CN109335672A - It is a kind of it is high-accuracy pick and place material process control and intelligent analysis method - Google Patents
It is a kind of it is high-accuracy pick and place material process control and intelligent analysis method Download PDFInfo
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- CN109335672A CN109335672A CN201811163215.XA CN201811163215A CN109335672A CN 109335672 A CN109335672 A CN 109335672A CN 201811163215 A CN201811163215 A CN 201811163215A CN 109335672 A CN109335672 A CN 109335672A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention is intended to provide a kind of pick-and-place material circulation time for picking and placing material board, reduction equipment cost and process control and intelligent analysis method for promoting the high-accuracy pick-and-place material for taking discharge mechanism simpler of capable of effectively shortening.The method of the present invention process the following steps are included: product supplied materials is taken pictures, vacsorb product process, product raising and lowering motion process, Product Level moving process, product discharge process；Above-mentioned steps carry out process control and statistical analysis to seven movements that product in automatic loading/unloading board picks and places respectively, so that the precision distribution of each deliberate action quantitative can embody, so that the tolerance chain optimization for seven action sequence compositions provides quantitative data reference.The present invention is applied to automation control area.
Description
Technical field
The present invention relates to automation control area, in particular to a kind of high-accuracy process control for picking and placing material and intellectual analysis
Method.
Background technique
In automatic loading/unloading board, product, which picks and places, needs seven basic movements that could complete.Product automatic loading/unloading
The detailed pick-and-place movement of seven in the process are as follows: 1) product DUT is positioned in Tray disk, and DUT generally can be pre- in the recessed grain of Tray disk
Gap is stayed, which increase the fluctuation ranges of product orientation；2) XYZ axis is moved to feeding position, and suction nozzle is positioned on product DUT
Side；3) suction nozzle holding contacts (or keeping and product certain distance) with product, picks up product；4) after picking up product, on suction nozzle
Move to safe altitude；5) XY acceleration is moved to discharge position；6) suction nozzle is displaced downwardly to blowing height；7) suction nozzle vacuum breaker discharges product
To locating slot, a product picks and places circulation and completes, and suction nozzle moves to next product space in Tray disk and carries out next circulation behaviour
Make.In existing automation loading and unloading board, to guarantee design accuracy, each movement needs to integrate two sets of camera mould groups, a set of
Camera mould group of taking a crane shot for before feeding to the accurate positional recognition of product, it is a set of to face upward shooting camera mould group, after to product is picked up
Position identification on suction nozzle.Product pickup and release could be accurately positioned after only obtaining the calibration coordinate of two sets of cameras simultaneously
Position.But newly-increased camera mould group causes overall cost higher.In addition, the addition of camera mould group, needs dynamic in automation loading and unloading
The movement for additionally increasing by two camera calibrateds during making needs to be moved to the stop of phase seat in the plane, and photographic analysis is waited to complete,
Therefore entire circulation time increases.When being related to that multiple products are synchronous to be picked and placed, each product needs are individually taken pictures, the time into
One step increases.It greatly reduces picking and placing to expect efficiency, time cost is increased.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a kind of pick-and-place material that can effectively shorten
The pick-and-place material circulation time of board reduces equipment cost and promotes the process of high-accuracy pick-and-place material for taking discharge mechanism simpler
Control and intelligent analysis method.
