CN110342241A - A kind of automatical feeding system - Google Patents
A kind of automatical feeding system Download PDFInfo
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- CN110342241A CN110342241A CN201810284471.8A CN201810284471A CN110342241A CN 110342241 A CN110342241 A CN 110342241A CN 201810284471 A CN201810284471 A CN 201810284471A CN 110342241 A CN110342241 A CN 110342241A
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- pawl
- jig
- feeding system
- fpc
- mould group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to loading and unloading equipment technical fields, more particularly to a kind of automatical feeding system, automatical feeding system includes control module, jig, First look device, the second sighting device and grabbing device, First look device can acquire the image of the display products on grabbing device and obtain its location information, and the second sighting device can acquire image to jig and obtain location information；Grabbing device can grab and moving display screen product；The location information control grabbing device that control module is obtained according to First look device and the second sighting device is mobile display products contraposition to be put into the jig.Automatical feeding system provided by the invention carries out Dual positioning to display products and jig respectively by setting First look device and the second sighting device, can accurately be put in display products on jig, guarantees feeding precision；First look device and the second sighting device adopt figure respectively, wait without synchronous, and single adopts figure shortening and remodels the time, improve productive temp.
Description
Technical field
The present invention relates to loading and unloading equipment technical field more particularly to a kind of automatical feeding systems.
Background technique
At present in display screen defect detection equipment, the semi-automation that is often combined with automation equipment using artificial loading
Form seldom uses full-automatic mode.Display screen is made of screen main body and FPC flexible cord two parts.Display screen specification from it is small to
Greatly, size is various；FPC flexible cord is even more different, soft flexible, and automation crawl difficulty is higher；Meanwhile FPC pin thread draws
Foot is small and intensive, and automatic attaching aligning accuracy is high, needs to be placed into display products in jig crimp groove when detecting.Cause
Producing line needs to be replaced frequently test object, and display screen has diversity again, has remodeled into the master in display screen assay device structures
Want difficult point, tradition remodel it is cumbersome, it is more demanding to field personnel.Therefore, display screen defect detection equipment is mostly with people
Based on work, semi-automatic detection, already present minority automatic detection devices, remodel also it is more troublesome, rarely have and be related to.
If the prior art provides a kind of screen connection intelligence alignment mode, people is replaced using intelligent vision measuring system
Work aligns operation mode, realizes automatic charging, but it uses single vision locating scheme, station is fixed, cannot be as jig
Transhipment, cannot achieve the demand of different detection functions.
For another example the prior art additionally provides a kind of mobile phone screen charging & discharging machine, draws using lead screw guide rails and sucker mode
Screen, although it is the design for static status display screen products, and it is soft not account for FPC by the way of automatic charging
The crawl problem of line, for FPC pin thread and FPC female thread fitting problem also without reference to.This is needing to power on mobile phone screen
In the producing line of detection, it is unable to satisfy producing line feeding demand.
Therefore, it is necessary to a kind of automatical feeding system be provided, to overcome display products existing in the prior art to remodel
Cumbersome problem.
Summary of the invention
The purpose of the present invention is to provide a kind of automatical feeding systems, and the system is to the crimping group on FPC pin thread and jig
Part carries out Dual positioning, can guarantee feeding precision, and it is efficient and convenient to remodel, can replace artificial loading completely, effectively saves
Human cost improves the percent of automatization and yield of display products detection.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of automatical feeding system, comprising:
Control module；
Jig；
Grabbing device is electrically connected to the control module, and the grabbing device is configured to grab and movement is aobvious
Display screen product；
First look device, is located at the side of the jig, and the First look device is electrically connected to the control mould
Block, the First look device are configured to acquire the image of the display products on the grabbing device and acquisition
Its location information；
Second sighting device, moves and is located above the jig, and second sighting device is electrically connected to the control
Molding block, second sighting device are configured to acquire image to the jig and obtain location information；
The location information that the control module is obtained according to the First look device and second sighting device, control
The grabbing device is mobile to be aligned the display products with the jig and put display products contraposition
Enter in the jig.
It further include the mobile mould group for being electrically connected to the control module, the mobile mould group quilt as optimal technical scheme
It is configured to carry second sighting device and second sighting device can be driven mobile.
