CN103728302A - Automatic detection equipment for object appearance - Google Patents

Automatic detection equipment for object appearance Download PDF

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Publication number
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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automatic detection
detection device
object appearance
appearance according
lifting mechanism
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CN201310596246.5A
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Chinese (zh)
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陈高磊
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Hongkong Stoke Co ltd
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Hongkong Stoke Co ltd
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Priority to CN201310596246.5A priority Critical patent/CN103728302A/en
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Abstract

The invention discloses automatic detection equipment for the appearance of an object, which comprises a rack, a multi-axis 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 shift or/and rotate under the driving of the multi-axis 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 move up and down; the turnover mechanism comprises a group of clamping components; the control device controls the clamping component to clamp the object, the lifting mechanism is used for driving the object placing table to descend, and then the clamping component turns over the object. Therefore, the appearance of the object can be comprehensively checked and measured at one time.

Description

The automatic checkout equipment of object outward appearance
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)

1.一种物件外观的自动检测设备,其特征在于,包括:1. An automatic detection device for object appearance, characterized in that, comprising: 一机架(10);One frame (10); 一多轴机械手臂(20),设置在该机架(10)上;A multi-axis mechanical arm (20), arranged on the frame (10); 一光学检测模块(30),连接该多轴机械手臂(20),该光学检测模块(30)通过该多轴机械手臂(20)的带动能够产生移位或/及旋转;An optical detection module (30), connected to the multi-axis mechanical arm (20), the optical detection module (30) can be displaced or/and rotated by the multi-axis mechanical arm (20); 一置物台(40),对应于该光学检测模块(30)的移动范围设置,该置物台(40)供所述物件(9)置放;A storage platform (40), which is set corresponding to the movement range of the optical detection module (30), and the storage platform (40) is used for placing the object (9); 一升降机构(50),设于该置物台(40)的下方用以驱动该置物台(40)产生升降移动;A lifting mechanism (50), which is arranged under the storage platform (40) to drive the storage platform (40) to generate lifting movement; 一翻转机构(60),对应该置物台(40)配设,该翻转机构(60)包含一组夹持部件(61,61a);以及A turning mechanism (60), which is arranged corresponding to the object table (40), and the turning mechanism (60) includes a set of clamping parts (61, 61a); and 一控制装置(70),电性连接该升降机构(50)和该翻转机构(60);a control device (70), electrically connected to the lifting mechanism (50) and the turning mechanism (60); 其中,该控制装置(70)控制该组夹持部件(61,61a)对所述物件(9)夹持,且利用该升降机构(50)驱使该置物台(40)下降,再由该对夹持部件(61,61a)对所述物件(9)进行翻转。Wherein, the control device (70) controls the group of clamping parts (61, 61a) to clamp the object (9), and uses the lifting mechanism (50) to drive the storage table (40) down, and then the pair The holding means (61, 61a) turns over said object (9). 2.根据权利要求1所述的物件外观的自动检测设备,其特征在于,更包括连接在该升降机构(50)和该置物台(40)之间的一旋转机构(80),用以驱动该置物台(40)产生同一平面的转动。2. The automatic detection device for object appearance according to claim 1, further comprising a rotating mechanism (80) connected between the lifting mechanism (50) and the storage table (40), for driving The object table (40) produces rotation in the same plane. 3.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该翻转机构(60)更包含一组固定座(62,62a)及一组线性移动组件(63,63a),每一该夹持部件(61)连接在每一该线性移动组件(63),每一该线性移动组件(63)连接在每一固定座(62)。3. The automatic detection device for object appearance according to claim 1, characterized in that, the turning mechanism (60) further comprises a set of fixed seats (62, 62a) and a set of linear moving components (63, 63a), each A clamping part (61) is connected to each linear moving assembly (63), and each linear moving assembly (63) is connected to each fixed seat (62). 4.根据权利要求3所述的物件外观的自动检测设备,其特征在于,该夹持部件(61)能够相对于该线性移动组件(63)作线性移动,该线性移动组件(63)能够相对于该固定座(62)作线性移动,该夹持部件(61)的移动方向与该线性移动组件(63)的移动方向相互垂直。4. The automatic detection device for object appearance according to claim 3, characterized in that, the clamping part (61) can move linearly relative to the linear moving assembly (63), and the linear moving assembly (63) can move relatively The fixed base (62) moves linearly, and the moving direction of the clamping part (61) is perpendicular to the moving direction of the linear moving component (63). 