Embedded visual inspection and mounting equipment control system and device

Abstract

The embodiment of the invention discloses an embedded visual inspection and mounting equipment control system and device. The system comprises a motion module, a magnet connection module, a magnetic track connection module, a visual defect detection module and a temperature control unit which are connected with a controller through different communication modules; the magnetic track connection module conveys the magnetic track substrate to a laminating station; the magnet connection module conveys the magnet to a visual defect station; the visual defect detection module acquires a magnet image, and the main controller determines whether the magnet has appearance defects or not; the magnet connection module conveys the magnet to a laminating station; the magnet carrying unit places a magnet on the magnetic track, so that the magnet and the magnetic track are attached through the magnet attaching unit; the temperature detection unit is used for detecting the curing temperature of the adhesive between the magnet and the magnetic track on the laminating station; the temperature control unit controls the curing temperature of the binder; and the magnet and magnetic track connection module feeds back the position information of the magnetic track substrate and the magnet to the controller. And high-efficiency automatic production and high-precision visual inspection are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor manufacturing control systems, and in particular to an embedded visual inspection and mounting equipment control system and device. Background Art

[0002] At present, the motion control systems of 3C (referring to the industry combining Computer, Communication and Consumer Electronics) automated testing and semiconductor equipment mainly use pulse motion control cards and PLC control modules. The wiring of this control system is complicated, which has caused great inconvenience to production and subsequent maintenance. With the increase in the functions of 3C automated testing and semiconductor equipment, the structure is becoming more and more complex, which directly leads to an increasing number of motors used in the equipment. The number of motors that can be controlled by control systems such as pulse control cards can no longer meet the needs of process development.

[0003] Since the process is relatively complicated, a large number of motors such as servo motors, stepper motors and linear motors are required for motion positioning. At the same time, the equipment uses docking lines for material transportation, and includes visual magnet surface defect detection, temperature monitoring and other requirements. Traditional industrial computers are large and powerful, but relatively redundant in this solution. Therefore, a soft controller based on an embedded PC is used. It is small in size and includes an EtherCAT dedicated network port, an expansion network card and a USB, which are used for multi-motor motion control, docking line and camera network communication and temperature controller communication respectively. It can also support software development under the Linux system and is equipped with an HDMI interface for displaying the human-machine interface. I want to solve the problem of automatic magnet pasting process in the production of linear motor magnetic tracks. Summary of the invention

[0004] The present invention provides an embedded visual inspection and mounting equipment control system and device, achieving efficient automated production and high-precision visual inspection.

[0005] According to one aspect of the present invention, there is provided an embedded visual inspection and placement equipment control system, comprising:

[0006] Embedded control module, motion module, magnet docking module, magnetic track docking module and visual defect detection module; the motion module includes a magnet handling unit and a magnet bonding unit;

[0007] The embedded control module includes a main controller and a motion controller, and the motion controller is connected to the main controller;

[0008] The control end of the motion module is connected to the motion controller via the first communication module;

[0009] The control ends of the magnet docking module and the magnetic track docking module are connected to the main controller via the second communication module;

[0010] The magnetic track docking module is used to transport the magnetic track substrate to the bonding station in sequence under the control of the motion controller; a plurality of magnetic tracks are arranged on the magnetic track substrate; the magnet docking module is used to transport the magnet to the visual defect station under the control of the motion controller;

[0011] A visual defect detection module, used to obtain an image of a magnet located at a visual defect station, the visual defect detection module is connected to a main controller via a third communication module, and the main controller is used to determine whether the magnet has an appearance defect;

[0012] The magnet docking module is also used to transport the magnets to the bonding station under the control of the motion controller;

[0013] The magnet transport unit is also used to place the magnet on the magnetic track under the control of the motion controller, so that the magnet and the magnetic track are bonded by the magnet bonding unit through the adhesive;

[0014] A temperature control module, the temperature control module includes a temperature detection unit and a temperature control unit, the temperature detection unit and the temperature control unit are connected, and the control end of the temperature control unit is connected to the main controller through the fourth communication module; the temperature detection unit is used to detect the curing temperature of the adhesive between the magnet and the magnetic track at the bonding station; the temperature control unit is used to control the curing temperature of the adhesive under the control of the main controller;

[0015] The magnet docking module and the magnetic track docking module are also used to feed back the position information of the magnetic track substrate and the magnet to the motion controller.

