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WO2022078242A1 - 表面贴装设备及表面贴装方法 - Google Patents

表面贴装设备及表面贴装方法 Download PDF

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Publication number
WO2022078242A1
WO2022078242A1 PCT/CN2021/122639 CN2021122639W WO2022078242A1 WO 2022078242 A1 WO2022078242 A1 WO 2022078242A1 CN 2021122639 W CN2021122639 W CN 2021122639W WO 2022078242 A1 WO2022078242 A1 WO 2022078242A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
mounting
positioning
transfer
positioning information
Prior art date
Application number
PCT/CN2021/122639
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English (en)
French (fr)
Inventor
曲东升
郜福亮
李长峰
史晔鑫
章谦
吴红军
杨健
胡君君
Original Assignee
常州铭赛机器人科技股份有限公司
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Application filed by 常州铭赛机器人科技股份有限公司 filed Critical 常州铭赛机器人科技股份有限公司
Publication of WO2022078242A1 publication Critical patent/WO2022078242A1/zh

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0406—Drive mechanisms for pick-and-place heads, e.g. details relating to power transmission, motors or vibration damping
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the present disclosure relates to the technical field of electronic assembly, and in particular, to a surface mount device and a surface mount method.
  • the placement machine is a vital device in the Surface Mount Technology (SMT) production line.
  • SMT Surface Mount Technology
  • the traditional surface mount method uses a single placement head, and the placement workpiece and the mounted workpiece are placed in a fixed position. on the workpiece.
  • This surface mount method is simple to implement and low cost.
  • many placement problems will occur, such as: the loss of the placement workpiece will cause invalid placement, the positional offset of the placement workpiece or the mounted workpiece will cause placement deformation, and the placement head will During continuous operation, it is easy to cause problems such as deterioration of placement quality due to accumulation of errors. Therefore, for products with high requirements on placement accuracy and productivity, the traditional placement method is obviously no longer applicable.
  • the present disclosure provides a surface mount Equipment and surface mount methods.
  • a surface mount device includes a first workpiece conveying device, a second workpiece conveying device, and a placement device, wherein the placement device includes a first placement head, a second placement head, a first placement head, and a first placement head.
  • a positioning device, a second positioning device, a third positioning device, a fourth positioning device and a transfer device wherein: the first workpiece conveying device conveys the mounted workpiece to a first loading station, and the first positioning device Positioning the mounted workpiece at the first loading station to obtain first positioning information; the second workpiece conveying device transports the mounted workpiece to the second loading station, and the second positioning device Positioning the mounted workpiece at the second loading station to obtain second positioning information; the first mounting head picks up the workpiece from the first loading station according to the first positioning information The workpiece is mounted and placed on the transfer device, and the third positioning device positions the mounted workpiece placed on the transfer device to obtain third positioning information; the second mounting head is based on the The third positioning information picks up the mounting workpiece from the transfer device, and the fourth positioning device positions the picked mounting workpiece to obtain fourth positioning information; the second mounting head is based on the The fourth positioning information corrects the angle of the picked-up mounting workpiece, and combines the second positioning information to mount the corrected mounting workpiece to the pasted workpiece
  • the mounted workpiece is positioned by the first positioning device, so that the first mounting head can pick up the mounted workpiece and place it on the transfer device, and the third positioning device is used to locate the mounted workpiece on the transfer device.
  • the placement workpiece is positioned for the second placement head to pick up the placement workpiece from the transfer device, the placement workpiece picked up by the second placement head is positioned by the fourth positioning device, and the placement workpiece is positioned by the second positioning device.
  • the workpiece is loaded and positioned, so that the workpiece picked up by the second placement head can be accurately attached to the positioned workpiece, which realizes the loading of the workpiece, the transfer of the workpiece, and the placement of the workpiece in the placement process.
  • the positioning of key position information such as workpiece feeding ensures the placement accuracy.
  • the transfer device is a turntable mechanism
  • the transfer device includes a rotary drive part and at least two transfer seats, at least two of the transfer seats are evenly arranged in the circumferential direction, and the rotary drive part Drive each transfer seat to rotate synchronously, and the transfer device is located between the first loading station and the second loading station; the rotary drive part drives each transfer seat to mount the workpiece at the loading station and the second loading station.
  • the mounting workpiece rotates between the unloading stations, and the first mounting head places the mounting workpiece picked up from the first loading station to the reloading station located at the mounting workpiece loading station
  • the second placement head picks up the placement workpiece from the transfer seat located at the placement workpiece unloading station.
  • the transfer device By setting the transfer device as a turntable mechanism, the transfer and loading of the mounted workpiece, the transfer and unloading and positioning of the mounted workpiece can be completed in parallel, which improves the work efficiency, and reduces the occupation of the transfer device due to the design of the turntable. land area.
  • the rotation driving part includes a motor, a rotating base, and a coupling
  • the transfer device further includes a mounting plate and a light source, wherein: the motor is mounted on the mounting plate, and the rotating The base is connected to the shaft end of the motor through the coupling, and the transfer base is detachably installed above the rotating base; the light source is installed on one side of the motor, and the light source is arranged upward ;
  • the motor drives the transfer base to rotate through the rotating base and the coupling.
  • the rotation driving part drives the reed base to rotate by a predetermined angle at predetermined time intervals.
  • the number of the receptacles is 4, and the predetermined angle is 45°.
  • the transfer seat can be driven to the next station, and the fourth positioning device can rotate the workpieces picked up by the second placement head in the interval rotation. to locate.
  • the fourth positioning device includes a camera and a lens, the lens is mounted on the camera, the lens is disposed toward the light source, and the fourth positioning device is mounted on the workpiece.
  • the placement workpiece picked up by the second placement head is positioned.
  • the fourth positioning device By installing the fourth positioning device on the transfer device, and positioning the mounting workpiece picked up by the second mounting head when there is no transfer seat at the loading and unloading station of the workpiece, the second mounting head is realized.