As optimal technical scheme, the mobile mould group includes the mobile mould group of X-axis, is vertically mounted on the mobile mould of the X-axis
The mobile mould group of Y-axis moved in X direction in group and by the mobile mould group driving of the X-axis, second sighting device are mounted on institute
It states in the mobile mould group of Y-axis and mobile by the mobile mould group drives edge Y-direction of the Y-axis.
As optimal technical scheme, the mobile mould group further includes guiding cable, and one end of the guiding cable is mounted on
In the mobile mould group of the X-axis, the other end is mounted in the mobile mould group of the Y-axis, and the guiding cable is able to drive the Y-axis and moves
Dynamic model group moves in X direction.
As optimal technical scheme, the control module includes the crawl controller and vision controller being electrically connected to each other,
The First look device and second sighting device are electrically connected to the vision controller, the grabbing device electrical connection
In the crawl controller.
As optimal technical scheme, be provided with crimp assemblies on the jig, the crimp assemblies include crimp groove and
Automatic joint pressing, the crimp groove can position FPC female thread, the automatic joint pressing be located at the crimp groove just on
Side, the automatic joint pressing can carry out automatic crimping to the FPC female thread and the FPC pin thread of the display products.
As optimal technical scheme, telltale mark and the FPC female thread, the positioning mark are provided in the crimp groove
Note is located at one jiao of the crimp groove, and the FPC female thread is arranged in the crimp groove, and second sighting device is matched
Image can be acquired to the telltale mark and obtain location information by being set to.
As optimal technical scheme, the grabbing device includes manipulator and the suction pawl for being installed on the arm end,
The pawl of inhaling can adsorb the main body and FPC flexible cord of the display products simultaneously.
As optimal technical scheme, the suction pawl includes that FPC flexible cord inhales pawl and main body and inhales pawl, the FPC flexible cord inhale pawl with
The end of the manipulator is fixedly connected, and the end that the main body inhales pawl and the manipulator is rotatably connected, the FPC flexible cord
The FPC flexible cord can be adsorbed by inhaling pawl, and the main body, which inhales pawl, can adsorb the main body of the display products.
As optimal technical scheme, it includes pawl arm and at least two suckers, one end of the pawl arm that the FPC flexible cord, which inhales pawl,
It is fixedly connected with the end of the manipulator, the other end is equipped with a sucker, slide opening is provided on the pawl arm, in the slide opening
It is provided at least one described sucker, the sucker can adsorb the FPC flexible cord.
As optimal technical scheme, the main body inhales pawl and includes axial prong arm and inhale claw assembly, the axial prong arm and the machine
The end of tool hand is rotatably connected, and slide opening is provided on the axial prong arm, and the suction claw assembly can be slided along the slide opening, institute
The main body can be adsorbed by stating suction claw assembly.
As optimal technical scheme, the suction claw assembly includes main shaft and two points of pawl arms arranged in a crossed manner, the main shaft
The plane for dividing pawl arm to intersect to form described in being vertically installed in two, the main shaft can be slided along the slide opening, the main shaft and two
Divide pawl arm to be rotatably connected described in item, the both ends of pawl arm is divided to be respectively arranged with a sucker described in every.
Compared with prior art, advantages of the present invention and beneficial effect are:
1) automatical feeding system provided by the invention is by setting First look device and the second sighting device respectively to aobvious
Display screen product and jig carry out Dual positioning, can accurately be placed in display products on jig, guarantee feeding precision；And the
One sighting device and the second sighting device take pictures adopt figure respectively, wait without synchronous, disposable to solve grabbing device crawl display
The compensation problem of screen products, single adopt figure shortening and remodel the time, improve productive temp.
2) mobile mould group provided by the invention is controlled using electric cylinders mould group, is able to drive the movement of the second sighting device, display
Screen products can be according to the variation of crimp groove position on jig, automatic adjusting position, so that rapid convenience of remodeling when remodeling.
