CN207753923U - Pcb board rubberizing paper positioning system - Google Patents
Pcb board rubberizing paper positioning system Download PDFInfo
- Publication number
- CN207753923U CN207753923U CN201820149917.1U CN201820149917U CN207753923U CN 207753923 U CN207753923 U CN 207753923U CN 201820149917 U CN201820149917 U CN 201820149917U CN 207753923 U CN207753923 U CN 207753923U
- Authority
- CN
- China
- Prior art keywords
- pcb board
- industrial camera
- robot
- positioning system
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of pcb board rubberizing paper positioning system, including host computer, robot, the first industrial camera and the second industrial camera, and the host computer establishes communication connection with robot, the first industrial camera and the second industrial camera respectively；The image of the first industrial camera shooting pcb board is sent to the host computer；The second industrial camera shooting is sent to the host computer by the image for the gummed paper that the robot captures；The gummed paper captured by the robot is fitted on the scheduled position of the pcb board by robot described in the PC control.The utility model can improve the efficiency of PCB rubberizing paper, and improve the yields after pcb board package gummed paper.
Description
Technical field
The utility model is related to pcb board manufacture fields, and in particular to a kind of pcb board rubberizing paper positioning system.
Background technology
Circuit on pcb board is more and spacing also very little, and often slight an iron filings or droplet can all make its short circuit
Or cause damages, especially small-sized pcb board, so smaller pcb board needs to wrap using insulating cement paper bag, to save gummed paper
Gummed paper can be attached to the scheduled position of pcb board by material and can be fully wrapped around by the circuit of pcb board before pcb board wraps up gummed paper
On, allow the minimum gummed paper material of pcb board that can complete package, but with development in science and technology, the size of pcb board is increasingly
It is small, gummed paper is still fitted in scheduled position on pcb board using artificial or purely mechanic mode, efficiency can substantially reduce,
And it is difficult to gummed paper being fitted on the scheduled position of pcb board.
Utility model content
The main purpose of the utility model is to provide a kind of pcb board rubberizing paper positioning system, can improve the effect of PCB rubberizing paper
Rate, and improve the yields after pcb board package gummed paper.
The utility model proposes a kind of pcb board rubberizing paper positioning systems, including host computer, robot, the first industrial camera
With the second industrial camera, the host computer establishes communication connection with robot, the first industrial camera and the second industrial camera respectively；
The image of the first industrial camera shooting pcb board is sent to the host computer；
The second industrial camera shooting is sent to the host computer by the image for the gummed paper that the robot captures；
It is scheduled that the gummed paper captured by the robot is fitted in the pcb board by robot described in the PC control
On position.
Further, pcb board rubberizing paper positioning system further includes supporting table, and the robot is fixedly arranged on the supporting table
On table top.
Further, pcb board rubberizing paper positioning system further includes the transmission device for transmitting the pcb board, the machine
Device artificial four axis robot；
The transmission device is set to the supporting table, and the lower section of the mechanical arm positioned at four axis robot.
Further, first industrial camera is set on the mechanical arm of the robot.
Further, pcb board rubberizing paper positioning system further includes first support, the first support vertically with the machinery
Arm, first industrial camera are set to the mechanical arm by first support.
Further, pcb board rubberizing paper positioning system further includes first light source, and first industrial camera is set to described the
The upper end of one holder, the first light source are set to the lower end of the first support.
Further, the table top of the supporting table, which is provided with, allows bit space, second industrial camera to be set to the support
Below the table top of platform and pass through the gummed paper for allowing bit space to shoot the robot crawl.
Further, pcb board rubberizing paper positioning system further includes second support, and the second support is set to described allow vertically
Bit space, second industrial camera are set to the second support.
Further, pcb board rubberizing paper positioning system further includes second light source, and second industrial camera is set to described the
The lower end of two holders, the second light source are set to the upper end of the second support.
Further, pcb board rubberizing paper positioning system further includes sucker, and the sucker is set to the machinery of the robot
Arm, the robot capture the gummed paper by the sucker.