  • the positioning of the picked-up mounting workpiece makes the design of the positioning station and the transfer station as a whole, which reduces the space occupied by the positioning station when the fourth positioning device performs positioning.
  • the fourth positioning device further includes two sets of lens fixing parts, the two sets of lens fixing parts are mounted on the mounting plate at intervals, and each group of lens fixing parts includes a lens bracket and a lens holding block , the lens bracket is fixed on the mounting plate, and the lens holding block clamps the lens on the lens bracket.
  • the surface mount equipment further includes a placement beam spanning the first loading station, the transfer device, and the second loading station, the first loading station
  • the placement head, the second placement head, the first positioning device, the second positioning device and the third positioning device are all mounted on the placement beam;
  • the placement beam at least includes a horizontal A rail, the first placement head and the second placement head are mounted on the lateral rail and are configured to move along the lateral rail.
  • the first workpiece conveying device includes a first driving part and a first conveying part, the first conveying part carries a fixture for mounting workpieces, and the fixture for mounting workpieces carries a There is a mounting workpiece, the first driving part drives the first conveying part to move, so as to transport the mounting workpiece carried on the first conveying part to the first loading station; the second workpiece
  • the conveying device includes a second driving part and a second conveying part, the second conveying part carries a fixture to be mounted, the fixture to be mounted carries the workpiece to be mounted, and the second driving part
  • the second conveying part is driven to move, so as to convey the mounted workpiece carried on the second conveying part to the second loading station.
  • the first placement head and the second placement head are mounted on the same lateral guide rail; or the first placement head and the second placement head are respectively It is installed on the two lateral guide rails, and the heights of the two lateral guide rails are the same or different.
  • the surface mount device according to the above-mentioned first aspect of the present disclosure is adopted, and the surface mount method includes: feeding the mounted workpiece onto the first top surface
  • the loading station is used to locate the mounted workpiece at the first loading station to obtain the first positioning information
  • the workpiece to be mounted is loaded to the second loading station, and the second loading station is Position the mounted workpiece at the position to obtain second positioning information
  • Obtain fourth positioning information perform angle correction on the picked-up mounting workpiece according to the fourth positioning information, and mount the corrected mounting workpiece on the second loading material according to the second positioning information on the mounted workpiece at the station.
  • the mounting workpiece is positioned by the first positioning device, so that the first mounting head picks up the mounting workpiece and places it on the transfer device, and the third positioning device is used for positioning the mounting workpiece on the transfer device.
  • the placement workpiece is positioned for the second placement head to pick up the placement workpiece from the transfer device, the placement workpiece picked up by the second placement head is positioned by the fourth positioning device, and the placement workpiece is positioned by the second positioning device.
  • the workpiece is loaded and positioned, so that the workpiece picked up by the second placement head can be accurately attached to the positioned workpiece, which realizes the loading of the workpiece, the transfer of the workpiece, and the placement of the workpiece in the placement process.
  • the positioning of key position information such as workpiece feeding ensures the placement accuracy.
  • the picking up the mounting workpiece from the first loading station according to the first positioning information and placing it on the transfer device includes: according to the first positioning information Picking up the mounting workpiece from the first loading station and placing it on the transfer seat at the loading station for the mounting workpiece;
  • the method further includes: transferring the transfer seat from the paste The workpiece loading station is rotated to the loading workpiece unloading station;
  • the picking up the mounted workpiece from the transfer device according to the third positioning information includes: picking up the mounted workpiece from the transfer seat at the unloading station of the mounted workpiece according to the third positioning information. described mounting workpiece;
  • the method further includes: moving the transfer seat at the unloading station of the mounting workpiece to the mounting workpiece The workpiece loading station rotates;
  • the positioning of the picked-up mounting workpiece includes: positioning the picked-up mounting workpiece when the transfer base leaves the mounting workpiece unloading station.
  • FIG. 1 is a schematic structural diagram of a surface mount device according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a transfer device according to an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a surface mount method according to an embodiment of the present disclosure.
  • the first workpiece conveying device 2. The second workpiece conveying device; 3. Mounting equipment; 31. The first mounting head; 32. The second mounting head; 33. The first positioning device; 34. The second positioning device; 35, the third positioning device; 36, the fourth positioning device; 361, the camera; 362, the lens; 363, the lens fixing part; 37, the transfer device; 371, the transfer seat; 372, the motor; 373, the rotating base; 374 375, mounting plate; 376, light source; 377, photoelectric sensor; 38, mounting beam; 4, mounting workpiece; 5, mounted workpiece.
  • FIG. 1 is a schematic structural diagram of a surface mount device according to an embodiment of the present disclosure.
  • the surface mount device provided by the present disclosure may include a first workpiece conveying device 1 , a second workpiece conveying device 2 and a mounting device 3 .
  • the placement apparatus 3 includes a first placement head 31 , a second placement head 32 , a first positioning device 33 , a second positioning device 34 , a third positioning device 35 , a fourth positioning device 36 and a transfer device 37 .
  • the first workpiece conveying device 1 transports the mounting workpiece 4 to the first loading station, and the first positioning device 33 positions the mounting workpiece 4 at the first loading station to obtain first positioning information.
  • the first workpiece conveying device 1 may include a first driving part and a first conveying part, the first conveying part carries a mounting workpiece fixture, and the mounting workpiece fixture carries a mounting workpiece 4 , the first driving part drives the first conveying part to move, so as to convey the mounting workpiece 4 carried on the first conveying part to the first feeding station.
  • the fixture for mounting workpieces can be a tray, which is used to hold several workpieces 4 to be mounted, and the first workpiece conveying device 1 transports the tray loaded with workpieces 4 to the first feeding Station.
  • the second workpiece conveying device 2 transports the mounted workpiece 5 to the second loading station, and the second positioning device 34 positions the mounted workpiece 5 at the second loading station to obtain second positioning information.