[0016] Optionally, the magnet docking module includes a conveyor belt;

[0017] And / or, the magnetic track docking module includes a docking line.

[0018] Optionally, the magnet docking module is also used to transport the magnet to the magnetic pole detection station and the magnet flipping station in sequence under the control of the motion controller;

[0019] The embedded visual inspection and placement equipment control system also includes a magnetic pole detection module, which is used to detect the magnetic pole of a magnet located at a magnetic pole detection station. The magnetic pole detection module is connected to the main controller via a fifth communication module. The main controller is used to control the magnet flipping unit to flip the magnet located at the magnet flipping station to a preset magnetic pole based on the magnetic pole information of the magnet through a motion controller; the motion module also includes a magnet flipping unit.

[0020] Optionally, the magnetic track docking module is also used to transport the magnetic track substrate to the loading station and the gluing station in sequence under the control of the motion controller;

[0021] The gluing unit is used to glue the magnetic track located at the gluing station under the control of the motion controller; the motion module also includes the gluing unit;

[0022] The embedded visual inspection and placement equipment control system also includes a gluing visual inspection module;

[0023] The glue coating visual inspection module is used to obtain the glue coating path and glue coating morphology of the magnetic track located at the glue coating station;

[0024] The main controller is used to control the gluing unit through the motion controller to correct the gluing path according to the gluing path and gluing morphology of the magnetic track.

[0025] Optionally, the motion module further includes a material collection unit, which is further used to transport magnets with appearance defects to a material collection area;

[0026] And / or, the magnet docking module is also used to transport the magnet to the cleaning station;

[0027] The cleaning unit is used for cleaning the surface where the magnet and the magnetic track are in contact, and the motion module also includes the cleaning unit.

[0028] Optionally, the magnet is located in the clip, and the magnet docking module is also used to transport the magnet to the loading station under the control of the motion controller;

[0029] The magnet loading unit is used to push the magnet out of the magazine, and transport the magnet to the magnetic pole detection station through the docking module. The motion module also includes the magnet loading unit.

[0030] Optionally, the motion module includes multiple motors and multiple motion axes, and the drivers of the motors are connected to the motion controller via the first communication module; the motion axes move driven by the drive shafts of the motors;

[0031] Preferably, the motion module comprises a gantry mechanism.

[0032] Optionally, the motion axis includes at least one of a material picking X-axis, a material picking Y-axis, a material picking Z-axis, an upper suction cup Z-axis, a lower suction cup Z-axis, a lower suction cup X-axis, a mirror detection Z-axis, a cleaning stepping axis, a belt stepping axis, a synchronous belt clamp axis, a clip rotation axis, a magnet upward movement axis, a magnet pushing out axis, a gluing X-axis, a gluing Y-axis, a gluing Z-axis, a glue squeezing axis, and a mirror blocking the magnet axis.

[0033] Optionally, a display module is further included, which is connected to the main controller via a sixth communication module and is used to display at least one of the transportation information of the magnet, the detection information of the magnet, the transportation information of the magnetic track, and the fitting information of the magnet and the magnetic track.

[0034] According to another aspect of the present invention, there is provided an embedded visual inspection and placement equipment control device, comprising the embedded visual inspection and placement equipment control system described in any embodiment of the present invention.