3) automatical feeding system provided by the invention is compact-sized, and occupied area is small, easy to operate, reduces execute-in-place and wants
It asks, use is safe, low in cost, easy maintenance, has very strong practicability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatical feeding system provided by the invention；
Fig. 2 is the partial enlarged view in Fig. 1 at A；
Fig. 3 is the structural schematic diagram of crimp groove provided by the invention；
Fig. 4 is the structural schematic diagram provided by the invention for inhaling pawl；
Fig. 5 is the structural schematic diagram of display products provided by the invention；
Fig. 6 is that vision provided by the invention calculates Processing Algorithm schematic diagram；
Fig. 7 is that display products provided by the invention are remodeled flow diagram；
Fig. 8 is the control planning block diagram of automatical feeding system provided by the invention.
In figure:
1- jig；2- First look device；The second sighting device of 3-；4- grabbing device；5- moves mould group；6- display screen produces
Product；
11- crimp groove；12- automatic joint pressing；111- telltale mark；112-FPC female thread；
41- manipulator；42- inhales pawl；43- sucker；421-FPC flexible cord inhales pawl；422- main body inhales pawl；4211- pawl arm；
4221- axial prong arm；4222- main shaft；4223- divides pawl arm；
61- main body；62-FPC flexible cord；63-FPC pin thread.
Specific embodiment
Technical solution of the present invention is further illustrated with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to
Convenient for description, in attached drawing, only the parts related to the present invention are shown and it is not all.
The present embodiment provides a kind of automatical feeding systems, and as Figure 1-Figure 5, which includes control mould
Block, jig 1, First look device 2, the second sighting device 3 and grabbing device 4.Wherein, grabbing device 4 is electrically connected to control mould
Block, grabbing device 4 are configured to crawl and moving display screen product 6；First look device 2 is located at the side of jig 1, the
One sighting device 2 is electrically connected to control module, and First look device 2 is configured to the display screen on acquisition grabbing device 4
The image of product 6 simultaneously obtains its location information；Second sighting device 3 is removable to be located at 1 top of jig, 3 electricity of the second sighting device
It is connected to control module, the second sighting device 3 is configured to acquire image to jig 1 and obtains location information；Control mould
The location information that root tuber is obtained according to First look device 2 and the second sighting device 3, control grabbing device 4 are mobile with by display screen
Product 6 is aligned with jig 1 and the contraposition of display products 6 is put into jig 1.
Automatical feeding system provided in this embodiment is right respectively by setting First look device 2 and the second sighting device 3
Display products 6 and jig 1 carry out Dual positioning, and display products 6 accurately can be placed on jig 1, guarantee feeding essence
Degree；And First look device 2 and the second sighting device 3 wait without synchronous by once adopting figure, disposably solve grabbing device
The compensation problem of 4 crawl display products 6, single adopt figure shortening and remodel the time, improve productive temp.
Further, automatical feeding system provided in this embodiment further includes the mobile mould group for being electrically connected to control module
5, mobile mould group 5 is configured as carrying the second sighting device 3 and the second sighting device 3 can be driven mobile.Mobile mould group 5 being capable of root
According to the position of the FPC pin thread 63 of different model display products 6, the corresponding position of the second sighting device 3 is adjusted.
Specifically, First look device 2 provided in this embodiment acquires image to the FPC pin thread 63 of display products 6
And obtain its location information.When display products 6 are remodeled, due to specification difference, the position of FPC pin thread 63 is also different, needs
Second sighting device, 3 shift position, which is just able to achieve, is acquired image to FPC pin thread 63, it is therefore desirable to mobile mould group 5 is set, and
Second sighting device 3 is mounted thereto.Mobile mould group 5 is a two axis rectangular co-ordinate mould groups, can be in the x direction and the y direction
On move horizontally.Specifically, mobile mould group 5 includes the mobile mould group of X-axis, it is vertically mounted in the mobile mould group of X-axis and is moved by X-axis
The mobile mould group of the Y-axis that the driving of dynamic model group is moved in X direction, the second sighting device 3 are mounted in the mobile mould group of Y-axis and are moved by Y-axis
Dynamic model group drives edge Y-direction is mobile.More preferably, mobile mould group 5 further includes guiding cable, and the one end for being oriented to cable is mounted on X-axis
In mobile mould group, the other end is mounted in the mobile mould group of Y-axis, and guiding cable is able to drive the mobile mould group of Y-axis and moves in X direction.
