CN109229692B - Attaching method with multi-suction-head structure - Google Patents

Abstract

The invention belongs to the technical field of a bonding method, and particularly relates to a bonding method with a multi-suction-head structure, which utilizes a device with a multi-suction-head (1), an upper phase machine (2) and a lower phase machine (3) structure to quickly position a bonded workpiece (4) and the positions of a plurality of suction heads (1), and accurately bond a label (5) on the suction head (1) to the bonded workpiece (4). The invention adopts a double-camera matching design and a more optimized positioning and attaching method, can effectively avoid errors caused by large-angle rotation, simultaneously reduces errors caused by irregular installation, and is beneficial to improving the reliability and the comprehensiveness, thereby improving the production efficiency.

Description

A bonding method with multi-suction head structure

technical field

The invention belongs to the technical field of lamination methods, and in particular relates to a lamination method with a multi-suction head structure.

Background technique

Today, machine vision is the use of machines instead of human eyes for measurement and judgment. The machine vision system refers to converting the captured target into image signals through machine vision products, transmitting them to a dedicated image processing system, and converting them into digital signals according to pixel distribution, brightness, color and other information; the image system performs various processing on these signals. The operation extracts the characteristics of the target, and then controls the operation of the equipment in the field according to the result of the judgment. In recent years, with the rapid development of the microelectronics industry, various industrial precision assembly requirements, efficiency and accuracy requirements are getting higher and higher. The fitting method of the head has become a trend.

In addition, the Chinese patent document discloses a suction head positioning device (publication number: CN 204843615 U), comprising: a positioning plate, a positioning block and a locking member, the positioning plate has at least two positioning grooves, and the positioning block has A positioning hole into which the suction head is inserted, at least one first locking hole is provided on the side of the positioning block, the first locking hole is communicated with the positioning hole, and the positioning block is installed in the positioning groove, The locking member is inserted into the first locking hole. The above solution can increase the number of suction heads to a certain extent, but this solution has at least the following defects: first, the positioning steps are complicated, which reduces work efficiency; second, the degree of automation is low, and the accuracy is not high.

SUMMARY OF THE INVENTION

The purpose of the present invention is to: in view of the deficiencies of the prior art, to provide a bonding method with a multi-suction head structure, which adopts the design of dual-camera cooperation and a more optimized positioning and bonding method, which can effectively avoid the large-angle rotation. At the same time, it reduces the error caused by uneven installation, which helps to improve reliability and comprehensiveness, thereby improving production efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions:

A bonding method with a multi-suction head structure, comprising the following steps:

1) Prepare a device with multiple suction heads, an upper camera and a lower camera structure, the workpiece to be attached is set between the upper camera and the suction head, the lower camera is set at the bottom of the suction head, each suction head sucks a label, and the upper camera Position the position of the workpiece to be pasted to obtain the pre-bonding position T(x0, y0) of the workpiece to be pasted;

2) Start modeling, and lower the camera to perform initial positioning of multiple tips to obtain the initial positions A(x1, y1) of multiple tips;

3) Obtain the mapping point position B (x2, y2) from the initial position A (x1, y1) to the edge of the workpiece to be pasted;

4) Rotate the tip to make the initial position A(x1,y1) in the pre-fitting position T(x0,y0), and record the corresponding end position C(x3,y3), and end the modeling;

5) The lower camera obtains the actual position D(x4, y4) of the tip through the image of each tip;

6) According to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y1); the actual position D (x4, y4), the initial position A (x1, y1) and the mapping point position B (x2) , y2) the angle F; the end position C (x3, y3), calculate the actual position D (x4, y4) of each tip to rotate to the final position E (x5, y5) of the pre-fitting position T (x0, y0). );

7) According to the final position E(x5, y5), the label on the suction head is stuck to the surface of the workpiece to be attached;

同理可得

将AB、BD、AD构建三角形ABD，并通过三点夹角公式AD²＝BD²+AB²-*BD*ABcosF，计算出实际位置D(x4,y4)、初始位置A(x1,y1)与映射点位置B(x2,y2)所成角度F；根据公式

计算出各吸头实际位置D(x4,y4)旋转到预贴合位置T(x0,y0)的最终位置E(x5,y5)。Combined with the modeled positional relationship, the distance between the actual position D(x4,y4) and the initial position A(x1,y1) is calculated through the two-point formula

The same can be obtained

Construct triangle ABD from AB, BD and AD, and calculate the actual position D(x4, y4) and initial position A(x1, y1) through the three-point included angle formula AD ² =BD ² +AB ² -*BD*ABcosF The angle F formed with the mapping point position B(x2, y2); according to the formula

Calculate the final position E(x5, y5) where the actual position D(x4, y4) of each tip is rotated to the pre-applied position T(x0, y0).