[0035] The embedded visual inspection and mounting equipment control system provided by the embodiment of the present invention includes: an embedded control module, a motion module, a magnet docking module, a magnetic track docking module and a visual defect detection module; the control end of the motion module is connected to the motion controller through a first communication module; the control ends of the magnet docking module and the magnetic track docking module are connected to the main controller through a second communication module; the magnetic track docking module is used to transport the magnetic track substrate to the bonding station in sequence under the control of the motion controller; a plurality of magnetic tracks are arranged on the magnetic track substrate; the magnet docking module is used to transport the magnet to the visual defect station under the control of the motion controller; the visual defect detection module is used to obtain the image of the magnet located at the visual defect station, and the visual defect detection module is connected to the main controller through a third communication module; the visual defect detection module can timely detect the appearance defects of the magnet, avoid defective products from entering the subsequent production process, and improve product quality and customer satisfaction. The magnet docking module is also used to transport the magnet to the bonding station under the control of the motion controller; the magnet transport unit is also used to place the magnet on the magnetic track under the control of the motion controller, so that the magnet and the magnetic track are bonded by the magnet bonding unit through the adhesive; the control end of the temperature control unit is connected to the main controller through the fourth communication module; the temperature detection unit is used to detect the curing temperature of the adhesive between the magnet and the magnetic track at the bonding station; the temperature control unit is used to control the curing temperature of the adhesive under the control of the main controller; improve the bonding strength and durability of the magnet and the magnetic track. The magnet docking module and the magnetic track docking module are also used to feed back the position information of the magnetic track substrate and the magnet to the motion controller. Through automated control and precise position feedback, the magnet and the magnetic track are fast and accurately bonded, which improves production efficiency. Efficient automated production can reduce manual intervention, reduce production costs, and improve the stability and reliability of the system.

[0036] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1It is a module schematic diagram of an embedded visual inspection and placement equipment control system provided by an embodiment of the present invention.

[0039] Figure 2 This is a magnet surface defect detection diagram provided by an embodiment of the present invention.

[0040] Figure 3 It is a module schematic diagram of another embedded visual inspection and placement equipment control system provided by an embodiment of the present invention.

[0041] Figure 4 It is a schematic diagram of the entire automated direct-drive motor magnet patch equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] The embodiment of the present invention provides an embedded visual inspection and placement equipment control system, Figure 1 It is a module schematic diagram of an embedded visual inspection and placement equipment control system provided by an embodiment of the present invention. Figure 2 : is a magnet surface defect detection diagram provided by an embodiment of the present invention. Figure 1 and Figure 2 , embedded visual inspection and placement equipment control system includes:

[0045] Embedded control module 10, motion module 12, magnet docking module 22, magnetic track docking module 23 and visual defect detection module 32; motion module 12 includes magnet transport unit and magnet lamination unit;

[0046] The embedded control module 10 includes a main controller 30 and a motion controller 20, and the motion controller 20 is connected to the main controller 30;

[0047] The control end of the motion module 12 is connected to the motion controller 20 via the first communication module 11;

[0048] The control ends of the magnet docking module 22 and the magnetic track docking module 23 are connected to the main controller 30 via the second communication module 21;

[0049] The magnetic track docking module 23 is used to transport the magnetic track substrate to the bonding station in sequence under the control of the motion controller 20; a plurality of magnetic tracks are arranged on the magnetic track substrate; the magnet docking module 22 is used to transport the magnet to the visual defect station under the control of the motion controller 20;

[0050] A visual defect detection module 32 is used to obtain an image of a magnet located at a visual defect station. The visual defect detection module 32 is connected to the main controller 30 via a third communication module 31. The main controller 30 is used to determine whether the magnet has an appearance defect.

[0051] The magnet docking module 22 is also used to transport the magnets to the laminating station under the control of the motion controller 20;

[0052] The magnet transport unit is also used to place the magnet on the magnetic track under the control of the motion controller 20, so that the magnet and the magnetic track are bonded by the magnet bonding unit through the adhesive;

[0053] The temperature control module 40 includes a temperature detection unit 43 and a temperature control unit 42. The temperature detection unit 43 is connected to the temperature control unit 42. The control end of the temperature control unit 42 is connected to the main controller 30 through the fourth communication module 41. The temperature detection unit 43 is used to detect the curing temperature of the adhesive between the magnet and the magnetic track at the bonding station. The temperature control unit 42 is used to control the curing temperature of the adhesive under the control of the main controller 30.

[0054] The magnet docking module 22 and the magnetic track docking module 23 are also used to feed back the position information of the magnetic track substrate and the magnet to the motion controller 20 .

