CN105904478A - Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism - Google Patents
Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism Download PDFInfo
- Publication number
- CN105904478A CN105904478A CN201610323728.7A CN201610323728A CN105904478A CN 105904478 A CN105904478 A CN 105904478A CN 201610323728 A CN201610323728 A CN 201610323728A CN 105904478 A CN105904478 A CN 105904478A
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- CN
- China
- Prior art keywords
- product
- robot
- loading
- bin
- automatic machinery
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanism for detecting feeding and discharging of an automatic robot and grippers for the mechanism. According to the technical scheme, the mechanism comprises a feeding mechanism, a discharging mechanism, a tray delivery mechanism, a robot mechanism and a product detection mechanism. The feeding mechanism comprises a feeding bin for containing product trays to be detected and a feeding recovery bin for containing empty trays. The discharging mechanism comprises a discharging bin for containing detected product trays and an empty tray discharging bin for containing empty trays to be picked up by the robot mechanism. The product detection mechanism is arranged on one side of the feeding mechanism and the discharging mechanism. The feeding mechanism and the discharging mechanism are arranged front and back in the horizontal direction. The tray delivery mechanism is arranged below the feeding mechanism and the discharging mechanism. The feeding bin and the empty tray discharging bin correspond in position and are both close to the product detection mechanism. The feeding recovery bin and the discharging bin correspond in position.
Description
Technical field
The present invention relates to small-sized image pickup head and manufacture field, particularly to a kind of automatic machinery people's feeding, discharge function
Testing agency and apply to the paw structure of this mechanism.
Background technology
At present, mobile lens, mobile phone module, part demand amount are increasing, and its quality requirements is increasingly stricter,
Prior art, generally uses the mode of manual detection, but its work efficiency is low, and quality and instability thereof are existing
There is enterprise, in order to meet market demands, product is carried out mass production, need to increase artificial quantity, but the most skilled work
People's shortage, and cost of labor is higher, is difficult to meet technology on market and requires the demand of higher parts.
Therefore need a kind of new technical scheme to solve the problems referred to above.
Summary of the invention
The problem and shortage existed for above-mentioned prior art, it is an object of the invention to provide a kind of automatic machinery
People feeding, discharge Function detection mechanism and apply to the paw structure of this mechanism, full to realize while low cost
Foot stabilization of equipment performance.
For achieving the above object, the technical solution used in the present invention is a kind of automatic machinery people's loading and unloading inspection
Survey mechanism, it is characterised in that: include feed mechanism, cutting agency, tray conveyor structure, robot mechanism and
Product checking mechanism；
Described feed mechanism includes the loading bin for placing product charging tray to be detected and for placing sky charging tray
Feeding recovery bin；
Described cutting agency includes that institute is treated in the blanking feed bin for placing the charging tray having detected rear product and placement
State the blanking blank panel storehouse of the blank panel of robot mechanism pickup；
Described Product checking mechanism is arranged on the side of feed mechanism and cutting agency；
Arranging before and after feed mechanism and cutting agency level, this tray conveyor structure is arranged on feed mechanism and blanking
The lower section of mechanism, and described loading bin position is corresponding with blanking blank panel position and is close to described Product checking
Mechanism, described feeding recovery bin position is corresponding with blanking feed bin position.
As the further optimization of the present invention, it is provided with below loading bin of the present invention and drives loading bin
Charging tray discharges charging tray to the inductive switch of tray conveyor structure.
As the further optimization of the present invention, Product checking mechanism of the present invention includes for testing product each
The test board of performance.
As the further optimization of the present invention, robot mechanism of the present invention is six-joint robot.
As the further optimization of the present invention, present invention additionally comprises for obtaining positional information and passing to described product
The CCD image mechanism of product testing agency, this CCD image mechanism is arranged under described feed mechanism and cutting agency
Side.
As the further optimization of the present invention, cutting agency of the present invention also includes defective products recovering mechanism,
This defective products recovering mechanism is arranged at described blanking blank panel storehouse near the side of Product checking mechanism.
