CN210133626U

CN210133626U - Double-camera visual positioning special-shaped electronic component grabbing mechanism

Info

Publication number: CN210133626U
Application number: CN201920573594.3U
Authority: CN
Inventors: 姚佳; 温友密; 杨云
Original assignee: Zhongshan Yatesheng Technology Co Ltd
Current assignee: Zhongshan Yatesheng Technology Co Ltd
Priority date: 2019-04-24
Filing date: 2019-04-24
Publication date: 2020-03-10
Anticipated expiration: 2029-04-24

Abstract

The utility model discloses a double-camera visual positioning special-shaped electronic component grabbing mechanism, which comprises a machine table and an industrial personal computer, wherein the upper end of the machine table is provided with a first camera for taking pictures downwards to detect electronic components on a feeding mechanism, the machine table is provided with a four-axis mechanical arm, the four-axis mechanical arm is provided with a first vacuum suction nozzle for sucking the electronic components, the machine table is provided with a second camera for taking pictures from bottom to top to detect the angle and the position of the electronic components sucked by the first vacuum suction nozzle, the first camera takes pictures and determines the position and the type of the appointed electronic components and feeds back information to the industrial personal computer, the industrial personal computer drives the first vacuum suction nozzle to move to the position of the appointed electronic components to suck and move the sucked electronic components to the upper part of the second camera to detect, and the mechanical arm adjusts the electronic components to the set angle and position according to the angle and the position information, so as to move to a processing station of the pin shearing and forming mechanism to shear and form the pin.

Description

Double-camera visual positioning special-shaped electronic component grabbing mechanism

[ technical field ] A method for producing a semiconductor device

The utility model relates to a special-shaped electronic component of diphase camera vision location snatchs mechanism.

[ background of the invention ]

At present, a factory relates to an automatic forming device which is available on the market, wherein the forming shapes and sizes of electronic elements such as capacitors, rectifiers and the like are different, the automatic forming device is various in types and small in single amount, single material single feeding and single material forming are basically realized, the automatic forming device cannot be used universally, for example, feeding is realized, a vibration disc is used for conveying a whole pile of bulk electronic elements into a whole flow channel firstly, screening is carried out through a screening structure designed in the whole flow channel, and final positioning is finished through a clamping jaw and other mechanisms at the tail end of the whole flow channel. For the shaping of the electronic component of thousands of kinds in the mill, the use amount of a lot of materials is not big moreover, and the material of the volume is little is not fit for purchasing professional equipment at all, and equipment cost is too big, adopts artificial mode to produce mostly, and production efficiency is low.

The present invention is made based on such a situation.

[ Utility model ] content

The utility model aims to solve the technical problem that a simple structure's special-shaped electronic component of double camera visual location snatchs mechanism is provided, and this mechanism commonality is strong, is fit for multiple type of small batch's electronic component snatchs and fixes a position.

The utility model discloses a realize through following technical scheme:

the utility model provides a double-camera vision positioning dysmorphism electronic component snatchs mechanism which characterized in that: including board 1 and

industrial computer

2, 1 upper end of board is equipped with the first camera 4 that is used for shooing down and detects electronic component's on the feeding mechanism 5 position and kind model, be equipped with four-axis manipulator 6 on the board 1, be equipped with the first vacuum suction nozzle 61 that is used for absorbing electronic component on the four-axis manipulator 6, be equipped with the second camera 7 that is used for upwards shooing down and detects electronic component's that first vacuum suction nozzle 61 absorbs angle and position on the board 1, first camera 4 shoots and confirms appointed electronic component's position and kind model and feeds back information to industrial computer 2, takes first vacuum suction nozzle 61 to move the position absorption of appointed electronic component through industrial computer 2 control four-axis manipulator 6 to remove the electronic component who absorbs to second camera 7 top and detect, four-axis manipulator 6 adjusts electronic component to the angle and the position of settlement according to the electronic component's that second camera 7 feedbacks angle and position information.

The double-camera visual positioning special-shaped electronic component grabbing mechanism is characterized in that: the first camera 4 and the second camera 7 are CCD cameras.