[0055] Among them, the first communication module 11 is a motion control network card, which is a motion control center based on the EtherCAT protocol, and can realize basic functions such as motion positioning and position acquisition. The second communication module 21 and the fourth communication module 41 are both USB3.0 interfaces, and the USB3.0 interface is used for third-party devices under the serial communication protocol, such as thermostats, mouse and keyboard, etc. The third communication module 31 is a network port expansion network card, and the network port expansion network card is used for the communication of third-party devices of the EtherCAT network port, such as docking lines, cameras, etc. The visual defect detection module 32 includes a network port expansion card with two network ports, the first network port is connected to the magnet size detection camera, and the second network port is connected to the glue detection camera, wherein the camera is connected to the lens. The camera and the lens are deployed to the visual inspection station. The camera is connected to the network port of the main controller 30 through the third communication module 31, so that the main controller 30 can control the camera (image acquisition, acquisition parameter modification, etc. are used for subsequent image processing and magnet defect detection). The purpose of the temperature control module 40 is to heat and cure the glue and shorten its curing time. The temperature control unit 42 is connected to the USB 3.0 interface of the main controller 30 via the fourth communication module 41 , so that the main controller 30 can perform operations such as temperature setting on the temperature control unit 42 .

[0056] Specifically, the magnetic track docking module 23 transports the magnetic track substrate with multiple magnetic tracks to the bonding station according to the instructions of the motion controller 20. The magnet docking module 22 also transports the magnets to the visual defect station in sequence according to the instructions. The visual defect detection module 32 captures the image of the magnet located at the visual defect station and sends the image data to the main controller 30 through the third communication module 31. The main controller 30 analyzes the image data to determine whether the magnet has an appearance defect (such as missing material, bulge, scratch, etc.). If the magnet has an appearance defect, the main controller 30 instructs the magnet docking module 22 through the motion controller 20 to transport the defective magnet to the unloading recovery area; if the magnet has no appearance defect, continue to the next step. The magnet docking module 22 transports the defect-free magnet to the bonding station. The magnet transport unit accurately places the magnet on the magnetic track according to the instructions of the motion controller 20 to ensure that the magnet is aligned and positioned accurately with the magnetic track. The magnet bonding unit bonds the magnet to the magnetic track by applying an adhesive. The temperature detection unit 43 continuously monitors the curing temperature of the adhesive at the bonding station. The main controller 30 controls the temperature control unit 42 through the fourth communication module 41 according to the preset curing temperature range to adjust the ambient or local temperature to ensure that the adhesive achieves the best curing effect within the specified time. From integrated loading-flipping-detection-gluing-pasting-heating curing, the beat can reach about 10 seconds. After completing their respective tasks, the magnet docking module 22 and the magnetic track docking module 23 feed back the precise position information of the magnetic track substrate and the magnet to the motion controller 20 for the next operation or optimization of the production process.

[0057] The embedded visual inspection and mounting equipment control system provided by the embodiment of the present invention includes: an embedded control module 10, a motion module 12, a magnet docking module 22, a magnetic track docking module 23 and a visual defect detection module 32; the control end of the motion module 12 is connected to the motion controller 20 through the first communication module 11; the control ends of the magnet docking module 22 and the magnetic track docking module 23 are connected to the main controller 30 through the second communication module 21; the magnetic track docking module 23 is used to transport the magnetic track substrate to the bonding station in sequence under the control of the motion controller 20; a plurality of magnetic tracks are arranged on the magnetic track substrate; the magnet docking module 22 is used to transport the magnet to the visual defect station under the control of the motion controller 20; the visual defect detection module 32 is used to obtain the image of the magnet located at the visual defect station, and the visual defect detection module 32 is connected to the main controller 30 through the third communication module 31; the visual defect detection module 32 can timely detect the appearance defects of the magnet, avoid defective products from entering the subsequent production process, and improve product quality and customer satisfaction. The magnet docking module 22 is also used to transport the magnet to the bonding station under the control of the motion controller 20; the magnet transport unit is also used to place the magnet on the magnetic track under the control of the motion controller 20, so as to bond the magnet and the magnetic track through the magnet bonding unit through the adhesive; the control end of the temperature control unit 42 is connected to the main controller 30 through the fourth communication module 41; the temperature detection unit 43 is used to detect the curing temperature of the adhesive between the magnet and the magnetic track at the bonding station; the temperature control unit 42 is used to control the curing temperature of the adhesive under the control of the main controller 30; improve the bonding strength and durability of the magnet and the magnetic track. The magnet docking module 22 and the magnetic track docking module 23 are also used to feed back the position information of the magnetic track substrate and the magnet to the motion controller 20. Through automated control and precise position feedback, the magnet and the magnetic track are fast and accurately bonded, and the production efficiency is improved. Efficient automated production can reduce manual intervention, reduce production costs, and improve the stability and reliability of the system.

