CN103728302A - Automatic detection equipment for object appearance - Google Patents
Automatic detection equipment for object appearance Download PDFInfo
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- CN103728302A CN103728302A CN201310596246.5A CN201310596246A CN103728302A CN 103728302 A CN103728302 A CN 103728302A CN 201310596246 A CN201310596246 A CN 201310596246A CN 103728302 A CN103728302 A CN 103728302A
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- checkout equipment
- holding table
- moving
- automatic checkout
- articles holding
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- 238000001514 detection method Methods 0.000 title abstract description 19
- 230000003287 optical Effects 0.000 claims abstract description 29
- 230000000875 corresponding Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000003028 elevating Effects 0.000 claims description 18
- 241000252254 Catostomidae Species 0.000 claims description 4
- 230000005520 electrodynamics Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009987 spinning Methods 0.000 description 3
- 240000004282 Grewia occidentalis Species 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Abstract
The invention discloses automatic detection equipment for an object appearance. The equipment comprises a rack, a multi-shaft mechanical arm, an optical detection module, an object placing table, a lifting mechanism, a turnover mechanism and a control device, wherein the optical detection module can generate displacement or/and rotation through driving of the multi-shaft mechanical arm; the object placing table is arranged corresponding to the moving range of the optical detection module; the lifting mechanism is arranged below the object placing table and used for driving the object placing table to generate lifting movement; the turnover mechanism comprises a group of clamping parts; and the control device controls the group of the clamping parts to clamp the object, the lifting mechanism drives the object placing table to descend, and the clamping parts perform turnover on the object. Therefore, overall detection and measurement can be performed on the object appearance once.
Description
Technical field
The present invention relates to a kind of checkout equipment, relate in particular to a kind of automatic checkout equipment for detection of object outward appearance.
Background technology
In recent years along with the sustainable development of the products such as mobile phone, flat computer, accuracy requirement to product is also more and more higher, after having carried out the assembling of before-mentioned products, in order to reach the same nature of assembly quality, often must be again via special checkout equipment, come the isoparametric detection in position and the confirmation of flatness to product, position, hole, part, to prevent the situation inaccurate because of contraposition, and then cause the poor electrical contact of each part; Therefore checkout equipment is applied in to the detection operation after Product Assembly, has become indispensable standard step in the processing procedure of information products now, and by the application of extensive and ubiquity.
Existing optical detection apparatus, as TaiWan, China new patent, TWM453145 discloses, it mainly comprises a frame, a six axis robot arm, an optical detecting module, a control module, a feed module and a material discharging module, six axis robot arm is located in frame, at six axis robot arm front end, is provided with one for the grabber that captures object; Optical detecting module is located in frame and is positioned at movement or the rotating range of six axis robot arm; Control module is located in frame, and control module can be for detecting the setting of object, the action of six axis robot arm and detecting image display; Feed module is located in frame and can be passed in and out frame inside for carrying object; Material discharging module is located in frame and can be left frame inside for carrying object; So, to constitute an optical detection apparatus.
Existing optical detection apparatus, while being applied in as the simple structures such as circuit board or lightweight object, still can obtain the detection effect of expection; If but while being applied in the product testing of product as complicated in mobile phone, flat computer etc. or Heavy Weight, being significantly subject to arresting limit and detection effect and the detection efficiency that can not reach expection, and waiting to be improved.
Summary of the invention
An object of the present invention, is to provide a kind of automatic checkout equipment of object outward appearance, and it is object to be inserted behind the inside of checkout equipment, can disposable object outward appearance be completely examined and be measured.
In order to reach above-mentioned object, the invention provides a kind of automatic checkout equipment of object outward appearance, comprise a frame, a multi-axis mechanical arm, an optical detecting module, an articles holding table, an elevating mechanism, a switching mechanism and a control device, this multi-axis mechanical arm is arranged in this frame; This optical detecting module is connected to this multi-axis mechanical arm, and this optical detecting module can produce displacement and/or rotation by the drive of this multi-axis mechanical arm; This articles holding table is corresponding to the moving range setting of this optical detecting module, and this articles holding table is put for described object; This elevating mechanism is located at the below of this articles holding table in order to drive this articles holding table to produce lifting moving; This switching mechanism is to arranging by articles holding table, and this switching mechanism comprises one group of hold assembly; This control device is electrically connected this elevating mechanism and this switching mechanism; Wherein, this group hold assembly of this control device control clamps described object, and utilizes this elevating mechanism to order about this articles holding table decline, then by this, hold assembly is overturn to described object.
