CN103313591A - Part identification system and part identification method - Google Patents

Abstract

The present invention relates to a part identification system, which is used to drive an automated device to pick up a part and adjust the pins of the part to a preset position. The part includes a top, a bottom and at least one group of pins, the pins are arranged at the bottom, and the top includes at least one positioning feature. The part identification system includes a feeding device, an optical sensor and a data processing device. The feeding device adjusts the part to a predetermined placement state for the automated device to pick up. The optical sensor is installed on one side of the feeding device, and captures a sampling data from the top of the part located in the predetermined placement state. The data processing device is electrically connected to the optical sensor and the automated device. The data processing device receives the sampling data, generates an instruction based on the positioning feature in the sampling data, and transmits the instruction to the automated device to drive the automated device to pick up the part and then rotate the part according to the instruction.

Description

Part identification system and part identification method

【Technical field】

The invention relates to an automatic assembly of parts, in particular to a part identification system and a part identification method.

【Background technique】

When making a circuit board, such as a computer motherboard, many electronic parts must be placed on a printed circuit board (PCB) one by one and soldered. The aforementioned electronic components include at least two pins. For example, in addition to the cylindrical body, the capacitor also includes two prongs, and the two prongs have positive and negative poles respectively. The PCB substrate includes pre-set sockets corresponding to the two pins respectively. The two prongs must be inserted into the correct jack according to the positive and negative poles before welding can be performed.

The operation of placing the aforementioned electronic components on the substrate and inserting the pins into the correct sockets is currently mainly done manually. Although the automation device can quickly place parts on the circuit board, after the automation device picks up the plug-in parts, it cannot judge the difference between the relative positions of the pins and the relative positions of the jacks. Therefore, in practice, the plug-in parts are arranged manually, and the relative positions of the pins are adjusted in advance, so that the automation device only needs to translate the plug-in parts to insert the pins into the correct jacks. Arrangement of plug-in parts by manpower makes the production of circuit board products such as motherboards a task with high manpower requirements, making it difficult to reduce labor costs.

【Content of invention】

In the background art, after the automation device picks up the plug-in parts, it cannot judge the difference between the relative positions of the pins and the relative positions of the jacks. Therefore, it is necessary to arrange the plug-in parts with a large amount of manpower in advance, and adjust the relative positions of the pins. Therefore, the production of circuit board products such as mainboards becomes an operation requiring high manpower.

In view of this, the present invention provides a part recognition system and a part recognition method, which can provide the rotation angle to the automation device, so that the automation device can automatically adjust the feet of the parts to the correct relative position.

The part recognition system of the present invention is used to generate an instruction to drive an automatic device to pick up a part and adjust the pin of the part to a preset position. The part includes a top, a bottom and a set of pins, and the pins are arranged on the bottom. The top includes at least one positioning feature. The part identification system includes a feeding device, an optical sensor and a data processing device.

The feeding device adjusts the parts to a predetermined placement state for the automatic device to pick up. The optical sensor is arranged on one side of the feeding device, and collects a sampling data from the top of the part in the predetermined placement state. The data processing device is electrically connected to the optical sensor and the automation device. The data processing device receives the sampling data, generates instructions according to the positioning features in the sampling data, and transmits the instructions to the automation device to drive the automation device to pick up the parts and rotate the parts according to the instructions.

In the component identification system of the present invention, the predetermined placement state is that the pins are adjusted to a direction suitable for insertion into a socket of a printed circuit board.

The parts identification system of the present invention, wherein the feeding device includes a vibrating material selector and a feeding track, the vibrating material selecting machine adjusts the parts to a predetermined placement state, the feeding track receives the parts from the vibrating material selecting machine, and the parts are transported to the end of the feed track for pickup by automation.

In the part identification system of the present invention, the vibrating material selection machine includes a tray and a vibrating device, the tray accommodates at least one part, and the feeding track is connected to the tray, and the vibrating device is connected to the tray, along the direction from the center to the circumference of the tray Shake the tray.

In the part identification system of the present invention, the optical sensor is a camera lens, which captures the image of the top of the part and generates sampling data.