As the further optimization of the present invention, robot mechanism of the present invention includes base, robot body
And paw, this robot body is arranged on base, and paw is arranged on robot body by 6 shaft flanges,
This paw is upper and lower stretching structure.
As the further optimization of the present invention, Product checking mechanism of the present invention is arranged in pairs in feed mechanism
With the side of cutting agency, the base of this robot mechanism is positioned at the interposition of the Product checking mechanism being arranged in pairs
Put.
As the further optimization of the present invention, paw of the present invention includes the jaw for gripping product and use
In controlling the cylinder that moves up and down of jaw, described jaw includes some gripping finger in vertical Z-shaped, a pair
Or the relative gripping finger of multipair opening direction constitutes a jaw.
The invention also discloses a kind of paw for automatic machinery people loading and unloading testing agency, including for pressing from both sides
Taking the jaw of product and for controlling the cylinder that jaw moves up and down, described jaw includes some in vertical Z
The gripping finger of font, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
Compared to existing technology, its advantage is the present invention: the present invention is integrated with high precision 16 axle robot system, CCD
Image system, automatic loading and unloading system and automatic function detecting system, and then realize omnidistance unmanned automatization,
By mechanism, module is taken, put material, it is ensured that homogeneity of product, be greatly improved production efficiency, reduce not
Yields and production cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the feed mechanism of the present invention, cutting agency structure, tray conveyor structure, robot mechanism signal
Figure；
Fig. 3 is the charging tray schematic diagram of the present invention；
Fig. 4 is the paw structural representation of the robot mechanism of the present invention；
Fig. 5 is the paw enlarged drawing of the present invention.
Detailed description of the invention
As it is shown in figure 1, a kind of automatic machinery people feeding, discharge Function detection mechanism of this enforcement includes feeder
Structure 1-1, cutting agency 1-2, tray conveyor structure 5, robot mechanism 2 and Product checking mechanism 3；Feeding
Mechanism 1-1 includes the loading bin 11 for placing product charging tray to be detected and for placing the feeding of sky charging tray
Recovery bin 12；Cutting agency 1-2 includes blanking feed bin 13 He for placing the charging tray having detected rear product
Place the blanking blank panel storehouse 14 of the blank panel treating that described robot mechanism 2 picks up；Product checking mechanism 3 is arranged on
Feed mechanism 1-1 and the side of cutting agency 1-2.
Concrete, as in figure 2 it is shown, set before and after the feed mechanism 1-1 of the present embodiment and cutting agency 1-2 level
Putting, this tray conveyor structure 5 is arranged on feed mechanism 1-1 and the lower section of cutting agency 1-2, and loading bin
11 positions are corresponding with position, blanking blank panel storehouse 14 and are close to described Product checking mechanism 3, feeding recovery bin
12 positions are corresponding with blanking feed bin 13 position, are provided with the material driving loading bin 11 below loading bin 11
Dish discharges charging tray to the inductive switch of tray conveyor structure.
The Product checking mechanism 3 of the present embodiment includes the test board for testing each performance of product.
For guaranteeing high accuracy, the robot mechanism 2 that the present embodiment uses is six-joint robot, this robot mechanism
2 include base 21, robot body 22 and paw 23, and this robot body 22 is arranged on base 21,
Paw 23 is arranged on robot body 22 by 6 shaft flanges, and this paw 23 is upper and lower stretching structure.
As shown in Figure 4 and Figure 5, the paw 23 of the present embodiment includes the jaw 231 for gripping product and uses
In controlling the cylinder 232 that jaw 231 moves up and down, the paw 23 of the present embodiment uses 6 jaws 231,
This jaw 231 includes the gripping finger in vertical Z-shaped, and the gripping finger that one or more pairs of opening directions are relative constitutes a folder
Pawl 231, runs to above feeding position after robot mechanism 2 receives feeding instruction, and cylinder 232 drives
Corresponding jaw 231 stretches out, and PLC controls after gripping finger opens and be depressed into and reach feeding position, and gripping finger clamps, cylinder
232 drive jaw 231 to rise back in situ, it is achieved product grips.