  • the second workpiece conveying device 2 may include a second driving part and a second conveying part, the second conveying part carries a fixture to be mounted, and the fixture to be mounted carries a fixture to be mounted
  • the second driving part drives the second conveying part to move, so as to convey the mounted workpiece 5 carried on the second conveying part to the second loading station.
  • the mounted workpiece 5 can be accommodated in the mounted workpiece fixture, and the second workpiece conveying device 2 transports the mounted workpiece 5 to the second feeding station through the mounted workpiece fixture.
  • the first mounting head 31 picks up the mounting workpiece 4 from the first loading station according to the first positioning information and places it on the transfer device 37 , and the third positioning device 35 positions the mounting workpiece 4 placed on the transfer device 37 , Obtain third positioning information.
  • the second placement head 32 picks up the mounting workpiece 4 from the transfer device 37 according to the third positioning information, and the fourth positioning device 36 positions the picked mounting workpiece 4 to obtain fourth positioning information;
  • the fourth positioning information is used to correct the angle of the picked-up mounting workpiece 4, and the corrected mounting workpiece 4 is mounted on the mounted workpiece 5 at the second loading station in combination with the second positioning information.
  • the surface mount equipment 3 provided by the present disclosure may further include a placement beam 38 spanning the first loading station, the transfer device 37 and the second loading station, a first placement head 31 and a second placement head 32.
  • the first positioning device 33, the second positioning device 34 and the third positioning device 35 are all mounted on the mounting beam 38.
  • the placement beam 38 may include at least a lateral rail on which the first placement head 31 and the second placement head 32 are mounted and configured to move along the lateral rail.
  • the first placement head 31 and the second placement head 32 can be installed on the same lateral guide rail, or can be respectively installed on two lateral guide rails, and the heights of the two lateral guide rails can be the same or can be different.
  • the transfer device 37 provided by the present disclosure may be a turntable mechanism.
  • FIG. 2 is a schematic structural diagram of a transfer device 37 according to an embodiment of the present disclosure.
  • the transfer device 37 includes a rotary drive part and at least two transfer seats 371 , at least two transfer seats 371 are evenly arranged along the circumferential direction, and the rotary drive part drives each transfer seat 371 to rotate synchronously.
  • the transfer device 37 is located between the first loading station and the second loading station.
  • the rotary drive unit drives each transfer seat 371 to rotate between the mounting workpiece loading station and the mounting workpiece unloading station, and the first mounting head 31 places the mounting workpiece 4 picked up from the first loading station on the mounting workpiece.
  • the second mounting head 32 picks up the mounted workpiece 4 from the transfer seat 371 located at the unloading station of the mounted workpiece.
  • the transfer device 37 as a turntable mechanism, the transfer and loading of the mounted workpiece 4 and the transfer and unloading and positioning of the mounted workpiece 4 can be completed in parallel, thereby improving work efficiency. And due to the design of the turntable, the footprint of the transfer device 37 is reduced.
  • the rotation driving part drives the reed base 371 to rotate by a predetermined angle every predetermined time interval.
  • the predetermined angle may be 45°.
  • the re-loading base 371 can be driven to the next station, and the fourth positioning device 36 can rotate the second sticker at intervals.
  • the mounting workpiece 4 picked up by the mounting head 32 is positioned.
  • the rotation driving part in the transfer device 37 may include a motor 372, a rotating base 373, and a coupling 374, and the transfer device 37 may further include a mounting plate 375, a light source 376, a motor fixing seat, and a light source seat.
  • the motor 372 is installed on the mounting plate 375, the rotating base 373 is connected to the shaft end of the motor 372 through the coupling 374, the transfer base 371 is detachably installed above the rotating base 373;
  • the light source 376 is installed on one side of the motor 372, the light source 376 is arranged upward, the light source seat is fixed on the mounting plate 375, and the light source 376 is fixed on the light source seat;
  • the motor 372 is fixedly installed on the lower part of the motor fixing seat, and the motor fixing seat is fixed on the mounting plate 375, and the motor 372 rotates through the base 373 and
  • the coupling 374 drives the transfer base 371 to rotate.
  • the fourth positioning device 36 may include a camera 361 and a lens 362 , the lens 362 is mounted on the camera 361 , and the lens 362 is disposed toward the light source 376 , and the fourth positioning device 36 is not installed at the workpiece blanking station The placement workpiece 4 picked up by the second placement head 32 is positioned when the base 371 is transferred.
  • the fourth positioning device 36 may also include two sets of lens fixing members 363, the two sets of lens fixing members 363 are installed on the mounting plate 375 at intervals, and each set of lens fixing members 363 includes a lens bracket and a lens holding block, and the lens bracket is fixed on the mounting plate 375. On the plate 375, the lens holding block clamps the lens 362 on the lens holder.
  • the first positioning device 36 is realized.
  • the positioning of the mounting workpiece 4 picked up by the two mounting heads 32 makes the positioning station and the transfer station design as one, reducing the space occupied by the positioning station when the fourth positioning device 36 performs positioning.
  • the photoelectric sensor 377, the photoelectric sensor mounting plate and the photoelectric blocking plate are arranged on the transfer device 37.
  • the photoelectric sensor mounting plate is fixed on the side of the above-mentioned motor fixing seat by fasteners, and the photoelectric sensor 377 is fixed on the photoelectric sensor mounting plate.
  • the photoelectric baffle is fixed under the rotating shaft. As the transfer base 371 rotates, the photoelectric block passes through the photoelectric sensor 377 to obtain a signal, and the upper computer knows the current position of the motor 372 and controls the motor 372 to turn to the initial position.
  • the mounting workpiece is positioned by the first positioning device, so that the first mounting head can pick up the mounting workpiece and place it on the transfer device, and the third positioning device
  • the placement workpiece on the transfer device is positioned for the second placement head to pick up the placement workpiece from the transfer device, and the placement workpiece picked up by the second placement head is positioned by the fourth positioning device, and the second positioning device is used for positioning.
