Visual feeding device for gantry electroplating line

Abstract

The utility model relates to a kind of visual feeding device of gantry electroplating line, including robot, controller, robot is connected by cable with controller and is controlled by controller robot works, the connecting flange of the sixth axis of robot is installed with PCB board suction cup, the back top of PCB board suction cup is installed with camera holder, the top of camera holder is installed with camera, and the lens of camera is same with the suction surface of PCB board suction cup, camera is connected with controller by cable.A useful effect is: after robot suction PCB board, it is moved to the board fixture that is to be clamped PCB board directly below, controller first controls camera to shoot the photo of the board fixture and PCB board top that is to be clamped, controller controls robot to move upwards according to the photo obtained, so that the top of PCB board reaches the clamping position of board fixture, thereby solve the problem that part board fixture cannot accurately clamp PCB board due to flying bar deformation, so that robot automatic feeding and discharging can be promoted in industry.

Description

Technical Field

[0001] This utility model relates to the field of loading technology for gantry electroplating lines, and in particular to a visual loading device for gantry electroplating lines. Background Technology

[0002] In printed circuit board electroplating equipment, different types of equipment are used depending on the specific needs, with gantry electroplating lines accounting for more than half of the total. Generally, gantry lines use manual loading and unloading methods, but this manual loading and unloading method is gradually being replaced by robots.

[0003] Because gantry electroplating equipment uses a flybar (a structure with a rectangular tube and conductive copper flat plate) with plate clamps to hold PCB boards, and the flybar is suspended at both ends from the edge of the electroplating tank, the PCB board is inserted into the tank for electroplating. To meet production requirements, the flybar is long and heavy. Due to gravity, the flybar deforms to varying degrees from both ends to the middle, gradually concave in the middle, with the maximum deformation reaching 10mm. This deformation causes the clamps on the flybar to shift, no longer maintaining a straight line. Because the deformation degree of each flybar is inconsistent, and the existing robotic automatic loading and unloading actions are fixed and cannot change with the flybar deformation, some plate clamps cannot accurately hold the PCB board, causing the PCB board to detach from the clamps during electroplating. This makes it difficult to promote the labor-saving and efficiency-enhancing model of robotic automatic loading and unloading replacing manual loading and unloading. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned problems in the existing technology and provide a visual feeding device for a gantry electroplating line.

[0005] To achieve the above-mentioned technical objectives and effects, this utility model is implemented through the following technical solution:

[0006] A vision-based loading device for a gantry electroplating line includes a robot and a controller. The robot is connected to the controller via a cable, and the controller controls the robot's operation.

[0007] A PCB board suction cup is installed on the connecting flange of the sixth axis of the robot. A camera bracket is installed on the top back of the PCB board suction cup, and a camera is installed on the top of the camera bracket. The lens of the camera faces the same direction as the suction surface of the PCB board suction cup. The camera is connected to the controller via a cable.

[0008] The top of the camera mount is higher than the top of the PCB board suction cup.

[0009] The camera lens is parallel to the suction surface of the PCB board suction cup, and the distance between the camera lens and the suction surface of the PCB board suction cup is 65mm.

[0010] Preferably, two light source holders are also installed on the top back of the PCB board suction cup, and a long strip light source is installed on each side of the top of the light source holder located on both sides of the camera.

[0011] Furthermore, two parallel connecting plates extending toward the same side of the PCB board suction cup are fixed to the back of the PCB board suction cup, and a long strip-shaped plating plate suction cup is fixed to the front of the connecting plate away from the PCB board suction cup.

[0012] The beneficial effects of this utility model are as follows: After the robot picks up the PCB board, it moves directly below the board fixture to be clamped. The controller first controls the camera to take pictures of the board fixture and the top of the PCB board. Based on the acquired pictures, the controller controls the robot to move upward so that the top of the PCB board reaches the clamping position of the board fixture. This solves the problem that some board fixtures cannot accurately clamp the PCB board due to the deformation of the flybar, and enables the automatic loading and unloading of robots to be promoted in the industry. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0014] Figure 1 This is a front view schematic diagram of part of the structure of the visual feeding device in this utility model during feeding;

[0015] Figure 2 This is a side view of part of the structure of the visual feeding device in this utility model during feeding.

[0016] Figure 3 This is a schematic diagram of the suction surfaces of the PCB board suction cup and the plating plate suction cup in this utility model;

[0017] Figure 4 This is a schematic diagram of the back of the PCB board suction cup and the plating plate suction cup in this utility model;

[0018] The following are the labels in the diagram: PCB board suction cup 1, suction hole 11, air extraction interface 12, mounting base 13, first proximity switch 14, support plate 15, camera bracket 2, camera 3, light source bracket 4, strip light source 5, connecting plate 6, plating plate suction cup 7, suction hole 2 71, air extraction interface 2 72, second proximity switch 73, flybar 100, square tube 101, conductive copper flat plate 102, board clamp 200, fixed clamp arm 201, movable clamp arm 202, compression spring 203, PCB board 300, plating plate 400. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] like Figures 1 to 2 As shown, the flybar 100 of the existing gantry electroplating line includes a square tube 101 and a conductive copper flat plate 102. Multiple evenly distributed plate clamps 200 are mounted on the conductive copper flat plate 102. Each plate clamp 200 includes a fixed clamping arm 201 and a movable clamping arm 202. The upper part of the fixed clamping arm 201 is bolted to one side of the conductive copper flat plate 102. The middle part of the movable clamping arm 202 is hinged to the middle part of the fixed clamping arm 201. A compression spring 203 is clamped between the upper part of the movable clamping arm 202 and the upper part of the fixed clamping arm 201. During loading, the clamp opening and closing mechanism of the existing gantry electroplating line presses down on the upper part of the movable clamping arm 202, causing the lower part of the movable clamping arm 202 to rotate away from the fixed clamping arm 201, thereby opening the gap between the lower part of the movable clamping arm 202 and the lower part of the fixed clamping arm 201.

