CN103635073A - Automatic attaching device - Google Patents
Automatic attaching device Download PDFInfo
- Publication number
- CN103635073A CN103635073A CN201310187038.XA CN201310187038A CN103635073A CN 103635073 A CN103635073 A CN 103635073A CN 201310187038 A CN201310187038 A CN 201310187038A CN 103635073 A CN103635073 A CN 103635073A
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- CN
- China
- Prior art keywords
- referential
- respect
- computer
- angles
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000000151 deposition Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010030 laminating Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
In the field of part automatic attaching in automatic production processes, attaching processes of an automatic attaching machine which is popular in market at present mainly comprise three steps: 1, obtaining parts; 2, moving the part to the front of a camera, calculating coordinates of the part relative to a reference system and a placing angle of the part relative to the reference system; 3, and a computer correcting manipulator parameters according to calculation results and then putting the part to a target position. The automatic attaching device of the invention does not need the second step, and reduces time needed in the whole attaching process.
Description
Technical field
The present invention relates to be widely used in the improvement of the automatic laminating machine in components and parts automatic laminating field.
Background technology
The attaching process of popular automatic laminating machine mainly comprises 3 steps on the market at present: 1, obtain part, 2, moving parts calculates part with respect to the angles of referential before camera, 3, computer is according to putting part to target location after result of calculation correction manipulator parameter.The present invention has removed the 2nd step, has reduced the time of whole attaching process need.
Summary of the invention
The invention discloses a kind of automatic attachment device, comprise computer, camera, manipulator, is characterized in that:
(1) computer is according to the image of depositing the part of looking ahead, identify this part with respect to the coordinate of referential and part the angles with respect to referential, after computer calculating manipulator obtains the mobile alignment of part and obtains part, moving parts is to the route of target location, computer control machinery hand obtains part, and to target location moving parts;
(2) computer is obtained after part according to manipulator, from storing place, move to the process of target location, from the image of camera, calculate in real time part with respect to the coordinate of referential and part the angles with respect to referential;
(3) before computer is acquired according to part and in moving process, the part calculating is the angles with respect to referential with respect to the coordinate of referential and part, with respect to coordinate, the part target putting position of referential, with respect to the angles of referential, ask in real time poor with part target putting position, and carry out corresponding rectification in real time.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of automatic attachment device schematic diagram, wherein:
1, manipulator;
2, camera;
3, camera head fixing device;
4, computer.
Embodiment
Install:
(1) camera is fixed on manipulator;
(2) control signal of manipulator is received to computer;
(3) camera output signal line is received to computer;
Use:
(1) take the photo deposit the part of looking ahead, therefrom extract target part figure and color parameter, store simultaneously part with respect to the coordinate of referential and part with respect to the angles of referential to computer;
(2) take part target putting position photo, therefrom extract target part figure and color parameter, store simultaneously part with respect to the coordinate of referential and part with respect to the angles of referential, store computer into;
(3) training computer is controlled manipulator and is captured the part of looking ahead, and moving parts, to target location, is set up and optimal control parameter;
(4) carry out normal production operation.
Claims (1)
1. an automatic attachment device, comprise computer, camera, manipulator, it is characterized in that: (1) computer is according to depositing the image of the part of looking ahead, identify this part with respect to the coordinate of referential and part the angles with respect to referential, after computer calculates manipulator and obtains the mobile alignment of part and obtain part, moving parts is to the route of target location, computer control machinery hand obtains part, and to target location moving parts; (2) computer is obtained after part according to manipulator, from storing place, move to the process of target location, from the image of camera, calculate in real time part with respect to the coordinate of referential and part the angles with respect to referential; (3) before computer is acquired according to part and in moving process, the part calculating is the angles with respect to referential with respect to the coordinate of referential and part, with respect to coordinate, the part target putting position of referential, with respect to the angles of referential, ask in real time poor with part target putting position, and carry out corresponding rectification in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310187038.XA CN103635073A (en) | 2012-08-26 | 2013-05-20 | Automatic attaching device |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220424376.1 | 2012-08-26 | ||
| CN201220424376 | 2012-08-26 | ||
| CN201310187038.XA CN103635073A (en) | 2012-08-26 | 2013-05-20 | Automatic attaching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103635073A true CN103635073A (en) | 2014-03-12 |
Family
ID=50215539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310187038.XA Pending CN103635073A (en) | 2012-08-26 | 2013-05-20 | Automatic attaching device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103635073A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2867813Y (en) * | 2006-01-11 | 2007-02-07 | 广东风华高新科技股份有限公司 | Swing-type electronic element paster |
| US20080005892A1 (en) * | 2006-07-07 | 2008-01-10 | Takafumi Chida | Setting device, component mounting system, program and calculating method |
| CN201274636Y (en) * | 2008-07-11 | 2009-07-15 | 上海现代科技发展有限公司 | Visual full-automatic chip mounter capable of image recognition |
| CN201967306U (en) * | 2011-02-28 | 2011-09-07 | 四川马尔斯科技有限责任公司 | Manual multifunctional surface mounting system for photoelectric device |
| JP2012043874A (en) * | 2010-08-17 | 2012-03-01 | Panasonic Corp | Component mounting device and component detection method |
| JP2012043873A (en) * | 2010-08-17 | 2012-03-01 | Panasonic Corp | Component mounting device and component detection method |
-
2013
- 2013-05-20 CN CN201310187038.XA patent/CN103635073A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2867813Y (en) * | 2006-01-11 | 2007-02-07 | 广东风华高新科技股份有限公司 | Swing-type electronic element paster |
| US20080005892A1 (en) * | 2006-07-07 | 2008-01-10 | Takafumi Chida | Setting device, component mounting system, program and calculating method |
| CN201274636Y (en) * | 2008-07-11 | 2009-07-15 | 上海现代科技发展有限公司 | Visual full-automatic chip mounter capable of image recognition |
| JP2012043874A (en) * | 2010-08-17 | 2012-03-01 | Panasonic Corp | Component mounting device and component detection method |
| JP2012043873A (en) * | 2010-08-17 | 2012-03-01 | Panasonic Corp | Component mounting device and component detection method |
| CN201967306U (en) * | 2011-02-28 | 2011-09-07 | 四川马尔斯科技有限责任公司 | Manual multifunctional surface mounting system for photoelectric device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140312 |