The present invention also has following effect, and the present invention can reduce the time that the movement of object consumes, and then significantly improves detection efficiency.No matter be front, the back side and the position, each hole of peripheric surface and the testing of part, need to be with the intervention of manpower not reach full-automatic detection operation.
Below in conjunction with the drawings and specific embodiments, describe the present invention, but not as a limitation of the invention.
Accompanying drawing explanation
The stereo appearance figure of Fig. 1 automatic checkout equipment of the present invention;
The part body combination schematic diagram of Fig. 2 automatic checkout equipment of the present invention;
Fig. 3 is the front view of Fig. 2;
Fig. 4 is the vertical view of the part body in Fig. 2;
Fig. 5 inserts object the front view of automatic checkout equipment;
Fig. 6 is switching mechanism in Fig. 5 vertical view at origin position;
Fig. 7 is the vertical view that the switching mechanism in Fig. 5 moves towards object direction;
Fig. 8 is the vertical view that the switching mechanism in Fig. 5 clamps towards object;
Fig. 9 is the front view of Fig. 8;
Figure 10 is the schematic diagram that the articles holding table in Fig. 9 is removed towards below;
Figure 11 is that the switching mechanism in Figure 10 drives object to produce the schematic diagram of upset;
Figure 12 be articles holding table in Figure 11 towards top movement the schematic diagram with supporting object.
Wherein, Reference numeral
10 ... frame
11 ... vertical rod
12 ... cross bar
13 ... middle board
131 ... groove
20 ... multi-axis mechanical arm
21 ... connector
30 ... optical detecting module
31 ... laser detector
32 ... CCD detecting device
321 ... camera
322 ... camera lens
40 ... articles holding table
41 ... sucker
50 ... elevating mechanism
51 ... electric cylinder
511 ... expansion link
52 ... support
521 ... axle sleeve
53 ... support plate
54 ... backstay
60 ... switching mechanism
61,61a ... hold assembly
611,611a ... pneumatic jig arm
612,612a ... servo motor
62,62a ... holder
63,63a ... Linear-moving assembly
631,631a ... aerodynamic slider
632,632a ... guide rod
70 ... control device
80 ... rotating mechanism
9 ... object
Embodiment
Relevant detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provides reference and explanation use, is not used for the present invention to be limited.
Please refer to shown in Fig. 1 to Fig. 4, the invention provides a kind of automatic checkout equipment of object outward appearance, it mainly comprises a frame 10, a multi-axis mechanical arm 20, an optical detecting module 30, an articles holding table 40, an elevating mechanism 50, a switching mechanism 60 and a control device 70.
The frame 10 of the present embodiment is mainly connect and is formed by 13 groups of board in the middle of branched vertical rod 11, branched cross bar 12 and, is roughly a hollow three-dimensional shape cuboid, but with this kind of kenel, is not limited, and in the first half fragment position of middle board 13, offers groove 131.
The multi-axis mechanical arm 20 of the present embodiment is one to have the six axis robot arm of intelligent motion control (Smart Motion Control) technology, it is arranged on 13 second half section of the middle board position of frame 10, this multi-axis mechanical arm 20 can provide the axial movement of X, Y, Z, X θ, Y θ, Z θ six and/or the function of rotation, at the front end of multi-axis mechanical arm 20, is provided with a connector 21.
Optical detecting module 30 is arranged on the connector 21 of multi-axis mechanical arm 20, utilizes movement and/or the turning effort of multi-axis mechanical arm 20, to drive optical detecting module 30 to produce displacement.Optical detecting module 30 can carry out option and installment in response to the difference detection demand of detected object, and optical detecting module 30 is to can be a laser detector 31 and/or utilize the photo-sensitive cell of CCD to carry out the detecting device 32 of image capture and comparison; Wherein laser detector 31 is mainly the flatness (as shown in the 5th figure) of confirming object 9, can improve accuracy and the validity of subsequent detection; Utilize CCD detecting device 32 to comprise a camera 321 and a camera lens 322, in order to carry out the acquisition of image and the testing of comparison.So, can be used to carrying out position relationship between flatness, position, hole, aperture, element and element or elements relative as the objects such as flat computer 9 in the isoparametric testing of relativeness of object main body.
The articles holding table 40 of the present embodiment is roughly a flat-shaped cuboid, it is the moving range setting corresponding to aforementioned optical detecting module 30, above articles holding table 40, dispose multiple suckers 41, use can be stable when object 9 is seated in articles holding table 40 adsorbed fixing.
