PCBA feeding system based on visual guidance assembly

Abstract

The invention discloses a PCBA feeding system based on visual guidance assembly. The PCBA feeding system based on visual guidance assembly is simple in structure and capable of achieving carrier lifting feeding and synchronous clamping circulation based on visual guidance. The device comprises a machine table, a conveying assembly, a tray circulation assembly, a mechanical arm assembly and a visual guiding assembly, and the mechanical arm assembly is arranged on one side of the conveying assembly and matched with PCBA in a carrier on the conveying assembly and a tray on the tray circulation assembly; the visual guiding assembly comprises a tray positioning module, a carrier positioning module and a PCBA positioning module. The tray positioning module, the carrier positioning module and the PCBA positioning module are matched with the tray, the carrier and the PCBA at the clamping end of the mechanical arm assembly respectively. The automatic feeding device is applied to the technical field of product feeding.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of product feeding, and particularly relates to a PCBA feeding system based on visual guidance assembly. BACKGROUND

[0002] In the production and development process of electronic products, the quality of products is the most important in the production process, so the function of the PCBA board card in the product must be tested in the production process. Since different PCBA shapes and sizes are different, the completed PCBA board card needs to be transferred to the detection station through the fixed carrier. The traditional PCBA board card feeding to the carrier is mainly through manual feeding of the PCBA board card to the carrier, and the positioning of the PCBA board card on the carrier is realized through the pin hole or the edge. The efficiency is low, and the success probability of feeding is low in the case of high positioning accuracy of the pin hole. Or through the conveying assembly to transfer the stacked products on the tray to the feeding station, the mechanical hand structure is used for clamping positioning and transferring. At present, the connection between different components is mainly realized through the transmission belt assembly, so that the product feeding and unloading and the flow transfer are connected. This way has high requirements for the site, and the efficiency of transportation through the external transmission belt assembly is low, and high-speed flow transfer cannot be realized. If a visual guidance assembly based PCBA feeding system with simple structure and based on visual guidance can realize carrier lifting feeding and synchronous clamping flow transfer, the above problems can be solved. SUMMARY

[0003] The technical problem to be solved by the application is to overcome the shortcomings of the prior art, and to provide a visual guidance assembly based PCBA feeding system with simple structure and based on visual guidance to realize carrier lifting feeding and synchronous clamping flow transfer.

[0004] The technical scheme adopted by the application is: the application comprises a machine table, a conveying assembly, a tray flow transfer assembly, a mechanical hand assembly and a visual guidance assembly. The mechanical hand assembly is arranged on one side of the conveying assembly and cooperates with the PCBA in the carrier on the conveying assembly and the tray on the tray flow transfer assembly. The visual guidance assembly comprises a tray positioning module, a carrier positioning module and a PCBA positioning module. The tray positioning module, the carrier positioning module and the PCBA positioning module cooperate with the tray, the carrier and the PCBA at the clamping end of the mechanical hand assembly respectively.

[0005] Further, the conveying assembly is arranged on the upper end surface transmission position of the machine table, and comprises an upper conveying line and a lower conveying line arranged on the upper and lower ends of the machine table respectively. The upper conveying line is provided with a carrier jacking module at the feeding end, and the jacking end of the carrier jacking module is matched with the carrier on the upper conveying line. The positioning ends of the upper conveying line and the lower conveying line are both provided with a carrier blocking module matched with the carrier.

[0006] Further, a plurality of tray circulation assemblies are arranged on the lower end circulation position of the machine table. Each tray circulation assembly comprises a circulation support, a tray side pushing module and a tray jacking module. A plurality of trays are arranged on the upper end of the circulation support. The tray side pushing module is arranged on one side of the circulation support and the active end of the tray side pushing module is matched with the tray on the circulation support. The tray jacking module is arranged on the lower end of the tray jacking position, and the active end of the tray jacking module drives the tray to rise to the upper end circulation position of the machine table.

[0007] Further, the tray jacking module is provided with a tray positioning module at the upper end, and the tray positioning module is matched with the tray on the tray jacking module.