When system is initially installed, as long as being carried out between grabbing device 4 and mobile mould group 5 using the second sighting device 3
Coordinate system calibration.When remodeling later operates, 63 coordinate of FPC pin thread of new display products 6 need to be only inputted, controls mould
Block can calculate offset compensation value, then control mobile mould group 5 and carry out the movement of coordinate difference, without artificially manually adjusting, greatly
The time of remodeling is shortened greatly, improves productive temp.
Further, as shown in Figures 2 and 3, crimp assemblies are provided on jig 1, crimp assemblies include crimp groove
11 and automatic joint pressing 12, crimp groove 11 can position FPC female thread 112, automatic joint pressing 12 is being located at crimp groove 11 just
Top, automatic joint pressing 12 can carry out automatic crimping to FPC female thread 112 and the FPC pin thread 63 of display products 6.Wherein, it presses
It connects and is provided with telltale mark 111 and FPC female thread 112 on groove 11, telltale mark 111 is located at one jiao of crimp groove 11, and FPC is female
Button 112 is arranged in crimp groove 11, and the second sighting device 3 is configured to acquire image to telltale mark 111 and obtain
Location information.Above-mentioned mobile mould group 5 is able to drive the movement of the second sighting device 3, so that second using the control driving of electric cylinders mould group
Sighting device 3 when display products 6 are remodeled can according to the variation of 11 position of crimp groove on jig 1, automatic adjusting position,
It remodels rapid convenience.Preferably, it is provided with chamfering in crimp groove 11, can plays and leads when contraposition is bonded and places FPC pin thread 63
To effect, while eliminating position deviation.Telltale mark 111 in the present embodiment is T-shaped recess, it is to be understood that fixed
Position label 111 can also be the label of the other shapes such as cross, as long as can play the role of positioning identifier, herein not
It repeats one by one again.
Further, control module includes the crawl controller and vision controller being electrically connected to each other, First look dress
Set 2 and second sighting device 3 be electrically connected to vision controller, grabbing device 4 is electrically connected to crawl controller.First look dress
It sets 2 and collected 63 picture signal of FPC pin thread is sent to vision controller, the second sighting device 3 is in crimp groove 11
Telltale mark 111 acquires image and picture signal is sent to vision controller, and vision controller is to the picture signal received
It is handled, analysis obtains the coordinate value of the pattern image of each image, coordinate difference is obtained compared with standard coordinate, and then calculate
Coordinate offset and it is sent to crawl controller out, crawl controller corrects each of 4 feeding track of grabbing device according to offset
Point coordinate, realizes the automatic amendment of 4 feeding track of grabbing device, finally FPC pin thread 63 is put at the crimp groove 11 of jig 1
It is bonded with the contraposition of FPC female thread 112, automatic joint pressing 12 is pressed again, completes automatic aligning feeding process.
In the present embodiment, First look device 2 and the second sighting device 3 include light source and the photograph for being opposite to each other setting
Machine.Further, light source is chosen for annular light source, and camera is chosen for industrial camera, certainly, the kind of light source and camera
Class is not limited thereto, and the present embodiment is not particularly limited.
Preferably, the First look device 2 in the present embodiment is set as two, the area of the two First look devices 2
It is not direction difference of taking pictures, this is arranged, some display products 6 to adapt to the different designs of display products 6
FPC pin thread 63 upward, the corresponding First look device 2 that needs to take pictures downwards carries out the acquisition of image, some display screens produce
Downward, the corresponding First look device 2 for needing to take pictures upwards carries out the acquisition of image to the FPC pin thread 63 of product 6.The present embodiment is logical
Two First look devices 2 of setting are crossed, different display products 6 has been well adapted to and has designed, improved versatility.
In the present embodiment, grabbing device 4 is for adsorbing crawl display products 6, the seat provided according to vision controller
Display products 6 are placed in the crimp groove 11 on jig 1 by mark, and grabbing device 4 includes manipulator 41 and is installed on machinery
The suction pawl 42 of the end of hand 41 inhales pawl 42 by pneumatic unit drive control, and shape can be carried out according to the specification of display products 6
Adjustment, the main body 61 and FPC flexible cord 62 of display products 6 can be adsorbed simultaneously by inhaling pawl 42.
