Display module connector laser height measurement and visual automatic alignment plug-in system and method

Abstract

The present invention discloses a display module connector laser height measurement and visual automatic alignment plugging system, comprising a six-axis robot and a carrier, wherein the six-axis robot is used to absorb a product connector and perform a correction compensation movement according to received visual horizontal and vertical offsets, the carrier is used to support the product connector and for the connector plug to perform a reciprocating movement, thereby completing the automatic alignment plugging of the product connector, a laser displacement sensor and a visual alignment system are used to measure the height and photograph and locate the vehicle-mounted liquid crystal display module connector, and the offset (X left and right direction, Y front and back direction, Z up and down direction, R angle) is calculated and sent to the six-axis robot for compensation to automatically plug and light up the product, so that visual automatic alignment plugging and lighting of the product can be quickly realized.

Description

Technical field:

[0001] The present invention relates to the technical field of laser height measurement and visual automatic alignment plugging and lighting of a vehicle-mounted liquid crystal display module product connector, and specifically to an application of laser height measurement and visual automatic alignment plugging and lighting of a vehicle-mounted liquid crystal display module product connector, which is mainly used for visual automatic alignment plugging and lighting of a vehicle-mounted liquid crystal display module product connector. Background technology:

[0002] The plugging of connectors for automotive LCD display module products is an indispensable action in the key inspection process of LCD screen production. Usually, the LCD screen inspection process will set up a product lighting test to distinguish between standard products and non-standard products. The traditional LCD screen lighting test method basically uses manual plug-in and lighting test of product connectors. The manual plug-in method is relatively backward, inefficient, poor in precision, difficult to control, and does not meet the current stage of industrial automation production. Summary of the invention:

[0003] In view of the deficiencies in the prior art, the purpose of the embodiments of the present invention is to provide a display module connector laser height measurement and visual automatic alignment plug-in system and method, so as to solve the problem that the traditional LCD screen lighting detection method in the above-mentioned background technology basically adopts manual plug-in and lighting detection of product connectors. The manual plug-in method is relatively backward, inefficient, poor in precision, difficult to control, and does not conform to the current stage of industrial automation production. A laser displacement sensor and a visual alignment system are used to measure the height and take pictures of the vehicle-mounted LCD display module connector, and the offset (X left and right direction, Y front and back direction, Z up and down direction, R angle) is calculated and sent to a six-axis robot for compensation to automatically plug and light up the product, which can quickly realize visual automatic alignment plug-in and light up the product. And it is faster than manual plug-in, with higher precision and more stable plug-in. Both the detection efficiency and the control of labor costs have been significantly improved.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] The display module connector laser height measurement and vision automatic alignment and plugging system includes a six-axis robot and a carrier. The six-axis robot is used to absorb the product and perform correction and compensation movements according to the received visual horizontal and vertical offsets. The carrier is used to support the product and fix the connector plug to perform reciprocating movements, thereby completing the automatic alignment and plugging of the product.

[0006] As a further solution of the present invention, a laser displacement sensor height measuring mechanism and a visual positioning mechanism are provided on the carrier. The laser displacement sensor height measuring mechanism is used to measure the vertical height from the product connector to the laser sensor, and the visual positioning mechanism collects images of the product connector from bottom to top, calculates the horizontal deviation and performs visual alignment compensation.

[0007] As a further solution of the present invention, the visual positioning mechanism includes a CDD area array camera, a lens and a coaxial light source, and the laser displacement sensor height measurement mechanism includes an amplifier unit, a communication converter and a fixing component.

[0008] As a further solution of the present invention, the six-axis robot includes an adapter plate, a vacuum suction cup and a clamping mechanism. The adapter plate includes a linear slide rail and a slide rail guide wheel for fixing the vacuum suction cup and fixing and adjusting the clamping position of the clamping mechanism. The vacuum suction cup includes an adjustable workpiece and a nozzle rod for sucking the product. The product is kept parallel to the camera by adjusting the position and height of the nozzle rod to ensure the imaging effect.