In the bonding method of the present invention, the data obtained by the upper camera in step 1) is two-dimensional. In order to make the calculation more convenient and improve the speed of processing and calculation, step 3) obtaining the position of the mapping point is helpful for more accurate labeling To the workpiece to be attached, step 4) determine the path relationship from the tip to the fitting position through modeling, step 5) the actual position of the tip changes in real time, and the camera obtains the actual position of the tip by taking pictures, step 6 ) The suction head actually reaches the final position, the suction head rises and sticks to the surface of the workpiece to be pasted, and then returns to the original position and continues to rotate.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, the initial position A (x1, y1), the mapping point position B (x2, y2), the end position C Both (x3, y3) and the actual position D(x4, y4) are directly obtained by the lower camera. The data obtained by the camera is two-dimensional, and has the advantages of small data volume, fast processing speed, many analysis methods and easy to understand.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, the upper camera and the lower camera are both SCI smart cameras. SCI smart camera is a highly integrated small machine vision system that integrates image acquisition, image processing, and communication functions, providing a complete machine vision solution with multi-function, modularity, high reliability and easy implementation. Program.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, a plurality of the suction heads are distributed in a circle, and the plurality of the suction heads are rotated around a rotation axis. The circular distribution helps to install more tips, thereby increasing the number of tips, fitting more workpieces, and increasing production.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, a plurality of the suction heads are distributed in a square shape, and the plurality of the suction heads rotate around a rotating shaft. The square distribution helps to fit multiple workpieces at one time and improve work efficiency.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, a plurality of the suction heads are distributed in an ellipse, and the plurality of the suction heads are rotated around a rotation axis. The elliptical distribution helps reduce the overall area of the tip and improves space utilization.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, the upper camera positions at least two workpieces to be bonded each time. Positioning at least two workpieces to be attached at the same time helps to speed up the work, reduce the time between the labels and the workpieces to be attached, and improve the production efficiency.

As an improvement of the bonding method with a multi-suction head structure according to the present invention, both the upper camera and the lower camera are assisted by a light source device to illuminate. The light source device can optimally separate the target information and background information in the image, which greatly reduces the difficulty of image processing algorithm segmentation and identification, and at the same time improves the positioning and measurement accuracy of the system, and improves the reliability and comprehensive performance of the system.

Description of drawings

Fig. 1 is the top view of the present invention;

Fig. 2 is the cross-sectional structure schematic diagram of the present invention;

Among them: 1- suction head; 2- upper camera; 3- lower camera; 4- workpiece to be attached; 5- label; 6- rotation axis; T- pre-fitting position; A- initial position; B- mapping point position; C-terminal position; D-actual position; E-final position.

Detailed ways

As used in the specification and claims, certain terms are used to refer to particular components. It should be understood by those skilled in the art that hardware manufacturers may refer to the same component by different nouns. The description and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as a criterion for distinguishing. As mentioned in the entire specification and claims, "comprising" is an open-ended term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve technical problems within a certain error range, and basically achieve technical effects.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", horizontal" etc. is based on the accompanying drawings The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present invention. limits.

In the invention, unless otherwise expressly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, Or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The present invention will be described in further detail below in conjunction with the accompanying drawings, but it is not intended to limit the present invention.