  • Position the mounted workpiece so that the mounted workpiece picked up by the second mounting head can be accurately attached to the positioned mounted workpiece, and realize the loading of the mounted workpiece, the transfer of the mounted workpiece, and the Positioning of key position information such as loading of the workpiece to be mounted, thus ensuring the placement accuracy.
  • FIG. 3 is a flowchart of a surface mount method according to an embodiment of the present disclosure.
  • the surface mount method adopts the surface mount device shown in FIG. 1 and can be implemented by software, hardware or a combination of software and hardware, such as It can be implemented by a processing unit in a surface mount device, where the processing unit can be a pre-compiled execution program or a chip for storing the execution program.
  • the surface mount method provided by the present disclosure may include the following steps:
  • Step 301 feeding the mounting workpiece to the first loading station, positioning the mounting workpiece at the first loading station, and obtaining first positioning information
  • Step 302 feeding the mounted workpiece to the second feeding station, positioning the mounted workpiece at the second feeding station, and obtaining second positioning information
  • Step 301 and step 302 may be performed synchronously, or step 301 may be performed first and then step 302, or step 302 may be performed first and then step 301.
  • Step 303 picking up the mounting workpiece from the first loading station according to the first positioning information and placing it on the transfer device, positioning the mounting workpiece placed on the transfer device, and obtaining third positioning information;
  • the mounting workpiece When the mounting workpiece is picked up from the first loading station according to the first positioning information and placed on the transfer device, the mounting workpiece can be picked up from the first loading station according to the first positioning information and placed on the mounting workpiece for loading. On the transfer seat at the workstation.
  • the transfer base can be rotated from the mounting workpiece loading station to the mounting workpiece unloading station.
  • Step 304 picking up the mounting workpiece from the reloading device according to the third positioning information, positioning the picked mounting workpiece, and obtaining fourth positioning information;
  • the mounted workpiece When picking up the mounted workpiece from the transfer device according to the third positioning information, the mounted workpiece may be picked up from the transfer seat at the unloading station of the mounted workpiece according to the third positioning information.
  • the transfer seat at the mounting workpiece unloading station can be rotated to the mounting workpiece loading station.
  • the picked-up mounting workpiece When positioning the picked-up mounting workpiece, the picked-up mounting workpiece can be positioned when the transfer seat is away from the mounting workpiece unloading station.
  • Step 305 performing angle correction on the picked-up mounting workpiece according to the fourth positioning information, and mounting the corrected mounting workpiece on the mounted workpiece at the second loading station according to the second positioning information.
  • the mounting workpiece is positioned by the first positioning device, so that the first mounting head can pick up the mounting workpiece and place it on the transfer device, and the third positioning device
  • the placement workpiece on the transfer device is positioned for the second placement head to pick up the placement workpiece from the transfer device, and the placement workpiece picked up by the second placement head is positioned by the fourth positioning device, and the second positioning device is used for positioning.
  • Position the mounted workpiece so that the mounted workpiece picked up by the second mounting head can be accurately attached to the positioned mounted workpiece, and realize the loading of the mounted workpiece, the transfer of the mounted workpiece, and the Positioning of key position information such as loading of the workpiece to be mounted, thus ensuring the placement accuracy.

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Abstract

本公开提供了一种表面贴装设备及表面贴装方法。该表面贴装设备包括第一工件输送装置(1)、第二工件输送装置(2)和贴装设备(3)，通过第一定位装置(33)对贴装工件(4)进行定位，以供第一贴装头(31)拾取贴装工件(4)并放置于转载装置(37)上，通过第三定位装置(35)对转载装置(37)上的贴装工件(4)进行定位，以供第二贴装头(32)从转载装置(37)拾取贴装工件(4)，通过第四定位装置(36)对第二贴装头(32)拾取的贴装工件(4)进行定位，并通过第二定位装置(34)对被贴装工件(5)进行定位，以供第二贴装头(32)拾取的贴装工件(4)准确地贴附于定位的被贴装工件(5)上。

Description

表面贴装设备及表面贴装方法 技术领域
本公开涉及电子组装技术领域，尤其涉及一种表面贴装设备及表面贴装方法。
背景技术
随着电子科技的飞速发展，电子组装行业的自动化程度日益加深，表面贴装技术成为了电子组装行业的关键技术。贴片机是表面贴装技术(Surface Mount Technology，SMT)生产线中至关重要的设备，贴片机的贴装效率和精度决定整个生产线的生产率和质量。
传统的表面贴装方式采用单贴装头，且将贴装工件与被贴装工件放置在固定位置，贴装头在固定位置拾取贴装工件并将贴装工件移送且贴装至被贴装工件上。这种表面贴装方式实现简单，成本较低。然而，在贴装过程中，会发生许多贴装问题，例如：贴装工件丢失会造成无效贴装、贴装工件或者被贴装工件的位置偏置会造成贴装变形，以及贴装头在连续作业时容易因误差积累而造成贴装质量下降等问题。因此，对于贴装精度以及生产率要求较高的产品，传统的贴装方式显然已不再适用。
发明内容
为了解决相关技术中在利用贴装头将贴装工件贴装至被贴装工件上时，由于结构设计简单导致贴装的精度以及生产率均较低的问题，本公开提供了一种表面贴装设备及表面贴装方法。
根据本公开第一方面实施例的表面贴装设备，包括第一工件输送装置、第二工件输送装置和贴装设备，所述贴装设备包括第一贴装头、第二贴装头、第一定位装置、第二定位装置、第三定位装置、第四定位装置和转载装置，其中：所述第一工件输送装置将贴装工件输送至第一上料工位，所述第一定位装置对所述第一上料工位处的贴装工件进行定位，获得第一定位信息；所述第二工件输送装置将被贴装工件输送至第二上料工位，所述第二定位装置对所述第二上料工位处的被贴装工件进行定位，获得第二定位信息；所述第一贴装头根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，所述第三定位装置对所述转载装置上放置的所述贴装工件进行定位，获得第三定位信息；所述第二贴装头根据所述第三定位信息从所述转载装置上拾取所述贴装工件，所述第四定位装置对拾取的所述贴装工件进行定位，获得第四定位信息；所述第二贴装头根据所述第四定位信息对拾取的所述贴装工件进行角度校正，并结合所述第二定位信息将校正后的所述贴装工件贴装至所述第二上料工位处的所述被贴装工件上。
根据本公开实施例的表面贴装设备，通过第一定位装置对贴装工件进行定位，以供第一贴装头拾取贴装工件并放置于转载装置上，通过第三定位装置对转载装置上的贴装工件进行定位，以供第 二贴装头从转载装置拾取贴装工件，通过第四定位装置对第二贴装头拾取的贴装工件进行定位，并通过第二定位装置对被贴装工件进行定位，以供第二贴装头拾取的贴装工件准确地贴附于定位的被贴装工件上，实现了贴装流程中贴装工件上料、贴装工件转载、被贴装工件上料等关键位置信息的定位，从而保证了贴装精度。
根据本公开的一些实施例，所述转载装置为转盘机构，所述转载装置包括旋转驱动部和至少两个转载座，至少两个所述转载座沿周向均匀排布，所述旋转驱动部带动各个转载座同步转动，所述转载装置位于所述第一上料工位和所述第二上料工位之间；所述旋转驱动部带动各个转载座在贴装工件上料工位和贴装工件下料工位之间转动，所述第一贴装头将从所述第一上料工位拾取的所述贴装工件放置于位于所述贴装工件上料工位处的转载座上，所述第二贴装头从位于所述贴装工件下料工位处的转载座上拾取贴装工件。通过将转载装置设置为转盘机构，可以使得贴装工件的转载上料，以及贴装工件的转载下料、定位的工序并行完成，提高了工作效率，且由于转盘设计，减少了转载装置的占地面积。
