CN112705940A - Automatic plug-in machine control system - Google Patents
Automatic plug-in machine control system Download PDFInfo
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- CN112705940A CN112705940A CN202011419473.7A CN202011419473A CN112705940A CN 112705940 A CN112705940 A CN 112705940A CN 202011419473 A CN202011419473 A CN 202011419473A CN 112705940 A CN112705940 A CN 112705940A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic component inserter control system which comprises a component inserter and a control system for controlling the component inserter, wherein the component inserter comprises a PCB (printed circuit board) conveying device, a CCD (charge coupled device) device, a loading device, a component inserter head and a laser light supplementing device, the PCB conveying device is provided with an adjusting motor for adjusting the conveying width of the PCB conveying device and a conveying motor for conveying a PCB, the component inserter head is movably arranged through an XY-axis moving mechanism, the component inserter head comprises a lifting motor for driving a component inserter manipulator to move up and down and a rotating motor for driving the component inserter manipulator to rotate, and the laser light supplementing device is provided with a plurality of laser heads; the control system comprises an operation control unit, a motion control unit and a visual processing unit, wherein the operation control unit is respectively connected with the motion control unit and the visual processing unit, the motion control unit sends an instruction to the motion control system, and the motion control system controls and adjusts the running postures of the motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor.
Description
Technical Field
The invention relates to the technical field of component inserters, in particular to an automatic component inserter control system.
Background
Among the current electronic product, all use the circuit board, the circuit board comprises PCB board and the components and parts of ann inserting on the PCB board, and these components and parts have: the LED lamp comprises a capacitor, a crystal, a triode, an LED lamp, a key door, an optical coupler, an IC, a transformer, a rectifier bridge, a terminal base, a connector and the like.
In the early stage, the plug-in components of PCB board mostly adopt artifical row to insert, and especially those special-shaped components and parts are difficult to utilize automatic plug-in components machine to realize more, but, the manual work is gone on not only with high costs, and is inefficient moreover, can not satisfy present market demand. Later, automatic component inserters were popular, which basically meet the requirements for inserting components of various shapes on a PCB board.
In the field of high-precision assembly, a scheme combining an industrial robot and machine vision gradually becomes a mainstream trend of improving assembly precision of products, and therefore, how to optimize a vision system to improve precision assembly operation is one of the problems that the skilled person needs to solve urgently.
Disclosure of Invention
In view of the above, the present invention is directed to the shortcomings of the prior art, and a primary object of the present invention is to provide an automatic card control system, which can effectively optimize a vision system to improve assembly accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic component inserter control system comprises a component inserter and a control system for controlling the component inserter,
the inserter comprises a PCB board conveying device, a CCD device, a feeding device, an inserter head and a laser light supplementing device,
the PCB conveying device is provided with an adjusting motor for adjusting the conveying width of the PCB conveying device and a conveying motor for conveying the PCB,
the inserter head is movably arranged through an XY-axis moving mechanism and comprises a lifting motor for driving the inserter manipulator to move up and down and a rotating motor for driving the inserter manipulator to rotate,
the laser light supplementing device is provided with a plurality of laser heads;
the control system comprises an operation control unit, a motion control unit and a visual processing unit, wherein the operation control unit is respectively connected with the motion control unit and the visual processing unit;
the motion control unit sends an instruction to the motion control system, and the motion control system controls the operation postures of the adjusting motor, the conveying motor, the XY-axis moving mechanism, the lifting motor and the rotating motor; or
The vision processing unit acquires the postures of the adjusting motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor and feeds the postures back to the operation control unit, and the operation control unit receives a feedback signal and sends an instruction to the motion control unit to control the operation of the adjusting motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor.
As a preferred embodiment: when the material picked up by the plug-in manipulator passes through the CCD device, the CCD device picks up a material image and feeds the material image back to the vision control unit; if the material image shot by the CCD device is not clear, the brightness of the laser head is adjusted by the vision control unit until the material image can be clearly shot by the CCD device.
As a preferred embodiment: the vision control unit collects the brightness data of the laser heads, and when the plug-in manipulator continuously grabs the same material, the vision control unit can acquire the brightness data of the corresponding laser heads for use.