Specifically, referring to fig. 4, inhaling pawl 42 includes that FPC flexible cord inhales pawl 421 and main body suction pawl 422, and FPC flexible cord inhales pawl 421
It is fixedly connected with the end of manipulator 41, for adsorbing FPC flexible cord 62, main body, which inhales pawl 422 and the end of manipulator 41, be can be rotated
Connection, for adsorbing the main body 61 of display products 6.Further, the end of manipulator 41 is rotary shaft R axis, FPC flexible cord
Inhaling pawl 421 includes pawl arm 4211 and at least two suckers 43, and one end of pawl arm 4211 is fixedly connected with the end of manipulator 41, separately
One end is equipped with a sucker 43, and when inhaling the work of pawl 42, above-mentioned sucker 43 is adsorbed on FPC flexible cord 62 close to FPC pin thread 63
Position.Since the length of the FPC flexible cord 62 of different size display products 6 is different, to avoid the relaxation of FPC flexible cord 62 sagging,
Slide opening can also be set on the pawl arm 4211 of FPC flexible cord suction pawl 421, sliding is provided at least one above-mentioned sucker 43 in slide opening,
The sucker 43 can adsorb FPC flexible cord 62 simultaneously.It is understood that still the quantity of sucker 43 is decided according to the actual requirements.
Main body inhales the suction claw assembly that pawl 422 includes axial prong arm 4221 and is slidably arranged on axial prong arm 4221, inhales claw assembly
The slide opening sliding that can be opened up on axial prong arm 4221, i.e., it is adjustable with the relative position of manipulator 41, according to being adsorbed
The specifications of different display products 6 adaptation is adjusted, to realize the safe absorption to 6 main body 61 of display products.More
Body, inhaling claw assembly includes main shaft 4222 and two points of pawl arms 4223 arranged in a crossed manner, and main shaft 4222 is vertically set on two points
In the plane that pawl arm 4223 intersects to form, the slide opening sliding that main shaft 4222 can open up on axial prong arm 4221, to drive two
Divide pawl arm 4223 close to or away from manipulator 41, two points of pawl arms 4223 can be rotated relative to main shaft 4222, and every is divided pawl arm
4223 both ends are respectively arranged with a sucker 43, and sucker 43 is dividing the position on pawl arm 4223 adjustable, in actual use, root
The shape of pawl 422 is inhaled, according to the specification adjustment main body of different display products 6 to adapt to the display products 6 of different size.
The feeding process of automatical feeding system provided in this embodiment are as follows: grabbing device 4 grabs display products 6 and moves to the
At one sighting device 2, First look device 2 takes pictures to the progress FPC pin thread 63 of display products 6 and adopts figure, and picture signal is sent out
Vision controller is given, then grabbing device 4 adsorbs the standby position that display products 6 are moved to 1 top of jig, i.e., close
Target position (crimp groove 11), and 1 seated position of jig is not influenced.Display products 6 are grabbed since grabbing device 4,
During being moved to standby position to grabbing device 4, as long as jig 1 is in place, the second sighting device 3 on jig 1 to crimping
The telltale mark 111 of groove 11, which take pictures, adopts figure, and picture signal is sent to vision controller.First view during this
Feel that device 2 and the figure of adopting of the second sighting device 3 carry out respectively, waited without synchronous, greatly shorten and remodel the time, improves production section
It claps.