In the part recognition system of the present invention, a preset position data is stored in the data processing device, which represents the corresponding position of the positioning feature on the top, and the data processing device receives the sampling data, analyzes the position of the positioning feature, and compares the position with the The position data is preset, so as to judge the required rotation angle of the part and generate a corresponding command.

In the part identification system of the present invention, the optical sensor is arranged on the automatic device.

The part recognition system of the present invention further includes a light source with a specified wavelength, which is used to project light with a specified wavelength to a preset position of the positioning feature, and the optical sensor obtains the reflection intensity of the light with a specified wavelength as sampling data, and the data processing device is based on The reflection intensity judges whether the part is in the correct state of the relative position of the pins, and generates instructions to rotate the part to an angle suitable for the plug-in.

The invention also discloses a part identification method, which is used to drive an automatic device to rotate the part and adjust the pins of the part to a preset position after picking up the part. The component includes a top, a bottom and at least one set of pins, the pins are arranged on the bottom, and the top includes at least one positioning feature.

The part identification method includes the following steps:

Use a feeding device to transport the parts to the front end of a feeding track, and adjust the parts to a predetermined placement state;

Capture a sample data from the top of the part with an optical sensor;

Loading a preset position to a data processing device, representing the corresponding position of the positioning feature on the top;

The data processing device receives the sampling data, and analyzes the position of the positioning feature on the top;

Using the data processing device to compare the position of the positioning feature on the top with the preset position data;

Based on the predetermined position and the position of the positioning feature on the top, the material handling device determines the required rotation angle of the part according to the direction of its long axis; and

Use the data processing device to transmit the rotation angle to the automation device.

In the component identification method of the present invention, the predetermined placement state is that the pins are adjusted to a direction suitable for insertion into a socket of a printed circuit board.

The effect of the present invention is that after the automation device picks up the parts, it further rotates the parts so that the pins of the parts can match the jacks of the main board. Therefore, the parts do not need to be arranged by manpower, which saves the need for manpower, and also improves the efficiency of the part installation operation.

【Description of drawings】

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

FIG. 1 is a schematic perspective view of a first embodiment of the present invention.

FIG. 2 is a three-dimensional schematic diagram of components and a printed circuit board according to the first embodiment of the present invention.

FIG. 3 is a schematic perspective view of a feeding device according to a first embodiment of the present invention.

FIG. 4 is a three-dimensional schematic diagram of components and a printed circuit board according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of a part recognition system according to the first embodiment of the present invention.

FIG. 6 is a three-dimensional schematic diagram of an automation device and an optical sensor according to a second embodiment of the present invention.

FIG. 7 is a schematic diagram of a part recognition system according to a third embodiment of the present invention.

FIG. 8 is a flow chart of steps of a part identification method according to an embodiment of the present invention.

Description of main component symbols:

100 Feeding Device                                                                                                                                    

111 pallets 112 vibration devices

120 feeding tracks 200 optical sensors

300 data processing device 600 conveying equipment

700 printed circuit board 710 jack

800 parts 810 top

811 positioning feature 820 bottom

830-pin 900 automation device

910 pickup unit

【Detailed ways】

Please refer to FIG. 1, which is a parts recognition system disclosed in the first embodiment of the present invention, used to generate an instruction to drive an automatic device 900 after picking up (Pick-up) a part 800 (insertion-part) , adjust the pin 830 of the component 800 to a preset position, and place the component 800 on a printed circuit board 700 .

Referring to FIG. 2 , the component 800 includes a top 810 , a bottom 820 and at least one set of pins 830 disposed on the bottom 820 . The top 810 of the part 800 includes at least one positioning feature 811 . The printed circuit board 700 includes sockets 710 for inserting corresponding pins 830 . The automation device 900 picks up the part 800 and installs the part 800 on the printed circuit board 700 so that each pin 830 is inserted into the corresponding socket 710 .

The automation device 900 shown in FIG. 1 includes a picking unit 910 for picking up the part 800 . The picking unit 910 includes but is not limited to a vacuum nozzle and a gripper. The automation device 900 also provides four-axis motion to the picking unit 910 to move the part 800 .