Compared with the prior art, the utility model discloses there is following advantage:

1. the utility model discloses a first, the electronic component of the double camera visual system of second camera to random state discerns and fixes a position, and cooperate the four-axis manipulator to carry out attitude adjustment to the electronic component of random state, then feeding mechanism only need to carry out attitude adjustment to the electronic component of random state toward the scope that first camera 4 can shoot and the same or different kind electronic component of random state of random supply in the scope that four-axis manipulator 6 can snatch, electronic component in the absorption scope through first camera 4 to first vacuum nozzle 61 is shot and is detected, confirm appointed electronic component's position and kind model and with information feedback to industrial computer 2, take first vacuum nozzle 61 to move the position absorption of appointed electronic component through industrial computer 2 control four-axis manipulator 6, and move the electronic component who absorbs to second camera 7 top and detect the attitude of random state, four-axis manipulator 6 is according to the angle and the position information of the electronic component of second camera 7 feedback with electric component The sub-component is adjusted to the angle and the position of settlement, and move and cut foot and shaping on cutting the processing position of foot forming mechanism 3 corresponding with this electronic component, thereby the multi-angle that can adapt to multiple product snatchs the demand, improve machining efficiency greatly, moreover, the steam generator is simple in structure, the flexibility is high, accomplish the universalization, can adapt to snatching respectively and fixing a position of several hundred or even thousands of electronic component materials, satisfy the automatic processing of a plurality of little demand variety electronic component of volume in the mill, equipment cost and manufacturing cost are reduced.

[ description of the drawings ]

The following detailed description of embodiments of the present invention is provided with reference to the accompanying drawings, in which:

fig. 1 is one of the schematic structural diagrams of the fully automatic pin shearing and forming device to which the present invention is applied;

fig. 2 is a second schematic structural view of a fully automatic pin-cutting forming device to which the present invention is applied;

FIG. 3 is a schematic view of the structure of the circulation supply mechanism;

FIG. 4 is a second schematic structural view of the circulation feeding mechanism;

FIG. 5 is a cross-sectional view of the circulation feed mechanism;

fig. 6 is a schematic structural view of the four-axis manipulator of the present invention;

FIG. 7 is a schematic structural view of a pin shearing forming mechanism;

FIG. 8 is a schematic structural view of a material rack and associated structures thereon;

FIG. 9 is a schematic view of the positioning groove for placing the electronic components;

FIG. 10 is a schematic structural view of a forming die and a cutting die and their driving structures;

FIG. 11 is a schematic view of the structure of the waste channel and the diagonal flow path.

[ detailed description ] embodiments

The invention will be further described with reference to the accompanying drawings:

the full-automatic pin cutting and forming device applying the double-camera visual positioning special-shaped electronic element grabbing mechanism of the utility model shown in figures 1 to 11 comprises a machine table 1 and an industrial personal computer 2, the machine table 1 is provided with a plurality of pin shearing and forming mechanisms 3 for shearing and forming various different appointed electronic elements, the machine table 1 is provided with a four-axis manipulator 6, the four-axis manipulator 6 is provided with a first vacuum suction nozzle 61 for sucking electronic elements, the machine table 1 is provided with a feeding mechanism 5 which can randomly and circularly supply various electronic components 200 in random states to the suction range of the first vacuum suction nozzle 61, the upper end of the machine table 1 is provided with a first camera 4 for downwards photographing, detecting the position and type of the electronic element on the feeding mechanism 5, and a second camera 7 for photographing from bottom to top to detect the angle and position of the electronic component sucked by the first vacuum suction nozzle 61 is arranged on the machine table 1. Preferably, the first camera 4 and the second camera 7 are CCD cameras.

Storing the characteristics of various electronic components in an industrial control system, designating one or more electronic components correspondingly molded with a pin shearing molding mechanism 3 according to production requirements, randomly supplying one or more electronic components 200 in random states to the suction range of a first vacuum suction nozzle 61 through a feeding mechanism 5 during work, photographing and detecting the electronic components in the suction range of the first vacuum suction nozzle 61 through a first camera 4, determining the position and type of the designated electronic components and feeding back the information to an industrial personal computer 2, controlling a four-axis manipulator 6 to drive the first vacuum suction nozzle 61 to move to the position of the designated electronic components to suck the electronic components and move the sucked electronic components to the upper side of a second camera 7 to detect, adjusting the electronic components to the set angle and position by the four-axis manipulator 6 according to the angle and position information of the electronic components fed back by the second camera 7, and moves to a pin shearing and forming mechanism 3 corresponding to the electronic component to perform pin shearing and forming.

