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PCB board positioning method based on SCARA robot

A technology of PCB board and positioning method, which is applied to PCB positioning in the process of processing, assembling printed circuits with electrical components, etc., can solve the problems of mechanical positioning error, inability to meet high-precision assembly, etc., and achieve the effect of high-precision positioning

Active Publication Date: 2016-03-30
SICHUAN CHANGHONG ELECTRIC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the repeated positioning error of the robot itself and the mechanical positioning error of the components to be assembled (such as PCB boards), the teaching and reproduction mode of traditional robots cannot meet the requirements of high-precision assembly.

Method used

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  • PCB board positioning method based on SCARA robot
  • PCB board positioning method based on SCARA robot
  • PCB board positioning method based on SCARA robot

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the specific implementation manners of the present invention will be clearly and completely described below.

[0025] figure 1 It is a flow chart of the SCARA robot-based PCB board positioning method provided by Embodiment 1 of the present invention. Such as figure 1 as shown,

[0026] Step S1: Install the camera.

[0027] In step S1, the camera is fixedly installed on the Y-axis arm of the SCARA robot, so that the SCARA robot works in the pulse motion mode and ensures that the relative position of the camera coordinate system and the flange center coordinate system remains unchanged when the SCARA robot arm moves. The intermediate target is fixedly set directly below the CCD.

[0028] Step S2: Calibrate the internal parameters of the camera to obtain the internal parameter matrix of the camera.

[0029] In step S2, use the camera calibration technology to calibrate th...

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Abstract

The invention relates to the high precision assembling and measurement field, and provides a PCB board positioning method based on an SCARA robot. The PCB board positioning method comprises steps of installing a camera, moving an arm of the SCARA robot, collecting an image, calculating an attitude array of an intermediary agent target coordinate system in a camera coordinate system and an attitude array of a flange coordinate system in a robot standard coordinate system, calculating a hand-eye switching array from the camera coordinate system to the flange center coordinate system, calculating the coordinates of three MARK points in the robot standard coordinate system and positioning the PCB board through the coordinate. The technical scheme provided by the invention realizes the high precision positioning of the PCB board without any auxiliary device, is widely applicable to the assembling of the robot, visual measurement and positioning and visual servo.

Description

technical field [0001] The invention belongs to the field of high-precision assembly and measurement, in particular to a PCB board positioning method based on a SCARA robot. Background technique [0002] At present, among the many application fields of robots, the field of high-precision electronic assembly and positioning measurement is one of the most important application fields. Due to the repeated positioning error of the robot itself and the mechanical positioning error of the components to be assembled (such as PCB boards), the teaching and reproduction mode of traditional robots can no longer meet the requirements of high-precision assembly. Contents of the invention [0003] 【Technical problems to be solved】 [0004] The purpose of the present invention is to provide a PCB board positioning method based on a SCARA robot to determine the three-dimensional coordinates of the PCB board in the robot coordinate system and realize high-precision positioning of the PCB ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H05K3/30
CPCH05K3/30H05K2203/15
Inventor 曾建风杜继红
Owner SICHUAN CHANGHONG ELECTRIC CO LTD
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