[0009] As a further solution of the present invention, the clamping mechanism includes a transversely mounted cylinder, a longitudinally mounted cylinder, a chuck and a sensor for fixing the module product PCB board connector, and the sensor is used to feedback a position signal of the clamping mechanism cylinder movement.

[0010] As a further solution of the present invention, the carrier includes a planar platform, a motion X-axis module and a motion Y-axis module, the planar platform is used to support the product connector, and the motion X-axis module is used to position the motion Y-axis module.

[0011] As a further solution of the present invention, the fixed base of the moving Y-axis module is used to position the connector plug, and the plugging and wiring actions are completed by controlling the Y-axis module.

[0012] The present invention also provides a method for laser height measurement and visual automatic alignment and plugging of a display module connector, comprising the following steps: sucking the product by a six-axis robot and performing correction and compensation movements according to the received visual horizontal and vertical offsets; adjusting the position of the connector plug to achieve plugging with the module connector.

[0013] The present invention has the following beneficial effects:

[0014] 1. The present invention can realize the industrial automation of lighting detection of vehicle-mounted LCD module product connectors using laser height measurement and visual automatic alignment and plugging, develop a visual positioning system to replace manual plug-in lighting detection, reduce the labor intensity of quality inspectors, and eliminate the damage to employees' eyes caused by human eye detection. The detection consistency is strong. Quality inspection by personnel, different employees have different judgment differences, states, and proficiency, which can easily cause false detection and missed detection, and different detection standards. By replacing manual labor with machine vision, product detection standards are consistent and unified, and the quality level of production line shipments is improved; the detection accuracy is high, the detection time is short, the production line detection is shortened to save time, and the production efficiency and output of the production line are improved.

[0015] 2. The present invention is easy to debug. After the six-axis robot sucks the product with a vacuum suction cup, the clamping mechanism fixes the PCB connector and moves it to the camera shooting point of the visual inspection mechanism. After it is in place, the robot triggers the camera to take pictures for horizontal visual positioning compensation. After the camera takes pictures, it moves to the laser displacement sensor mechanism. After it is in place, the robot triggers the laser displacement sensor to measure the vertical height. Then the six-axis robot moves the product to the carrier plug-in position, receives the visual horizontal and vertical offsets, and performs correction compensation movements. The Y-axis module moves the connector plug to plug the module connector. After the plug-in is completed, the carrier supports the product with a flat platform, and then lights up the product for inspection.

[0016] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Description of the drawings:

[0017] Figure 1 It is a structural schematic diagram of the six-axis robot provided by the present invention.

[0018] Figure 2 , Figure 3 They are respectively schematic diagrams of automatic plugging and automatic alignment provided by the present invention.

[0019] Figure 4a , Figure 4b It is a structural schematic diagram of the camera part provided by the present invention.

[0020] Figure 5a , Figure 5b It is a structural schematic diagram of the carrier provided by the present invention.

[0021] Figure 6 It is a structural schematic diagram of the clamping mechanism provided by the present invention.

[0022] Figure 7 It is a schematic diagram of the structure of the motion X-axis module and the motion Y-axis module provided by the present invention. Specific implementation method:

[0023] The present invention will be further explained below in conjunction with the accompanying drawings and related knowledge, and described clearly and completely. Obviously, the described application is only a part of the embodiments of the present invention, rather than all the embodiments.

[0024] Reference Figure 1-Figure 6 As shown, the display module connector laser height measurement and visual automatic alignment and plug-in system includes a six-axis robot 100, a carrier 200, a laser displacement sensor height measurement mechanism and a visual positioning mechanism: the six-axis robot 100 is used to absorb product movement and receive visual horizontal and vertical offsets to perform correction and compensation movements.

[0025] The carrier 200 is used to support the product and fix the connector plug to perform reciprocating movement.

[0026] The laser displacement sensor height measurement mechanism is used to measure the vertical height from the product connector to the laser sensor and convert the communication data; the visual positioning mechanism is used to install the CDD area array camera, lens and coaxial light source. The center of the camera lens and the center of the coaxial light source lens are on the same axis. The camera collects images of the product connector from bottom to top and calculates the horizontal deviation for visual alignment compensation. This enables automatic alignment, plugging and lighting detection of the vehicle-mounted LCD display module product connector.

[0027] In the present invention, the six-axis robot 100 includes an adapter plate 104, a vacuum suction cup 103, and a clamping mechanism 102. The adapter plate 104 includes a linear slide rail and a guide wheel for the slide rail, which are used to fix the vacuum suction cup and fix and adjust the clamping position of the clamping mechanism. The vacuum suction cup includes an adjustable workpiece and a nozzle rod, which is used to suck the module product. The position and height of the nozzle rod can be adjusted to ensure that the inspected object is parallel to the camera to ensure the imaging effect. The clamping mechanism 102 includes a horizontal cylinder 10201, a lifting cylinder 10202, an air claw 10203 and a cylinder sensor. The cylinder and the air claw are used to fix the PCB board connector of the module product, and the cylinder sensor is used to feedback the in-place signal of the cylinder movement. The action process of the clamping mechanism is that the horizontal cylinder 10201 extends, the lifting cylinder 10202 descends, and the horizontal cylinder 10201 retracts. The clamping claw 10203 clamps the product PCB board to position. The action process is smooth and the clamping accuracy is high. The adapter plate 104 includes a linear slide rail and a guide wheel for the slide rail, which are used to fix the vacuum suction cup 103 and fix and adjust the clamping position of the clamping mechanism 102. The vacuum suction cup 103 includes an adjustable workpiece and a nozzle rod, which is used to absorb the module product. The position and height of the nozzle rod can be adjusted to ensure that the inspected object is parallel to the camera to ensure the imaging effect. The six-axis robot 102 clamping mechanism is used to clamp the product PCB connector for automatic alignment and plugging, and the lighting success rate is as high as 99.9%. During the verification, 10,000 pieces were run, and the success rate reached 9,992 pieces.

[0028] In the present invention, the carrier 200 includes a plane platform 201, a motion X-axis module 202, a motion Y-axis module 203, and a connector plug holder 204. The plane platform 201 is used to support the product; the motion X-axis module 202 is used to locate the connector plug holder 204 in the X-axis direction; the motion Y-axis module 203 is used to locate the connector plug holder 204 in the Y-axis direction. When plugging, the motion Y-axis module 203 drives the connector plug holder 204 to move forward for plugging. In the present invention, a horizontal cylinder 10201, a lifting cylinder 10202, an air claw 10203 and a cylinder sensor are used, and then the vacuum suction cup 103 is combined with the plugging action of the motion X-axis module 202 and the motion Y-axis module 203 to ensure the accuracy of positioning and plugging, and the lighting success rate is as high as 99.9%.

[0029] The height measurement mechanism of the laser displacement sensor includes a laser sensor 205, an amplifier unit, a communication converter and a fixed component, which are used to measure the vertical height from the product connector to the laser sensor 205, and for the conversion of communication data. The visual positioning mechanism includes a CCD array camera, a lens, a coaxial light source and a fixed workpiece, and the CCD array camera, the lens, the coaxial light source and the fixed workpiece are used for horizontal installation; the camera shoots from bottom to top for visual alignment compensation of the product connector in the horizontal direction (X left and right direction, Y front and back direction, R angle). Further preferably, the visual positioning mechanism includes a CCD array camera 208, a lens 207, a coaxial light source 206 and a fixed workpiece, and the CCD array camera 208, the lens 207, the coaxial light source 206 and the fixed workpiece are used for horizontal installation; the camera shoots from bottom to top for visual alignment compensation of the product connector in the horizontal direction (X left and right direction, Y front and back direction, R angle).

[0030] In the present invention, the principle of horizontal compensation is: through the teaching mode of the six-axis robot 100, the six-axis robot 100 is manually controlled to suck the product connector to the camera mechanism 206 shooting point to take a picture for point teaching, that is, to find two fixed feature points on the left and right sides of the image, calculate the midpoint of the two feature points, use the midpoint as the reference point to record the x and y of the reference point, and use the angle of the two feature points to record the reference angle. Then, when the automatic mode is running, the six-axis machine will suck the product connector to the camera shooting point to shoot, and then the visual software will automatically calculate the deviation of the current product's x, y, angle and reference value, and send it to the manipulator for compensation.

[0031] The principle of vertical compensation is: through the teaching mode of the six-axis robot 100, manually control the six-axis robot 100 to absorb the product to the top of the laser displacement sensor 205 for height measurement teaching. The sensor will automatically measure the distance from the product surface to the laser displacement sensor surface, and use this height measurement point as the reference point. Then when the automatic mode is running, the robot will automatically absorb the product to the height measurement point of the laser displacement sensor, and the sensor will automatically measure the distance from the current product surface to the sensor surface. Send it to the visual calculation of the difference between the current value and the reference point. After the above horizontal and vertical height compensation values ​​are visually calculated, they are sent together to the six-axis robot for point offset compensation. After the six-axis robot completes the compensation, it moves the product to the docking position for docking.

[0032] A specific embodiment is provided below.

[0033] Example 1

[0034] Reference Figure 1-Figure 6 As shown, the display module connector laser height measurement and visual automatic alignment and plugging system includes a six-axis robot 100, a platform 200, a laser displacement sensor height measurement mechanism and a visual positioning mechanism: the six-axis robot is used to absorb product movement and receive visual horizontal and vertical offsets for correction and compensation movements. The platform is used to support the product and fix the connector plug for reciprocating movement. The laser displacement sensor height measurement mechanism is used to measure the vertical height from the product connector to the laser sensor, as well as communication conversion data. The visual positioning mechanism is used to install the CDD array camera, lens and coaxial light source. The center of the camera lens and the center of the coaxial light source lens are on the same axis. The camera collects images of the product connector from bottom to top and calculates the horizontal deviation for visual alignment compensation. Thereby, automatic alignment, plugging and lighting detection of the vehicle-mounted LCD display module product connector is realized. The six-axis robot 100 includes an adapter plate 104, a vacuum suction cup, and a clamping mechanism 102. The adapter plate 104 includes a linear slide rail and a guide wheel for the slide rail, which are used to fix the vacuum suction cup and fix and adjust the clamping position of the clamping mechanism. The vacuum suction cup includes an adjustable workpiece and a suction nozzle rod, which is used to suck the module product. The position and height of the suction nozzle rod can be adjusted to ensure that the inspected object is parallel to the camera to ensure the imaging effect. The clamping mechanism 102 includes a horizontally mounted cylinder, a vertically mounted cylinder, a chuck, and a sensor. The cylinder and the chuck are used to fix the PCB connector of the module product, and the sensor is used to feedback the in-position signal of the cylinder movement of the clamping mechanism 102;

[0035] The carrier 200 includes a plane platform 201, a motion X-axis module 202, a motion Y-axis module 203, and a connector plug holder 204. The plane platform 201 is used to support the product; the motion X-axis module 202 is used to locate the connector plug holder 204 in the -X-axis direction; the motion Y-axis module 203 is used to locate the connector plug holder 204 in the -Y-axis direction. When plugging, the motion Y-axis module 203 drives the connector plug holder 204 to move forward for plugging.

[0036] The present invention is easy to debug. After the six-axis robot sucks the product with a vacuum suction cup, the clamping mechanism fixes the PCB connector and moves it to the camera shooting point of the visual inspection mechanism. After it is in place, the robot triggers the camera to take pictures to perform horizontal visual positioning compensation. After the camera takes pictures, it moves to the laser displacement sensor mechanism. After it is in place, the robot triggers the laser displacement sensor to measure the vertical height. Then the six-axis robot moves the product to the carrier plug-in position, receives the visual horizontal and vertical offsets, and performs correction compensation movements. The Y-axis module moves the connector plug to plug the module connector. After the plug-in is completed, the carrier supports the product with a flat platform, and then lights up the product for detection.