Discernment and location are carried out the electronic component of random state through camera vision system, moreover, the steam generator is simple in structure, the flexibility is high, and combine the first vacuum suction nozzle 61 of four-axis manipulator control to electronic component transport and adjustment location, move again and cut foot and shaping on the foot forming mechanism 3 that cuts that this electronic component of shaping corresponds, this equipment accomplishes the universalization, can adapt to snatching respectively of multiple electronic component material, and correspond and cut the foot shaping, equipment can general multiple material shaping, multiple type has been solved to equipment, the shaping of small batch volume electronic component needs artifical unable automatic problem, labor saving.

Since there are several hundreds or even thousands of electronic components 200, in order to enable the trimming mechanism 3 to perform the trimming and trimming of these electronic components 200, the trimming mechanism 3 includes upper and lower forming dies 38 for forming the electronic component solder tails and upper and lower cutting dies 39 for cutting the electronic component solder tails, and an upper and lower punching cylinder 34 for driving the upper and lower forming dies 38 and the upper and lower cutting dies 39 to move up and down relatively, respectively, the cutting die 39 is located inside the forming die 38, and the forming die 38 and the cutting die 39 are detachably connected. Therefore, for the electronic component 200 to be produced and processed, the corresponding forming die 38 and cutting die 39 are replaced on the pin shearing forming mechanism 3, the electronic component 200 is switched in the industrial control system, and the first camera 4 is appointed to recognize the electronic components 200, so that the fast switching is realized, and the structure is simple.

A material placing frame 301 is arranged on the opposite side of the forming die 38, a sliding seat 302 capable of approaching to and departing from the forming die 38 and a feeding air cylinder 303 driving the sliding seat 302 to slide are connected to the material placing frame 301 in a sliding manner in the horizontal direction, a positioning seat 304 is detachably connected to the sliding seat 302, a positioning groove 305 for placing an electronic component from the top and positioning the electronic component from the horizontal direction is arranged on the positioning seat 304, a second vacuum suction nozzle 306 is arranged above the positioning groove 305, a rodless air cylinder 307 is arranged on the sliding seat 302, a positioning air cylinder 308 for connecting and driving the second vacuum suction nozzle 306 to move up and down is fixedly connected to the rodless air cylinder 307, and the rodless air cylinder 307 is used for driving the second vacuum suction nozzle 306 to move above the positioning groove 305 or moving the second vacuum suction nozzle 306 out of the positioning groove 305.

A drawer groove 3011 is arranged below the material placing frame 301, a material receiving box 309 which can be drawn out and has an open upper end is arranged in the drawer groove 3011, a funnel port 3012 which is communicated with the drawer groove 3011 from top to bottom is arranged above the material placing frame 301, and the funnel port 3012 is located in a stroke of the rodless cylinder 307 for driving the second vacuum suction nozzle 306 to move.

When the pin cutting is performed, after the electronic component sucked by the first vacuum suction nozzle 61 is detected and adjusted to a set angle and position above the second camera 7, the electronic component is moved to be placed in the positioning groove 305 on the corresponding pin cutting forming mechanism 3, the rodless cylinder 307 drives the positioning cylinder 308 to move the second vacuum suction nozzle 306 above the positioning groove 305, the positioning cylinder 308 drives the second vacuum suction nozzle 306 to press down on the electronic component in the positioning groove 305 to fix the electronic component, the feed cylinder 303 drives the sliding seat 302 to move the electronic component into the forming die 38 and the cutting die 39 with the electronic component to perform the pin cutting and forming, and the finished electronic component is ejected, the second vacuum suction nozzle 306 sucks the electronic component in the positioning groove 305, the rodless cylinder 307 drives the positioning cylinder 308 to move the second vacuum suction nozzle 306 above the positioning groove 305, when the second vacuum suction nozzle 306 moves above the funnel port 3012, the electronic components are released, and the electronic components fall from the funnel port 3012 into the receiving box 309, and the processed electronic components are collected and stored in the receiving box 309. The full-automatic conversation processes of automatically connecting materials of the first vacuum suction nozzle 61, automatically carrying and cutting the feet, automatically carrying and withdrawing the materials and automatically carrying and storing are realized. Moreover, after the positioning groove 305 receives the material of the first vacuum suction nozzle 61, the four-axis manipulator can move away to perform the next round of suction work, so that the foot shearing forming and the material conveying of the four-axis manipulator are performed synchronously, and the production efficiency is high.