根据本公开的一些实施例，所述旋转驱动部包括电机、旋转底座、联轴器，所述转载装置还包括安装板和光源，其中：所述电机安装于所述安装板上，所述旋转底座通过所述联轴器连接在所述电机的轴端，所述转载座可拆卸式地安装在所述旋转底座上方；所述光源安装于所述电机的一侧，所述光源朝上设置；所述电机通过所述旋转底座和所述联轴器带动所述转载座转动。
根据本公开的一些实施例，所述旋转驱动部每隔预定时间间隔驱动所述转载座转动预定角度。
根据本公开的一些实施例，所述转载座为4个，所述预定角度为45°。通过设置4个转载座，每次旋转45°，连续旋转两次，可以将转载座带动至下一个工位，第四定位装置可以在间隔的旋转中对第二贴装头拾取的贴装工件进行定位。
根据本公开的一些实施例，所述第四定位装置包括相机和镜头，所述镜头安装在所述相机上，所述镜头朝向所述光源设置，所述第四定位装置在所述贴装工件下料工位处没有转载座时对所述第二贴装头拾取的贴装工件进行定位。通过将第四定位装置安装于转载装置上，且在贴装工件下料工位处未有转载座时对第二贴装头拾取的贴装工件进行定位，既实现了对第二贴装头所拾取的贴装工件的定位，又使得定位工位和转载工位设计为一体，减少了第四定位装置进行定位时的定位工位所占用的空间。
根据本公开的一些实施例，所述第四定位装置还包括两组镜头固定件，两组所述镜头固定件间隔安装在所述安装板上，每组镜头固定件包括镜头支架和镜头抱块，所述镜头支架固定在所述安装板上，所述镜头抱块将所述镜头夹装在所述镜头支架上。
根据本公开的一些实施例，所述表面贴装设备还包括横跨于所述第一上料工位、所述转载装置和所述第二上料工位的贴装横梁，所述第一贴装头、所述第二贴装头、所述第一定位装置、所述第 二定位装置和所述第三定位装置均安装于所述贴装横梁上；所述贴装横梁至少包括横向导轨，所述第一贴装头和所述第二贴装头安装于所述横向导轨上且被配置为沿着所述横向导轨移动。
根据本公开的一些实施例，，所述第一工件输送装置包括第一驱动部和第一输送部，所述第一输送部上承载有贴装工件治具，所述贴装工件治具承载有贴装工件，所述第一驱动部带动所述第一输送部移动，以将所述第一输送部上承载的贴装工件运送至所述第一上料工位；所述第二工件输送装置包括第二驱动部和第二输送部，所述第二输送部上承载有被贴装工件治具，所述被贴装工件治具承载有被贴装工件，所述第二驱动部带动所述第二输送部移动，以将所述第二输送部上承载的被贴装工件运送至所述第二上料工位。
根据本公开的一些实施例，所述第一贴装头和所述第二贴装头安装于同一个所述横向导轨上；或者所述第一贴装头和所述第二贴装头分别安装于两个所述横向导轨上，两个所述横向导轨的高度相同或不同。
根据本公开第二方面实施例的表面贴装方法，采用根据本公开上述第一方面实施例所述的表面贴装设备，所述表面贴装方法包括：将贴装工件上料至第一上料工位，对所述第一上料工位处的贴装工件进行定位，获得第一定位信息；将被贴装工件上料至第二上料工位，对所述第二上料工位处的被贴装工件进行定位，获得第二定位信息；根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，对所述转载装置上放置的所述贴装工件进行定位，获得第三定位信息；根据所述第三定位信息从所述转载装置上拾取所述贴装工件，对拾取的所述贴装工件进行定位，获得第四定位信息，根据所述第四定位信息对拾取的所述贴装工件进行角度校正，根据所述第二定位信息将校正后的所述贴装工件贴装至所述第二上料工位处的所述被贴装工件上。
根据本公开实施例的表面贴装方法，通过第一定位装置对贴装工件进行定位，以供第一贴装头拾取贴装工件并放置于转载装置上，通过第三定位装置对转载装置上的贴装工件进行定位，以供第二贴装头从转载装置拾取贴装工件，通过第四定位装置对第二贴装头拾取的贴装工件进行定位，并通过第二定位装置对被贴装工件进行定位，以供第二贴装头拾取的贴装工件准确地贴附于定位的被贴装工件上，实现了贴装流程中贴装工件上料、贴装工件转载、被贴装工件上料等关键位置信息的定位，从而保证了贴装精度。
根据本公开的一些实施例，所述根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，包括：根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述贴装工件上料工位处的转载座上；
在所述根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上之后，所述方法还包括：将所述转载座从所述贴装工件上料工位处旋转至所述贴装工件下料工位处；
所述根据所述第三定位信息从所述转载装置上拾取所述贴装工件，包括：根据所述第三定位信息从所述贴装工件下料工位处的所述转载座上拾取所述贴装工件；
在所述根据所述第三定位信息从所述转载装置上拾取所述贴装工件之后，所述方法还包括：将所述贴装工件下料工位处的所述转载座向所述贴装工件上料工位旋转；
所述对拾取的所述贴装工件进行定位，包括：在所述转载座离开所述贴装工件下料工位处时，对拾取的所述贴装工件进行定位。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本公开。
附图说明
本公开中的附图被并入说明书中并构成说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是根据本公开实施例的表面贴装设备的结构示意图；
图2是根据本公开实施例的转载装置的结构示意图；
图3是根据本公开实施例的表面贴装方法的流程图。
附图标记如下：
1、第一工件输送装置；2、第二工件输送装置；3、贴装设备；31、第一贴装头；32、第二贴装头；33、第一定位装置；34、第二定位装置；35、第三定位装置；36、第四定位装置；361、相机；362、镜头；363、镜头固定件；37、转载装置；371、转载座；372、电机；373、旋转底座；374、联轴器；375、安装板；376、光源；377、光电传感器；38、贴装横梁；4、贴装工件；5、被贴装工件。
具体实施方式
下面将详细地说明示例性实施例，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施例并不代表与本公开相一致的所有实施例。相反，它们仅是与所附权利要求书中所限定的本公开的一些方面相一致的装置和方法的示例。
图1是根据本公开实施例的表面贴装设备的结构示意图。本公开提供的表面贴装设备可以包括第一工件输送装置1、第二工件输送装置2和贴装设备3。贴装设备3包括第一贴装头31、第二贴装头32、第一定位装置33、第二定位装置34、第三定位装置35、第四定位装置36和转载装置37。
第一工件输送装置1将贴装工件4输送至第一上料工位，第一定位装置33对第一上料工位处的贴装工件4进行定位，获得第一定位信息。
在一种可能的实现中，第一工件输送装置1可以包括第一驱动部和第一输送部，第一输送部上承载有贴装工件治具，贴装工件治具承载有贴装工件4，第一驱动部带动第一输送部移动，以将第一输送部上承载的贴装工件4运送至第一上料工位。
在实际生产中，贴装工件治具可以为料盘，料盘用于承装若干个贴装工件4，第一工件输送装置1将装载有贴装工件4的料盘输送至第一上料工位。