Elevating mechanism 50 be located at articles holding table 40 under position, in order to drive this articles holding table 40 to produce lifting moving up or down, the elevating mechanism 50 of the present embodiment is an electrodynamic lifting mechanism, it can directly be connected to the bottom surface of articles holding table 40, or as the present embodiment be the bottom surface that is connected to articles holding table 40 by rotating mechanism 80, this elevating mechanism 50 mainly comprises an electric cylinder 51, one support 52, one support plate 53 and multiple backstay 54, support 52 is a flat U font, board 13 in the middle of its openend is fixed on, blind end is provided with multiple axle sleeves 521, one end of electric cylinder 51 is fixed on support 52 and is connected with an expansion link 511 that passes support 52, the end of expansion link 511 is connected to the bottom surface of support plate 53, separately at four corners of support plate 53, fall to locating affixed each backstay 54 respectively, the free end of backstay 54 is plugged in axle sleeve 521, so that moving up and down of support plate 53 can keep steady state (SS), and support plate 5 is to pass from the groove 131 of middle board 13.
The first half fragment position of board 13 and arranging corresponding to articles holding table 40 in the middle of switching mechanism 60 is arranged on, this switching mechanism 60 comprises one group of hold assembly 61,61a, one group of holder 62,62a and one group of Linear-moving assembly 63,63a; Wherein each holder 62,62a are fixedly mounted on respectively at middle board 13 and are formed on the dual-side position of articles holding table 40, each Linear-moving assembly 63,63a are all a pneumatic type Linear-moving assembly, Linear-moving assembly 63 is arranged on the top of holder 61, Linear-moving assembly 63 comprises an aerodynamic slider 631 and makes linearly moving multiple guide rod 632 in order to guide aerodynamic slider 631, and aerodynamic slider 631 is to drive with gas; In like manner, another Linear-moving assembly 63a also comprises a slide block 631a and makes linearly moving multiple guide rod 632a in order to guide slides 631a.
Each hold assembly 61,61a are all a pneumatic type hold assembly, hold assembly 61 is placed on the aerodynamic slider 631 of Linear-moving assembly 63 and can makes Linear-moving with respect to Linear-moving assembly 63, and the moving direction of hold assembly 61 is mutually vertical with the moving direction of Linear-moving assembly 63; Hold assembly 61 comprises a pneumatic jig arm 611 and connects a servo motor 612 of pneumatic jig arm 611, and this servo motor 612 can drive jig arm 611 to produce spinning movement, and pneumatic jig arm 611 also drives with gas; In like manner, another hold assembly 61a also comprises a pneumatic jig arm 611a and connects a servo motor 612a of pneumatic jig arm 611a, and servo motor 612a can drive jig arm 611a to produce spinning movement.
Control device 70 is electrically connected multi-axis mechanical arm 20, optical detecting module 30, elevating mechanism 50 and switching mechanism 60, and control device 70 is in the space of board 13 belows in the middle of can being disposed in.
The automatic checkout equipment of object outward appearance of the present invention, more comprises a rotating mechanism 80, and rotating mechanism 80 is to be connected between articles holding table 40 and elevating mechanism 50, in order to drive articles holding table 40 in conplane rotation.
Please refer to shown in Fig. 5, by the combination of above-mentioned each mechanism and device, during operation, be that an object 9 (as: flat computer) is placed on articles holding table 40, and object 9 is adsorbed fixing with each sucker 41, utilize the program setting of control device 70 inside to control multi-axis mechanical arm 20,20 of multi-axis mechanical arms drive optical detecting module 30 to produce the action of displacement and/or rotation, and with laser detector 31, confirm the flatness of object 9, with CCD detecting device 32, confirm the data such as the aperture of object 9.
Please refer to shown in Fig. 6 to Fig. 9, complete after the upper surface of object 9 and the testing of surrounding, with multi-axis mechanical arm 20, optical detecting module 30 is taken away, and then utilize each Linear-moving assembly 63,63a to drive each hold assembly 61,61a to move towards the direction of object 9, and by the movement of each pneumatic jig arm 611,611a, four corners of object 9 are pressed from both sides to the fixing of pulling.
Please refer to shown in Figure 10 to Figure 12, then, utilize the expansion link 511 of elevating mechanism 50 towards below retraction, articles holding table 40 to be declined, now each backstay 54 is that the guiding that is subject to each axle sleeve 521 is moved, after articles holding table 40 departs from the carrying of object 9, a suitable distance, drives each pneumatic jig arm 611,611a to produce together with object 9 after the spinning movement of circle with each hold assembly 61, each servo motor 612 of 61a, 612a; Finally, again utilize the expansion link 511 of elevating mechanism 50 towards top, protrude out and make articles holding table 40 increase, and with articles holding table 40, object 9 is carried, after switching mechanism 60 is removed, can drive optical detecting module 30 to come the back side of object 9 to continue to do to detect operation by multi-axis mechanical arm 20.