The material receiving box 309 is placed through the drawer slot 3011, so that the structure is compact, the space occupied by the material receiving box 309 is avoided, and the material is prevented from being knocked over and poured.

The bottom of the positioning groove 305 is provided with an air suction opening 3051 used for being connected with external equipment, and the electronic element placed in the positioning groove 305 is sucked through the air suction opening 3051, so that the electronic element is positioned more accurately and is placed stably, and after the pin shearing forming is finished, the air suction effect of the air suction opening 3051 is closed, so that the electronic element in the positioning groove 305 is sucked away by the second vacuum suction nozzle 306.

The pin cutting forming mechanism 3 further comprises an X-axis base 311, a Y-axis base 312 and a Z-axis base 313, the Y-axis base 312 is slidably connected to the X-axis base 311, the Z-axis base 313 is slidably connected to the Y-axis base 312, an X-axis screw 321 in threaded connection and transmission with the Y-axis base 312 is rotatably connected to the X-axis base 311, a Y-axis screw 322 in threaded connection and transmission with the Z-axis base 313 is rotatably connected to the Y-axis base 312, a die mounting base 33 is slidably connected to the Z-axis base 313, a Z-axis screw 323 in threaded connection and transmission with the die mounting base 33 is rotatably connected to the Z-axis base 313, an upper base plate 331 and a lower base plate 332 are arranged on the die mounting base 33, the upper punching cylinder 34 and the lower punching cylinder 34 are respectively fixed on the upper base plate 331 and the lower base plate 332, an upper transmission plate 35 and a lower transmission plate 35 are respectively fixed on a piston rod of the upper punching cylinder, a guide post 36 for guiding the transmission plate 35 to slide up and down is arranged between the upper base plate 331 and the lower base plate 332, a die frame 37 is fixed on the outer side of the upper transmission plate 35 and the outer side of the lower transmission plate 35, and the forming die 38 and the cutting die 39 are detachably connected to the die frame 37 respectively.

When the electronic element pin is cut and formed, the electronic element 200 is placed between an upper forming die and a lower forming die, the upper punching cylinder and the lower punching cylinder respectively drive the upper forming die and the lower forming die and the upper cutting die to perform relative punching motion through an upper transmission plate, a lower forming die and a die frame, the electronic element pin is punched into a corresponding shape through the upper forming die and the lower forming die, the electronic element pin is cut at the cutting die through the upper cutting die and the lower cutting die, and the forming efficiency and the pin cutting efficiency of the electronic element pin are improved through the upper punching mode and the lower punching mode.

The forming die can be adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction respectively through the X-axis screw, the Y-axis screw and the Z-axis screw, so that the position of the forming die can be quickly adjusted after die change, the forming die is prevented from being repeatedly disassembled and assembled, the time for die change and die test is shortened, the efficiency is improved, and defective products are reduced.

An arch-shaped waste baffle plate 310 is fixed between the upper bottom plate 331 and the lower bottom plate 332, the waste baffle plate 310 is blocked at the back of the cutting die 39 from three directions of two sides of an X axis and one side of a Y axis and forms a waste channel 370 for discharging waste materials at the cutting foot with the die frame 37, the waste materials cut off by the cutting die are prevented from splashing to a related movement structure by the waste baffle plate, an inclined runner 390 which is downwards inclined to the waste channel 370 is arranged at the inner side of the cutting die 39, the waste materials cut off by the cutting die fall into the waste channel under the gravity through the inclined runner and are discharged, and the field is kept clean.

The upper end of the Z-axis screw 323 is provided with a crank 324, so that the Z-axis screw can be conveniently rotated up and down to adjust the height of the die mounting seat.

The four guide posts 36 are respectively positioned at two sides of the punching cylinder 34, the integral rigid structure of the up-and-down motion formed by the transmission plate, the die carrier, the forming die and the cutting die is reinforced through a four-guide-post structure, the integral deformation of the die carrier is smaller, and the control of the pin cutting forming burr and the forming size tolerance is better.

Preferably, the feeding mechanism 5 comprises a belt 51 positioned below the four-axis robot 6 and horizontally placed, and a belt driving means 52 for driving the belt 51 to move intermittently, preferably, the belt driving means 52 includes an intermittent driving motor 521, electronic components are placed on the horizontal belt, so that the first camera 4 can capture the shot and the first vacuum suction nozzle 61 sucks, the inflow end of the belt 51 is provided with a vibration disc 53 for randomly conveying various electronic components onto the belt 51, the outflow end of the belt 51 is provided with a diversion slideway 54 for the electronic components on the belt 51 to flow into, the diverting chute 54 is disposed diagonally downward and diverts electronic components from laterally below the belt 51, a conveying device 55 for receiving and conveying the electronic components falling down from the steering slideway 54 and returning the electronic components to the vibration plate 53 is arranged between the outflow port of the steering slideway 54 and the vibration plate 53.