[0008] Further, the mechanical hand assembly comprises a mechanical hand support, an X-axis linear module, a Y-axis linear module, a Z-axis linear module and a material taking mechanical hand. The X-axis linear module is arranged on the upper end of the mechanical hand support. The Y-axis linear module is connected with the active end of the X-axis linear module. The Z-axis linear module is connected with the active end of the Y-axis linear module. The material taking mechanical hand is connected with the active end of the Z-axis linear module, and drives the PCBA in the carrier to be matched with the product placement position on the tray.

[0009] Further, the tray positioning module comprises a tray support, a tray linear moving module and a tray positioning camera module. The tray support is arranged on the upper end of the machine table circulation position. The tray linear moving module is arranged on the tray support. The tray positioning camera module is connected with the active end of the tray linear moving module and matched with the tray on the machine table circulation position.

[0010] Further, the carrier positioning module comprises a carrier positioning support, a carrier X-axis linear module, a carrier Y-axis linear module and a carrier positioning camera module. The carrier positioning support is arranged on the upper end of the upper conveying line. The carrier X-axis linear module is arranged on the carrier positioning support. The carrier Y-axis linear module is connected with the active end of the carrier X-axis linear module. The carrier positioning camera module is connected with the active end of the carrier Y-axis linear module and matched with the carrier on the upper conveying line.

[0011] Further, the PCBA positioning module is arranged on the upper end of the mechanical hand assembly, and the PCBA positioning module comprises a product positioning support plate and a product positioning camera module.

[0012] Further, the machine table is provided with a protective plate outside, the protective plate is provided with a plurality of groups of flow-through openings, the flow-through openings are matched with the tray flow-through assembly inlet and outlet ends, and the protective plate is provided with a plurality of carrier openings on both sides.

[0013] Further, the machine table is provided with a control module outside.

[0014] The PCBA automatic feeding system based on visual guidance assembly of the application captures the position and posture of the PCBA board and the carrier through a high-precision visual system, realizes accurate positioning of the PCBA and the carrier in combination with an image recognition algorithm, realizes accurate and efficient feeding of the PCBA board to the carrier in combination with a multi-axis mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a perspective view of the application; Figure 2 is another view of the application; Figure 3 is a perspective view of the application hidden from the protective plate; Figure 4 is another perspective view of the application hidden from the protective plate; Figure 5 is a perspective view of the upper conveying line; Figure 6 is a perspective view of the lower conveying line; Figure 7 is a perspective view of the mechanical hand assembly; Figure 8 is a perspective view of the tray flow-through assembly; Figure 9 is a perspective view of the tray positioning module; Figure 10 is a perspective view of the carrier positioning module; Figure 11 is a perspective view of the PCBA positioning module. DETAILED DESCRIPTION

[0016] As Figures 1 to 11As shown, in the embodiment, the application comprises a machine table 1, a conveying assembly 2, a tray circulation assembly 3, a mechanical arm assembly 4 and a visual guidance assembly 5. The mechanical arm assembly 4 is arranged on one side of the conveying assembly 2 and cooperates with the PCBA 7 in the carrier 6 on the conveying assembly 2 and the tray 8 on the tray circulation assembly 3. The visual guidance assembly 5 comprises a tray positioning module 51, a carrier positioning module 52 and a PCBA positioning module 53. The tray positioning module 51, the carrier positioning module 52 and the PCBA positioning module 53 cooperate with the tray 8, the carrier 6 and the PCBA 7 at the clamping end of the mechanical arm assembly 4 respectively. As can be seen, the application is based on the visual guidance assembly PCBA automatic feeding system. The position and posture of the PCBA board and the carrier are captured by the high-precision visual system. The image recognition algorithm is combined to realize the accurate positioning of the PCBA and the carrier. In combination with the multi-axis mechanical arm, the PCBA board is accurately and efficiently fed onto the carrier.

[0017] As shown in Figures 3 to 6 As shown, in the embodiment, the conveying assembly 2 is arranged on the upper end transmission position of the machine table 1. The conveying assembly 2 comprises an upper conveying line 21 and a lower conveying line 22. The upper conveying line 21 and the lower conveying line 22 are arranged on the upper and lower ends of the machine table 1 respectively. The upper conveying line 21 is provided with a carrier lifting module 23 at the feeding end. The lifting end of the carrier lifting module 23 cooperates with the carrier 6 on the upper conveying line 21. The upper conveying line 21 and the lower conveying line 22 are both provided with a carrier blocking module 24 at the positioning end. The carrier blocking module 24 cooperates with the carrier 6. As can be seen, the upper conveying line 21 and the lower conveying line 22 respectively connect with the external unloading and lifting mechanism to transfer the full carrier 6 out and then lift the empty carrier 6 on the lower conveying line 22 to the upper conveying line 21 to form the circulation of the carrier 6.

[0018] As shown in Figure 3 and Figure 8As shown in the embodiment, several groups of the tray transfer assembly 3 are arranged at the lower end transfer position of the machine table 1. The tray transfer assembly 3 includes a transfer support 31, a tray side pushing module 32, and a tray jacking module 33. Several groups of the tray 8 are arranged at the upper end of the transfer support 31. The tray side pushing module 32 is arranged at one side of the transfer support 31, and the movable end of the tray side pushing module 32 is matched with the tray 8 on the transfer support 31. The tray jacking module 33 is arranged at the lower end of the tray jacking position. The movable end of the tray jacking module 33 drives the tray 8 to rise to the upper end transfer position of the machine table 1. As can be seen, the transfer support 31 is provided with a side pushing mechanism, which can push the full tray 8 to the jacking position, and then jack it to the feeding position of the machine table 1 by the tray jacking module 33. The tray 8 can be taken out and the carrier 6 can be fed by the mechanical hand assembly 4, which is more efficient and convenient for the tray 8 transfer.

[0019] As shown in the embodiment, Figure 8 As shown in the embodiment, the upper end of the tray jacking module 33 is provided with a tray positioning module 34, which is matched with the tray 8 on the tray jacking module 33. As can be seen, after the tray 8 is jacked, the multiple positioning ends of the tray positioning module 34 are matched with the two sides of the tray, so that the tray can be stably fixed at the feeding position to prevent deviation or falling off.

[0020] As shown in the embodiment, Figure 3 As shown in the embodiment, Figure 7 As shown in the embodiment, the mechanical hand assembly 4 includes a mechanical hand support 41, an X-axis linear module 42, a Y-axis linear module 43, a Z-axis linear module 44, and a taking-out mechanical hand 45. The X-axis linear module 42 is arranged at the upper end of the mechanical hand support 41. The Y-axis linear module 43 is connected with the movable end of the X-axis linear module 42. The Z-axis linear module 44 is connected with the movable end of the Y-axis linear module 43. The taking-out mechanical hand 45 is connected with the movable end of the Z-axis linear module 44. The taking-out mechanical hand 45 drives the PCBA 7 in the carrier 6 to be matched with the product placement position on the tray 8. As can be seen, the taking-out mechanical hand 45 is provided with several groups of clamping jaws, which can simultaneously realize the clamping and feeding of multiple groups of the PCBA 7. The X-axis linear module 42, the Y-axis linear module 43, and the Z-axis linear module 44 can realize movement in multiple directions, which is more accurate in clamping.

[0021] As shown in the embodiment, Figure 4 As shown in the embodiment, Figure 9As shown in the embodiment, the tray positioning module 51 includes a tray support 511, a tray linear movement module 512, and a tray positioning camera module 513. The tray support 511 is arranged on the upper end of the flow transfer position of the machine table 1. The tray linear movement module 512 is arranged on the tray support 511. The tray positioning camera module 513 is connected to the movable end of the tray linear movement module 512 and cooperates with the tray 8 of the machine table 1 flow transfer position. As can be seen, the tray positioning camera module 513 can visually position the PCBA products on the tray 8, so that the clamping precision of the material taking robot 45 is higher.

[0022] As shown in the embodiment, Figure 4 and Figure 10 As shown in the embodiment, the carrier positioning module 52 includes a carrier positioning support 521, a carrier X-axis linear module 522, a carrier Y-axis linear module 523, and a carrier positioning camera module 524. The carrier positioning support 521 is arranged on the upper end of the upper conveying line 21. The carrier X-axis linear module 522 is arranged on the carrier positioning support 521. The carrier Y-axis linear module 523 is connected to the movable end of the carrier X-axis linear module 522. The carrier positioning camera module 524 is connected to the movable end of the carrier Y-axis linear module 523 and cooperates with the carrier 6 on the upper conveying line 21. As can be seen, the carrier positioning camera module 524 can visually position the carrier 6, so that the material placing precision of the material taking robot 45 is higher.

[0023] As shown in the embodiment, Figure 4 and Figure 11 As shown in the embodiment, the PCBA positioning module 53 is arranged on the upper end of the robot assembly 4. The PCBA positioning module 53 includes a product positioning support plate 531 and a product positioning camera module 532. The product positioning camera module 532 cooperates with the PCBA 7 on the clamping end of the material taking robot 45. As can be seen, the product positioning camera module 532 can collect images of the clamping state of the product during the clamping and transferring of the material taking robot 45. The several groups of PCBA 7 can be adjusted in time when transferred into a carrier 6, so that the material placing precision of the several groups of PCBA 7 is higher.

[0024] As shown in the embodiment, Figure 1 and Figure 2As shown, in this embodiment, a protective plate 9 is provided on the outer side of the machine base 1. The protective plate 9 has several sets of transfer ports 10, which cooperate with the corresponding inlet and outlet ends of the pallet transfer assembly 3. Several carrier ports 11 are also provided on both sides of the protective plate 9, which cooperate with the upper conveyor line 21 and the lower conveyor line 22, respectively. Therefore, the protective plate 9 provides an independent and stable space for loading and unloading, preventing external factors from affecting product loading and pallet transfer. The transfer ports 10 and the carrier ports 11 facilitate the transfer of the pallet 8 and the carrier 6, respectively.

[0025] like Figure 1 As shown, in this embodiment, a control module 12 is provided on the outside of the machine tool 1. Therefore, the control module 12 can start / stop or switch the states of various components, resulting in higher operational efficiency.

[0026] The working principle of this invention: Before the equipment starts, the machine platform 1 is connected to the external carrier loading / unloading assembly and lifting assembly, and the full pallet 8 is placed into two sets of pallet transfer assemblies 3 respectively. After the equipment starts, the pallet 8 of one set of pallet transfer assemblies 3 moves to the transfer position and is lifted to the upper end of the machine platform 1 by the pallet lifting module 33. The pallet positioning module 51 performs image acquisition and positioning on the several PCBA7s on the pallet 8. The empty carrier 6 on the upper conveyor line 21 flows into the loading position. The carrier blocking module 24 and the carrier lifting module 23 respectively block and lift the carrier 6. The picking robot 45 passes through... The three-axis movement picks up several groups of PCBAs from the tray 8 and transfers them to the upper end of the carrier 6. Before transferring them to the upper end of the carrier 6, several gripping heads on the picking robot 45 acquire images through the PCBA positioning module 53, identify the position of each group of PCBAs 7, and drive each group of PCBAs 7 to be precisely adjusted and placed into the corresponding product slots in the carrier 6. After the loading of one group of carriers 6 is completed, the carrier 6 flows out of the upper conveyor line 21, the tray transfer assembly 3 is reset, and the tray 8 on another group of tray transfer assemblies 3 is lifted to the upper end of the machine 1, thereby realizing PCBA loading based on vision-guided assembly.

[0027] Although the embodiments of the present invention are described with reference to actual solutions, they do not constitute a limitation on the meaning of the present invention. Modifications to the embodiments and combinations with other solutions based on this specification will be obvious to those skilled in the art.

Claims

1. A PCBA loading system based on vision-guided assembly, comprising a machine (1), a conveying assembly (2), a pallet transfer assembly (3), a robotic arm assembly (4), and a vision-guided assembly (5), characterized in that: The robotic arm assembly (4) is disposed on one side of the conveying assembly (2) and cooperates with the PCBA (7) in the carrier (6) on the conveying assembly (2) and the tray (8) on the tray transfer assembly (3). The visual guidance assembly (5) includes a tray positioning module (51), a carrier positioning module (52), and a PCBA positioning module (53). The tray positioning module (51), the carrier positioning module (52), and the PCBA positioning module (53) cooperate with the tray (8), the carrier (6), and the PCBA (7) at the gripping end of the robotic arm assembly (4), respectively. The component (2) is set at the upper end of the machine (1) in the transmission position. The conveying component (2) includes an upper conveying line (21) and a lower conveying line (22). The upper conveying line (21) and the lower conveying line (22) are respectively set at the upper and lower ends of the machine (1). The upper conveying line (21) is provided with a carrier lifting module (23) at the feeding end. The lifting end of the carrier lifting module (23) cooperates with the carrier (6) on the upper conveying line (21). The upper conveying line (21) and the lower conveying line (22) are both provided with a carrier blocking module (24) at the positioning end. The carrier blocking module (24) cooperates with the carrier (6).