Certainly; the present invention also can have other various embodiments; in the situation that not deviating from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (12)
1. an automatic checkout equipment for object outward appearance, is characterized in that, comprising:
One frame (10);
One multi-axis mechanical arm (20), is arranged in this frame (10);
One optical detecting module (30), connects this multi-axis mechanical arm (20), and this optical detecting module (30) can produce displacement and/or rotation by the drive of this multi-axis mechanical arm (20);
One articles holding table (40), corresponding to the moving range setting of this optical detecting module (30), this articles holding table (40) is put for described object (9);
One elevating mechanism (50), is located at the below of this articles holding table (40) in order to drive this articles holding table (40) to produce lifting moving;
One switching mechanism (60), to arranging by articles holding table (40), this switching mechanism (60) comprises one group of hold assembly (61,61a); And
One control device (70), is electrically connected this elevating mechanism (50) and this switching mechanism (60);
Wherein, this control device (70) is controlled this group hold assembly (61,61a) described object (9) is clamped, and utilizing this elevating mechanism (50) to order about this articles holding table (40) declines, by this, hold assembly (61,61a) is overturn to described object (9) again.
2. the automatic checkout equipment of object outward appearance according to claim 1, it is characterized in that, more comprise the rotating mechanism (80) being connected between this elevating mechanism (50) and this articles holding table (40), in order to drive this articles holding table (40) to produce conplane rotation.
3. the automatic checkout equipment of object outward appearance according to claim 1, it is characterized in that, this switching mechanism (60) more comprises one group of holder (62,62a) and one group of Linear-moving assembly (63,63a), each this hold assembly (61) is connected to each this Linear-moving assembly (63), and each this Linear-moving assembly (63) is connected to each holder (62).
4. the automatic checkout equipment of object outward appearance according to claim 3, it is characterized in that, this hold assembly (61) can be made Linear-moving with respect to this Linear-moving assembly (63), this Linear-moving assembly (63) can be made Linear-moving with respect to this holder (62), and the moving direction of this hold assembly (61) is mutually vertical with the moving direction of this Linear-moving assembly (63).
5. the automatic checkout equipment of object outward appearance according to claim 3, it is characterized in that, this Linear-moving assembly (63) is a pneumatic type Linear-moving assembly, and it comprises an aerodynamic slider (631) and makes linearly moving multiple guide rod (632) in order to guide this aerodynamic slider (631).
6. the automatic checkout equipment of object outward appearance according to claim 3, it is characterized in that, this hold assembly (61) is a pneumatic type hold assembly, the servo motor (612) that it comprises a pneumatic jig arm (611) and connects this pneumatic jig arm (611), this servo motor (612) is in order to drive this pneumatic jig arm (611) to produce rotation.
7. the automatic checkout equipment of object outward appearance according to claim 1, is characterized in that, this optical detecting module (30) is that a laser detector and/or utilizes the photo-sensitive cell of CCD to carry out the detecting device of image capture and comparison.
8. the automatic checkout equipment of object outward appearance according to claim 1, it is characterized in that, this elevating mechanism (50) is an electrodynamic lifting mechanism, it comprises an electric cylinder (51), one support (52), one support plate (53) and multiple backstay (54), this support is fixed on this frame (10) and is provided with multiple axle sleeves (521), this electric cylinder (51) comprises an expansion link (511) that passes this support (52), this expansion link (511) is connected to this support plate (53), this support plate (53) is for respectively this backstay (54) is affixed, each this backstay is plugged on each this axle sleeve (521).
9. the automatic checkout equipment of object outward appearance according to claim 1, is characterized in that, this multi-axis mechanical arm (20) is a six axis robot arm.
10. the automatic checkout equipment of object outward appearance according to claim 9, it is characterized in that, the front end of this multi-axis mechanical arm (20) is provided with a connector (21), and this optical detecting module (30) is arranged on this connector (21).
The automatic checkout equipment of 11. object outward appearances according to claim 1, is characterized in that, this articles holding table (40) top is equipped with most sucker (41).