Example 1

As shown in Figures 1-2, a bonding method with a multi-suction head structure includes the following steps:

1) Prepare a device with the structure of multiple suction heads 1, upper camera 2 and lower camera 3, the workpiece 4 to be attached is set between the upper camera 2 and the suction head 1, the lower camera 3 is set at the bottom of the suction head 1, and each suction The head 1 picks up a label 5 respectively, and the upper camera 2 locates the position of the workpiece 4 to be attached, and obtains the pre-bonding position T(x0, y0) of the workpiece 4 to be attached;

2) Start modeling, and the lower camera 3 performs initial positioning of the plurality of suction heads 1 to obtain the initial positions A(x1, y1) of the plurality of suction heads 1;

3) Obtain the mapping point position B(x2, y2) from the initial position A (x1, y1) to the edge of the workpiece 4 to be pasted;

4) Rotate the tip 1 to make the initial position A (x1, y1) at the pre-fitting position T (x0, y0), and record the corresponding end position C (x3, y3), and end the modeling;

5) The lower camera 3 obtains the actual position D(x4, y4) of the suction head 1 through the image of each suction head 1;

6) According to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y1); the actual position D (x4, y4), the initial position A (x1, y1) and the mapping point position B (x2) , y2) the angle F; the end position C(x3, y3), calculate the final position E(x5, y5);

7) According to the final position E(x5, y5), the label 5 on the suction head 1 is adhered to the surface of the workpiece 4 to be attached;

同理可得

将AB、BD、AD构建三角形ABD，并通过三点夹角公式AD²＝BD²+AB²-2*BD*ABcosF，计算出实际位置D(x4,y4)、初始位置A(x1,y1)与映射点位置B(x2,y2)所成角度F；根据公式

计算出各吸头1实际位置D(x4,y4)旋转到预贴合位置T(x0,y0)的最终位置E(x5,y5)。Combined with the positional relationship of the modeling, the distance between the actual position Dx4, y4 and the initial position A (x1, y1) is calculated through the two-point formula

The same can be obtained

Construct triangle ABD from AB, BD and AD, and calculate the actual position D(x4, y4) and initial position A(x1, y1 through the three-point included angle formula AD ² =BD ² +AB ² -2*BD*ABcosF) ) and the angle F formed by the mapping point position B(x2, y2); according to the formula

Calculate the final position E(x5, y5) where the actual position D(x4, y4) of each suction head 1 rotates to the pre-applied position T(x0, y0).

In the above steps, the initial position A (x1, y1), the mapping point position B (x2, y2), the end position C (x3, y3) and the actual position D (x4, y4) are directly obtained by the lower camera 3, and the upper camera 2 and the lower camera 3 are both SCI smart cameras, the multiple suction heads 1 are distributed in a circle, the multiple suction heads 1 rotate around the rotation axis 6, the upper camera 2 locates at least two workpieces 4 to be pasted each time, and the upper camera 2 Both the lower camera 3 and the lower camera 3 are illuminated by a light source device. The data obtained by the lower camera 3 is two-dimensional, and has the advantages of small data volume, fast processing speed, many analysis methods and easy to understand. SCI smart camera is a highly integrated small machine vision system, which integrates image acquisition, The integration of processing and communication functions provides a complete machine vision solution with multi-function, modularity, high reliability, and easy implementation. The light source device can best separate the target information and background information in the image, greatly reducing the image It solves the difficulty of algorithm segmentation and identification, and at the same time improves the positioning and measurement accuracy of the system, so that the reliability and comprehensive performance of the system are improved.

It should also be noted that: in the bonding method of the present invention, the upper camera 2 positions the workpiece 4 to be attached, the lower camera 3 positions the suction head 1, and the data obtained by the upper camera 2 in step 1) is two-dimensional, in order to More convenient calculation, improve the speed of processing and calculation, step 3) obtaining the mapping point position B(x2, y2) helps to more accurately attach the label 5 to the workpiece 4 to be attached, step 4) through modeling, determine the suction The path relationship from head 1 to the pre-applied position T(x0, y0), step 5) The actual position D (x4, y4) of tip 1 changes in real time, and the lower camera 3 obtains the actual position D of tip 1 by taking pictures (x4, y4), step 6) The suction head 1 reaches the final position E(x5, y5), the suction head 1 rises and sticks to the surface of the workpiece 4 to be attached, and then returns to the original position and continues to rotate.

Example 2

The difference from Embodiment 1 is that the plurality of suction heads 1 in this embodiment are distributed in a square shape, and the plurality of suction heads 1 rotate around the rotating shaft 6 . The square distribution is helpful to realize the lamination of multiple workpieces 4 to be attached at one time, thereby improving work efficiency.