Vision controller carries out images match processing to the picture signal that First look device 2 acquires, and obtains front end features
Figure coordinate value A (x1,y1), and coordinate difference (Δ x is obtained compared with front end standard value1,Δy1,Δθ1)；Vision controller pair
The picture signal of second sighting device 3 acquisition carries out images match processing, obtains the coordinate value of back-end feature figure, and and rear end
Standard value relatively obtains coordinate difference (Δ x2,Δy2,Δθ2).It need to only know at First look device 2 at this time, i.e., front end is taken pictures
R axis rotational value at position guarantees that the standby position of 1 top of jig is identical with the R axis rotational value of target position, jig 1
The coordinate offset of top standby position can be calculated by front end picture-taking position coordinate.Visual meter is provided below with reference to Fig. 6
Calculate Processing Algorithm, rotation center O (x in figure0,y0) i.e. front end picture-taking position it is known that grabbing device 4 rotate θ angle (θ=Δ θ1+
Δθ2), obtain point B (x2,y2)。
(x1-x0)2+(y1-y0)2=R2 (1)
(x2-x0)2+(y2-y0)2=R2 (2)
Simultaneous formula (1) (2) (3) can acquire B (x2,y2), therefore the coordinate offset of grabbing device 4 are as follows:
X=Δ x1+Δx2-(x2-x1)
Y=Δ y1+Δy2-(y2-y1)
θ=Δ θ1+Δθ2
At this point, having calculated that the offset of X, Y, R axis of grabbing device 4, it is sent to crawl controller.Grab controller root
The trajectory coordinates point after standby position is corrected according to offset, final grabbing device 4 is quasi- by the FPC pin thread 63 of display products 6
It is really put on jig 1 at crimp groove 11 and is bonded with FPC female thread 112 therein contraposition, automatic joint pressing 12 is pressed again, complete
At automatic aligning feeding process.
It is illustrated below with reference to display products 6 of the Fig. 7 to automatical feeding system provided in this embodiment process of remodeling:
Step S1, inputs the specification for display products 6 of remodeling, and control module calculates the crawl of grabbing device 4 first
The offset coordinates of 63 horizontal direction of FPC pin thread when display products 6, amendment main body inhales pawl 422 to grabbing device 4 automatically accordingly
Grab screen position coordinates；Next calculates the horizontal coordinate value of mobile mould group 5, controls mobile mould group 5 by electric cylinders mould group and realizes and determines
Position, while the horizontal coordinate value of mobile mould group 5 is converted into 4 coordinate set occurrence of grabbing device.Grabbing device 4 according to this coordinate value,
Front end picture-taking position is corrected later to each point coordinate between target position, realizes the automatic amendment of 4 feeding track of grabbing device,
Vision controller is using this coordinate as the reference coordinate of the second sighting device 3.
Step S2: crimp groove 11 after remodeling as shown in figure 3, input thereon FPC female thread 112 relative to telltale mark
111 offset, the second sighting device 3 carries out positioning of taking pictures to the label of telltale mark 111, in addition 112 relative positioning of FPC female thread
The offset of label 111 just obtains the actual coordinate of FPC female thread 112.
Step S3: the shape of pawl 42 is inhaled in adjustment, i.e., adjustment main body inhales pawl 422 and FPC flexible cord inhales the relative position of pawl 421,
Make it while reliably adsorbing the main body 61 and FPC flexible cord 62 of display products 6.
Step S4: control module issues instruction to crawl controller, and crawl controller control grabbing device 4 is acted, grabbed certainly
Screen position coordinates start, while adsorbing the main body 61 and FPC flexible cord 62 of display products 6, are moved at the picture-taking position of front end, the
One sighting device 2 carries out taking pictures Cai Tu and issues vision controller, and the spy of this model FPC pin thread 63 is write down in vision controller
Levy figure.
When the system display product 6 is remodeled, it need to only be adjusted according to different 6 specifications of display products on hardware and inhale pawl 42
Shape, make it the main body 61 for adsorbing display products 6 simultaneously and FPC flexible cord 62；Only input panel is needed to produce on software
The specification of product 6 acquires the image of FPC pin thread 63, vision controller by First look device 2 at the picture-taking position of front end
Its pattern image is recorded, it is simple and quick, greatly improve efficiency of remodeling.
Automatical feeding system control planning block diagram provided in this embodiment is as shown in Figure 8, wherein control module, crawl control
Device and vision controller processed are the control system of the system, for transmitting signal and sending instruction, grabbing device 4, First look
Device 2, the second sighting device 3 and mobile mould group 5 are the execution system of the system, the instruction for executive control system.
Control module be responsible for planning as a whole scheduling 6 feeding of display products, the start and stop of grabbing device 4, jig 1 it is mobile etc., be
The core of whole system.
The feeding that crawl controller is provided according to control module allows signal to start to act, and on the one hand controls grabbing device 4
Movement, grabs display products 6 to setting position, by the movement of setting track；On the other hand the knot of vision controller feedback is received
Fruit corrects the coordinate point of grabbing device 4；Another further aspect completes feeding movement according to grabbing device 4, notifies control module feeding
It completes.Grabbing device 4 is then acted according to the instruction of crawl controller completely.