The method of the invention the technical scheme adopted is that this method be applied to vacuum cap type pick and place material board on,
It is provided with transparency glass plate on picking and placing material board, each operating position for picking and placing and expecting is corresponded under transparency glass plate and is all provided with
It is equipped with one and faces upward shooting camera, a mobile high angle shot camera is provided with above the supplied materials charging tray of product, this method includes following step
It is rapid:
(1) product supplied materials is taken pictures process: being taken pictures, is obtained to each product in charging tray by the mobile high angle shot camera
The angular deviation of the deviation, edge of the position coordinates and charging tray groove center position of all products, to obtain feeding original state
The position of product and deflection state distributed intelligence；
(2) vacsorb product process: product being placed in above transparent glass and carries out sucking action, and described to face upward shooting camera real-time
The pictorial information of product space is obtained, and obtains the preceding center change information and angle change with product after absorption of absorption and believes
Breath；
(3) product raising and lowering motion process: described to face upward before shooting camera rises product and after rising in place, before product decline
With fall into place after face upward bat, in real time obtain product space pictorial information, contrast product rise before with rise in place after, product
Product space deviation before decline and after falling into place determines movement velocity, the acceleration of vacuum chuck according to the position deviation
Or impact is to the influence degree of product orientation precision, and the information is fed back to machine platform controller；
(4) Product Level moving process: described to face upward before shooting camera translates product and face upward bat after translation, real-time acquisition product position
The pictorial information set, the product space deviation before contrast product translation and after translation, determines vacuum chuck according to the position deviation
Movement velocity, acceleration or impact to the influence degree of product orientation precision, the negative pressure value for adjusting vacuum chuck inner cavity carrys out pipe
Suction is controlled, the coefficient of friction of vacuum chuck plane and product surface is increased, increases rubbing for vacuum chuck plane and product surface
Wipe power；
(5) product discharges process: described to face upward shooting camera and face upward bats to the release process of product, the picture of acquisition product space in real time
Information after detecting that product drops to the notch position of the locating slot in charging tray, then discharges product, falls on product down completely
In the charging tray region of setting.
Further, further comprising the steps of after the step (5): by the step (1)-(5), to expect picking and placing
In seven elemental motion positioning accuracy and may cause the factor of deviation and detected, obtain the tests of a large amount of description precision
Data recycle CPK analysis method, parse production process, find out high priority control factor, position undesirable root, optimize
CPK efficiency；By the repeatable data that GRR is tested, all pairs of process management and controls of confirmation have the factor for generating stabilizing influence, then
Principal component analysis is carried out for these random parameters, obtains the priority arrangement of all impact factors, then pass through everything
The quantitative detection data of link or the different factor test datas of some action link, obtain the degree of correlation between each parameter,
Finally confirm independent main factor, provides foundation for subsequent eliminate the effects of the act.
The beneficial effects of the present invention are: the present invention carries out precision analysis only for the mechanical action process of pick-and-place, find out
The factor that all automation action links cause a deviation, and analysis and management-control method are provided, in the case where not introducing camera mould group
The analysis that can be quantified understands the influence of precision distribution and details factors to CPK in deliberate action；In picking and placing action sequence,
Seven steps of simple mechanical formula are most basic, indispensable movements.Cancel camera to take pictures process, that is, eliminates extra movement sequence
Column, to save circulation time；All course control method for use of the present invention can act each automation in detailed process
Carry out quantitative statistics credit analysis, the results of statistical analysis in action chain can be used as the reference frame of process management and control, for batch
The analysis of high frequency motion data is measured, then intelligentized can excavate more valuable informations；Course control method for use of the invention can pass through
The precision for obtaining each automation movement with experiment is quantitatively captured to deliberate action to be distributed, and introduce the possibility of system deviation because
Element, and the data of accumulation are further obtained by batch experiment, and using statistical analysis method to the precision of action process into
The accurate description of row；Intellectual analysis is carried out for batch accumulation data, is conducive to the relationship between quantitative control technological parameter and CPK,
The key factor of CPK influence can be reduced by carrying out principal component analysis and correlation analysis simultaneously, mutually be closed between positioning parameters
Connection；Present invention eliminates multiple camera mould groups in traditional charging & discharging machine platform, and it reduce hardware costs, while decreasing dynamic
Make sequence, reduce circulation time, improves efficiency of movement.
Detailed description of the invention
Fig. 1 is the simple process figure of product automatic loading/unloading process；
Fig. 2 is distribution figure of the product in charging tray before feeding in step (1)；
Fig. 3 is to pick and place the material simple schematic diagram of motion profile.
Specific embodiment
As shown in Figure 1 to Figure 3, process of the present invention is as follows:
The present invention carries out going deep into quantitative detecting analysis by picking and placing material step to seven standards in universal loading and unloading board, as
Quantitative course control method for use, most important of which is that constructing quantitative testing device for each movement.