第二工件输送装置2将被贴装工件5输送至第二上料工位，第二定位装置34对第二上料工位处的被贴装工件5进行定位，获得第二定位信息。
在一种可能的实现中，第二工件输送装置2可以包括第二驱动部和第二输送部，第二输送部上承载有被贴装工件治具，被贴装工件治具承载有被贴装工件5，第二驱动部带动第二输送部移动，以将第二输送部上承载的被贴装工件5运送至第二上料工位。
在实际生产中，被贴装工件5可以容置于被贴装工件治具内，第二工件输送装置2通过被贴装工件治具将被贴装工件5输送第二上料工位。
第一贴装头31根据第一定位信息从第一上料工位拾取贴装工件4并放置于转载装置37上，第三定位装置35对转载装置37上放置的贴装工件4进行定位，获得第三定位信息。
第二贴装头32根据第三定位信息从转载装置37上拾取贴装工件4，第四定位装置36对拾取的贴装工件4进行定位，获得第四定位信息；第二贴装头32根据第四定位信息对拾取的贴装工件4进行角度校正，并结合第二定位信息将校正后的贴装工件4贴装至第二上料工位处的被贴装工件5上。
本公开提供的表面贴装设备3还可以包括横跨于第一上料工位、转载装置37和第二上料工位的贴装横梁38，第一贴装头31、第二贴装头32、第一定位装置33、第二定位装置34和第三定位装置35均安装于贴装横梁38上。
贴装横梁38至少可以包括横向导轨，第一贴装头31和第二贴装头32安装于横向导轨上且被配置为沿着横向导轨移动。显然，在实际应用中，第一贴装头31和第二贴装头32可以安装于同一个横向导轨上，也可以分别安装于两个横向导轨上，这两个横向导轨的高度可以相同也可以不同。
在一种可能的实现方式中，本公开提供的转载装置37可以为转盘机构。图2是根据本公开一个实施例的转载装置37的结构示意图。转载装置37包括旋转驱动部和至少两个转载座371，至少两个转载座371沿周向均匀排布，旋转驱动部带动各个转载座371同步转动。转载装置37位于第一上料工位和第二上料工位之间。
旋转驱动部带动各个转载座371在贴装工件上料工位和贴装工件下料工位之间转动，第一贴装头31将从第一上料工位拾取的贴装工件4放置于位于贴装工件上料工位处的转载座371上，第二贴装头32从位于贴装工件下料工位处的转载座371上拾取贴装工件4。
这样，通过将转载装置37设置为转盘机构，可以使得贴装工件4的转载上料，以及贴装工件4的转载下料、定位的工序并行完成，提高了工作效率。且由于转盘设计，减少了转载装置37的占地面积。
可选地，旋转驱动部每隔预定时间间隔驱动转载座371转动预定角度。进一步地，转载座371可以为4个，预定角度可以为45°。
如此，本公开通过设置4个转载座371，每次旋转45°，连续旋转两次，可以将转载座371带动至下一个工位，第四定位装置36可以在间隔的旋转中对第二贴装头32拾取的贴装工件4进行定位。
本公开提供的转载装置37中的旋转驱动部可以包括电机372、旋转底座373、联轴器374，转载装置37还可以包括安装板375、光源376、电机固定座和光源座。
电机372安装于安装板375上，旋转底座373通过联轴器374连接在电机372的轴端，转载座371可拆卸式地安装在旋转底座373上方；光源376安装于电机372的一侧，光源376朝上设置，光源座固定在安装板375上，光源376固定在光源座上；电机372固定安装在电机固定座的下部，电机固定座固定在安装板375上，电机372通过旋转底座373和联轴器374带动转载座371转动。
仍参见图2所示，第四定位装置36可以包括相机361和镜头362，镜头362安装在相机361上，镜头362朝向光源376设置，第四定位装置36在贴装工件下料工位处没有转载座371时对第二贴装头32拾取的贴装工件4进行定位。
此外，第四定位装置36还可以包括两组镜头固定件363，两组镜头固定件363间隔安装在安装板375上，每组镜头固定件363包括镜头支架和镜头抱块，镜头支架固定在安装板375上，镜头抱块将镜头362夹装在镜头支架上。
通过将第四定位装置36安装于转载装置37上，且在贴装工件下料工位处没有转载座371时对第二贴装头32拾取的贴装工件4进行定位，既实现了对第二贴装头32所拾取的贴装工件4的定位，又使得定位工位和转载工位设计为一体，减少了第四定位装置36进行定位时的定位工位所占用的空间。
转载装置37上设置有光电传感器377、光电传感器安装板和光电挡片，该光电传感器安装板通过紧固件固定在上述电机固定座的侧面，光电传感器377固定在该光电传感器安装板上，该光电挡片固定在所述转轴下方。随着转载座371的转动，光电挡片穿过光电传感器377，获得信号，上位机得知电机372的当前位置，控制电机372转到初始位置。
综上所述，本公开提供的表面贴装设备，通过第一定位装置对贴装工件进行定位，以供第一贴装头拾取贴装工件并放置于转载装置上，通过第三定位装置对转载装置上的贴装工件进行定位，以供第二贴装头从转载装置拾取贴装工件，通过第四定位装置对第二贴装头拾取的贴装工件进行定 位，并通过第二定位装置对被贴装工件进行定位，以供第二贴装头拾取的贴装工件准确地贴附于定位的被贴装工件上，实现了贴装流程中贴装工件上料、贴装工件转载、被贴装工件上料等关键位置信息的定位，从而保证了贴装精度。
根据上述提供的表面贴装设备，本公开还提供了一种表面贴装方法。图3是根据本公开一个实施例的表面贴装方法的流程图，该表面贴装方法采用如图1所示的表面贴装设备，且可以通过软件、硬件或软硬件结合的方式实现，比如可以通过表面贴装设备中的处理单元实现，这里的处理单元可以是预先编译的执行程序，也可以是用于存储执行程序的芯片。本公开提供的表面贴装方法可以包括如下步骤：
步骤301，将贴装工件上料至第一上料工位，对第一上料工位处的贴装工件进行定位，获得第一定位信息；
步骤302，将被贴装工件上料至第二上料工位，对第二上料工位处的被贴装工件进行定位，获得第二定位信息；
步骤301和步骤302可以同步进行，也可以先进行步骤301再进行步骤302，或者先进行步骤302再进行步骤301。
步骤303，根据第一定位信息从第一上料工位拾取贴装工件并放置于转载装置上，对转载装置上放置的贴装工件进行定位，获得第三定位信息；
在根据第一定位信息从第一上料工位拾取贴装工件并放置于转载装置上时，可以根据第一定位信息从第一上料工位拾取贴装工件并放置于贴装工件上料工位处的转载座上。
在根据第一定位信息从第一上料工位拾取贴装工件并放置于转载装置上之后，可以将转载座从贴装工件上料工位处旋转至贴装工件下料工位处。
步骤304，根据第三定位信息从转载装置上拾取贴装工件，对拾取的贴装工件进行定位，获得第四定位信息；
在根据第三定位信息从转载装置上拾取贴装工件时，可以根据第三定位信息从贴装工件下料工位处的转载座上拾取贴装工件。
在根据第三定位信息从转载装置上拾取贴装工件之后，可以将贴装工件下料工位处的转载座向贴装工件上料工位旋转。
在对拾取的贴装工件进行定位时，可以在转载座离开贴装工件下料工位处时，对拾取的贴装工件进行定位。
步骤305，根据第四定位信息对拾取的贴装工件进行角度校正，根据第二定位信息将校正后的贴装工件贴装至第二上料工位处的被贴装工件上。