Vision controller control First look device 2 and the second sighting device 3 take pictures and adopt figure, and vision controller is according to first
Sighting device 2 and the image of the second sighting device 3 acquisition, match, the coordinate of location feature figure with the pattern image of study, and
It is compared with standard value, comparison result is fed back to crawl controller.
Dynamic crawl 6 side of display products can be used in terms of system feeding in automatical feeding system provided in this embodiment
Static crawl 6 mode of display products can also be used, flexibly and easily in formula；In terms of visual processes, relative coordinate side can be used
Absolute coordinate mode can also be used in formula, can be according to the environment of feeding system, vibration and aligning accuracy flexible choice；In jig 1
On, in such a way that crimp groove 11 is bonded guiding with FPC female thread 112 as FPC pin thread 63, relax the positioning accuracy of system
It is required that improving and stabilizing the rate of lighting.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (12)
1. a kind of automatical feeding system characterized by comprising
Control module；
Jig (1)；
Grabbing device (4), is electrically connected to the control module, and the grabbing device (4) is configured to crawl and movement
Display products (6)；
First look device (2), is located at the side of the jig (1), and the First look device (2) is electrically connected to the control
Molding block, the First look device (2) are configured to acquire the display products on the grabbing device (4)
(6) image simultaneously obtains its location information；
Second sighting device (3), moves and is located above the jig (1), and second sighting device (3) is electrically connected to institute
Control module is stated, second sighting device (3) is configured to acquire image to the jig (1) and obtains position letter
Breath；
The location information that the control module is obtained according to the First look device (2) and second sighting device (3), control
It is mobile to be directed at the display products (6) with the jig (1) and by the display screen to make the grabbing device (4)
Product (6) contraposition is put into the jig (1).
2. automatical feeding system according to claim 1, which is characterized in that further include being electrically connected to the control module
Mobile mould group (5), the mobile mould group (5) are configured as carrying second sighting device (3) and can drive second view
Feel that device (3) are mobile.
3. automatical feeding system according to claim 2, which is characterized in that the mobile mould group (5) includes the mobile mould of X-axis
Group, the mobile mould of Y-axis for being vertically mounted in the mobile mould group of the X-axis and being moved in X direction by the mobile mould group driving of the X-axis
Group, second sighting device (3) are mounted in the mobile mould group of the Y-axis and are moved by the mobile mould group drives edge Y-direction of the Y-axis
It is dynamic.
4. automatical feeding system according to claim 3, which is characterized in that the mobile mould group (5) further includes leading line
Cable, one end of the guiding cable are mounted in the mobile mould group of the X-axis, and the other end is mounted in the mobile mould group of the Y-axis, institute
It states guiding cable and is able to drive the mobile mould group of the Y-axis and move in X direction.
5. automatical feeding system according to claim 1, which is characterized in that the control module includes being electrically connected to each other
Controller and vision controller are grabbed, the First look device (2) and second sighting device (3) are electrically connected to described
Vision controller, the grabbing device (4) are electrically connected to the crawl controller.
6. automatical feeding system according to claim 1, which is characterized in that crimp assemblies are provided on the jig (1),
The crimp assemblies include crimp groove (11) and automatic joint pressing (12), and the crimp groove (11) can position FPC female thread
(112), the automatic joint pressing (12) is located at the surface of the crimp groove (11), and the automatic joint pressing (12) can be right
The FPC pin thread (63) of the FPC female thread (112) and the display products (6) carries out automatic crimping.
7. automatical feeding system according to claim 6, which is characterized in that be provided with positioning on the crimp groove (11)
(111) and the FPC female thread (112) are marked, the telltale mark (111) is located at one jiao of the crimp groove (11), described
FPC female thread (112) is arranged in the crimp groove (11), and second sighting device (3) is configured to described fixed
Position label (111) acquisition image simultaneously obtains location information.
8. automatical feeding system according to claim 1, which is characterized in that the grabbing device (4) includes manipulator
(41) and it is installed on the suction pawl (42) of the manipulator (41) end, the suction pawl (42) can adsorb the display screen simultaneously and produce
The main body (61) and FPC flexible cord (62) of product (6).