Product is the entire initial deviation for picking and placing material process in the location status of supplied materials state.Position of the product in charging tray
There are various possibility for state, carry out calculating of taking pictures to product each in charging tray by movable type high angle shot camera, obtain institute
There is the angular deviation of the position coordinates of product and the deviation, edge of groove center position, it is hereby achieved that feeding original state produces
The position of product and deflection state distribution.
Suction nozzle draws the process of product, is suction nozzle inner cavity stroke vacuum, promotes the gas between suction nozzle and product in microgap
Stream effect generates suction and product is drawn to suction nozzle end face.The process is related with the size of microgap and microgap interior air-flow is divided
Cloth is related, this two factors may cause the movement introducing deviation for drawing product.Product is placed and is carried out above transparent glass
Sucking action obtains the picture of product space by facing upward shooting camera below glass in real time, and analyze before absorption with draw after product
Center variation and angle change.
The movement of suction nozzle raising and lowering may cause the impact to product Z-direction, therefore two movement steps may
Because impact introduces product space deviation.When the driving that moves up and down is using motor, suction nozzle up and down motion can be effectively controlled it and add
Moderating process, but when driving upside down is cylinder class component, the feature that moment stops and moment starts may then be brought larger
Momentum, and the momentum may cause product slight bounce in suction nozzle end face.When product is subjected to unpredictable Z axis momentum
When, small position bounce introduces uncontrollable factor, and will lead to the positional shift that any direction is randomly generated in product, or even straight
It connects and is detached from suction and falls.By facing upward bat analysis, the product position of comparison movement front and back with after acting to before product movement
Setting deviation can determine that the influence of movement velocity, acceleration or impact to product orientation precision.
Suction nozzle accelerates mobile or rotation with XY axis, due to acceleration or centrifugal force product may be deflected, because
This translational motion may be because that movement velocity or acceleration introduce product space deviation.The negative pressure value of control suction nozzle inner cavity can be passed through
Suction is managed, to further regulate and control the coefficient of friction between suction nozzle end face and product surface, this frictional force is to overcome acceleration
The important guarantee of degree and centrifugal force is also the important parameter for managing product space deviation precision in translation motion.By to production
Product movement before with movement after face upward bat analysis, comparison movement front and back product space deviation can determine that movement velocity, acceleration or
Impact the influence to product orientation precision.
When discharging product, suction nozzle inner cavity will generate certain blowing gas stream, to ensure the vacuum environment of suction nozzle inner cavity by completely fast
The destruction of speed, avoids product that from can not being still accurately positioned by portion of residual suction.Due to the effect of blowing gas stream, product discharges process
It necessarily will cause shift in position, therefore should ensure that product short transverse within positioning grain during discharging.
The quantitative detecting method controlled by above procedure, to picking and placing the positioning accuracy of seven elemental motion in material and can
The factor of deviation can be caused to be detected.It is detected according to the automation movement for picking and placing material, can get a large amount of description essences
The test data of degree, and vision measuring method is used to can guarantee that measurement accuracy is far below movement warp.Using CPK analysis method,
Production process is parsed, high priority control factor is found out, helps to position undesirable root, optimize CPK efficiency.Process is deteriorated
It with product average value is determined by the multi-party link such as product design personnel, production process designer and tune machine technical staff.
By GRR test repeatable data, confirmation all pairs of process management and controls have generate stabilizing influence factor, then for these with
Machine parameter carries out principal component analysis, can get the priority arrangement of all impact factors.In the quantitative inspection by all links
Measured data or the different factor test datas of some link movement, study the degree of correlation that each parameter is shown in, confirm independent master
Factor.
The present invention carries out process control and statistics credit to seven movements that product in automatic loading/unloading board picks and places respectively
Analysis, so that the precision distribution of each deliberate action quantitative can embody, thus for the tolerance of seven action sequences composition
Chain optimization provides quantitative data reference.It is directed to the data acquisition and movement monitoring method and put down that each deliberate action uses simultaneously
Platform then can be used as universal detection solution and extend in other automation motion analyses.Therefore, the process that the present invention refers to
Control has generalization and universality with intelligent analysis method.
The present invention is applied to automation control area.