For guaranteeing that robot mechanism 2 can be good with Product checking mechanism 3 cooperating, the present embodiment also includes
For obtaining positional information and passing to the CCD image mechanism 4 of described Product checking mechanism 3, this CCD image
Mechanism 4 is arranged on below described feed mechanism 1-1 and cutting agency 1-2.
The cutting agency 1-2 of the present embodiment also includes defective products recovering mechanism, and this defective products recovering mechanism is arranged at
Described blanking blank panel storehouse 14 is near the side of Product checking mechanism 3.
Product checking mechanism 3 is arranged in pairs in feed mechanism 1-1 and the side of cutting agency 1-2, this machine
The base 21 of robot mechanism 2 is positioned at the centre position of the Product checking mechanism 3 being arranged in pairs.
Charging tray to be measured is put into loading bin 11 by operator, as it is shown on figure 3, be placed with mould to be measured in this charging tray
Group, the inductive switch below loading bin 11 discharges a charging tray to tray conveyor structure after having sensed charging tray
5, charging tray to be measured is sent to CCD image mechanism 4 and takes pictures by tray conveyor structure 5, CCD image mechanism 4
After taking pictures, charging tray location information data being sent the data processing terminal to product test mechanism 3, the present embodiment is adopted
With PC, PC notifies that robot mechanism 2 carries out feeding, 3 in the present embodiment feeding dish after receiving data
Material, move to product test mechanism 3 after robot mechanism 2 feeding and product put into product test mechanism 3
Test board in test, in test process, robot mechanism 2 runs in situ to carry out next round
Product picks up, and robot mechanism 2 returns to original position notice CCD image mechanism 4 to take pictures, after end of taking pictures,
Robot mechanism 2 picks up the transmission of 3 material again and tests, after last round of product test terminates, and robot mechanism
Last round of product is taken out from test board and the next round product to be detected just picked up is put into test board by 2
In, now robot mechanism 2 is put into surveying product in corresponding charging tray according to test result, and above-mentioned charging tray can
Including defective products charging tray and certified products charging tray, the certified products charging tray of the present embodiment is and is positioned at blanking blank panel storehouse
The charging tray of 14, this charging tray is placed on the discharge position of robot mechanism 2 by tray conveyor structure, the most instead
Multiple until all Product checking in a charging tray complete, after current charging tray has detected, feed mechanism automatically will
Empty charging tray is sent to loading plate recovery bin 12 and reclaims, and after having reclaimed, feed mechanism goes a dish to be measured again
Charging tray carries out, to CCD image mechanism 4, entrance subsequent cycle of taking pictures, and repeats above-mentioned action, until all products are surveyed
Examination terminates.
Claims (10)
1. automatic machinery people loading and unloading testing agency, it is characterised in that: include feed mechanism, cutting agency,
Tray conveyor structure, robot mechanism and Product checking mechanism；
Described feed mechanism includes the loading bin for placing product charging tray to be detected and for placing sky charging tray
Feeding recovery bin；
Described cutting agency includes that institute is treated in the blanking feed bin for placing the charging tray having detected rear product and placement
State the blanking blank panel storehouse of the blank panel of robot mechanism pickup；
Described Product checking mechanism is arranged on the side of feed mechanism and cutting agency；
Arranging before and after feed mechanism and cutting agency level, this tray conveyor structure is arranged on feed mechanism and blanking
The lower section of mechanism, and described loading bin position is corresponding with blanking blank panel position and is close to described Product checking
Mechanism, described feeding recovery bin position is corresponding with blanking feed bin position.
Automatic machinery the most according to claim 1 people loading and unloading testing agency, it is characterised in that: institute
State and be provided with charging tray one charging tray of release driving loading bin below loading bin to the sensing of tray conveyor structure
Switch.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that:
Described Product checking mechanism includes the test board for testing each performance of product.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that:
Described robot mechanism is six-joint robot.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that:
Also include for obtaining positional information and passing to the CCD image mechanism of described Product checking mechanism, this CCD
Image mechanism is arranged on below described feed mechanism and cutting agency.
Automatic machinery the most according to claim 1 people loading and unloading testing agency, it is characterised in that: institute
Stating cutting agency and also include defective products recovering mechanism, this defective products recovering mechanism is arranged at described blanking blank panel storehouse and leans on
The side of nearly Product checking mechanism.