The four-axis includes three linear axes and one rotary axis. The three linear axes include a first axis and a second axis that translate on the printed circuit board 700 , and a third axis that is vertically close to or away from the surface of the printed circuit board 700 . The axis of rotation is parallel to the third axis so that the component 800 is rotated.

As shown in FIG. 1 , the part identification system includes a feeding device 100 , an optical sensor 200 and a data processing device 300 .

As shown in FIG. 1 , the feeding device 100 is disposed beside a conveying device 600 , and the conveying device 600 is used to convey the printed circuit board 700 to a predetermined position. The feeding device 100 is used for providing parts 800 and adjusting the parts 800 to a predetermined placement state. The predetermined placement state is to adjust the pin 830 to a direction suitable for insertion into the socket 710 of the printed circuit board 700 , so that the automation device 900 can pick up the part 800 and place the part 800 on the printed circuit board 700 .

As shown in Figures 1 and 3, the feeding device 100 is used to supply parts 800, and adjust the parts 800 to a predetermined placement state, such as a state where the pins 830 are all down, so that a plurality of parts 800 are arranged in sequence, and all present a predetermined state. put state.

As shown in FIG. 3 , the feeding device 100 includes a vibrating material separator 110 and a feeding track 120 . The vibration sorter 110 is used to adjust the part 800 to a predetermined placement state. The vibration sorter 110 includes a tray 111 and a vibration device 112 .

As shown in FIG. 4 , the tray 111 is used to accommodate at least one part 800 . The vibrating device 112 is connected to the tray 111, and vibrates the tray 111 in the circumferential direction with the center of the tray 111, so that the parts 800 move toward the edge of the tray 111a, and rely on the edge of the tray 111 to move in the circumferential direction, so that its state gradually changes It is a predetermined placement state, such as the state where the pin 830 is down.

As shown in Figure 3, the feeding track 120 is connected to the tray 111, in order to receive parts 800 from the tray 111 of the vibrating material separator 110, and these parts 800 are adjusted to a predetermined placement state, and are delivered to the side of the feeding track 120. The end is picked up by the automated device 900 . The parts 800 located in the feed track 120 are individually arranged upright and one by one. The bottom 820 and pin 830 of each part 800 are located on the feeding track 120 , while the top 810 of each part 800 faces out of the feeding track 120 .

As shown in Figures 2 and 4, when the part 800 is on the feeding device 100, the relative position of the pin 830 does not necessarily correspond to the relative position of the socket 710 on the printed circuit board 700, so after the automatic device 900 picks up the part 800, it must Rotating part 800 along the center point of base 820 moves pins 830 to the correct configuration position to correspond to receptacles 710 of printed circuit board 700 . In this way, after the automation device 900 moves the component 800 onto the printed circuit board 700 in a translational manner, the pins 830 can be inserted into the correct sockets 710 .

As shown in Figures 2 and 4, in the first embodiment, if the part 800 is a capacitor, and the bottom 820 of the feeding track 120 is provided with a slot that can only slide through a single pin 830, then the placement state of the part 800 This is a state where the relative positions of the pins 830 are correct, or a state where the two pins 830 are opposite to each other. Therefore, the required rotation angle of the part 800 according to the direction of its major axis is zero degrees or 180 degrees. At this time, in the sampled data, the positioning feature 811 may be at a preset position, so the part 800 needs to be rotated at zero degrees; the positioning feature 811 may completely deviate from the preset position, so the part 800 needs to be rotated at an angle of 180 degrees.

As shown in FIG. 2 and FIG. 4 , in the embodiment where the component 800 is a capacitor, the component 800 includes two pins 830 . The two pins 830 respectively correspond to the positive pole and the negative pole of the capacitor. The common situation is that after the part 800 is moved from the vibrating material selector 110 to the feeding track 120, the positive and negative poles of the capacitor are reversed; directly moving this part 800 to the printed circuit board 700 will cause the two pins 830 to be inserted into the wrong one. Jack 710.