Claims (2)
1. a kind of high-accuracy process control and analysis method for picking and placing material, which is characterized in that this method is applied to vacuum cap type
It picks and places on material board, is provided with transparency glass plate on picking and placing material board, corresponds under transparency glass plate and pick and place each of material
A operating position is provided with one and faces upward shooting camera, and a mobile high angle shot camera is provided with above the supplied materials charging tray of product, should
Method the following steps are included:
(1) product supplied materials is taken pictures process: being taken pictures, is obtained to each product in charging tray by the mobile high angle shot camera
The angular deviation of the deviation, edge of the position coordinates and charging tray groove center position of all products, to obtain feeding original state
The position of product and deflection state distributed intelligence；
(2) vacsorb product process: product being placed in above transparent glass and carries out sucking action, and described to face upward shooting camera real-time
The pictorial information of product space is obtained, and obtains the preceding center change information and angle change with product after absorption of absorption and believes
Breath；
(3) product raising and lowering motion process: described to face upward before shooting camera rises product and after rising in place, before product decline
With fall into place after face upward bat, in real time obtain product space pictorial information, contrast product rise before with rise in place after, product
Product space deviation before decline and after falling into place determines movement velocity, the acceleration of vacuum chuck according to the position deviation
Or impact is to the influence degree of product orientation precision, and the information is fed back to machine platform controller；
(4) Product Level moving process: described to face upward before shooting camera translates product and face upward bat after translation, real-time acquisition product position
The pictorial information set, the product space deviation before contrast product translation and after translation, determines vacuum chuck according to the position deviation
Movement velocity, acceleration or impact to the influence degree of product orientation precision, the negative pressure value for adjusting vacuum chuck inner cavity carrys out pipe
Suction is controlled, the coefficient of friction of vacuum chuck plane and product surface is increased, increases rubbing for vacuum chuck plane and product surface
Wipe power；
(5) product discharges process: described to face upward shooting camera and face upward bats to the release process of product, the picture of acquisition product space in real time
Information after detecting that product drops to the notch position of the locating slot in charging tray, then discharges product, falls on product down completely
In the charging tray region of setting.
2. the high-accuracy process control and analysis method for picking and placing material of one kind according to claim 1, which is characterized in that in institute
It is further comprising the steps of after stating step (5):
By the step (1)-(5), to the positioning accuracy for picking and placing in material seven elemental motions and may cause deviation because
Element is detected, and is obtained the test data of a large amount of description precision, is recycled CPK analysis method, parse production process, find out Gao You
First grade manages factor, positions undesirable root, optimizes CPK efficiency；By the repeatable data that GRR is tested, it is all right to confirm
Process management and control has the factor for generating stabilizing influence, then carries out principal component analysis for these random parameters, and acquisition is had an impact
The priority arrangement of the factor, then by the quantitative detection data of everything link or some action link it is different because
Sub- test data, obtains the degree of correlation between each parameter, finally confirms independent main factor, provides foundation for subsequent eliminate the effects of the act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811163215.XA CN109335672B (en) | 2018-09-30 | 2018-09-30 | High-precision material taking and discharging process control and intelligent analysis method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811163215.XA CN109335672B (en) | 2018-09-30 | 2018-09-30 | High-precision material taking and discharging process control and intelligent analysis method |
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| CN109335672A true CN109335672A (en) | 2019-02-15 |
| CN109335672B CN109335672B (en) | 2020-09-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020238538A1 (en) * | 2019-05-31 | 2020-12-03 | 宁波舜宇光电信息有限公司 | Workpiece handling system, workpiece positioning system and positioning method therefor |
| CN112867386A (en) * | 2019-11-27 | 2021-05-28 | 苏州旭创科技有限公司 | Automatic chip mounting device, suction nozzle thereof and automatic chip mounting method |
| CN118106808A (en) * | 2024-04-23 | 2024-05-31 | 深圳市腾阁机电实业有限公司 | Feeding control method of numerical control lathe and numerical control lathe thereof |
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| CN118106808A (en) * | 2024-04-23 | 2024-05-31 | 深圳市腾阁机电实业有限公司 | Feeding control method of numerical control lathe and numerical control lathe thereof |
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| Publication number | Publication date |
|---|---|
| CN109335672B (en) | 2020-09-18 |
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