Other structures are the same as those in Embodiment 1, and are not repeated here.

Example 3

The difference from Embodiment 1 is that the plurality of suction heads 1 in this embodiment are distributed in an ellipse, and the plurality of suction heads 1 rotate around the rotation axis 6 . The elliptical distribution helps reduce the total area of the tip 1 and improves space utilization.

Other structures are the same as those in Embodiment 1, and are not repeated here.

Based on the disclosure and teaching of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above-described embodiments. Therefore, the present invention is not limited to the above-mentioned specific embodiments, and any obvious improvement, replacement or modification made by those skilled in the art on the basis of the present invention falls within the protection scope of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims (8)

1. a bonding method with a multi-suction head structure, is characterized in that, comprises the steps: 1) Prepare a device with a structure of multiple suction heads (1), an upper camera (2) and a lower camera (3), the workpiece (4) to be attached is set between the upper camera (2) and the suction head (1), and the lower camera (3) It is arranged at the bottom of the suction head (1), each suction head (1) picks up a label (5), and the camera (2) locates the position of the workpiece (4) to be attached to obtain the workpiece (4). 4) The pre-bonding position T(x0, y0); 2) Start modeling, lower the camera (3) to perform initial positioning of the plurality of suction heads (1), and obtain the initial positions A(x1, y1) of the plurality of suction heads (1); 3) Obtain the mapping point position B (x2, y2) from the initial position A (x1, y1) to the edge of the attached workpiece (4); 4) Rotate the suction head (1) to make the initial position A (x1, y1) at the pre-fitting position T (x0, y0), and record the corresponding end position C (x3, y3), and end the modeling; 5) The lower camera (3) obtains the actual position D(x4, y4) of the suction head (1) through the image of each suction head (1); 6) According to the distance AD between the actual position D (x4, y4) and the initial position A (x1, y1); the actual position D (x4, y4), the initial position A (x1, y1) and the mapping point position B (x2) , y2) the angle F; the end position C(x3,y3), calculate the final position E( x5,y5); 7) According to the final position E(x5, y5), the label (5) on the suction head (1) is stuck to the surface of the workpiece (4) to be attached; Combined with the modeled positional relationship, the distance between the actual position D(x4,y4) and the initial position A(x1,y1) is calculated through the two-point formula

The same can be obtained

Construct triangle ABD from AB, BD and AD, and calculate the actual position through the three-point included angle formula (AD) ² =(BD) ² +(AB) ² -2*(BD)*(AB)cos(F) The angle F formed by D(x4,y4), the initial position A(x1,y1) and the mapping point position B(x2,y2); according to the formula

Calculate the final position E(x5, y5) where the actual position D(x4, y4) of each suction head (1) rotates to the pre-applied position T(x0, y0). 2 . The method for laminating with a multi-tip structure according to claim 1 , wherein: the initial position A (x1, y1), the mapping point position B (x2, y2), the Both the termination position C(x3, y3) and the actual position D(x4, y4) are directly acquired by the lower camera (3). 3 . The method for laminating with a multi-suction head structure according to claim 1 , wherein the upper camera ( 2 ) and the lower camera ( 3 ) are both SCI smart cameras. 4 . 4. A method for laminating with a multi-suction head structure according to claim 1, characterized in that: a plurality of the suction heads (1) are distributed in a circle, and a plurality of the suction heads (1) rotate around The shaft (6) rotates. 5 . The method for laminating with a multi-suction head structure according to claim 1 , wherein: a plurality of the suction heads ( 1 ) are distributed in a square shape, and a plurality of the suction heads ( 1 ) are arranged around the rotation axis. 6 . (6) Rotate. 6 . The method for laminating with a multi-suction head structure according to claim 1 , wherein: a plurality of the suction heads ( 1 ) are distributed in an ellipse, and a plurality of the suction heads ( 1 ) are arranged around the rotation axis. 7 . (6) Rotate. 7 . The method for laminating with a multi-suction head structure according to claim 1 , wherein the upper camera ( 2 ) positions at least two of the attached workpieces ( 4 ) each time. 8 . 8 . The method for laminating with a multi-suction head structure according to claim 1 , wherein the upper camera ( 2 ) and the lower camera ( 3 ) are both assisted by a light source device to illuminate. 9 .

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