As a preferred embodiment: the feeding device is a feeding flying reach, the motion control unit controls the XY-axis moving mechanism to move the plug-in manipulator to the feeding flying reach, and controls the lifting motor and the rotating motor to operate to grab materials;
the motion control unit controls the plug-in manipulator to move upwards to the position where the laser head is located, and the vision control unit controls the laser head to polish the material grabbed by the plug-in manipulator;
the motion control unit controls the XY-axis moving mechanism to move so as to move the plug-in manipulator from the upper part of the CCD device, so that the CCD device can shoot materials grabbed by the plug-in manipulator;
the vision control unit controls the laser head to polish and the motion control unit controls the plug-in manipulator to move from the upper part of the CCD device in two working states, and the two working states can be carried out simultaneously or separately.
As a preferred embodiment: the feeding flying object is connected with the motion control unit, and the motion control unit receives the instruction sent by the operation control unit to control the working posture of the feeding flying object.
As a preferred embodiment: the CCD device comprises a plurality of component cameras for shooting the material components, and the quantity of the component cameras is equal to that of the component inserting manipulators.
As a preferred embodiment: the operation control unit is connected with a data processing unit.
Compared with the prior art, the invention has obvious advantages and beneficial effects, and specifically, the technical scheme includes that: the processing function of the vision processing unit is optimized, and through the arrangement of the laser light supplementing device, the material captured by the plug-in manipulator captured by the CCD device can be clearer, so that the data acquired by the vision processing unit is more accurate, and the material captured by the plug-in manipulator can be in line with the position of a subsequent PCB plug-in so as to improve the assembly precision;
moreover, the laser light supplementing device can also shorten the shooting time of the CCD device; the mode that utilizes the light filling increases the material luminance that plug-in components manipulator snatched, can show the gesture of material more clearly with the help of the light source of replenishment when shooing the material to the shooting time of CCD device has been reduced, the plug-in components efficiency of plug-in components machine is improved.
To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a front view of a component inserter according to a preferred embodiment of the invention;
FIG. 2 is a partially exploded view of the inserter according to the preferred embodiment of the invention;
FIG. 3 is a partial schematic view of an XY-axis moving mechanism according to a preferred embodiment of the present invention;
FIG. 4 is a perspective view of the inserter head according to the preferred embodiment of the present invention;
FIG. 5 is a cross-sectional view of the inserter handpiece of the preferred embodiment of the invention;
FIG. 6 is a schematic perspective view of a PCB conveying apparatus according to a preferred embodiment of the present invention;
FIG. 7 is a cross-sectional view of a PCB conveyor of a preferred embodiment of the present invention;
FIG. 8 is a top view of the PCB conveyor of the preferred embodiment of the present invention;
FIG. 9 is a left side view of the PCB conveying device in accordance with the preferred embodiment of the present invention;
FIG. 10 is a block diagram of a control system in accordance with a preferred embodiment of the present invention.
The attached drawings indicate the following:
10. rack component 20 and PCB conveying device
201. PCB input section 2011, first chain
2012. First motor 202, PCB board plug-in components section
2021. Second chain 2022, second motor
203. PCB output section 2031 and a third chain
2032. Third motor 21, stationary rail
22. Movable rail 23 and photoelectric sensor
24. Adjusting screw 241 and adjusting motor
25. PCB limiting device 251 and limiting fixing plate
252. Spacing fly leaf 253, spacing lead screw
254. Limiting motor 30 and feeding platform
31. Mounting groove 32 and connector
40. Plug-in machine head 41 and plug-in machine hand
42. Driving mechanism 421 and lifting motor
422. Lifting screw rod 423 and sliding seat
424. Rotating electric machine 425 and spline shaft sleeve
426. Spline shaft 43 and light supplementing device
431. Laser head 432 and fixing frame
4321. Mounting concave position 44 and XY axis moving mechanism
441. Y-axis moving guide 442 and Y-axis moving motor
443. Y-axis lead screw 444 and Y-axis moving seat
445. X-axis moving guide rail 446 and X-axis lead screw
447. X-axis motor 45 and machine head moving seat
46. Capturing camera 50, CCD device
61. Display panel 62, control buttons.
Detailed Description
Referring to fig. 1 to 10, a specific structure of a preferred embodiment of the present invention is shown, which is an automatic component inserter control system, including a component inserter and a control system for controlling the component inserter.
Referring to fig. 1-2 and 5-9, the component inserter includes a PCB conveying device 20, a feeding platform 30, a component inserter head 40, a CCD device 50 and a control system, the PCB conveying device 20, the feeding platform 30, the component inserter head 40 and the CCD device 50 are all disposed on the rack assembly 10, the feeding platform 30 and the CCD device 50 are disposed beside the PCB conveying device 20, and the component inserter head 40 is movably disposed above a PCB conveying track through an XY axis moving mechanism 44; the control system is connected with the PCB conveying device 20, the plug-in machine head 40, the CCD device 50 and the XY axis moving mechanism 44. In the embodiment of the present application, the PCB conveying apparatus 20 includes a fixed rail 21, a movable rail 22, and a photo sensor 23, and the fixed rail 21 and the movable rail 22 are spaced apart from each other in the Y-axis direction. Specifically, the fixed rail 21 and the movable rail 22 sequentially form a PCB input section 201, a PCB board plug-in section 202 and a PCB board output section 203 along the X-axis direction, and the photoelectric sensor 23 is disposed between the PCB input section 201 and the PCB board plug-in section 202 and between the PCB board plug-in section 202 and the PCB board output section 203; the PCB input section 201 is provided with a first chain 2011 and a first motor 2012 for driving the first chain 2011, the PCB card section 202 is provided with a second chain 2021 and a second motor 2022 for driving the second chain 2021, and the PCB output section 203 is provided with a third chain 2031 and a third motor 2032 for driving the third chain 2031. The PCB input section 201, the PCB plug-in section 202 and the PCB output section 203 are arranged in a sectional mode, so that the loading, plug-in and unloading operations of the PCB are not interfered with one another, and the feasibility is good; and adopt the chain to carry the PCB board, compare in the mode that the tradition adopted the conveyer belt, the PCB board is carried more steadily, also can convey heavier PCB board. The first motor 2012, the second motor 2022 and the third motor 2032 are connected with transmission rods, and gears are arranged at two ends of each transmission rod; the two sides of the PCB input section 201, the PCB board plug-in section 202 and the PCB board output section 203 are also respectively provided with gears, that is, the PCB input section 201, the PCB board plug-in section 202 and the PCB board output section 203 corresponding to the fixed track 21 and the movable track 22 are provided with gears, and the chains are respectively sleeved on the gears corresponding to the PCB input section 201, the PCB board plug-in section 202 and the PCB board output section 203, so that the corresponding transmission rod rotation of the corresponding motor transmission can be realized, and the chains are driven.
To connect the above, the inserter head 40 includes a plurality of inserter manipulators 41, a driving mechanism 42 and a laser light supplement device 43, the laser light supplement device 43 is disposed below the plurality of inserter manipulators 41, and the driving mechanism 42 drives the plurality of inserter manipulators 41 to movably enter or exit the laser light supplement device 43 along the Z axis. Specifically, the laser light filling device 43 may perform light filling on the component picked up by the component handler 41; the component picked up by the component inserting manipulator 41 directly passes over the CCD device 50, so that the CCD device 50 can capture an image of the component; compared with the conventional automatic component inserter which stops for several seconds above the CCD device 50 to complete the image of the component, the insertion efficiency of the component inserter can be greatly improved.
In the embodiment of the present application, the laser light supplementing device 43 includes a plurality of laser heads 431 and a fixing frame 432 for mounting the laser heads 431; the fixed frame 432 is an annular body, the inner side surface of the fixed frame 432 is concavely provided with an installation concave 4321, and the laser head 431 is installed in the installation concave 4321. The plurality of laser heads 431 are installed by utilizing the arranged fixed frame 432, so that the situation that the laser heads 431 are damaged due to artificial misoperation in the running process of the equipment can be avoided; secondly, the laser head 431 is arranged in the mounting concave 4321, so that light sources emitted by the laser head 431 can be gathered as much as possible, and the loss of the light sources is reduced. Preferably, the laser heads 431 are installed at front and rear sides of the installation recess 4321, and light source emitting ends of the laser heads 431 face to the middle of the fixing frame 432.
Referring to fig. 4 and 5, the driving mechanism 42 includes a lifting motor 421, a lifting screw 422, a sliding seat 423, a rotating motor 424, a spline shaft sleeve 425 and a spline shaft 426; the lifting motor 421 is connected to the lifting screw 422, the lifting screw 422 is connected to the sliding seat 423 to drive the sliding seat 423 to move up and down, and the component inserting manipulator 41 is rotatably connected to the sliding seat 423; the spline shaft 426 is inserted into the spline shaft housing 425 to be vertically displaceable relative to the spline shaft housing 425, one of the spline shaft housing 425 and the spline shaft 426 is driven to rotate by the rotating motor 424, and the other is connected to the plug-in robot 41 to be linked to drive the plug-in robot 41 to rotate. In the present embodiment, the number of the insert robots 41 is four; therefore, four sets of the lifting motor 421, the lifting screw 422, the sliding seat 423, the spline shaft sleeve 425 and the spline shaft 426 are matched with the four component inserting manipulators 41, namely, each lifting motor 421, the lifting screw 422, the sliding seat 423, the spline shaft sleeve 425 and the spline shaft 426 form a set to correspondingly drive one component inserting manipulator 41; the rotating motor 424 can be connected to a plurality of spline shaft sleeves 425 or spline shafts 426 by a belt or a chain to drive the rotation of the component inserting robot 41. In addition, the number of the card robots 41 may be one or more than two according to actual production requirements, and the rotating motors 424 may be configured according to the corresponding card robots 41 to separately drive one card robot 41 to rotate, which is not limited to the specific embodiment of the present invention. And the plug-in manipulator 41 is arranged at the front end of the machine head moving seat 45, and the capturing camera 46 for capturing the plug-in position is arranged at the front end of the machine head moving seat 45 so as to improve the reliability of the plug-in manipulator 41 for capturing the component.
Referring to fig. 6-9, an adjusting screw 24 is connected between the fixed rail 21 and the movable rail 22, and an adjusting motor 241 is connected to one end of the adjusting screw 24; when the adjusting motor 241 drives the adjusting screw 24, the fixed rail 21 and the movable rail 22 can be selectively displaced. When the PCBs with different specifications need to be transferred, the adjusting screw rod 24 is driven to rotate only through the adjusting cylinder, so that the movable rail 22 and the fixed rail 21 can be displaced until the width between the fixed rail 21 and the movable rail 22 meets the width of the corresponding PCB, the automation degree is high, the type of the transferred PCBs can be greatly improved, and the application range is wide.
As mentioned above, the PCB conveying device 20 is further provided with a PCB position limiting device 25, which is installed on the PCB board insertion section 202. In the embodiment of the present application, the PCB board position limiting device 25 includes a position limiting fixing plate 251, a position limiting movable plate 252, a position limiting screw 253, and a position limiting motor 254, wherein the position limiting movable plate 252 is movably mounted on the position limiting fixing plate 251 up and down; one end of the limiting screw rod 253 is connected with the limiting movable plate 252, and the other end is connected with the limiting motor 254. The limiting motor 254 can drive the limiting screw rod 253 to rotate, so that the limiting movable plate 252 moves up and down relative to the limiting fixed plate 251 and is conveyed to the PCB of the PCB plug-in section 202, the limiting movable plate 252 can move up to support the PCB, and plug-in operation is performed; in order to avoid the plug-in components in-process, the PCB board produces displacement from top to bottom because of the effect of components and parts, influences the reliability of its plug-in components.
The XY-axis moving mechanism 44 includes a Y-axis moving guide 441, a Y-axis moving motor 442, a Y-axis screw 443, a Y-axis moving base 444, an X-axis moving guide 445, an X-axis screw 446, and an X-axis motor 447, in the embodiment of the present invention, the Y-axis moving guide 441 is installed at the left and right sides of the frame, the Y-axis moving base 444 is movably installed at the Y-axis moving guide 441 and connected to the Y-axis screw 443, and the Y-axis moving motor 442 is connected to the Y-axis screw 443; the X-axis moving guide 445 is installed on the Y-axis moving base 444, the inserter head 40 is provided with a head moving base 45, and the head moving base 45 is movably installed on the X-axis moving guide 445; the X-axis screw rod 446 is connected to the handpiece moving base 45, and the X-axis motor 447 is connected to the X-axis screw rod 446.
