions is built, and weighing transmission line is horizontal positioned
On high-precision electronic scale；
The vision-based detection component for shooting and detect identification, including 3 high definition CCD cameras, camera support, line slide rail and
The linear mould group of camera axis；Wherein, the linear mould group of the camera axis and line slide rail are fixedly mounted on the rack of PCB transfer robot
On, camera support is fixedly installed on the linear mould group of camera axis and line slide rail, and 3 high definition CCD cameras are uniformly distributed and are mounted on
On camera support；
The lifting assembly include decelerating motor, lead screw, feed screw nut, 2 bevel gears, 7 rollers, 2 guiding axis, 4 lead
To shaft stool, 4 linear bearings of usheing to seat, 2 bearing blocks, 2 cylinders, roller bracket, circuit board loading plate, upper backup pad and
Lower supporting plate；Decelerating motor, upper backup pad and lower supporting plate are fixedly mounted on the aluminium profiles at position among PCB transfer robot rack
On material crossbeam, guide shaft support, bearing block are respectively and fixedly installed on upper backup pad and lower supporting plate, and lead screw is mounted on bearing
Seat, guiding axis are mounted in guide shaft support, and feed screw nut is mounted on lead screw, and 2 bevel gears are respectively and fixedly installed to lead screw
On the motor shaft of decelerating motor, linear bearing of usheing to seat is mounted on guiding axis, and roller bracket is fixedly mounted on linear axis of usheing to seat
It holds on feed screw nut, roller is laid on roller bracket, and cylinder is fixedly mounted on roller bracket by mounting bracket；
The transfer assembly is 2.5 meters of long transmission lines, for conveying the circuit board for having detected, weighing and having counted and completed
To subsequent production line, it connect, is fixedly mounted on the ground with weighing transmission line.
2. mistake mixing automatic identification counting apparatus according to claim 1, it is characterised in that: in the PCB transfer robot
Portion is hollow, for installing various components.
3. mistake mixing automatic identification counting apparatus according to claim 1, it is characterised in that: described three linear mould groups are built
Moving movement platform built using XYZ Three-coordinate type, sucked type gripper includes vacuum generator, the gentle connection of vacuum chuck
Block is fixedly mounted in the z axis mould group for the moving movement platform that three linear mould groups are built.
4. mistake mixing automatic identification counting apparatus according to claim 1, it is characterised in that: the high-precision electronic scale is horizontal
It is placed on the top of support, is not touched with any components of surrounding；Transmission line of weighing is used as using the flat rubber belting of PVC material to be transmitted
Band, transmission line have speed-regulating function；Transmission line is horizontally arranged on the objective table of high-precision electronic scale, and not with surrounding any zero
Component touching.
5. the implementation method based on counting apparatus described in any one of Claims 1 to 4, it is characterised in that: this method includes following
Step: mixing automatic identification counting apparatus wrong first powers on, and circuit board loading plate drops to proper height, will be to be detected
Two dimensional code, the character of PCB circuit board upward, while being aligned between plate and plate and being put；
It allows machine to return original automatically after putting in the controls, eliminates error, while input to be examined in the controls
Survey the relevant information of object；
After input, the adjustment of position is carried out to sucked type cleft hand, the position of vacuum chuck should avoid as far as possible and PCB circuit board
Upper aperture is overlapped, and prevents gas leakage；
It after position adjusts, and is tested, determines the reliability carried；
After confirmation, robot will automatically begin to work, the movement of C axis mould group, and picture is transmitted back to system by camera shooting
Detection identification is carried out, if correct PCB circuit board will be carried on the PVC flat rubber belting of weighing transmission line, system automatic measurement
Weight, simultaneity factor will calculate automatically ejecting plate number according to comparison amount；
When PCB circuit board quantity reaches original set value, PCB circuit board transfer robot stops working, and transmission line starts work
Make, circuit board is delivered on conveying transmission line；
After circuit board reaches, worker will test the circuit board finished and remove；
If worker does not remove, when circuit board reaches conveying transmission line end, automatic trigger photoelectric sensor, machine stops work
Make, until circuit board is removed；
Counting apparatus will repeat carrying, detection, weighing, points and transmission work automatically, up to not having circuit board on workbench, entirely
Process terminates, and system will save data and be uploaded in the MES system of factory, while connect printer automatically, automatic printing
Related data；
When there is wrong mixing, PCB transfer robot will be put into wrong mixing the workbench on side, be subject to normal circuit plate
It distinguishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096081.4A CN109164105B (en) | 2018-09-19 | 2018-09-19 | Automatic wrong mixed material identification counting machine and implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096081.4A CN109164105B (en) | 2018-09-19 | 2018-09-19 | Automatic wrong mixed material identification counting machine and implementation method |
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| CN109164105A true CN109164105A (en) | 2019-01-08 |
| CN109164105B CN109164105B (en) | 2021-02-09 |
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| CN109711524A (en) * | 2019-02-01 | 2019-05-03 | 广东若贝特智能机器人科技有限公司 | A kind of PCB lamination points equipment based on parallel robot |
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| CN110376205A (en) * | 2019-07-03 | 2019-10-25 | 浙江大学 | A kind of production line remnants pipe tobacco detection system based on machine vision |
| CN111103308A (en) * | 2019-12-24 | 2020-05-05 | 瞿勇 | Circuit board solder joint detector is made a video recording and is used positioner |
| CN113263516A (en) * | 2021-07-19 | 2021-08-17 | 佛山冠博机械科技发展有限公司 | Material handling's conveying robot system |
| CN113537437A (en) * | 2021-08-11 | 2021-10-22 | 东莞市坤鹏伯爵机械设备有限公司 | Counting machine |
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| Publication number | Publication date |
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| CN109164105B (en) | 2021-02-09 |
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