The beneficial effects of the utility model：First industrial camera is grabbed with the second industrial camera by pcb board and by robot
The image of the gummed paper taken is uploaded to host computer, and the pixel coordinate on image is converted into the world coordinates of robot by host computer, and
Gummed paper, is finally accurately fitted in pcb board and made a reservation for by the angle for the gummed paper that the adjustment of control robot is crawled by robots and position
Position on, improve the efficiency of PCB rubberizing paper, and due to being accurately fitted in gummed paper on the scheduled position of pcb board, so
Also the yields after pcb board package gummed paper can be improved.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of pcb board rubberizing paper positioning system of one embodiment of the utility model；
Fig. 2 is a kind of another structural schematic diagram of pcb board rubberizing paper positioning system of one embodiment of the utility model.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (up, down, left, right, before and after etc.) of institute is only in the utility model embodiment
For explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if
When the particular pose changes, then directionality instruction also correspondingly changes correspondingly, and the connection can be directly connected to,
Can also be to be indirectly connected with.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and cannot manage
Solution is instruction or implies its relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In addition, the skill between each embodiment
Art scheme can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when technical solution
It will be understood that the combination of this technical solution is not present in conjunction with there is conflicting or cannot achieve when, also not in the utility model
It is required that protection domain within.
Referring to Fig. 1-2, a kind of pcb board rubberizing paper positioning system of one embodiment of the utility model, including host computer, machine are proposed
Device people, the first industrial camera 5 and the second industrial camera 6, host computer are industrial with robot, the first industrial camera 5 and second respectively
Camera 6 establishes communication connection；The image of first industrial camera 5 shooting pcb board 11 is sent to host computer；Second industrial camera 6 is clapped
The image for taking the photograph the gummed paper 12 being crawled by robots is sent to host computer；The gummed paper that PC control robot will be crawled by robots
12 are fitted on 11 scheduled position of pcb board.
In the present embodiment, the first industrial camera 5 and the second industrial camera 6 are by pcb board 11 and the glue being crawled by robots
The image of paper 12 is uploaded to host computer, and the pixel coordinate on image is converted into the world coordinates of robot by host computer, and is controlled
It is pre- to be finally accurately fitted in pcb board 11 by the angle for the gummed paper 12 that robot adjustment is crawled by robots and position for gummed paper 12
On fixed position, the efficiency of PCB rubberizings paper 12 is improved, and since gummed paper 12 is accurately fitted in 11 scheduled position of pcb board
It sets, so can also improve pcb board 11 wraps up the yields after gummed paper 12.
In the present embodiment, the first industrial camera 5 and the second industrial camera 6 can close on robot setting, close on robot
Setting can be understood as being arranged close to robot and be arranged with robotic contact.Connect it should be appreciated that establishing communication with host computer
It connects including wired connection and wireless connection, after establishing communication connection, host computer can be to first the 5, second industrial phase of industrial camera
Machine 6 and robot send out work order and receive the number that the first industrial camera 5, the second industrial camera 6 and robot are sent
According to handling data.Host computer can be the smart machines such as computer.
In the present embodiment, the first industrial camera 5 and the second industrial camera 6 can be disposed relative to multiple sides of robot
On position, pcb board 11, the second industrial camera 6 that the first industrial camera 5 takes can be made to take the gummed paper 12 being crawled by robots
.It is fixed by conventional monocular vision after host computer receives the image of pcb board 11 and the gummed paper being crawled by robots 12
Position mode determines the pixel coordinate of pcb board 11 and 12 loci of gummed paper, and host computer is according to loci picture on pcb board 11 and gummed paper 12
Plain coordinate calculates the world coordinates relative to robot, and robot adjusts the gummed paper being crawled by robots according to world coordinates
12 angles and positions, and gummed paper 12 is fitted on 11 scheduled position of pcb board, make the loci and gummed paper 12 of pcb board 11
Corresponding loci fitting, you can gummed paper 12 is accurately fitted on 11 scheduled position of pcb board.
In the present embodiment, pcb board rubberizing paper positioning system further includes supporting table 2, and robot is fixedly arranged on the table top of supporting table 2
On.The mesa shape of supporting table 2 can be rectangular, round etc., can also be arranged to irregular shape so that the plant plate of pcb board 11 is fixed
Position system preferably works.
In the present embodiment, pcb board rubberizing paper positioning system further includes the transmission device 4 for transmitting pcb board 11, robot
For four axis robots 1；Transmission device 4 is set to supporting table 2, and the lower section of the mechanical arm positioned at four axis robots 1, makes robot more
It is easy to gummed paper 12 being fitted on 11 scheduled position of pcb board.It is appreciated that when not having transmission device 4, pcb board 11 also may be used
To be set up directly on the table top of supporting table 2.Preferably, the first industrial camera 5 is set on the mechanical arm of robot, makes the first work
Industry camera 5 shoots downwards pcb board 11 more flexiblely under the action of robot, and avoids mechanical arm and blocking first occur
The case where industrial camera 5 is shot also prevents the first industrial camera 5 and hinders manipulator motion.
