CN103728302A

CN103728302A - Automatic detection equipment for object appearance

Info

Publication number: CN103728302A
Application number: CN201310596246.5A
Authority: CN
Inventors: 陈高磊
Original assignee: Hongkong Stoke Co ltd
Current assignee: Hongkong Stoke Co ltd
Priority date: 2013-11-22
Filing date: 2013-11-22
Publication date: 2014-04-16

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

1. An automatic detection device for object appearance, characterized in that, comprising:

One frame (10);

A multi-axis mechanical arm (20), arranged on the frame (10);

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);

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);

A lifting mechanism (50), which is arranged under the storage platform (40) to drive the storage platform (40) to generate lifting movement;

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

a control device (70), electrically connected to the lifting mechanism (50) and the turning mechanism (60);

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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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).