9. automatical feeding system according to claim 8, which is characterized in that the suction pawl (42) includes that FPC flexible cord inhales pawl
(421) and main body inhales pawl (422), and the FPC flexible cord is inhaled pawl (421) and is fixedly connected with the end of the manipulator (41), described
Main body inhales pawl (422) and the end of the manipulator (41) is rotatably connected, and the FPC flexible cord, which inhales pawl (421), can adsorb institute
It states FPC flexible cord (62), the main body, which inhales pawl (422), can adsorb the main body (61) of the display products (6).
10. automatical feeding system according to claim 9, which is characterized in that it includes pawl that the FPC flexible cord, which inhales pawl (421),
Arm (4211) and at least two suckers (43), the fixed company in one end of the pawl arm (4211) and the end of the manipulator (41)
It connects, the other end is equipped with a sucker, is provided with slide opening on the pawl arm (4211), is provided with described at least one in the slide opening
Sucker (43), the sucker (43) can adsorb the FPC flexible cord (62).
11. automatical feeding system according to claim 9, which is characterized in that it includes axial prong arm that the main body, which inhales pawl (422),
(4221) and claw assembly is inhaled, the axial prong arm (4221) and the end of the manipulator (41) are rotatably connected, the axial prong arm
(4221) slide opening is provided on, the suction claw assembly can be slided along the slide opening, and the suction claw assembly can adsorb the master
Body (61).
12. automatical feeding system according to claim 11, which is characterized in that the suction claw assembly includes main shaft (4222)
With two points of pawl arms (4223) arranged in a crossed manner, the main shaft (4222) be vertically installed in two described in divide pawl arm (4223) intersect
The plane of formation, the main shaft (4222) can be slided along the slide opening, the main shaft (4222) with two described in divide pawl arm
(4223) it is rotatably connected, the both ends of pawl arm (4223) is divided to be respectively arranged with a sucker (43) described in every.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810284471.8A CN110342241A (en) | 2018-04-02 | 2018-04-02 | A kind of automatical feeding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810284471.8A CN110342241A (en) | 2018-04-02 | 2018-04-02 | A kind of automatical feeding system |
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| CN110342241A true CN110342241A (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810284471.8A Pending CN110342241A (en) | 2018-04-02 | 2018-04-02 | A kind of automatical feeding system |
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| CN111453411A (en) * | 2020-04-17 | 2020-07-28 | 华兴源创(成都)科技有限公司 | Liquid crystal display module transmission alignment method and system |
| CN111590377A (en) * | 2020-05-19 | 2020-08-28 | 厦门华夏茂晟智能装备有限公司 | Device and method for carrying indexable tool |
| CN111722633A (en) * | 2020-07-22 | 2020-09-29 | 上海金东唐科技有限公司 | Vision-guided material taking and placing device and system |
| CN111730597A (en) * | 2020-07-06 | 2020-10-02 | 佛山隆深机器人有限公司 | Rotation calibration method of carrying manipulator |
| CN112573222A (en) * | 2020-11-23 | 2021-03-30 | 北京交通大学 | Flexible automatic loading system based on machine vision positioning |
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| CN112969289A (en) * | 2021-02-01 | 2021-06-15 | 深圳市冠运智控科技有限公司 | Feeding fool-proof method for PCB |
| CN113001397A (en) * | 2021-03-09 | 2021-06-22 | 蓝思智能机器人(长沙)有限公司 | Automatic feeding and discharging method for flat grinding machine and flat grinding machine |
| CN113415029A (en) * | 2021-06-18 | 2021-09-21 | 深圳市裕同包装科技股份有限公司 | Automatic adhesive card passing and sticking device and method thereof |
| CN113899977A (en) * | 2021-12-10 | 2022-01-07 | 深圳市奇彩液晶显示技术有限公司 | Full-automatic detection equipment for touch screen of mobile phone screen |
| CN114029958A (en) * | 2021-12-13 | 2022-02-11 | 湖南视比特机器人有限公司 | Grid installation clamping jaw device based on visual inspection |
| CN116548696A (en) * | 2023-05-06 | 2023-08-08 | 深圳市长林自动化设备有限公司 | Press fit detection device and detection method thereof |
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