In the present embodiment, pcb board rubberizing paper positioning system further includes first support 7, and the first industrial camera 5 passes through first
Frame 7 is set to mechanical arm, and the first industrial camera 5 is made to be easier to install.Specifically, pcb board rubberizing paper positioning system further includes first
Light source 9, the first industrial camera 5 are set to the upper end of first support 7, and first light source 9 is set to the lower end of first support 7 and to be annular,
First light source 9 is opened when shooting, the first industrial camera 5 shoots pcb board from the circular space of first light source 9 so that the effect of shooting
Fruit is more preferable.
In the present embodiment, the table top of supporting table 2, which is provided with, allows bit space, the second industrial camera 6 to be set to the table top of supporting table 2
Lower section and by allowing bit space to shoot the gummed paper 12 that is crawled by robots after robot captures gummed paper 12, moves to and allows bit space
Top makes the second industrial camera 6 take the gummed paper 12 being crawled by robots, and then realizes the positioning to gummed paper 12, can also
Prevent the first industrial camera 5 from hindering manipulator motion.
In the present embodiment, pcb board rubberizing paper positioning system further includes second support 8, and second support 8, which is set to, allows bit space,
Second industrial camera 6 is set to second support 8, and the second industrial camera 6 is made to be easier to install.Specifically, pcb board rubberizing paper positioning system
System further includes second light source 10, and the second industrial camera 6 is set to the lower end of second support 8, and second light source 10 is set to second support 8
Upper end and be annular, when shooting, opens second light source, and the second industrial camera 5 shoots gummed paper from the circular space of second light source 10,
So that the effect of shooting is more preferable.
In the present embodiment, pcb board rubberizing paper positioning system further includes sucker 3, and sucker 3 is set to the mechanical arm of robot, tool
Body, it is set to the X-axis of mechanical arm, robot captures the angle of gummed paper 12, the gummed paper 12 that adjustment is crawled by robots by sucker 3
It is fitted on 11 scheduled position of pcb board with position and by gummed paper 12.Gummed paper 12 can be preferably captured using sucker 3 and can be with
It prevents gummed paper 12 from fold occur, the angles and positions of the gummed paper being crawled 12 is also made to be easier to adjust.
The beneficial effects of the utility model：First industrial camera 5 and the second industrial camera 6 are by pcb board 11 and by machine
The image of the gummed paper 12 of people's crawl is uploaded to host computer, and the world that the pixel coordinate on image is converted into robot by host computer is sat
Mark, and angle and the position of the gummed paper 12 that robot adjustment is crawled by robots are controlled, finally gummed paper 12 is accurately fitted in
On 11 scheduled position of pcb board, after gummed paper 12 is fitted on 11 scheduled position of pcb board, outside will be reused and wrap up in gummed paper
Mechanism completes the package to gummed paper 12；The utility model substantially increases the efficiency of PCB rubberizings paper 12, and due to by gummed paper
12 are accurately fitted on 11 scheduled position of pcb board, so can also improve pcb board 11 wraps up the yields after gummed paper 12.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
Equivalent structure or equivalent flow shift made by using the description of the utility model and the drawings, is directly or indirectly transported
Used in other related technical areas, it is equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of pcb board rubberizing paper positioning system, which is characterized in that including host computer, robot, the first industrial camera and second
Industrial camera, the host computer establish communication connection with robot, the first industrial camera and the second industrial camera respectively；
The image of the first industrial camera shooting pcb board is sent to the host computer；
The second industrial camera shooting is sent to the host computer by the image for the gummed paper that the robot captures；
The gummed paper captured by the robot is fitted in the scheduled position of the pcb board by robot described in the PC control
On.
2. pcb board rubberizing paper positioning system as described in claim 1, which is characterized in that further include supporting table, the robot
It is fixedly arranged on the table top of the supporting table.
3. pcb board rubberizing paper positioning system as claimed in claim 2, which is characterized in that further include for transmitting the pcb board
Transmission device, machine artificial four axis robot；
The transmission device is set to the supporting table, and the lower section of the mechanical arm positioned at four axis robot.
4. pcb board rubberizing paper positioning system as claimed in claim 3, which is characterized in that first industrial camera is set to institute
It states on the mechanical arm of robot.