[0021] like Figures 1 to 4 As shown, a visual loading device for a gantry electroplating line includes a robot and a controller. The robot is connected to the controller via a cable and the controller controls the robot's operation.

[0022] A PCB board suction cup 1 is installed on the connecting flange of the robot's sixth axis. The specific installation structure is as follows: a mounting base 13 is fixed to the center of the back of the PCB board suction cup 1, and the mounting base 13 is connected to the connecting flange of the robot's sixth axis with bolts.

[0023] The PCB suction cup 1 is square and contains four cavities. Four sets of suction holes 11 connected to the cavities are located on the front of the PCB suction cup 1, and four air extraction ports 12 connected to the cavities are located on the back of the PCB suction cup 1. Each cavity has one set of suction holes 11 and one air extraction port 12. A first proximity switch 14 for detecting the distance between the PCB suction cup 1 and the PCB board 300 is installed in the center of the top of the PCB suction cup 1.

[0024] A camera holder 2 is installed on the top back of the PCB board suction cup 1. Two light source holders 4 are also installed on the top back of the PCB board suction cup 1. The specific installation structure is as follows: two support plates 15 perpendicular to the back of the PCB board suction cup 1 are fixed to the back of the PCB board suction cup 1. Both the camera holder 2 and the light source holder 4 are L-shaped. The vertical sides of the camera holder 2 and the vertical sides of the light source holder 4 are respectively installed on the support plates 15 with screws.

[0025] Camera 3 is mounted on the top of camera stand 2. Specifically, camera 3 is mounted on the top of the horizontal side of camera stand 2 with screws, and the lens of camera 3 faces the same direction as the suction surface of PCB board suction cup 1. The camera is connected to the controller via a cable. On the top of light source stand 4, on both sides of camera 3, a long strip light source 5 is mounted. Specifically, the strip light source 5 is mounted on the top of the horizontal side of light source stand 4 with screws. The strip light source 5 is directly powered by the factory's power grid, that is, the power supply of the strip light source is plugged into the power strip of the factory's power grid.

[0026] The top of the camera holder 2 is higher than the top of the PCB board suction cup 1 to prevent the lens of the camera 3 from being blocked by the PCB board suction cup 1 when the camera 3 is mounted on the top of the camera holder.

[0027] The central axis of camera 3 is perpendicular to the plane of the suction surface of PCB board suction cup 1. The lens end of camera 3 is parallel to the suction surface of PCB board suction cup 1. The distance between the lens end of camera 3 and the suction surface of PCB board suction cup 1 is 65mm to avoid collision between the lens of camera 3 and board fixture during loading.

[0028] Two parallel connecting plates 6 extending to the same side of the PCB board suction cup 1 are fixed to the back of the PCB board suction cup 1. The connecting plates 6 are rectangular. A long strip-shaped plating plate suction cup 7 is fixed to the front of the connecting plate 6 away from the PCB board suction cup 1. The plating plate suction cup 7 is rectangular. The plating plate suction cup 7 has two cavities. The front of the plating plate suction cup 7 has two sets of suction holes 71 that are connected to the two cavities. The back of the plating plate suction cup 7 has two air extraction ports 72 that are connected to the two cavities. The top of the plating plate suction cup 7 is equipped with a second proximity switch 73 for detecting the distance between the plating plate suction cup 7 and the plating plate 400.

[0029] After the robot picks up the PCB board, it moves directly below the board clamping fixture. This position is programmed by the controller to ensure that the PCB board suction cup stops at the same height each time it is directly below the board clamping fixture. The controller first controls the camera to take pictures of the board clamping fixture and the top of the PCB board. Based on the pictures, the controller calculates the distance L between the top of the PCB board and the bottom of the board clamping fixture at its highest point. Then, based on the calculated distance L and the preset height of the area where the PCB board needs to be clamped, the controller controls the robot to move upward so that the top of the PCB board reaches the clamping position of the board clamping fixture. This solves the problem that some board clamping fixtures cannot accurately clamp PCB boards due to flybar deformation, enabling the automatic loading and unloading of robots to be promoted in the industry.

[0030] In this embodiment, a FANUC Robot M-10iD / 12 robot, an R-30iB Mate Plus controller, a Basler acA1920-48gm camera, and an L10017 strip light source are used. The camera lens is 8mm.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A visual loading device for a gantry electroplating line, characterized in that: It includes a robot and a controller. The robot is connected to the controller via a cable, and the controller controls the robot's operation. A PCB board suction cup is installed on the connecting flange of the sixth axis of the robot. A camera bracket is installed on the top back of the PCB board suction cup, and a camera is installed on the top of the camera bracket. The lens of the camera faces the same direction as the suction surface of the PCB board suction cup. The camera is connected to the controller via a cable.

2. The visual loading device according to claim 1, characterized in that: The top of the camera mount is higher than the top of the PCB board suction cup.

3. The visual loading device according to claim 1, characterized in that: The lens end of the camera is parallel to the suction surface of the PCB board suction cup, and the distance between the lens end of the camera and the suction surface of the PCB board suction cup is 65mm.

4. The visual loading device according to claim 1, characterized in that: Two light source holders are also installed on the top back of the PCB board suction cup, and a long strip light source is installed on each side of the top of the light source holder located on both sides of the camera.

5. The visual loading device according to claim 1, characterized in that: Two parallel connecting plates extending toward the same side of the PCB board suction cup are fixed to the back of the PCB board suction cup. A long strip-shaped plating plate suction cup is fixed to the front of the connecting plate away from the PCB board suction cup.

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