[0037] The technical principle of the present invention is described above in combination with the specific embodiments, which are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. Those skilled in the art can think of other specific implementations of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. Display module connector laser height measurement and visual automatic alignment plug-in system, characterized by: The system comprises a six-axis robot and a carrier. The six-axis robot is used to absorb the display module connector and perform correction and compensation movements according to the received visual horizontal and vertical offsets. The carrier is used to support the display module connector and to fix the connector plug for reciprocating movement, thereby completing the automatic alignment and plugging of the display module connector. The carrier is provided with a laser displacement sensor height measuring mechanism and a visual positioning mechanism. The laser displacement sensor height measuring mechanism is used to measure the vertical height from the display module connector to the laser sensor. The visual positioning mechanism collects images of the display module connector from bottom to top and calculates the horizontal direction. The six-axis robot includes an adapter plate, a vacuum suction cup and a clamping mechanism. The adapter plate includes a linear slide rail and a slide rail guide wheel for fixing the vacuum suction cup and fixing and adjusting the clamping position of the clamping mechanism. The vacuum suction cup includes an adjustable workpiece and a suction nozzle rod for sucking the display module connector. The display module connector is parallel to the visual positioning mechanism by adjusting the position and height of the suction nozzle rod to ensure the imaging effect. The clamping mechanism includes a horizontally installed cylinder, a vertically installed cylinder, a chuck and a sensor for fixing the display module connector. The sensor is used for the clamping mechanism cylinder movement feedback in place signal; The horizontal compensation method is: through the six-axis robot teaching mode, manually control the six-axis robot to suck the display module connector to the visual positioning mechanism photo point to take pictures for point teaching, that is, find two fixed feature points on the left and right sides of the image, calculate the midpoint of the two feature points, use the midpoint as the reference point to record the x and y coordinates of the reference point, and use the angle of the two feature points to record the reference angle, and then automatically calculate the deviation of the x, y, angle and reference value of the current display module connector, and send it to the manipulator for compensation; The vertical compensation is as follows: through the six-axis robot teaching mode, manually control the six-axis robot to absorb the display module connector to the top of the laser displacement sensor for height measurement point teaching. The sensor will automatically measure the distance from the surface of the display module connector to the surface of the laser displacement sensor, and use this height measurement point as the reference point. Then when the automatic mode is running, the robot will automatically absorb the display module connector to the laser displacement sensor height measurement point. The sensor will automatically measure the distance from the current display module connector surface to the sensor surface, and calculate the difference between the current value and the reference point.

2. The display module connector laser height measurement and visual automatic alignment plug-in system as claimed in claim 1, characterized in that: The visual positioning mechanism includes a CDD area array camera, a lens and a coaxial light source, and the laser displacement sensor height measurement mechanism includes a laser sensor, an amplifier unit, a communication converter and a fixing component.

3. The display module connector laser height measurement and visual automatic alignment plug-in system as claimed in claim 2, characterized in that: The carrier comprises a planar platform, a motion X-axis module and a motion Y-axis module. The planar platform is used to support the display module connector, and the motion X-axis module is used to position the motion Y-axis module.

4. The display module connector laser height measurement and visual automatic alignment plug-in system as claimed in claim 3, characterized in that: The fixed base of the moving Y-axis module is used to position the connector plug, and the plugging and wiring actions are completed by controlling the Y-axis module.

5. Display module connector laser height measurement and visual automatic alignment plug-in method, characterized in that: The following steps are involved: The display module connector is sucked by a six-axis robot and correction and compensation movements are performed according to the horizontal and vertical offsets of the received vision; the position of the connector plug is adjusted to achieve plugging with the display module connector.

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