5. pcb board rubberizing paper positioning system as claimed in claim 4, which is characterized in that further include first support, described first
Holder is vertically with the mechanical arm, and first industrial camera is by first support set on the mechanical arm.
6. pcb board rubberizing paper positioning system as claimed in claim 5, which is characterized in that further include first light source, described first
Industrial camera is set to the upper end of the first support, and the first light source is set to the lower end of the first support.
7. pcb board rubberizing paper positioning system as claimed in claim 2, which is characterized in that the table top of the supporting table is provided with
Bit space, second industrial camera is allowed to be set to below the table top of the supporting table and allow bit space to shoot the machine by described
The gummed paper of device people crawl.
8. pcb board rubberizing paper positioning system as claimed in claim 7, which is characterized in that further include second support, described second
Holder allows bit space, second industrial camera to be set to the second support described in being set to vertically.
9. pcb board rubberizing paper positioning system as claimed in claim 8, which is characterized in that further include second light source, described second
Industrial camera is set to the lower end of the second support, and the second light source is set to the upper end of the second support.
10. pcb board rubberizing paper positioning system as described in claim 1, which is characterized in that further include sucker, the sucker is set
In the mechanical arm of the robot, the robot captures the gummed paper by the sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820149917.1U CN207753923U (en) | 2018-01-29 | 2018-01-29 | Pcb board rubberizing paper positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820149917.1U CN207753923U (en) | 2018-01-29 | 2018-01-29 | Pcb board rubberizing paper positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207753923U true CN207753923U (en) | 2018-08-21 |
Family
ID=63154139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820149917.1U Active CN207753923U (en) | 2018-01-29 | 2018-01-29 | Pcb board rubberizing paper positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207753923U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112968A (en) * | 2018-10-30 | 2020-05-08 | 武汉远大天安智能科技有限公司 | Automatic PCB assembling device and assembling method thereof |
| CN113306130A (en) * | 2021-04-26 | 2021-08-27 | 欧拓飞科技(珠海)有限公司 | PCB protective film attaching method |
-
2018
- 2018-01-29 CN CN201820149917.1U patent/CN207753923U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112968A (en) * | 2018-10-30 | 2020-05-08 | 武汉远大天安智能科技有限公司 | Automatic PCB assembling device and assembling method thereof |
| CN113306130A (en) * | 2021-04-26 | 2021-08-27 | 欧拓飞科技(珠海)有限公司 | PCB protective film attaching method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207753923U (en) | Pcb board rubberizing paper positioning system | |
| CN104309989B (en) | A kind of high stability chip transfer apparatus and the streamline using the device | |
| CN106393103B (en) | A kind of adaptive method for fetching of array material frame based on machine vision | |
| US9629292B2 (en) | Electronic component mounting system and electronic component mounting method | |
| CN108994870A (en) | End effector and manipulator for manipulator | |
| CN105458442B (en) | A kind of gripper feeding and automatic welding integration apparatus automatically | |
| CN110977939B (en) | Target workpiece identification and positioning system | |
| CN109523580A (en) | A kind of calculation method of image capture module, image capture module and sorting system | |
| CN207726318U (en) | A kind of electric manipulator carried based on babinet | |
| CN205402193U (en) | Cell -phone shake -hands grip can be realized and cradle head device of conversion between bat is erected | |
| CN204634173U (en) | A kind of small-sized vision paster machine | |
| TWI702179B (en) | Fetching system and method | |
| US20150305213A1 (en) | Electronic component mounting system and electronic component mounting method | |
| CN206442619U (en) | A kind of circuit board chip mounter alignment device | |
| CN206645534U (en) | A kind of unordered grabbing device of robot based on double camera | |
| CN107917666A (en) | Binocular vision device and coordinate scaling method | |
| CN207155209U (en) | A kind of Full-automatic screw locking machine | |
| CN205289992U (en) | Automatic press from both sides pay -off and automatic weld integration equipment of grabbing | |
| CN109939951B (en) | Product classification system and method | |
| CN208962689U (en) | A kind of motor for cell phone automatic code spraying device | |
| CN207867214U (en) | Exposure sources | |
| TWI778870B (en) | Dynamic image positioning method and system for robot feeding | |
| CN107010396A (en) | A kind of face glass blanking work station | |
| CN202423241U (en) | Robot capable of automatically capturing position | |
| CN108770232A (en) | A kind of precision compensation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |