Intelligent automatic chip mounting device

Abstract

The invention relates to the field of research on strain data analysis, and discloses a control method of an intelligent automatic surface mounting device. A turnover mechanism; a robot arm control system; a dispensing mechanism; a visual control system; all the mechanisms are installed in the whole box body, the mechanical arm control system carries out feeding and discharging actions, the turnover mechanism carries out positioning and turnover, the visual control system recognizes the position of a strain gauge and the center position of a standard sample, the mechanical arm sucks the strain gauge and adheres the strain gauge, and the turnover mechanism turns over the standard sample by 180 degrees. And carrying out sucking and pasting operation again and the like. The control method of hand-eye calibration between the PLC and the mechanical arm and vision is combined, so that the control method can be used for carrying out universal, high-precision and high-adaptability operation, and can be applied to a real research scene. In a visual system, fine benchmark reference and a proper coordinate algorithm are strictly calibrated, and a whole-process automatic PLC and mechanical arm control pasting system with the functions of real image acquisition, judgment and prediction of deep learning benchmark comparison, positioning suction and pasting of a target and the like is established.

Description

Technical Field

[0001] This invention relates to the field of stress deformation data analysis, and more particularly to an intelligent automatic patching device. Background Technology

[0002] Strain gauges, as important strain measurement sensors, have been widely used in engineering, science, and technology. Their development history can be traced back to the late 19th century, when scientists began to realize that materials deform under stress and attempted to find a way to quantify this deformation. With advancements in materials science and sensing technology, strain gauges have been continuously improved and developed, thus becoming an indispensable tool in modern engineering and scientific research.

[0003] Early strain gauges were primarily resistance strain gauges based on metallic materials. They measured strain by utilizing the principle that the resistance of a metallic material changes under stress. With the development of semiconductor technology, strain gauges based on semiconductor materials have gradually emerged, offering higher sensitivity and a wider range of applications.

[0004] Modern strain gauges are widely used not only in engineering but also in materials science research, structural health monitoring, and medical devices. They can accurately measure strain of various forms and magnitudes, providing crucial data support for engineering design, materials testing, and scientific research. A strain gauge is a sensor used to measure the strain on the surface of an object. It is typically made of elastic materials such as metal foil, carbon fiber, or silicon. Strain gauges can be glued or fixed to the surface of the object whose strain needs to be measured. When the object is subjected to force or deformation, the strain gauge will generate a corresponding strain, thereby changing its electrical properties such as resistance, capacitance, or inductance.

[0005] This device is an intelligent automated patch-attaching system. It involves applying adhesive to the center of a standard sample, then using a robotic arm to pick up the strain gauge and attach it to the center of the standard sample. This facilitates subsequent research operations for researchers. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and to propose an intelligent automatic patch placement device, comprising:

[0007] Box;

[0008] Two vision cameras are installed inside the housing and can identify, photograph, and position the samples and strain gauges in the intermediate stage and strain gauge stage, respectively, for adjusting the movement position of the dispensing machine and the robotic arm.

[0009] The robotic arm is installed inside the box. It uses a vision camera to identify and send coordinates to the robotic arm so that it can correctly pick up strain gauges. The built-in program moves the robotic arm to the relative position to perform loading and unloading operations as well as positive and negative pressure blowing and sucking operations.

[0010] The three-axis stepper motor drives the dispensing machine. The human-machine interface of the housing can be set to control the position and speed of the three axes. After the height of the standard sample is detected by the through-type detection device, the height of the Z axis of the three axes can be automatically adjusted so that it fits the surface of the standard sample for dispensing.

[0011] The dispensing machine is installed inside the housing and is shaped like a needle-type dispensing device. It is connected to a gas pipeline at the top, and the dispensing amount is controlled by adjusting the pressure and dispensing time.

[0012] The flipping mechanism is installed inside the housing. The flipping mechanism is operated by a stepper motor driving the electric mechanical gripper, and also by three stepper motors controlling the forward and backward movement of the flipping mechanism. The electric gripper itself has two motors that control the rotation of the gripper and the clamping and releasing of the gripper respectively.

[0013] The loading and unloading platform is a platform for placing standard samples. Loading and unloading operations will begin and end on the loading and unloading platform.

[0014] An intermediate loading platform is installed at the center of the housing and connected to a through-type sensor to facilitate direct measurement of the height of a standard sample for adjusting the position of the mechanism.

[0015] A strain gauge carrier platform is installed inside a housing. A visual camera above identifies the coordinates emitted by the strain gauge to control a robotic arm to pick up the strain gauge.

[0016] A safety light curtain is installed at the front of the enclosure to prevent operators from inserting body parts or unrelated tools into the enclosure of the running equipment. If the safety light curtain detects any improper operation, it will stop the equipment from running.

[0017] As a further description of the above technical solution: the robotic arm has a pneumatic slide, an elastic suction cup, and an elastic nozzle at its end. The pneumatic slide is fixedly connected to the end of the robotic arm, and the elastic suction cup and elastic nozzle are both connected to the end of the robotic arm for the suction and placement of standard samples and strain gauges under positive and negative pressure.

[0018] As a further description of the above technical solution: the three-axis stepper motor linkage device includes three stepper motors: an X-axis motor, a Y-axis motor, and a Z-axis motor. When the X-axis motor moves, it carries the Y-axis motor and moves together with it. When the Y-axis motor moves, it carries the Z-axis motor and moves together with it. The Z-axis motor moves independently. The three motors move together at a fixed speed to their relative positions. The Z-axis motor needs to detect its specific height using a transmittance sensor to adjust its own movement position.

[0019] As a further description of the above technical solution: the flipping mechanism includes a vertical stepper motor, a gripper rotary motor, a gripper clamping and releasing motor, a gripper front and rear motor, and a gripper chuck. When the gripper forward motor moves, it carries all the components of the gripper; when the gripper vertical motor moves, it carries the entire electromechanical gripper. The degree of vertical movement must also be adjusted by detecting the specific height using a transmissive sensor.

[0020] As a further description of the above technical solution: The intermediate loading platform and the strain gauge loading stage are each connected to a vision mechanism. In the middle and lower part of the intermediate loading platform, there is a circular backlight that is always on, which illuminates the sample from below, so that the vision camera can achieve high accuracy when taking pictures and recognizing samples.

[0021] As a further description of the above technical solution: the enclosure is equipped with openable cabinet doors on the other three sides except the front. The front of the enclosure includes a human-machine interface, a main power switch, an indicator light, a power switch and emergency stop switch, and a pressure gauge, all of which are connected to the enclosure.

[0022] As a further description of the above technical solution: the loading and unloading platform is installed inside the box. As the first step of the overall operation, the robotic arm will pick up the sample from the loading and unloading platform and put it into the intermediate loading platform through the sample suction cup.

[0023] As a further description of the above technical solution: the intermediate loading platform is installed inside the box and together with the through-type sensor, so as to facilitate the direct detection of the height of the standard sample after the standard sample is placed on the intermediate loading platform.

[0024] As a further description of the above technical solution: the strain gauge loading stage is installed inside the housing, and the strain gauge loading stage itself has a backlight function, which allows the vision camera to more accurately identify the coordinates of the strain gauge.

[0025] The above technical solution has the following advantages or beneficial effects:

[0026] 1. Performance Advantage Comparison Analysis: This equipment uses a 220-240V power supply, features a simple and quick operation, and offers high-speed, high-precision operation, enabling rapid task completion while ensuring quality. Compared to automated equipment, manually applying strain gauges is slower. This can lead to low production efficiency, especially when a large number of strain gauges are required.

[0027] 2. Advantages Comparison Analysis: This equipment integrates multiple functions, including automatic identification, intelligent control, and automatic adjustment. Its user-friendly interface and intelligent fault diagnosis system enable its wider application in various scenarios. Manual operation may lead to inconsistencies in the placement, angle, and pressure of strain gauges, which could affect product quality and performance.

[0028] 3. Cost Advantage Comparison Analysis: Compared with traditional equipment, this equipment has lower maintenance costs and higher production efficiency, helping companies save significant labor costs. Manually applying strain gauges typically requires a large amount of manual labor, which increases production costs and is easily affected by human factors such as varying skill levels and fatigue. Under high-volume production demands, manual strain gauge application may not be able to meet production needs, requiring a significant investment of human resources and increasing management and cost pressures.

[0029] 4. Comparative Analysis of Innovative Advantages: This equipment adopts the latest intelligent control technology and human-machine interaction design, revolutionizing the traditional production model. Users can easily master the operating skills and quickly solve problems, improving production efficiency and product quality. Manual operation requires certain skills and experience, as well as training. Insufficient employee skills or training may affect the quality and efficiency of strain gauge bonding. This equipment offers flexible configuration options and a wide range of applications, meeting the needs of different industries and applications, making it a highly versatile production tool. Attached Figure Description

[0030] Figure 1 This is an overall schematic diagram of an intelligent automatic patch placement device according to the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of an intelligent automatic patching device for removing the upper box body according to the present invention;

[0032] Figure 3 This is a front view of an intelligent automatic patching device of the present invention, showing the removal of the upper housing.

[0033] Figure 4 This is a top view of an intelligent automatic patching device of the present invention, showing the removal of the upper housing.

[0034] Figure 5This is a left view of an intelligent automatic patching device of the present invention, showing the removal of the upper box body.

[0035] Figure 6 for Figure 2 A schematic diagram of the robotic arm structure in an intelligent automated chip placement device;

[0036] Figure 7 for Figure 2 Schematic diagram of the three-axis linkage dispensing structure in an intelligent automatic placement device;

[0037] Figure 8 for Figure 2 A schematic diagram of the flipping mechanism in an intelligent automatic placement device.

[0038] Figure 9 for Figure 2 A schematic diagram of the transmissive sensor structure in an intelligent automatic patch placement device.

[0039] Figure 10 for Figure 2 A schematic diagram of the circular backlight structure in an intelligent automatic patch panel.

[0040] Legend:

[0041] 1. Cabinet structure; 2. Vision camera; 3. Robotic arm; 4. Three-axis linkage mechanism; 5. Dispensing machine; 6. Intermediate loading platform; 7. Tilting mechanism; 8. Transmitting sensor; 9. Loading and unloading loading platform; 10. Strain gauge loading platform; 11. Safety light curtain; 12. Cabinet door; 13. Human-machine interface; 14. Power switch; 15. Power indicator light; 16. Switch; 17. Pressure gauge; 18. Circular backlight; 301. Pneumatic slide mechanism; 302. Elastic suction cup; 303. Suction nozzle; 401. X-axis stepper motor; 402. Z-axis stepper motor; 403. Y-axis stepper motor; 701. Gripper up and down motor; 702. Gripper rotation motor; 703. Gripper clamping and releasing motor; 704. Gripper front and rear motor; 705. Gripper chuck. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Example 1:

[0044] like Figure 1As shown, in one embodiment of the present invention, the complete set of equipment is a box-shaped device, including a cabinet door 12, a human-machine interface 13, a power switch 14, a power indicator light 15, a switch 16, and a pressure gauge 17; the control interface and the control switch are embedded on the surface of the box, and the other mechanisms are installed inside the box.

[0045] like Figure 2 As shown, in one embodiment of the present invention, there are two vision cameras 2 on the top of the housing 1. The vision cameras 2 are installed inside the housing 1 and can identify, photograph, and position relative to the intermediate stage 6 and the strain gauge stage 10. After calculation by the vision algorithm, the coordinates are sent to determine the movement position of the robotic arm 2. The robotic arm 3 is installed inside the housing 1 and can be programmed to move to the relative position to perform loading and unloading operations and positive and negative pressure blowing and suction operations. It can also accurately locate and pick up strain gauges and paste strain gauges by using the coordinates sent by the vision recognition cameras 2. The three-axis stepper motor 4 drives the dispensing machine 5. The position and speed of the three axes can be set and controlled on the human-machine interface 13 of the housing. After the height of the standard sample is detected by the transmission type detection device 8, the height of the Z axis of the three axes can be automatically adjusted so that it fits the surface of the standard sample for dispensing.

[0046] like Figure 1 , Figure 2 and Figure 3 As shown, in one embodiment of the present invention, a dispensing machine 5 is installed above the housing 1. The dispensing machine is a needle-type dispensing device installed inside the housing 1 and connected to a gas pipeline at the top. The amount of dispensing is controlled by adjusting the pressure and dispensing time. A flipping mechanism 7 is installed inside the housing 1. The flipping mechanism 7 is operated by a stepper motor driving an electric mechanical gripper, and is also controlled by three stepper motors to move the flipping mechanism 7 forward and backward. The electric gripper itself has two motors that control the rotation and clamping / unclamping of the gripper. The height of the standard sample is measured by a transmission sensor, and the lifting height of the upper and lower motors of the gripper can be automatically adjusted.

[0047] like Figure 1 , Figure 2 and Figure 5As shown, in one embodiment of the present invention, there is a loading / unloading platform 9, which is a platform for placing standard samples. Loading and unloading operations will begin and end on and end from this platform. An intermediate platform 6 is installed at the center of the housing 1 and connected to a through-type sensor for convenient and direct measurement of the standard sample height to adjust the mechanism position. A strain gauge platform 10 is installed inside the housing 1. The coordinates emitted by the strain gauges are detected by the upper vision camera 2 to control the robotic arm 3 to pick up the strain gauges. A safety light curtain 11 is installed at the front of the housing 1 to prevent operators from improperly inserting body parts or unrelated tools into the operating equipment housing 1. If the safety light curtain 11 detects improper operation, it will stop the equipment.

[0048] Example 2:

[0049] like Figure 2 , Figure 3 He Ru Figure 6 As shown, based on Embodiment 1, the present invention provides a technical solution: an automatic strain gauge mounting device according to claim 1, characterized in that: the robotic arm 3 has a pneumatic slide 301, an elastic suction cup 302, and an elastic suction nozzle 303 at its end. The pneumatic slide 301 is fixedly connected to the end of the robotic arm 3. During loading and unloading operations, the pneumatic slide 301 slides a fixed distance in the negative direction to facilitate the suction of standard samples. The elastic suction cup 302 and the elastic suction nozzle 303 are both connected to the end of the robotic arm 3. The elastic suction cup 302 consists of two components, each possessing a certain elastic potential energy, and is suitable for samples of various thicknesses and heights during loading and unloading operations. The elastic suction nozzle 303 is mainly used for strain gauge suction. The suction nozzle 303 is connected to a hollow shaft and air tube for suction and placement of standard samples and strain gauges under positive and negative pressure. The suction nozzle 303 is a custom-made suction head with a fixed size for strain gauges, which makes the suction of strain gauges very accurate. When pasting strain gauges, the adhesive has been blown away, so the suction nozzle 303 does not stick to the adhesive.

[0050] like Figure 6 and Figure 7As shown, in this embodiment, the three-axis stepper motor linkage device 4 and the dispensing machine 5 include three stepper motors: an X-axis motor 401, a Y-axis motor 403, and a Z-axis motor 402. The dispensing machine 5 is mounted on the Z-axis and moves together with it. When the X-axis motor 401 moves, it carries the Y-axis motor 403 and moves together with the Z-axis motor 402. The Z-axis motor 402 moves independently. The three-axis motors move together at a fixed speed to their relative positions. The Z-axis motor 402 needs to detect its specific height using a transmissive sensor 8 to adjust its own movement position.