Automatic machinery the most according to claim 4 people loading and unloading testing agency, it is characterised in that: institute
Stating robot mechanism and include base, robot body and paw, this robot body is arranged on base, paw
Being arranged on robot body by 6 shaft flanges, this paw is upper and lower stretching structure.
Automatic machinery the most according to claim 7 people loading and unloading testing agency, it is characterised in that: institute
State Product checking mechanism and be arranged in pairs in the side of feed mechanism and cutting agency, the base position of this robot mechanism
Centre position in the Product checking mechanism being arranged in pairs.
9. according to the automatic machinery people loading and unloading testing agency described in claim 7 or 8, it is characterised in that:
Described paw includes the jaw for gripping product and for controlling the cylinder that jaw moves up and down, described folder
Pawl includes that some gripping finger in vertical Z-shaped, the gripping finger that one or more pairs of opening directions are relative constitute a jaw.
10., for the paw of the automatic machinery people loading and unloading testing agency described in claim 1, its feature exists
In: include the jaw for gripping product and for controlling the cylinder that jaw moves up and down, described jaw bag
Including some gripping finger in vertical Z-shaped, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610323728.7A CN105904478A (en) | 2016-05-17 | 2016-05-17 | Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610323728.7A CN105904478A (en) | 2016-05-17 | 2016-05-17 | Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105904478A true CN105904478A (en) | 2016-08-31 |
Family
ID=56749188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610323728.7A Pending CN105904478A (en) | 2016-05-17 | 2016-05-17 | Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN105904478A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106783677A (en) * | 2016-12-08 | 2017-05-31 | 深圳格兰达智能装备股份有限公司 | A kind of slot type material box automatic charging equipment |
| CN107089508A (en) * | 2017-06-06 | 2017-08-25 | 惠州市德赛自动化技术有限公司 | A kind of on-vehicle lens curing apparatus |
| CN107096732A (en) * | 2017-06-07 | 2017-08-29 | 嘉兴博信机器人科技有限公司 | A kind of automatic detection device |
| CN107262390A (en) * | 2017-05-27 | 2017-10-20 | 浙江银轮智能装备有限公司 | Board-like automatic inspection line |
| CN107263507A (en) * | 2017-08-03 | 2017-10-20 | 上海诺银机电科技有限公司 | A kind of automobile sensor robot automatic loading/unloading work station |
| CN108971009A (en) * | 2018-04-27 | 2018-12-11 | 成都西纬科技有限公司 | A kind of detection device for product appearance |
| CN109230230A (en) * | 2018-07-24 | 2019-01-18 | 嘉善翔宇旅游用品有限公司 | A kind of movement system of luggage accessory |
| CN109712924A (en) * | 2018-12-29 | 2019-05-03 | 哈工大机器人（山东）智能装备研究院 | A kind of infrared focal plane array chip automated test device |
| CN109896272A (en) * | 2017-12-08 | 2019-06-18 | 泰科电子(上海)有限公司 | Automatic feeding system |
| CN110451256A (en) * | 2019-07-11 | 2019-11-15 | 大族激光科技产业集团股份有限公司 | A kind of charging tray switching device |
| CN111606021A (en) * | 2020-05-20 | 2020-09-01 | 博众精工科技股份有限公司 | Feeding and discharging device |
| CN112478755A (en) * | 2020-12-01 | 2021-03-12 | 群沃电子科技（苏州）有限公司 | Full-automatic chip aging test and PCB shielding test feeding machine |
| CN112588592A (en) * | 2020-12-01 | 2021-04-02 | 群沃电子科技（苏州）有限公司 | Full-automatic chip aging test and PCB shielding test blanking machine |