[0058] Figure 3 It is a module schematic diagram of another embedded visual inspection and placement equipment control system provided by an embodiment of the present invention. Figure 4 Schematic diagram of the automatic direct drive motor magnet patch equipment provided by the embodiment of the present invention. Figure 3 and Figure 4 , Optionally, the magnet docking module 22 includes a conveyor belt;

[0059] And / or, the magnetic track docking module 23 includes a docking line.

[0060] Specifically, the function of the docking line is to load the magnetic track and transport the magnetic track to the gluing station. After the gluing operation is completed, it is moved to the magnet bonding unit 121 to wait for the magnet material to be bonded. After bonding is completed, it is transported to the temperature control unit 42 to heat and cure the glue, and finally moved to the unloading area. The magnetic track docking module 23 is connected to the USB3.0 interface of the main controller 30 through the second communication module 21, so that the main controller 30 controls the docking line to perform the above-mentioned motion operation and logic control.

[0061] Optionally, the magnet docking module 22 is also used to transport the magnets to the magnetic pole detection station and the magnet flipping station in sequence under the control of the motion controller 20;

[0062] The embedded visual inspection and placement equipment control system also includes a magnetic pole detection module 52, which is used to detect the magnetic pole of the magnet located at the magnetic pole detection station. The magnetic pole detection module 52 is connected to the main controller 30 through the fifth communication module 51. The main controller 30 is used to control the magnet flipping unit 122 to flip the magnet located at the magnet flipping station to a preset magnetic pole based on the magnetic pole information of the magnet through the motion controller 20; the motion module 12 also includes the magnet flipping unit 122.

[0063] Among them, the fifth communication module 51 is a network port expansion card.

[0064] Specifically, the magnet docking module 22 starts working under the control of the motion controller 20. The magnets are transported to the magnetic pole detection station in turn. The magnets located at the magnetic pole detection station are detected by the magnetic pole detection module 52. The magnetic pole detection module 52 communicates with the main controller 30 through the fifth communication module 51, and sends the detected magnetic pole information to the main controller 30. After receiving the magnetic pole information sent by the magnetic pole detection module 52, the main controller 30 determines whether the magnetic pole of the current magnet meets the preset requirements. If the magnetic pole does not meet the requirements, the main controller 30 controls the magnet flipping unit to perform a flipping operation through the motion controller 20. Under the control of the motion controller 20, the magnet flipping unit 122 flips the magnet located at the magnet flipping station to the preset magnetic pole. The flipped magnet may be confirmed again by the magnetic pole detection station, or directly enter the next processing flow.

[0065] Optionally, the magnetic track docking module 23 is also used to transport the magnetic track substrate to the loading station and the gluing station in sequence under the control of the motion controller 20;

[0066] The gluing unit 123 is used to glue the magnetic track located at the gluing station under the control of the motion controller 20; the motion module 12 also includes the gluing unit 123;

[0067] The embedded visual inspection and placement equipment control system also includes a gluing visual inspection module;

[0068] The glue coating visual inspection module is used to obtain the glue coating path and glue coating morphology of the magnetic track located at the glue coating station;

[0069] The main controller 30 is used to control the glue coating unit through the motion controller 20 to correct the glue coating path according to the glue coating path and glue coating morphology of the magnetic track.

[0070] Among them, there are strict requirements on the glue coating process, and there must not be too much glue, too little glue, missing glue, or skewness.