As shown in FIG. 2 and FIG. 4 , the positioning feature 811 of the part 800 can be a specially added mark, for example, the top 810 of the part 800 is a circle, and half of the circle is painted with paint to form a semicircular positioning feature 811 , and the positioning feature 811 corresponds to the pin 830 of the positive pole of the component 800 . In other embodiments, the top portion 810 may include a concave notch or a convex portion as the positioning feature 811 .

As shown in FIG. 1 and FIG. 5 , the optical sensor 200 is installed on one side of the feeding device 100 for capturing a sampling data from the top 810 of the part 800 in a predetermined placement state. The part 800 to be sampled is the frontmost part 800 of the feeding track 120 , and this part 800 is also the object to be picked up by the automatic device 900 . In a specific application example, the optical sensor 200 is a camera lens, such as a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor Device (CMOS), which is set corresponding to the feeding track 120 to capture the image of the part 800 The image of the top 810 is used to generate a sample data.

The data processing device 300 is electrically connected to the optical sensor 200 and the automation device 900 , and a preset position data is stored in the data processing device 300 , representing the corresponding position of the positioning feature 811 on the top 810 of the part 800 . The data processing device 300 receives the sampling data, analyzes the position of the positioning feature 811 on the top 810 of the part 800, and compares the position with the preset position data, thereby judging the required rotation angle of the part 800 according to its long axis direction, and based on the sampling data A corresponding command is generated by the positioning feature in the system, and the command is transmitted to the automation device 900 to drive the automation device 900 .

After the automation device 900 receives the instruction from the data processing device 300 , in addition to picking up (Pick-Up) the part 800 on the feeding track 120 , it further rotates the part 800 according to the rotation angle. For example, rotate 180 degrees along the long axis of the component 800 so that the pins 830 of the component 800 can match the jacks 710 of the motherboard. Then the automation device 900 translates the part 800 to the position above the printed circuit board 700 corresponding to the socket 710 , and places the part 800 on the printed circuit board 700 downward. The automation device 900 adjusts the component 800 according to the rotation angle, so that each pin 830 of the component 800 can be correctly inserted into the corresponding socket 710 .

Please refer to FIG. 6 , which is the part recognition system disclosed in the second embodiment of the present invention. In the second embodiment, the optical sensor 200 is disposed on the automation device 900 and roughly parallel to the pick-up unit 910 . When the jig of the automation device 900 moves over the part 800 to be picked, the optical sensor 200 moves over the part 800 together, and captures an image of the top 810 as sampling data.

Please refer to FIG. 7 , which is the part recognition system disclosed in the third embodiment of the present invention. In the third embodiment, the component recognition system includes an optical sensor 200 , a light source 210 with a specified wavelength and a data processing device 300 . As mentioned above, for a component 800 such as a capacitor, the component 800 includes a state in which the relative positions of the pins 830 are correct, and a state in which the two pins 830 are opposite to each other. In this embodiment, when the relative position of the pin 830 is correct, the specified wavelength light source 210 directly projects the specified wavelength light to the preset position of the positioning feature 811, such as projecting a red laser (laser) to the positioning feature 811 through an optical fiber . And the reflectivity of the positioning feature 811 for light of a specified wavelength is different from the reflectivity of other parts of the top 810 .

When the two pins 830 are opposite to each other, the specified wavelength light is projected to other parts of the top 810 of the part 800, so that the reflection intensity of the specified wavelength light is different from the reflection intensity of the positioning feature 811; for example, the positioning feature 811 can be specified for absorption. The markings formed by the paint of the wavelength light, and thus the reflection intensity from other parts of the top 810 will be much higher than the reflection intensity of the positioning feature 811.

The reflection intensity of light with a specified wavelength is obtained by the optical sensor 200 as sampling data, and after comparison with the reflection intensity of light with a specified wavelength on the positioning feature 811, the data processing device 300 can determine whether the component 800 is in a state where the relative position of the pin 830 is correct, and Instructions are generated to rotate part 800 to an angle appropriate for the insert. In the third embodiment, the optical sensor 200 does not need to be a CCD or CMOS that can capture a complete image, but a specific filter can be added to the photoelectric switch, so that the photoelectric switch can only receive light of a specified wavelength, and the reflection intensity Triggered when greater than a certain value.

