CN104536377A - Electroplating detection robot - Google Patents
Electroplating detection robot Download PDFInfo
- Publication number
- CN104536377A CN104536377A CN201410782872.8A CN201410782872A CN104536377A CN 104536377 A CN104536377 A CN 104536377A CN 201410782872 A CN201410782872 A CN 201410782872A CN 104536377 A CN104536377 A CN 104536377A
- Authority
- CN
- China
- Prior art keywords
- robot
- control desk
- module
- control console
- platform carrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37398—Thickness
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39484—Locate, reach and grasp, visual guided grasping
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40543—Identification and location, position of components, objects
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
An electroplating detection robot comprises a control console. A device installation rack as long as the control console is arranged at the upper portion of the control console. A belt conveyor is arranged at the lower portion of the device installation rack. A robot installation module and a test table module are arranged at the half portion of the bottom of the inner side of the device installation rack. A camera is visually installed in the device installation rack and the focal distance of the camera is aligned with the test table module. The control console is composed of an integrated industrial personal computer and an HMI control console. The robot installation module is composed of a horizontal multi-joint four-axis high-speed picking robot and a vacuum sucker. The test table module comprises a test platform carrier. A thickness measurement cylinder is arranged in a groove of the test platform carrier and provided with a plated layer thickness detection bar. A weighing cylinder, a weighing sensor and a rotary stepping motor are sequentially arranged below the test platform carrier. The electroplating detection robot has the advantages that a machine and vision are integrated, locating accuracy, the automation degree and efficiency are high, the device structure is simple and compact, strength is high, corrosion is resisted, the performance is stable and reliable, and service life is long.
Description
Technical field
The present invention and technical field of mechanical equipment, especially relate to a kind of plating measuring robots
Background technology
Coin is incused by base cake, and the quality of base cake directly affects the quality of finished product, and therefore the process of base cake is a very the key link.The base cake be punched down from alloy silver is very coarse, rough and surrounding has burr, need further finishing, concrete steps are: the column annealing furnace of the similar special stirring machine of profile put into by base cake by (1), annealing furnace rotates, and high temperature carries out sofening treatment to base cake; (2) the base cake after annealing softening is placed in the acid of dilution or liquid soap and cleans; (3) by special machinery and equipment to the polishing of base cake edging, through above process after base cake just can directly be used for impression coin; Meanwhile, in other pattern shop, design formwork starts; Traditional checkout equipment is complicated, and equipment performance is stable not, and the accuracy that robot captures is not high, the efficiency that impact is produced.
Summary of the invention
For overcoming the problems referred to above, technical scheme of the present invention is as follows:
A kind of plating measuring robots, comprise control desk, control desk top is provided with equal with control desk length, the equipment mounting frame that width is slightly narrow, equipment mounting frame bottom is provided with band conveyor, equipment mounting frame inside bottom 1/2nd place is provided with mounting robot module and test board module, and camera vision is arranged in equipment mounting frame, and focal length aims at test board module.
Described control desk is made up of integral type industrial computer and HMI control desk.
Robot module is made up of horizontal articulated 4 axle high-speed picking-up robots and vacuum cup.
Test board module comprises test platform carrier, and the groove of test platform carrier is provided with thickness measuring cylinder, and thickness measuring cylinder is provided with thickness of coating detector bar, is provided with cylinder of weighing successively under test platform carrier, LOAD CELLS and rotary step motor.
The center of described test board module is provided with universal stage.
Described universal stage is provided with position, eight holes.
Described hole bit interval 45 degree.
Described rotary step motor rotates 45 degree at every turn.
Advantage of the present invention is: the comprehensive one of machine vision, and accurate positioning is high, and automaticity is high, and speed is fast, and efficiency is high; Equipment framework is simply compact, and epistasis is high, corrosion-resistant, stable and reliable for performance, and the life-span is long.
Accompanying drawing explanation
Fig. 1 is the structural representation of present device.
Fig. 2 is the structural representation of robot module of the present invention.
Fig. 3 is the structural representation of test board module in the present invention.
Fig. 4 is motion flow schematic diagram of the present invention.
Embodiment
As shown in Figure 1,2,3, 4, a kind of plating measuring robots, comprise control desk 1, control desk 1 top is provided with equal with control desk 1 length, the equipment mounting frame 2 that width is slightly narrow, equipment mounting frame bottom is provided with band conveyor 3, it is characterized in that, equipment mounting frame 2 inside bottom 1/2nd place is provided with mounting robot module 4, and test board module 5, camera vision 6 is arranged in equipment mounting frame 2, and focal length aims at test board module 5.
Control desk 1 is made up of integral type industrial computer 7 and HMI control desk 8.
Robot module 4 is made up of horizontal articulated 4 axle high-speed picking-up robots 9 and vacuum cup 10.
Test board module 5 comprises test platform carrier 11, the groove of test platform carrier 11 is provided with thickness measuring cylinder 12, thickness measuring cylinder 12 is provided with thickness of coating detector bar 13, and test platform carrier is provided with cylinder 14 of weighing 11 times successively, LOAD CELLS 15 and rotary step motor 16.
The center of described test board module 5 is provided with universal stage.
Described universal stage is provided with position, eight holes.
Described hole bit interval 45 degree.
State rotary step motor 16 and rotate 45 degree at every turn.
Motion flow:
1. coin: first utilize corner block to divide the base cake of 2 tunnel rarenesses from vibratory screening apparatus; Recycling triangle is scraped coin device and is scraped as one deck by the multilayer base cake flow on belt; Finally scraping coin device with triangle is separated more evenly be beneficial to vision and take pictures again by one deck base cake.