[0071] Specifically, the magnetic track docking module 23 starts working under the control of the motion controller 20. The magnetic track substrate is transported to the loading station. After the necessary preparations are completed at the loading station, the magnetic track substrate is further transported to the gluing station. Under the control of the motion controller 20, the gluing unit 123 starts to perform gluing operations on the magnetic track located at the gluing station. The gluing process may involve precise control of parameters such as the amount of glue, the speed of glue, and the path of glue. During the gluing process or after the gluing is completed, the gluing visual detection module obtains the gluing path and gluing morphology information of the magnetic track located at the gluing station through a high-precision visual sensor. The gluing path information may include the trajectory and position of the glue, etc.; the gluing morphology information may include the uniformity, thickness, and whether there are defects in the glue. The main controller 30 receives the gluing path and gluing morphology information sent by the gluing visual detection module. The main controller 30 determines whether the current gluing operation meets the requirements based on the preset gluing quality standard or algorithm. If the gluing does not meet the requirements, the main controller 30 will generate a correction instruction. The main controller 30 controls the glue coating unit through the motion controller 20, and adjusts the glue coating path or related parameters according to the correction instruction. The glue coating unit 123 re-performs the glue coating operation according to the new instruction, or adjusts the morphology of the glue coated part. The corrected magnetic track substrate may continue to enter the next processing flow. If the glue coating quality still does not meet the requirements, further manual intervention or scrapping may be required.

[0072] Optionally, the motion module 12 further includes a material recovery unit, which is further used to transport magnets with appearance defects to a material recovery area;

[0073] And / or, the magnet docking module 22 is also used to transport the magnets to the cleaning station;

[0074] The cleaning unit is used to clean the surface where the magnet and the magnetic track are in contact, and the motion module 12 also includes a cleaning unit.

[0075] Specifically, the magnet is inspected for appearance defects by the visual defect detection module 32. If the magnet has no appearance defects, the next step of processing is entered. If the magnet has appearance defects, the motion module 12 controls the material recovery unit to transport the magnet with appearance defects from the current position to the material recovery area. For magnets without appearance defects, the magnet docking module 22 transports the magnets without appearance defects to the cleaning station. The cleaning unit is started to clean the surface where the magnet and the magnetic rail are bonded to prevent foreign matter on the surface from affecting the strength of the glue connection. Cleaning may involve physical brushing, chemical solvent cleaning, ultrasonic cleaning and other methods, depending on the material of the magnet, the type of stains and the cleaning requirements. After cleaning is completed, the subsequent operation process is entered.

[0076] Optionally, the magnet is located in the clip, and the magnet docking module 22 is also used to transport the magnet to the loading station under the control of the motion controller 20;

[0077] The magnet loading unit 124 is used to push the magnet out of the clip and transport the magnet to the magnetic pole detection station through the docking module. The motion module 12 also includes the magnet loading unit 124.

[0078] Specifically, the magnet has been placed in the magazine for loading and subsequent processing. Under the control of the motion controller 20, the magnet docking module 22 transports the magazine with the magnet to the loading station. When the magazine arrives at the loading station, the magnet loading unit 124 pushes the magnet out of the magazine, usually through a mechanical structure (such as a push rod, a slide rail, etc.). The pushed magnet is transported to the magnetic pole detection station through the docking module.

[0079] Optionally, the motion module 12 includes multiple motors and multiple motion axes, and the motor driver 13 is connected to the motion controller 20 through the first communication module 11; the motion axis moves under the drive of the motor drive shaft;

[0080] Preferably, the motion module 12 includes a gantry mechanism.

[0081] Specifically, the motion controller 20 establishes a communication connection with the motor driver 13 through the first communication module 11 to ensure that the instruction can be accurately transmitted. The motion controller 20 configures the motion parameters of the motor, such as speed, acceleration, target position, etc. The motion parameters are sent to the motor driver 13 through the first communication module 11, and the driver controls the movement of the motor according to the received motion parameters. The motion controller 20 sends the control instruction to the motor driver 13 through the first communication module 11. After receiving the instruction, the motor driver 13 controls the movement of the motor. The motor starts to rotate, and its drive shaft drives the motion axis in the motion module 12 to move. During the movement, the motor driver 13 may obtain the real-time position, speed and other information of the motor through the sensor. The real-time position, speed and other information are fed back to the motion controller 20 through the first communication module 11 for precise control and adjustment. The motion module 12 includes a gantry mechanism, which is usually characterized by high precision, high rigidity and high stability, and can ensure the precise movement of the motion axis.

[0082] Optionally, the motion axis includes at least one of a material picking X-axis, a material picking Y-axis, a material picking Z-axis, an upper suction cup Z-axis, a lower suction cup Z-axis, a lower suction cup X-axis, a mirror detection Z-axis, a cleaning stepping axis, a belt stepping axis, a synchronous belt clamp axis, a clip rotation axis, a magnet upward movement axis, a magnet pushing out axis, a gluing X-axis, a gluing Y-axis, a gluing Z-axis, a glue squeezing axis, and a mirror blocking the magnet axis.

[0083] Specifically, the main function of the motion axis is to realize the loading of magnets, magnet polarity detection and flipping of magnets to the correct polarity, and then visual defect detection of magnets, unloading and recycling defective magnets, moving qualified magnets to the cleaning station and then transporting them to the bonding station and the magnetic track for magnets. The control of the motion axis is completed through data exchange with the motion control network card of the main controller 30.

[0084] Optionally, a display module 62 is further included, which is connected to the main controller 30 via the sixth communication module 61 and is used to display at least one of the transportation information of the magnet, the detection information of the magnet, the transportation information of the magnetic track, and the fitting information of the magnet and the magnetic track.

[0085] The sixth communication module 61 is a High Definition Multimedia Interface (HDMI) interface. The HDMI interface supports human-computer interface interaction, and an external display can display a software interaction interface.

[0086] Specifically, the main controller 30 establishes a communication connection with the display module 62 through the sixth communication module 61 to ensure real-time transmission and display of information. The magnet docking module 22 transports the magnet to the loading station according to the instructions of the main controller 30. The display module 62 will update the transportation information of the magnet in real time, such as the current position of the magnet, the transportation speed, etc. After the necessary preparation at the loading station, the magnet is transported to the magnetic pole detection station. The magnetic pole detection module 52 accurately detects the magnetic pole of the magnet and sends the detection result to the main controller 30. After receiving the detection result, the main controller 30 will display it to the staff through the display module 62 so that the staff can understand the magnetic pole state of the magnet. The magnetic track docking module 23 will also transport the magnetic track to the designated processing station according to the instructions of the main controller 30. The display module 62 will synchronously update the transportation information of the magnetic track. When the magnet and the magnetic track arrive at the designated processing station, the system will perform operations such as bonding and gluing. Under the precise control of the main controller 30, the magnet and the magnetic track are precisely bonded together. The display module 62 will display the bonding information of the magnet and the magnetic track, such as bonding position, bonding quality, etc. In the entire processing flow, the display module 62 will continuously update the transportation information, detection information, and bonding information of the magnet and the magnetic track.

[0087] According to another aspect of the present invention, there is provided an embedded visual inspection and placement equipment control device, comprising the embedded visual inspection and placement equipment control system described in any embodiment of the present invention.

[0088] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0089] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An embedded visual inspection and placement equipment control system, characterized in that: include: Embedded control module, motion module, magnet docking module, magnetic track docking module and visual defect detection module; the motion module includes a magnet transport unit and a magnet bonding unit; The embedded control module includes a main controller and a motion controller, and the motion controller is connected to the main controller; The control end of the motion module is connected to the motion controller via a first communication module; The control ends of the magnet docking module and the magnetic track docking module are connected to the main controller via a second communication module; The magnetic track docking module is used to transport the magnetic track substrate to the bonding station in sequence under the control of the motion controller; a plurality of magnetic tracks are arranged on the magnetic track substrate; the magnet docking module is used to transport the magnet to the visual defect station under the control of the motion controller; A visual defect detection module, used to obtain an image of the magnet located at the visual defect station, the visual defect detection module is connected to the main controller via a third communication module, and the main controller is used to determine whether the magnet has an appearance defect; The magnet docking module is also used to transport the magnet to the bonding station under the control of the motion controller; The magnet transport unit is also used to place the magnet on the magnetic track under the control of the motion controller, so that the magnet and the magnetic track are bonded by the magnet bonding unit through an adhesive; A temperature control module, the temperature control module includes a temperature detection unit and a temperature control unit, the temperature detection unit is connected to the temperature control unit, and the control end of the temperature control unit is connected to the main controller through a fourth communication module; the temperature detection unit is used to detect the curing temperature of the adhesive between the magnet and the magnetic track at the bonding station; the temperature control unit is used to control the curing temperature of the adhesive under the control of the main controller; The magnet docking module and the magnetic track docking module are also used to feed back the position information of the magnetic track substrate and the magnet to the motion controller.