As shown in Figure 8, based on the above-mentioned part recognition system, the present invention further proposes a part recognition method for generating a rotation angle to drive an automatic device 900 to pick up a part 800 (insertion-part ), automatically rotate the part 800 to adjust the pin 830 of the part 800 to a preset position.

According to this method, at least one part 800 is first provided by the feeding device 100, as shown in Step 110. The component 800 includes a top 810, a bottom 820 and at least one set of pins 830. The pins 830 are disposed on the bottom 820 corresponding to a plurality of jacks 710 of a printed circuit board 700, and the top 810 of the component 800 is provided with at least one positioning feature 811 .

Then, use the feeding device 100 to transport the insert 800 to the front end of a feeding track 120, and adjust the part 800 to a predetermined placement state, for example, the bottom 820 and the pin 830 of the part 800 are located on the feeding track 120 and downward, and The top 810 of each part 800 is towards the outside of the feeding rail 120, and makes a plurality of parts 800 arranged in sequence, as shown in Step 120.

The automation device 900 is used to pick up the part 800 from the front end, and install the part 800 on the printed circuit board 700 , so that each pin 830 is inserted into the corresponding socket 710 . The bottom 820 and the pins 830 of the part 800 are located on the feeding track 120 , while the top 810 of the part 800 faces out of the feeding track 120 , that is, the bottom 820 and the pins 830 are down, and the top 810 is up. A specific application example of conveying the parts 800 to the feeding track 120 includes sending a plurality of parts 800 to the feeding track 120 through a vibration sorter 110 , so that the parts 800 are individually upright and arranged on the feeding track 120 one by one.

Next, use an optical sensor 200 to capture a sampling data from the top 810 of the part 800 at the front end of the feeding track 120, as shown in Step 130.

Load a preset position data to a data processing device 300, representing the corresponding position of the positioning feature 811 on the top 810 of the part 800, as shown in Step 140.

Next, the data processing device 300 receives the sampling data, analyzes the position of the positioning feature 811 on the top 810 of the part 800, and the data processing device 300 compares the position of the positioning feature 811 on the top 810 with the preset position data, such as Step 152 and Step 154 shown.

Finally, based on the preset position data and the position of the positioning feature 811 on the top 810, the data processing device 300 determines the required rotation angle of the part 800 according to its long axis direction, and transmits the relevant information of the rotation angle to the automation device 900, such as Step 160 and shown in Step 170.

Before installing the part 800 with a new specification, the data processing device 300 first performs a learning process to establish the reference image data of the top 810 of the part 800 and set the default position data. During the learning process, the data processing device 300 first obtains an image of the top 810 of the part 800 , and the part 800 is manually adjusted to a correct placement state, so that the relative positions of the pins 830 match the relative positions of the jacks 710 . That is, the automation device 900 only needs to translate the part 800 to correctly insert each pin 830 into the corresponding socket 710 . Next, the data processing device 300 drives the optical sensor 200 to capture a sampling data, and selects the positioning feature 811 in the sampling data to determine the required preset position of the positioning feature 811 .

After learning, the data processing device 300 can store the images of the top 810 of various parts 800 and the preset positions required by the positioning features 811 . When the automation device 900 receives a new instruction to install a different part 800 each time, the data processing device 300 can judge the type of the part 800 from the instruction, or judge the type of the part 800 from the top 810 image, and then load the positioning feature 811 required Default position.

After the automation device 900 receives the rotation angle, in addition to picking up (Pick-Up) the part 800 on the feeding rail 120, it further rotates the part 800 according to the rotation angle, so that the pin 830 of the part 800 can match the socket 710 of the motherboard. Therefore, the parts 800 can be supplied to the feed rail 120 by the vibratory sorter 110 without regard to whether the prongs 830 are in the correct relative positions. Therefore, the parts 800 do not need to be arranged on the feeding track 120 by manpower, which saves the need for manpower and improves the efficiency of the installation of the parts 800 at the same time.