The feeding platform 30 is provided with a plurality of mounting grooves 31 for mounting feeding flies, and a connector 32 for connecting the feeding flies is arranged at the front end of each mounting groove 31. When the installation material flies to reach, directly fly to reach the mounting groove 31 that the orientation corresponds with the material loading and insert and can accomplish the installation, it is very convenient to install, need set up the mount in addition in the tradition and support the plug-in components machine that the material loading flies to reach, arranges more rationally, and the integration degree of equipment is high.
Referring to fig. 10, the control system includes an operation control unit, a motion control unit and a visual processing unit, wherein the operation control unit is respectively connected to the motion control unit and the visual processing unit. In the embodiment of the application, the motion control unit sends an instruction to the motion control system, and the motion control system controls the operation postures of the adjusting motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor; or the vision processing unit acquires the postures of the adjusting motor, the conveying motor, the XY-axis moving mechanism, the lifting motor and the rotating motor and feeds the postures back to the operation control unit, and the operation control unit receives a feedback signal and sends an instruction to the motion control unit to control the operation of the adjusting motor, the conveying motor, the XY-axis moving mechanism, the lifting motor and the rotating motor. The operation control unit is also connected with a data processing unit, and the data processing unit stores the data of the motion control unit and the vision processing unit.
When the material picked up by the component inserting manipulator passes through the CCD device, the CCD device picks up a material image and feeds the material image back to the vision control unit; if the material image shot by the CCD device is not clear, the brightness of the laser head is adjusted by the vision control unit until the material image can be clearly shot by the CCD device. The vision control unit collects brightness data of the laser heads, and when the plug-in manipulator continuously grabs the same material, the vision control unit can acquire the brightness data of the corresponding laser heads for use. The shooting definition of the CCD device is based on the concrete structure that the CCD device can accurately obtain material boundaries, pins of materials and other parts.
The feeding device is a feeding flying place, the motion control unit controls the XY-axis moving mechanism to move the plug-in manipulator to the feeding flying place, and controls the lifting motor and the rotating motor to operate to grab materials; the motion control unit controls the plug-in manipulator to move upwards to the position where the laser head is located, and the visual control unit controls the laser head to polish the material grabbed by the plug-in manipulator; the motion control unit controls the XY-axis moving mechanism to move so as to move the plug-in manipulator from the upper part of the CCD device, so that the CCD device can shoot materials grabbed by the plug-in manipulator; the vision control unit controls the laser head to polish and the motion control unit to control the plug-in manipulator to move from the upper part of the CCD device in two working states, which can be carried out simultaneously or separately. The feeding flying object is connected with the motion control unit, and the motion control unit receives the instruction sent by the operation control unit to control the working posture of the feeding flying object.
The CCD device comprises a plurality of component cameras for shooting material components, and the number of the component cameras is equal to that of the component inserting manipulators. In the embodiment of the application, the number of the plug-in manipulators is four, the lifting motor of each plug-in manipulator is used as a Z axis, the rotating motor is used as an R axis, and the plug-in manipulators adopt sucking discs or clamping jaws to complete material grabbing operation; each plug-in manipulator is correspondingly provided with a component camera, and if the number of the plug-in manipulators is increased, the corresponding component cameras are correspondingly increased.
The control system also comprises a display panel 61 and a control button 62, wherein the display panel 61 and the control button 62 are both arranged on any side of the front of the rack assembly 10; the operator can read various values of the component inserter on the display panel 61 and control the operation of the various devices of the component inserter through the control buttons 62.