综上所述，本公开提供的表面贴装方法，通过第一定位装置对贴装工件进行定位，以供第一贴 装头拾取贴装工件并放置于转载装置上，通过第三定位装置对转载装置上的贴装工件进行定位，以供第二贴装头从转载装置拾取贴装工件，通过第四定位装置对第二贴装头拾取的贴装工件进行定位，并通过第二定位装置对被贴装工件进行定位，以供第二贴装头拾取的贴装工件准确地贴附于定位的被贴装工件上，实现了贴装流程中贴装工件上料、贴装工件转载、被贴装工件上料等关键位置信息的定位，从而保证了贴装精度。
本领域技术人员在考虑说明书及实践本公开的实施方案之后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开所属领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由所附的权利要求限定。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (12)

  1. 一种表面贴装设备，其特征在于，所述表面贴装设备包括第一工件输送装置、第二工件输送装置和贴装设备，所述贴装设备包括第一贴装头、第二贴装头、第一定位装置、第二定位装置、第三定位装置、第四定位装置和转载装置，其中：
    所述第一工件输送装置将贴装工件输送至第一上料工位，所述第一定位装置对所述第一上料工位处的贴装工件进行定位，获得第一定位信息；所述第二工件输送装置将被贴装工件输送至第二上料工位，所述第二定位装置对所述第二上料工位处的被贴装工件进行定位，获得第二定位信息；
    所述第一贴装头根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，所述第三定位装置对所述转载装置上放置的所述贴装工件进行定位，获得第三定位信息；
    所述第二贴装头根据所述第三定位信息从所述转载装置上拾取所述贴装工件，所述第四定位装置对拾取的所述贴装工件进行定位，获得第四定位信息；所述第二贴装头根据所述第四定位信息对拾取的所述贴装工件进行角度校正，并结合所述第二定位信息将校正后的所述贴装工件贴装至所述第二上料工位处的所述被贴装工件上。
  2. 根据权利要求1所述的表面贴装设备，其特征在于，所述转载装置为转盘机构，所述转载装置包括旋转驱动部和至少两个转载座，至少两个所述转载座沿周向均匀排布，所述旋转驱动部带动各个转载座同步转动，所述转载装置位于所述第一上料工位和所述第二上料工位之间；
    所述旋转驱动部带动各个转载座在贴装工件上料工位和贴装工件下料工位之间转动，所述第一贴装头将从所述第一上料工位拾取的所述贴装工件放置于位于所述贴装工件上料工位处的转载座上，所述第二贴装头从位于所述贴装工件下料工位处的转载座上拾取贴装工件。
  3. 根据权利要求2所述的表面贴装设备，其特征在于，所述旋转驱动部包括电机、旋转底座、联轴器，所述转载装置还包括安装板和光源，其中：
    所述电机安装于所述安装板上，所述旋转底座通过所述联轴器连接在所述电机的轴端，所述转载座可拆卸式地安装在所述旋转底座上方；所述光源安装于所述电机的一侧，所述光源朝上设置；所述电机通过所述旋转底座和所述联轴器带动所述转载座转动。
  4. 根据权利要求2或3所述的表面贴装设备，其特征在于，所述旋转驱动部每隔预定时间间隔驱动所述转载座转动预定角度。
  5. 根据权利要求4所述的表面贴装设备，其特征在于，所述转载座为4个，所述预定角度为45°。
  6. 根据权利要求3所述的表面贴装设备，其特征在于，所述第四定位装置包括相机和镜头，所 述镜头安装在所述相机上，所述镜头朝向所述光源设置，所述第四定位装置在所述贴装工件下料工位处没有转载座时对所述第二贴装头拾取的贴装工件进行定位。
  7. 根据权利要求6所述的表面贴装设备，其特征在于，所述第四定位装置还包括两组镜头固定件，两组所述镜头固定件间隔安装在所述安装板上，每组镜头固定件包括镜头支架和镜头抱块，所述镜头支架固定在所述安装板上，所述镜头抱块将所述镜头夹装在所述镜头支架上。
  8. 根据权利要求1-7中任一所述的表面贴装设备，其特征在于，所述表面贴装设备还包括横跨于所述第一上料工位、所述转载装置和所述第二上料工位的贴装横梁，所述第一贴装头、所述第二贴装头、所述第一定位装置、所述第二定位装置和所述第三定位装置均安装于所述贴装横梁上；
    所述贴装横梁至少包括横向导轨，所述第一贴装头和所述第二贴装头安装于所述横向导轨上且被配置为沿着所述横向导轨移动。
  9. 根据权利要求1-8中任一所述的表面贴装设备，其特征在于，所述第一工件输送装置包括第一驱动部和第一输送部，所述第一输送部上承载有贴装工件治具，所述贴装工件治具承载有贴装工件，所述第一驱动部带动所述第一输送部移动，以将所述第一输送部上承载的贴装工件运送至所述第一上料工位；
    所述第二工件输送装置包括第二驱动部和第二输送部，所述第二输送部上承载有被贴装工件治具，所述被贴装工件治具承载有被贴装工件，所述第二驱动部带动所述第二输送部移动，以将所述第二输送部上承载的被贴装工件运送至所述第二上料工位。
  10. 根据权利要求8所述的表面贴装设备，其特征在于，
    所述第一贴装头和所述第二贴装头安装于同一个所述横向导轨上；或者
    所述第一贴装头和所述第二贴装头分别安装于两个所述横向导轨上，两个所述横向导轨的高度相同或不同。
  11. 一种表面贴装方法，其特征在于，采用如权利要求1-10中任一所述的表面贴装设备，所述表面贴装方法包括：
    将贴装工件上料至第一上料工位，对所述第一上料工位处的贴装工件进行定位，获得第一定位信息；
    将被贴装工件上料至第二上料工位，对所述第二上料工位处的被贴装工件进行定位，获得第二定位信息；
    根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，对所述转载装置上放置的所述贴装工件进行定位，获得第三定位信息；
    根据所述第三定位信息从所述转载装置上拾取所述贴装工件，对拾取的所述贴装工件进行定位，获得第四定位信息，根据所述第四定位信息对拾取的所述贴装工件进行角度校正，根据所述第 二定位信息将校正后的所述贴装工件贴装至所述第二上料工位处的所述被贴装工件上。
  12. 根据权利要求11所述的表面贴装方法，其特征在于，采用如权利要求2-7中任一所述的表面贴装设备，所述根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上，包括：根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述贴装工件上料工位处的转载座上；
    在所述根据所述第一定位信息从所述第一上料工位拾取所述贴装工件并放置于所述转载装置上之后，所述方法还包括：将所述转载座从所述贴装工件上料工位处旋转至所述贴装工件下料工位处；
    所述根据所述第三定位信息从所述转载装置上拾取所述贴装工件，包括：根据所述第三定位信息从所述贴装工件下料工位处的所述转载座上拾取所述贴装工件；
    在所述根据所述第三定位信息从所述转载装置上拾取所述贴装工件之后，所述方法还包括：将所述贴装工件下料工位处的所述转载座向所述贴装工件上料工位旋转；
    所述对拾取的所述贴装工件进行定位，包括：在所述转载座离开所述贴装工件下料工位处时，对拾取的所述贴装工件进行定位。
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