5.根据权利要求3所述的物件外观的自动检测设备,其特征在于,该线性移动组件(63)为一气动式线性移动组件,其包括一气动滑块(631)及用以导引该气动滑块(631)作线性移动的多个导杆(632)。5. The automatic detection device of object appearance according to claim 3, characterized in that, the linear movement assembly (63) is a pneumatic linear movement assembly, which includes a pneumatic slider (631) and is used to guide the The pneumatic slider (631) is a plurality of guide rods (632) for linear movement. 6.根据权利要求3所述的物件外观的自动检测设备,其特征在于,该夹持部件(61)为一气动式夹持部件,其包括一气动夹臂(611)及连接该气动夹臂(611)的一伺服马达(612),该伺服马达(612)用以驱动该气动夹臂(611)产生旋转。6. The automatic detection device of object appearance according to claim 3, characterized in that, the clamping part (61) is a pneumatic clamping part, which includes a pneumatic clamping arm (611) and a pneumatic clamping arm connected to A servo motor (612) of (611), the servo motor (612) is used to drive the pneumatic clamp arm (611) to generate rotation. 7.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该光学检测模块(30)为一激光检测器或/及一利用CCD的感光元件进行影像撷取及比对的检测器。7. The automatic detection device for object appearance according to claim 1, characterized in that the optical detection module (30) is a laser detector or/and a photosensitive element utilizing a CCD for image capture and comparison detection device. 8.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该升降机构(50)为一电动式升降机构,其包含一电动缸(51)、一支架(52)、一载板(53)及多个定位杆(54),该支架固定在该机架(10)并设有多个轴套(521),该电动缸(51)包含穿出该支架(52)的一伸缩杆(511),该伸缩杆(511)连接在该载板(53),该载板(53)供各该定位杆(54)固接,每一该定位杆插接在每一该轴套(521)。8. The automatic detection device for object appearance according to claim 1, characterized in that, the lifting mechanism (50) is an electric lifting mechanism, which includes an electric cylinder (51), a support (52), a load plate (53) and a plurality of positioning rods (54), the bracket is fixed on the frame (10) and is provided with a plurality of axle sleeves (521), and the electric cylinder (51) includes a Telescopic rod (511), this telescopic rod (511) is connected on this carrier plate (53), and this carrier plate (53) is fixedly connected for each of these positioning rods (54), and each of these positioning rods is plugged into each of these shafts. Set (521). 9.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该多轴机械手臂(20)为一六轴机械手臂。9. The automatic detection device for object appearance according to claim 1, characterized in that the multi-axis robot arm (20) is a six-axis robot arm. 10.根据权利要求9所述的物件外观的自动检测设备,其特征在于,该多轴机械手臂(20)的前端设有一连接头(21),该光学检测模块(30)安装在该连接头(21)上。10. The automatic detection equipment for object appearance according to claim 9, characterized in that, the front end of the multi-axis mechanical arm (20) is provided with a connector (21), and the optical detection module (30) is installed on the connector (21) on. 11.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该置物台(40)上方配设有多数的吸盘(41)。11. The automatic detection device for object appearance according to claim 1, characterized in that a plurality of suction cups (41) are arranged above the storage table (40). 12.根据权利要求1所述的物件外观的自动检测设备,其特征在于,该控制装置(70)更电性连接该多轴机械手臂(20)和该光学检测模块(30)。12. The automatic detection device for object appearance according to claim 1, characterized in that, the control device (70) is further electrically connected to the multi-axis robot arm (20) and the optical detection module (30).
CN201310596246.5A 2013-11-22 2013-11-22 Automatic detection equipment for object appearance Pending CN103728302A (en)

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CN201289466Y (en) * 2008-10-09 2009-08-12 广东正业科技有限公司 Appearance inspection machine for printed circuit board
CN201876424U (en) * 2010-11-02 2011-06-22 严巧整 Automatic detecting device for judging battery processing quality of all production processes
CN102253044A (en) * 2010-12-21 2011-11-23 吴江市博众精工科技有限公司 Measurement machine
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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 tooling and its detection 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
CN110127374A (en) * 2019-04-15 2019-08-16 伯恩光学(惠州)有限公司 It is a kind of for detecting the automatic turning device of glass product
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
CN114235684A (en) * 2020-09-09 2022-03-25 旺矽科技股份有限公司 Macroscopic and microscopic testing equipment and testing methods
CN113566748A (en) * 2021-08-13 2021-10-29 武汉凤翔科技发展有限公司 A sputtering target detection mechanism
CN117233168A (en) * 2023-08-23 2023-12-15 北京易点淘网络技术有限公司 Detection equipment
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Application publication date: 20140416