2. The PCBA feeding system based on vision-guided assembly according to claim 1, characterized in that: Several sets of the pallet transfer components (3) are set at the lower transfer position of the machine (1). The pallet transfer components (3) include a transfer bracket (31), a pallet side push module (32) and a pallet lifting module (33). Several sets of pallets (8) are set at the upper end of the transfer bracket (31). The pallet side push module (32) is set on one side of the transfer bracket (31) and the movable end of the pallet side push module (32) cooperates with the pallet (8) on the transfer bracket (31). The pallet lifting module (33) is set at the lower end of the pallet (8) lifting position. The movable end of the pallet lifting module (33) drives the pallet (8) to rise to the upper transfer position of the machine (1).

3. The PCBA feeding system based on vision-guided assembly according to claim 2, characterized in that: The upper end of the pallet lifting module (33) is provided with a pallet positioning module (34), and the pallet positioning module (34) is positioned and cooperates with the pallet (8) on the pallet lifting module (33).

4. A PCBA feeding system based on vision-guided assembly according to claim 2, characterized in that: The robotic arm assembly (4) includes a robotic arm support (41), an X-axis linear module (42), a Y-axis linear module (43), a Z-axis linear module (44), and a picking robot (45). The X-axis linear module (42) is located on the upper end of the robotic arm support (41). The Y-axis linear module (43) is connected to the movable end of the X-axis linear module (42). The Z-axis linear module (44) is connected to the movable end of the Y-axis linear module (43). The picking robot (45) is connected to the movable end of the Z-axis linear module (44). The picking robot (45) drives the PCBA (7) in the carrier (6) to match the product placement position on the tray (8).

5. A PCBA feeding system based on vision-guided assembly according to claim 2, characterized in that: The pallet positioning module (51) includes a pallet support (511), a pallet linear movement module (512), and a pallet positioning camera module (513). The pallet support (511) is located at the upper end of the machine tool (1) transfer position. The pallet linear movement module (512) is located on the pallet support (511). The pallet positioning camera module (513) is connected to the movable end of the pallet linear movement module (512) and cooperates with the pallet (8) at the machine tool (1) transfer position.

6. The PCBA feeding system based on vision-guided assembly according to claim 1, characterized in that: The vehicle positioning module (52) includes a vehicle positioning bracket (521), a vehicle X-axis linear module (522), a vehicle Y-axis linear module (523), and a vehicle positioning camera module (524). The vehicle positioning bracket (521) is located on the upper end of the upper conveyor line (21). The vehicle X-axis linear module (522) is located on the vehicle positioning bracket (521). The vehicle Y-axis linear module (523) is connected to the movable end of the vehicle X-axis linear module (522). The vehicle positioning camera module (524) is connected to the movable end of the vehicle Y-axis linear module (523) and cooperates with the vehicle (6) on the upper conveyor line (21).

7. A PCBA feeding system based on vision-guided assembly according to claim 4, characterized in that: The PCBA positioning module (53) is located on the upper end of the robotic arm assembly (4). The PCBA positioning module (53) includes a product positioning support plate (531) and a product positioning camera module (532). The product positioning camera module (532) cooperates with the PCBA (7) on the gripping end of the picking robotic arm (45).

8. The PCBA feeding system based on vision-guided assembly according to claim 1, characterized in that: The machine base (1) is provided with a protective plate (9) on the outside. The protective plate (9) is provided with a number of transfer ports (10). The transfer ports (10) are matched with the corresponding material inlet and outlet of the pallet transfer component (3). The protective plate (9) is also provided with a number of carrier ports (11) on both sides. The carrier ports (11) are matched with the upper conveyor line (21) and the lower conveyor line (22) respectively.

9. A PCBA feeding system based on vision-guided assembly according to claim 8, characterized in that: A control module (12) is provided on the outside of the machine (1).

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