2. capture: robot and vision system closely cooperate, camera is taken pictures in real time to the base cake flowed through, each bat is got 10 pieces of base pie chart pictures and picture position is passed to robot, robot is in conjunction with feedback position of encoder and picture position, determine the 1st piece of base cake position captured, if capture unsuccessfully, again capture the 2nd piece of base cake ... until accurately grab base cake.The base cake caught is put into rotary table and to be weighed position, hole by robot.
3. weigh: cylinder of weighing drive LOAD CELLS and pallet carrier up, sensor apparatus reading quality data when base cake drops on pallet completely.
4. rotate: universal stage is divided into position, 8 holes, each hole bit interval 45 degree, adopt step motor to drive universal stage to rotate 45 degree, base cake will from weighing, thickness measuring, and the coin station that falls transmits successively, goes round and begins again at every turn.
5. thickness measuring: thickness measuring cylinder drives Thicknesser probe descending, probe contacts base cake surface also stops 1 second, and thickness measuring calculating is machine-readable gets thickness of coating data.
6. fall coin: after thickness measuring, turntable rotates 45 degree, and the base cake measured falls into belt from coin droping hole, completes a measuring period.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those of ordinary skill in the art are in the technical scope disclosed by the present invention; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (5)
1. a plating measuring robots, comprise control desk (1), control desk (1) top is provided with the equipment mounting frame (2) equal with control desk (1) length, equipment mounting frame bottom is provided with band conveyor (3), it is characterized in that: equipment mounting frame (2) inside bottom 1/2nd place is provided with mounting robot module (4) and test board module (5), camera vision (6) is arranged in equipment mounting frame (2), and focal length aims at test board module (5);
Described control desk (1) is made up of integral type industrial computer (7) and HMI control desk (8);
Robot module (4) is made up of horizontal articulated 4 axle high-speed picking-up robots (9) and vacuum cup (10);
Test board module (5) comprises test platform carrier (11), the groove of test platform carrier (11) is provided with thickness measuring cylinder (12), thickness measuring cylinder (12) is provided with thickness of coating detector bar (13), cylinder of weighing (14) is provided with successively, LOAD CELLS (15) and rotary step motor (16) under test platform carrier (11).
2. one plating measuring robots according to claim 1, is characterized in that: the center of described test board module (5) is provided with universal stage.
3. one plating measuring robots according to claim 2, is characterized in that: described universal stage is provided with position, eight holes.
4. one plating measuring robots according to claim 3, is characterized in that: described hole bit interval 45 degree.
5. one plating measuring robots according to claim 1, is characterized in that: described rotary step motor (16) rotates 45 degree at every turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410782872.8A CN104536377B (en) | 2014-12-18 | 2014-12-18 | One kind plating detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410782872.8A CN104536377B (en) | 2014-12-18 | 2014-12-18 | One kind plating detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104536377A true CN104536377A (en) | 2015-04-22 |
| CN104536377B CN104536377B (en) | 2018-04-10 |
Family
ID=52851921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410782872.8A Active CN104536377B (en) | 2014-12-18 | 2014-12-18 | One kind plating detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104536377B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387165A (en) * | 2018-09-10 | 2019-02-26 | 武汉纺织大学 | A kind of sheet workpiece automatic detection device and method |
| CN114959856A (en) * | 2022-06-27 | 2022-08-30 | 嘉兴宇诚电子科技有限公司 | Electronic component electroplating system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0917035A2 (en) * | 1997-11-12 | 1999-05-19 | Masahiro Watanabe | An automatic three-dimension engraving device |
| CN202361953U (en) * | 2011-11-28 | 2012-08-01 | 上海通彩自动化设备有限公司 | Automatic weighing and gauging device |
| CN203643012U (en) * | 2013-11-28 | 2014-06-11 | 江苏保力自动化科技有限公司 | Coin base plating layer detecting apparatus |
| CN104044924A (en) * | 2014-06-06 | 2014-09-17 | 中国建材国际工程集团有限公司 | Multi-axis bridge frame type glass online stacking machine about stacking manipulator |
| CN204270104U (en) * | 2014-12-18 | 2015-04-15 | 江苏保力自动化科技有限公司 | A kind of plating measuring robots |
-
2014
- 2014-12-18 CN CN201410782872.8A patent/CN104536377B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0917035A2 (en) * | 1997-11-12 | 1999-05-19 | Masahiro Watanabe | An automatic three-dimension engraving device |
| CN202361953U (en) * | 2011-11-28 | 2012-08-01 | 上海通彩自动化设备有限公司 | Automatic weighing and gauging device |
| CN203643012U (en) * | 2013-11-28 | 2014-06-11 | 江苏保力自动化科技有限公司 | Coin base plating layer detecting apparatus |
| CN104044924A (en) * | 2014-06-06 | 2014-09-17 | 中国建材国际工程集团有限公司 | Multi-axis bridge frame type glass online stacking machine about stacking manipulator |
| CN204270104U (en) * | 2014-12-18 | 2015-04-15 | 江苏保力自动化科技有限公司 | A kind of plating measuring robots |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387165A (en) * | 2018-09-10 | 2019-02-26 | 武汉纺织大学 | A kind of sheet workpiece automatic detection device and method |
| CN114959856A (en) * | 2022-06-27 | 2022-08-30 | 嘉兴宇诚电子科技有限公司 | Electronic component electroplating system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104536377B (en) | 2018-04-10 |
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