[0051] like Figure 2 , Figure 4 and Figure 8 As shown, the flipping mechanism 7 includes an up-and-down stepper motor 701, a gripper rotation motor 702, a gripper clamping and releasing motor 703, a gripper forward-backward motor 704, and a gripper chuck 705. The gripper forward motor 704 carries all components of the gripper during movement, while the gripper up-and-down motor 701 carries the entire electromechanical gripper 7 during movement. During operation, after the robotic arm 3 picks up the sample and places it on the intermediate loading platform 6, it measures the height using a transmission sensor 8 and sends the data to automatically adjust the gripper up-and-down stepper motor 701 to a certain height before moving forward to clamp the sample. This is to prevent slight displacement of the sample during dispensing or strain gauge application. After the first side of the strain gauge is applied, a flipping operation is performed. To prevent concentricity errors during the flipping operation, the sample is flipped back and clamped again after flipping, resulting in more precise application.

[0052] Example 3:

[0053] like Figure 9 As shown, based on Embodiment 1, the present invention provides a technical solution: because the thickness and color of the samples are different, the accuracy of the samples in the vision camera 2 in the intermediate platform 6 is too low, or even not recognized; the circular backlight 18 is installed below the intermediate platform 6, and the backlight is constantly lit to illuminate the area in the middle of the sample to be identified. The backlight is used to enable the vision camera 2 to accurately identify the four sides of the sample when taking pictures and identifying, thereby sending out the correct coordinates to guide the robotic arm 3 to more accurately stick the strain gauge.

[0054] like Figure 2 , Figure 9 and Figure 10 As shown, based on Embodiment 1, the present invention provides a technical solution: the through-type sensor 8 is installed inside the housing 1 and on the intermediate loading platform 6 so that the sample placed on the intermediate loading platform 6 can be directly measured. The through-type sensor 8 is used to adjust the distance of the Z-axis 402 of the dispensing mechanism descending and the distance of the gripper up and down motor 701 moving.

[0055] Working principle:

[0056] like Figure 10 As shown, the robotic arm 3 picks up the sample from the TOP side of the light curtain of the transmissive sensor 8 and places it into the intermediate loading platform. The distance between the highest surface of the sample and the transmissive sensor 8 can then be measured, and this data is stored in the PLC's CPU. Using the BOTTOM side of the transmissive sensor 8 as the reference plane, the distance from the BOTTOM side to the bottom of the dispensing machine 5, minus the distance measured by the transmissive sensor, yields the required movement distance. The PLC automatically calculates and adjusts the position of the dispensing mechanism 5. Similarly, by adding the measured sample data to the distance from the center of the gripper to the BOTTOM side of the light curtain of the transmissive sensor 8, the distance the gripper's up and down motors should move can be determined.

[0057] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent automatic patch placement device, characterized in that, include: Box structure (1), two vision cameras (2), the vision cameras (2) are installed inside the box (1) and can identify, photograph and position the samples and strain gauges in the intermediate stage (6) and strain gauge stage (10) to adjust the movement position of the dispensing machine (5) and the robotic arm (2). The robotic arm (3) is installed inside the box (1). The vision camera (2) identifies and sends coordinates to the robotic arm (3) so that it can correctly pick up strain gauges and move to the relative position through the built-in program to perform loading and unloading operations and positive and negative pressure blowing and sucking operations. The three-axis stepper motor linkage device (4) drives the dispensing machine (5) to move together. The position and speed of the three axes can be set on the human-machine interface (13) of the housing (1). After the height of the standard sample is detected by the through-type sensor detection device (8), the height of the Z axis of the three axes can be automatically adjusted so that it fits the surface of the standard sample for dispensing. Dispensing machine (5), the dispensing machine is installed in the box (1), the shape is a needle-type dispensing device, the upper part is connected to the gas pipe, and the dispensing amount is controlled by adjusting the pressure and dispensing time; The flipping mechanism (7) is installed inside the housing (1). The flipping mechanism (7) is operated by a stepper motor driving the electric mechanical gripper, and also by three stepper motors controlling the forward and backward movement of the flipping mechanism (7). The electric gripper itself has two motors that control the rotation and clamping / loosening of the gripper respectively. Loading and unloading platform (9), which is a platform for placing standard samples. Loading and unloading operations will begin and end on the loading and unloading platform (9). The intermediate loading platform (6) is installed at the center of the box (1) and connected to the through-type sensor to facilitate direct measurement of the height of the standard sample for adjusting the position of the mechanism. The sample in the middle of the intermediate loading platform (6) is the position where the visual recognition photograph is taken. A circular backlight (18) is contained at the bottom of the platform so that the visual camera (2) can achieve high accuracy in recognizing samples of different colors and thicknesses. The strain gauge carrier platform (10) is installed inside the housing (1). The upper vision camera (2) identifies the coordinates emitted by the strain gauge to control the robotic arm (3) to pick up the strain gauge. Safety light curtain (11) is installed at the front of the housing (1) to prevent operators from inserting body parts or unrelated tools into the housing (1) of the running equipment. If the safety light curtain (11) detects any non-standard operation, it will stop the operation of the equipment.