The design of the invention is characterized in that: the processing function of the vision processing unit is optimized, and through the arrangement of the laser light supplementing device, the material captured by the plug-in manipulator captured by the CCD device can be clearer, so that the data acquired by the vision processing unit is more accurate, and the material captured by the plug-in manipulator can be in line with the position of a subsequent PCB plug-in so as to improve the assembly precision;
moreover, the laser light supplementing device can also shorten the shooting time of the CCD device; the mode that utilizes the light filling increases the material luminance that plug-in components manipulator snatched, can show the gesture of material more clearly with the help of the light source of replenishment when shooing the material to the shooting time of CCD device has been reduced, the plug-in components efficiency of plug-in components machine is improved.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (7)
1. The utility model provides an automatic plug-in components machine control system, is including the control system of plug-in components machine and control plug-in components machine which characterized in that:
the inserter comprises a PCB board conveying device, a CCD device, a feeding device, an inserter head and a laser light supplementing device,
the PCB conveying device is provided with an adjusting motor for adjusting the conveying width of the PCB conveying device and a conveying motor for conveying the PCB,
the inserter head is movably arranged through an XY-axis moving mechanism and comprises a lifting motor for driving the inserter manipulator to move up and down and a rotating motor for driving the inserter manipulator to rotate,
the laser light supplementing device is provided with a plurality of laser heads;
the control system comprises an operation control unit, a motion control unit and a visual processing unit, wherein the operation control unit is respectively connected with the motion control unit and the visual processing unit;
the motion control unit sends an instruction to the motion control system, and the motion control system controls the operation postures of the adjusting motor, the conveying motor, the XY-axis moving mechanism, the lifting motor and the rotating motor; or
The vision processing unit acquires the postures of the adjusting motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor and feeds the postures back to the operation control unit, and the operation control unit receives a feedback signal and sends an instruction to the motion control unit to control the operation of the adjusting motor, the conveying motor, the XY axis moving mechanism, the lifting motor and the rotating motor.
2. The automatic component inserter control system as claimed in claim 1, wherein: when the material picked up by the plug-in manipulator passes through the CCD device, the CCD device picks up a material image and feeds the material image back to the vision control unit; if the material image shot by the CCD device is not clear, the brightness of the laser head is adjusted by the vision control unit until the material image can be clearly shot by the CCD device.
3. The automatic component inserter control system as claimed in claim 2, wherein: the vision control unit collects the brightness data of the laser heads, and when the plug-in manipulator continuously grabs the same material, the vision control unit can acquire the brightness data of the corresponding laser heads for use.
4. The automatic component inserter control system according to claim 3, wherein: the feeding device is a feeding flying reach, the motion control unit controls the XY-axis moving mechanism to move the plug-in manipulator to the feeding flying reach, and controls the lifting motor and the rotating motor to operate to grab materials;
the motion control unit controls the plug-in manipulator to move upwards to the position where the laser head is located, and the vision control unit controls the laser head to polish the material grabbed by the plug-in manipulator;
the motion control unit controls the XY-axis moving mechanism to move so as to move the plug-in manipulator from the upper part of the CCD device, so that the CCD device can shoot materials grabbed by the plug-in manipulator;
the vision control unit controls the laser head to polish and the motion control unit controls the plug-in manipulator to move from the upper part of the CCD device in two working states, and the two working states can be carried out simultaneously or separately.
5. The automatic component inserter control system as claimed in claim 1, wherein: the feeding flying object is connected with the motion control unit, and the motion control unit receives the instruction sent by the operation control unit to control the working posture of the feeding flying object.
6. The automatic component inserter control system as claimed in claim 1, wherein: the CCD device comprises a plurality of component cameras for shooting the material components, and the quantity of the component cameras is equal to that of the component inserting manipulators.
7. The automatic component inserter control system as claimed in claim 1, wherein: the operation control unit is connected with a data processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011419473.7A CN112705940B (en) | 2020-12-07 | 2020-12-07 | Automatic plug-in machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011419473.7A CN112705940B (en) | 2020-12-07 | 2020-12-07 | Automatic plug-in machine control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112705940A true CN112705940A (en) | 2021-04-27 |
| CN112705940B CN112705940B (en) | 2022-08-09 |
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Family Applications (1)
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| CN202011419473.7A Active CN112705940B (en) | 2020-12-07 | 2020-12-07 | Automatic plug-in machine control system |
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| CN112705940B (en) | 2022-08-09 |
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