One or more different electronic components are put into a vibration disc 53, the electronic components are randomly shaken down on the belt 51 at one point automatically through the vibration disc 53, the electronic components in random states move to the suction range of the first vacuum suction nozzle 61 under the conveying of the belt, wherein the appointed electronic components with correct identification angles on the belt 51 are identified by the first camera 4 and are sucked away by the first vacuum suction nozzle 61, other electronic components which are not appointed slightly pass through and move forwards to flow into a steering slideway 54, and are conveyed back to the vibration disc 53 again through the steering slideway 54 and the conveying device 55.

And turn to the slide 54 and set up downwards aslope, then can carry out the backward flow to vibrations dish 53 after the upset in space to electronic component, prevent that appointed electronic component from not being discerned the backward flow in the ejection of compact for the first time, the ejection of compact for the second time still keeps the material angle unchangeable and leads to unable visual sorting. Therefore, the sorting efficiency is improved through the backflow of the space rather than the plane structure, and meanwhile, the space backflow structure occupies small space.

The carrying device 55 comprises a climbing support 551 inclined up and down, one end of the climbing support 551 is located above the vibration plate 53, the other end of the climbing support 551 is located below an outflow port of the steering slide 54, a climbing conveyor 552 and a climbing motor 553 for driving the climbing conveyor 552 to move are arranged on the climbing support 551, baffle plates 554 are arranged on the climbing conveyor 552 at intervals along the climbing direction to prevent electronic elements from sliding backwards, a hopper 555 for connecting the electronic elements flowing out of the steering slide 54 to the climbing conveyor 552 is arranged at the outflow port of the steering slide 54 at the lower end of the climbing support 551, and a climbing channel 556 through which only the climbing conveyor 552 and the baffle plates 554 climb is arranged between the lower end of the hopper 555 and the climbing support 551 to enable the electronic elements to fall between the climbing conveyor 552 and the baffle plates 554 to avoid falling out. The electronic component flows into the hopper 555 through the steering slide 54, is caught by the hopper 555 to fall onto the climbing conveyor 552, moves obliquely upward along with the climbing conveyor 552, and falls into the vibration plate 53 when the upper end of the climbing conveyor 552 turns, and has a simple structure and a small occupied area.

In order to make the electronic components dropped from the upper end of the climbing belt 552 smoothly drop into the vibration plate 53, a material guiding plate 557 is disposed at the bottom of the upper end of the climbing bracket 551 for guiding the electronic components dropped when the climbing belt 552 turns over to the vibration plate 53.

Combine two cameras of first, second to the electronic component's of random state discernment and snatch the location, the transport location work of electronic component is accomplished with the mechanical vision cooperation to the four-axis robot hand, be provided with on the vibrations dish 53 and can send out the general runner 531 of multiple different electronic component at random when vibrations, the commonality is good.

Claims

1. The utility model provides a double-camera vision positioning dysmorphism electronic component snatchs mechanism which characterized in that: including board (1) and industrial computer (2), board (1) upper end is equipped with and is used for shooing down and detects first camera (4) of the position and the kind model of electronic component on feeding mechanism (5), be equipped with four-axis manipulator (6) on board (1), be equipped with first vacuum suction nozzle (61) that are used for absorbing electronic component on four-axis manipulator (6), be equipped with on board (1) and be used for down up shooing and detect second camera (7) of the angle and the position of electronic component that first vacuum suction nozzle (61) absorb, first camera (4) are shot and are confirmed appointed electronic component's position and kind model and feed back information to industrial computer (2), take first vacuum suction nozzle (61) to move the position absorption of appointed electronic component through industrial computer (2) control four-axis manipulator (6) to move the electronic component who absorbs to second camera (7) top detects, and the four-axis manipulator (6) adjusts the electronic element to a set angle and position according to the angle and position information of the electronic element fed back by the second camera (7).

2. The capturing mechanism of claim 1, wherein said capturing mechanism comprises: the first camera (4) and the second camera (7) are CCD cameras.