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| CN105014682A (en) * | 2015-08-21 | 2015-11-04 | 苏州博众精工科技有限公司 | Clamping jaw assembly |
| CN205817893U (en) * | 2016-05-17 | 2016-12-21 | 昆山丘钛微电子科技有限公司 | Automatic machinery people loading and unloading testing agency and the paw for this mechanism |
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| GB1070176A (en) * | 1966-03-29 | 1967-06-01 | Conco Engineering Works Inc | Automatic warehousing system |
| CN103659802A (en) * | 2013-11-29 | 2014-03-26 | 苏州博众精工科技有限公司 | Grabbing mechanism |
| CN203608460U (en) * | 2013-12-06 | 2014-05-21 | 深圳雷柏科技股份有限公司 | Production line for individual board of PCBA multi-connected-board of mobile phone |
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| CN103921394A (en) * | 2014-03-27 | 2014-07-16 | 昆山艾博机器人系统工程有限公司 | Automatic production and detection equipment of insert injection molding product |
| CN204321585U (en) * | 2014-11-19 | 2015-05-13 | 昆山丘钛微电子科技有限公司 | A kind of full-automatic typesetting bench structure |
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| CN205817893U (en) * | 2016-05-17 | 2016-12-21 | 昆山丘钛微电子科技有限公司 | Automatic machinery people loading and unloading testing agency and the paw for this mechanism |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106783677A (en) * | 2016-12-08 | 2017-05-31 | 深圳格兰达智能装备股份有限公司 | A kind of slot type material box automatic charging equipment |
| CN107262390A (en) * | 2017-05-27 | 2017-10-20 | 浙江银轮智能装备有限公司 | Board-like automatic inspection line |
| CN107089508A (en) * | 2017-06-06 | 2017-08-25 | 惠州市德赛自动化技术有限公司 | A kind of on-vehicle lens curing apparatus |
| CN107089508B (en) * | 2017-06-06 | 2022-11-25 | 惠州市德赛自动化技术有限公司 | Vehicle-mounted lens curing equipment |
| CN107096732A (en) * | 2017-06-07 | 2017-08-29 | 嘉兴博信机器人科技有限公司 | A kind of automatic detection device |
| CN107096732B (en) * | 2017-06-07 | 2020-02-11 | 嘉兴博信机器人科技有限公司 | Operation method of automatic detection device |
| CN107263507A (en) * | 2017-08-03 | 2017-10-20 | 上海诺银机电科技有限公司 | A kind of automobile sensor robot automatic loading/unloading work station |
| CN109896272A (en) * | 2017-12-08 | 2019-06-18 | 泰科电子(上海)有限公司 | Automatic feeding system |
| CN109896272B (en) * | 2017-12-08 | 2021-01-29 | 泰科电子(上海)有限公司 | Automatic feeding system |
| CN108971009A (en) * | 2018-04-27 | 2018-12-11 | 成都西纬科技有限公司 | A kind of detection device for product appearance |
| CN108971009B (en) * | 2018-04-27 | 2024-04-02 | 成都西纬科技有限公司 | Detection equipment for product appearance |
| CN109230230A (en) * | 2018-07-24 | 2019-01-18 | 嘉善翔宇旅游用品有限公司 | A kind of movement system of luggage accessory |
| CN109230230B (en) * | 2018-07-24 | 2020-04-24 | 嘉善翔宇旅游用品有限公司 | Transfer system of case and bag accessory |
| CN109712924A (en) * | 2018-12-29 | 2019-05-03 | 哈工大机器人（山东）智能装备研究院 | A kind of infrared focal plane array chip automated test device |
| CN110451256A (en) * | 2019-07-11 | 2019-11-15 | 大族激光科技产业集团股份有限公司 | A kind of charging tray switching device |
| CN111606021A (en) * | 2020-05-20 | 2020-09-01 | 博众精工科技股份有限公司 | Feeding and discharging device |
| CN111606021B (en) * | 2020-05-20 | 2021-10-15 | 博众精工科技股份有限公司 | Feeding and discharging device |
| CN112478755A (en) * | 2020-12-01 | 2021-03-12 | 群沃电子科技（苏州）有限公司 | Full-automatic chip aging test and PCB shielding test feeding machine |
| CN112588592A (en) * | 2020-12-01 | 2021-04-02 | 群沃电子科技（苏州）有限公司 | Full-automatic chip aging test and PCB shielding test blanking machine |
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