2. The automatic strain gauge mounting device according to claim 1, characterized in that: The robotic arm (3) has a pneumatic slide (301), an elastic suction cup (302), and an elastic suction nozzle (303) at its end. The pneumatic slide (301) is fixedly connected to the end of the robotic arm (3). The elastic suction cup (302) and the elastic suction nozzle (303) are both connected to the end of the robotic arm (3). The suction nozzle (303) is a custom-made rubber suction nozzle of the same size as the strain gauge, used for positive and negative pressure suction and placement of standard samples and strain gauges.

3. The automatic strain gauge mounting device according to claim 1, characterized in that: The three-axis stepper motor linkage device (4) includes three stepper motors: an X-axis motor (401), a Y-axis motor (403), and a Z-axis motor (402). When the X-axis motor (401) moves, it carries the Y-axis motor and moves together with the Z-axis motor. When the Y-axis motor (403) moves, it carries the Z-axis motor (402) and moves together. The Z-axis motor (402) moves independently. The three-axis motors move together at a fixed speed to their relative positions. The Z-axis motor (402) needs to detect its specific height through a transmissive sensor (8) to adjust its own movement position.

4. The automatic strain gauge mounting device according to claim 1, characterized in that: The flipping mechanism (7) includes an up-and-down stepper motor (701), a gripper rotary motor (702), a gripper clamping and releasing motor (703), a gripper front-and-back motor (704), and a gripper chuck (705). When the gripper forward motor (704) moves, it carries all the components of the gripper. When the gripper up-and-down motor (701) moves, it carries the entire electromechanical gripper (7). The degree of up and down movement must be adjusted by detecting the specific height through a permeable sensor (8).

5. The automatic strain gauge mounting device according to claim 1, characterized in that: The intermediate loading platform (6) and strain gauge loading stage (10) are each connected to a vision camera (2). There is a circular backlight (18) that is always on in the middle of the intermediate loading platform (6) to illuminate the sample from below, so that the vision camera (2) can achieve high accuracy when taking pictures and recognizing samples.

6. The automatic strain gauge mounting device according to claim 1, characterized in that: The enclosure (1) has openable cabinet doors (12) installed on the other three sides except the front. The front of the enclosure (1) includes a human-machine interface (13), a main switch (14), an indicator light (15), a running switch and emergency stop switch (16), and a pressure gauge (17), all of which are connected to the enclosure.

7. The automatic strain gauge mounting device according to claim 1, characterized in that: The loading and unloading platform (9) is installed inside the box (1). As the first step of the overall operation, the robotic arm (3) will pick up the sample from the loading and unloading platform (9) and put it into the intermediate loading platform (6) through the sample suction cup (302).

8. The automatic strain gauge mounting device according to claim 5, characterized in that: The intermediate loading platform (6) is installed inside the housing (1) and together with the through-type sensor (8) to facilitate the direct detection of the height of the standard sample after placing it on the intermediate loading platform (6).

9. The automatic strain gauge mounting device according to claim 1, characterized in that: The strain gauge loading stage (10) is installed inside the housing (1). The strain gauge loading stage (10) itself has a backlight function, which allows the vision camera (2) to more accurately identify the coordinates of the strain gauge.

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