Although the embodiments of the present invention are disclosed as above, they are not intended to limit the present invention. Anyone skilled in the relevant art can use the shapes, structures, and features described in the application scope of the present invention without departing from the spirit and scope of the present invention. and quantity can be slightly changed, so the scope of patent protection of the present invention must be defined by the scope of patent application attached to this specification.

Claims (10)

1. part identification system, pick up a part and adjust described part to a predeterminated position in order to drive an automation equipment, wherein said part comprises a top, a bottom and at least one group of pin, described at least one group of pin is arranged at described bottom, and described top comprises a location feature, it is characterized in that, described part identification system includes:

One pay-off is adjusted the predetermined laying state of described part to and is picked up for described automation equipment;

One optical sensor is installed in a side of described pay-off, and the described top that certainly is positioned at the described part of described predetermined laying state captures a sampling data; And

One data processing equipment is electrically connected described optical sensor and described automation equipment;

Wherein, described data processing equipment receive described sampled data, according to the described location feature in the described sampled data produce an instruction, with described command to described automation equipment, with after driving described automation equipment and picking up described part, rotate described part according to described instruction.

2. part identification system according to claim 1 is characterized in that, described predetermined laying state is for being adjusted to described pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.

3. part identification system according to claim 1 is characterized in that, described pay-off comprises:

One vibrations sorting machine is adjusted described part to described predetermined laying state; And

One feed track receives described part from described vibrations sorting machine, and the end that described part is transported to described feed track picks up for described automation equipment.

4. part identification system according to claim 3 is characterized in that, described vibrations sorting machine comprises:

One pallet, accommodating at least one part, and described feed track connects described pallet; And

One shaking device is connected in described pallet, shakes described pallet along center to the circumferencial direction of described pallet.

5. part identification system according to claim 1 is characterized in that, described optical sensor is a pick-up lens, and it captures the image at the top of described part, with the described sampled data of generation.

6. part identification system according to claim 5, it is characterized in that, store predeterminated position data in the described data processing equipment, represent described location feature and need corresponding position in described top, and described data processing equipment receives described sampled data, analyze the position of described location feature, and compare described position and described predeterminated position data, thereby judge the needed anglec of rotation of described part and produce a corresponding instruction.

7. part identification system according to claim 1 is characterized in that, described optical sensor is arranged at described automation equipment.

8. part identification system according to claim 1, it is characterized in that, more comprise a specified wavelength light source, in order to throw described specified wavelength light to the described predeterminated position of described location feature, and described optical sensor obtains described specified wavelength reflection of light intensity as sampled data, described data processing equipment judges according to described reflected intensity whether described part is in the correct state of described pin relative position, and produces described instruction to rotate described part to the angle that is suitable for plug-in unit.

9. part discrimination method, in order to drive an automation equipment in picking up a part, rotate described part and adjust pin to a predeterminated position of described part, wherein said part comprises a top, a bottom and at least one group of pin, described at least one group of pin is arranged at the bottom, and described top comprises a location feature at least, it is characterized in that, described part discrimination method may further comprise the steps:

Carry the front end of described part to feed track with a pay-off, and adjust the predetermined laying state of described part to;

Capture a sampled data with an optical sensor from the top of described part;

Load predeterminated position data to a data processing equipment, described predeterminated position data represent described location feature and need corresponding position in described top;

Receive described sampled data with described data processing equipment, and analyze described location feature in the position at described top;

Compare described location feature in position and the described predeterminated position data at described top with described data processing equipment;

In the position at described top, described place material processing device judges that described part is according to the needed anglec of rotation of its long axis direction based on described predeterminated position data and described location feature; And

Transmit the relevant information of the described anglec of rotation with described data processing equipment to described automation equipment.

10. part discrimination method according to claim 9 is characterized in that, described predetermined laying state is for being adjusted to described pin the direction placement that is suitable for inserting a printed circuit board (PCB) jack.

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