Research On The Visual Guide Of Film Lamination Based On Industrial Robot

Industrial robots,the core equipment of the automated manufacturing,have been widely used in a variety of fields in industrial production.However,the current industrial robots usually use teaching or offline programming,and carry out path planning and motion programming according to the tasks to be completed.This requires the automated production lines must be highly structured,resulting in lack of flexibility and adaptability to the operating environment.Especially,for moving and scattered workpieces on the conveyor belt,the positions of the grab and place points are generally not fixed,which greatly limits the application of traditional teaching industrial robots.Machine vision technology can improve the perception ability of industrial robots.In recent years,with the progress of machine vision technology,positioning and offset compensation through vision can be better to adapt to the modern flexible production line,to solve the problems of high structure,low intelligence and poor flexibility of traditional industrial automation production line.Therefore,how to improve the intelligentization of industrial robots and enhance the flexibility of automated production lines has become a hot research topic.In order to meet the demand of the visual guidance of the lamination process for PCB production,The key technology in the visual guidance of industrial robot is studied.The accurate aligning of copper foil and yellow film in the PCB coating process with visual guidance is achieved through camera calibration,hand eye calibration,manipulator calibration and multi camera alignment.The main contents of this paper are as follows:1.The common technology in visual guidance is analyzed and studied.The camera calibration technique and distortion correction method are described in detail.On this basis,two kinds of hand eye calibration models,Eye-in-Hand and Eye-to-Hand are derived.As the traditional tool calibration is time-consuming and the calibration accuracy is easily influenced by the operator,a method of calibration based on visual feedback is proposed.This method is simple and can accomplish automatic calibration in X,Y and Z directions.The experimental results verify the effectiveness and feasibility of the proposed tool calibration method.2.Based on the above research results,combined with the film covering process in PCB production,the visual orientation of the yellow film,the visual positioning of the copper foil and the calculation method of the offset compensation for alignment with multi cameras are proposed.Thus the visual guidance of the film covering is realized.Finally,the visual guidance scheme is verified on the film aligning equipment.The experimental results show that the visual guidance scheme is stable and reliable,and the accuracy of bonding is within 0.1mm,which meets the needs of laminating process.