The automatic checkout equipment of 12. object outward appearances according to claim 1, is characterized in that, this control device (70) is more electrically connected this multi-axis mechanical arm (20) and this optical detecting module (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310596246.5A CN103728302A (en) | 2013-11-22 | 2013-11-22 | Automatic detection equipment for object appearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310596246.5A CN103728302A (en) | 2013-11-22 | 2013-11-22 | Automatic detection equipment for object appearance |
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| CN103728302A true CN103728302A (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310596246.5A Pending CN103728302A (en) | 2013-11-22 | 2013-11-22 | Automatic detection equipment for object appearance |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897672A (en) * | 2015-05-15 | 2015-09-09 | 浙江工业大学 | Holder positive and negative side discrimination device |
| CN105043450A (en) * | 2015-08-14 | 2015-11-11 | 苏州听毅华自动化设备有限公司 | Testing mechanism |
| CN105371772A (en) * | 2015-10-30 | 2016-03-02 | 东莞市嘉腾仪器仪表有限公司 | 3D element height detector and detection steps thereof |
| CN105424717A (en) * | 2014-09-05 | 2016-03-23 | 由田新技股份有限公司 | Optical detection device for detection of multiple flaws |
| CN105486465A (en) * | 2015-11-19 | 2016-04-13 | 中国商用飞机有限责任公司 | Automatic detection tool and method |
| CN106705843A (en) * | 2016-12-30 | 2017-05-24 | 芜湖哈特机器人产业技术研究院有限公司 | Bolt sorting system and sorting method thereof |
| CN108195285A (en) * | 2017-12-21 | 2018-06-22 | 苏州临点三维科技有限公司 | non-contact type measuring device |
| CN108226187A (en) * | 2017-12-28 | 2018-06-29 | 南京联信自动化科技有限公司 | A kind of detection device of planar surface pad pasting |
| CN108459030A (en) * | 2018-02-08 | 2018-08-28 | 东华大学 | One kind being applied to non-planar plastic smooth surface flaw on-line measuring device and method |
| CN108645713A (en) * | 2018-04-27 | 2018-10-12 | 佛山市锐科菲达科技有限公司 | A kind of production toy automatic checkout equipment |
| CN109031183A (en) * | 2018-09-05 | 2018-12-18 | 国网山东省电力公司枣庄供电公司 | A kind of intelligent electric energy meter automatic detection device and automatic testing method |
| CN109187561A (en) * | 2018-10-16 | 2019-01-11 | 天津安通林汽车饰件有限公司 | A kind of vehicle door interior trim defective vision detection system |
| CN110108714A (en) * | 2019-04-28 | 2019-08-09 | 浙江博拉自动化科技有限公司 | A kind of auto parts and components appearance detection system and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105424717A (en) * | 2014-09-05 | 2016-03-23 | 由田新技股份有限公司 | Optical detection device for detection of multiple flaws |
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| CN104897672A (en) * | 2015-05-15 | 2015-09-09 | 浙江工业大学 | Holder positive and negative side discrimination device |
| CN105043450A (en) * | 2015-08-14 | 2015-11-11 | 苏州听毅华自动化设备有限公司 | Testing mechanism |
| CN105371772A (en) * | 2015-10-30 | 2016-03-02 | 东莞市嘉腾仪器仪表有限公司 | 3D element height detector and detection steps thereof |
| CN105486465A (en) * | 2015-11-19 | 2016-04-13 | 中国商用飞机有限责任公司 | Automatic detection tool and method |
| CN106705843A (en) * | 2016-12-30 | 2017-05-24 | 芜湖哈特机器人产业技术研究院有限公司 | Bolt sorting system and sorting method thereof |
| CN108195285A (en) * | 2017-12-21 | 2018-06-22 | 苏州临点三维科技有限公司 | non-contact type measuring device |
| CN108226187A (en) * | 2017-12-28 | 2018-06-29 | 南京联信自动化科技有限公司 | A kind of detection device of planar surface pad pasting |
| CN108459030A (en) * | 2018-02-08 | 2018-08-28 | 东华大学 | One kind being applied to non-planar plastic smooth surface flaw on-line measuring device and method |
| CN108645713A (en) * | 2018-04-27 | 2018-10-12 | 佛山市锐科菲达科技有限公司 | A kind of production toy automatic checkout equipment |
| CN109031183A (en) * | 2018-09-05 | 2018-12-18 | 国网山东省电力公司枣庄供电公司 | A kind of intelligent electric energy meter automatic detection device and automatic testing method |
| CN109187561A (en) * | 2018-10-16 | 2019-01-11 | 天津安通林汽车饰件有限公司 | A kind of vehicle door interior trim defective vision detection system |
| CN110108714A (en) * | 2019-04-28 | 2019-08-09 | 浙江博拉自动化科技有限公司 | A kind of auto parts and components appearance detection system and device |
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Application publication date: 20140416 |