juki 360 pick and place (Arduino powered)

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charliex
 
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juki 360 pick and place (Arduino powered)

Post by charliex »

We've really made some great progress on the pick and place we bought for $1,200, I've documented a lot of the progress on my bloggy thing. Pretty excited about placing our first part.

It's in two parts :-

http://charliex2.BANNED.com/2011/08/ ... pace-labs/
http://charliex2.BANNED.com/2011/09/ ... ification/

We can rebuild it...we have the technology.....

I really believe this could be a really worthwhile project for other hackerspaces, these machines do pop up often and we're lead to believe that around $2,000 is about average price for them. we're adding the paste dispenser ( even though its a slow method of putting down paste) and machine vision.
Last edited by charliex on Wed Sep 07, 2011 12:39 pm, edited 1 time in total.

charliex
 
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Re: juki 360 pick and place

Post by charliex »

placed our first part
http://www.flickr.com/photos/51925658@N08/6123078516/ some of the audio has coarse language..

also for giggles http://www.flickr.com/photos/51925658@N ... hotostream

charliex
 
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Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

so i was just noticing limor posted a video, and since i'm writing the code currently to do the movements for the head, and we're adding machine vision. do most new PNP's account for rotation in the pcb? ours originally assumes the pcb is always exactly straight and can't handle it, so i can do fiducials or camera vision to account for rotation. thoughts?

adafruit
 
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Re: juki 360 pick and place (Arduino powered)

Post by adafruit »

charliex wrote:so i was just noticing limor posted a video, and since i'm writing the code currently to do the movements for the head, and we're adding machine vision. do most new PNP's account for rotation in the pcb? ours originally assumes the pcb is always exactly straight and can't handle it, so i can do fiducials or camera vision to account for rotation. thoughts?
yes

http://www.ladyada.net/library/pcb/fiducials.html

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

ahh ok thats basically how i was planning to do it, cheers :)

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

woo hoo we got all of it working with the tool change, pickup and drop. http://www.flickr.com/photos/51925658@N08/6132109502/

so now its a fully operating pick and place powered by an arduino mega and a shield that just routes wires.


Image

Image

Image
$1,200, an arduino + shield with a few bits and pieces for 1 step at 0.025mm !

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

Added a rotation motor to the head. custom made bracket and the same motor series that the machine use, normal cable to cat5 through the loom.

Image

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

Started to add the camera offset to the software, basically the idea is you find the centre of a part with the camera, pick it from the list and click the offset. This way the software will offset the PCB so all the placements are relative. You can see opencv in the background drawing blue shapes around things it spots.

http://youtu.be/JHU7r9ld-Ng

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

Finished the camera registration code. You can now tell it where a component or fiducial on a PCB is and it'll calculate where everything is.
http://www.youtube.com/watch?v=YT3-djdZKvs

adafruit
 
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Re: juki 360 pick and place (Arduino powered)

Post by adafruit »

what software are you running?

charliex
 
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Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

We wrote our own software at the hackerspace, Arduino firmware for the most part, just digitalWrite and delayMicroseconds i don't use where time is critical, the GUI is C++MFC/OpenGL, OpenCV and vidfeoInput, i altered screaming Circuits centroid.ulp to spit out a bit more data.

I documented almost everything in the blog entries, if anyone wants more info just ask.

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

Video of the latest GUI doing stuff, pretty happy with it thus far :-
http://www.youtube.com/watch?v=qmCoscZ-9Tw

scsi
 
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Re: juki 360 pick and place (Arduino powered)

Post by scsi »

Charliex-

Nice porogress there. Love that emergency stop button! :)
Seriously though, are you making any progress on part alignment with OpenCV? I'm also working on a PPM software project and had to resort to a commercial vision library for more accurate alignment algorithms.

-scsi

charliex
 
Posts: 179
Joined: Sat Nov 28, 2009 5:54 pm

Re: juki 360 pick and place (Arduino powered)

Post by charliex »

Thanks scsi,

We've made a lot of changes to it as well since that video...

I'm working on the rotation invariant stuff, its our plan to add that next, but i do have a cognex camera thats lens-less so i might short term that once i get a cs-lense for it.

luckily i work in the computer graphics field, so its something we'd more or less use.. I have found OpenCV to be a bit slow though. that Nasa lib has the right stuff in it apparently but i haven't really looked at it yet. I'm working on our next CNC project at the moment.


charliex

bearmos
 
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Re: juki 360 pick and place (Arduino powered)

Post by bearmos »

I noticed this on HAD a while back - nice work! From the sounds of things the software is pretty comprehensive. I'm assuming it interfaces to the hardware through an arduino + custom shields which tie into the Juki's internal wire harnesses?

Any plans on sharing some details about the software? I've been casually looking around for SW tidbits related to PnP. I seem to hear a bit about some people using the EMC2 API (of some sort) with a custom UI - maybe it was the guy(s?) over at openPnP (can't remember). It would be pretty nice if there was an open PnP UI out there :)

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