2. The embedded visual inspection and placement equipment control system according to claim 1 is characterized in that: The magnet docking module includes a conveyor belt; And / or, the magnetic track docking module includes a docking line.

3. The embedded visual inspection and placement equipment control system according to claim 1, characterized in that: The magnet docking module is also used to transport the magnets to the magnetic pole detection station and the magnet flipping station in sequence under the control of the motion controller; The embedded visual inspection and placement equipment control system also includes a magnetic pole detection module, which is used to detect the magnetic pole of the magnet located at the magnetic pole detection station. The magnetic pole detection module is connected to the main controller via a fifth communication module. The main controller is used to control the magnet flipping unit to flip the magnet located at the magnet flipping station to a preset magnetic pole based on the magnetic pole information of the magnet through the motion controller; the motion module also includes the magnet flipping unit.

4. The embedded visual inspection and placement equipment control system according to claim 1, characterized in that: The magnetic track docking module is also used to transport the magnetic track substrate to the loading station and the gluing station in sequence under the control of the motion controller; The gluing unit is used to apply glue to the magnetic track located at the gluing station under the control of the motion controller; the motion module also includes a gluing unit; The embedded visual inspection and placement equipment control system also includes a gluing visual inspection module; The glue coating visual detection module is used to obtain the glue coating path and glue coating morphology of the magnetic track located at the glue coating station; The main controller is used to control the gluing unit through the motion controller to correct the gluing path according to the gluing path and gluing morphology of the magnetic track.

5. The embedded visual inspection and placement equipment control system according to claim 1, characterized in that: The motion module further includes a material recovery unit, which is used to transport magnets with appearance defects to a material recovery area; And / or, the magnet docking module is also used to transport the magnet to a cleaning station; The cleaning unit is used to clean the surface where the magnet and the magnetic track are in contact, and the motion module also includes the cleaning unit.

6. The embedded visual inspection and placement equipment control system according to claim 2, characterized in that: The magnet is located in the clip, and the magnet docking module is also used to transport the magnet to the loading station under the control of the motion controller; The magnet loading unit is used to push the magnet out of the clip and transport the magnet to the magnetic pole detection station through the docking module. The motion module also includes a magnet loading unit.

7. The embedded visual inspection and placement equipment control system according to any one of claims 1 to 6, characterized in that: The motion module includes a plurality of motors and a plurality of motion axes, the driver of the motor is connected to the motion controller through the first communication module; the motion axis moves under the drive of the drive shaft of the motor; Preferably, the motion module comprises a gantry mechanism.

8. The embedded visual inspection and placement equipment control system according to claim 7, characterized in that: The motion axis includes at least one of a material picking X-axis, a material picking Y-axis, a material picking Z-axis, an upper suction cup Z-axis, a lower suction cup Z-axis, a lower suction cup X-axis, a mirror detection Z-axis, a cleaning stepping axis, a belt stepping axis, a synchronous belt clamping axis, a magazine rotation axis, a magnet upward movement axis, a magnet pushing out axis, a glue coating X-axis, a glue coating Y-axis, a glue coating Z-axis, a glue squeezing axis, and a mirror blocking the magnet axis.

9. The embedded visual inspection and placement equipment control system according to claim 1, characterized in that: It also includes a display module, which is connected to the main controller through a sixth communication module and is used to display at least one of the transportation information of the magnet, the detection information of the magnet, the transportation information of the magnetic track, and the fitting information of the magnet and the magnetic track.

10. An embedded visual inspection and placement equipment control device, characterized in that: It includes the embedded visual inspection and placement equipment control system described in any one of claims 1-9.

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