基于Halcon的新型引线框架排片机的设计

Design of New Lead Frame Loader Based on Halcon

针对传统引线框架排片机在生产过程中进料部件平稳性差、效率低,X、Y伺服主轴型机械手抓取效率低、入位精度不足等问题,提出一种基于Halcon的新型引线框架排片机。通过改进进料各部件导向结构和驱动形式,采用拉针结构替代传统的皮带式柔性输送结构,实现高效平稳的进料功能。采用SCARA机械臂替代传统X、Y伺服主轴,配合单气缸驱动的抓取机构,实现响应更快、整合性更高的排片功能。设计入位视觉检测模块,利用Halcon视觉库对封装托架边界特征和引线框架定位孔特征进行在线检测与分析。结果表明:该排片机误报率小于2%,漏报率为0,检测时间小于500 ms,满足生产现场实际的应用需求。

Aiming at the problems of poor stability and low efficiency of feeding parts,low grasping efficiency and insufficient positioning accuracy of X and Y servo spindle manipulator in the production process of traditional lead frame loader,a new lead frame loader based on Halcon was proposed.The guiding structure and driving form of each feeding part were improved,the pulling needle structure was used to replace the traditional belt flexible conveying structure,then efficient and stable feeding function was realized.SCARA was used to replace the traditional X and Y servo spindles and cooperated with the grasping mechanism driven by single cylinder to realize the arrangement function with faster response and higher integration.The positioning visual inspection module was designed,and the Halcon visual library was used to detect and analyze the boundary characteristics of the packaging bracket and the positioning hole characteristics of the lead frame.The results show that the false alarm rate is less than 2%,the missing alarm rate is 0,and the detection time is less than 500 ms,which can meet the actual application needs of the production site.