CN108344745A - A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure - Google Patents
A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure Download PDFInfo
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- CN108344745A CN108344745A CN201810430559.6A CN201810430559A CN108344745A CN 108344745 A CN108344745 A CN 108344745A CN 201810430559 A CN201810430559 A CN 201810430559A CN 108344745 A CN108344745 A CN 108344745A
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- 238000001514 detection method Methods 0.000 claims abstract description 32
- 239000002699 waste material Substances 0.000 claims abstract description 17
- 210000000707 wrist Anatomy 0.000 claims description 18
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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Abstract
The invention discloses a kind of capacitance appearance automatic detecting machine based on tow-armed robot structure, including carrying mechanism, carrying mechanism is equipped with hollow pillar stand, feeding arm and blanking arm, feeding arm and blanking arm are respectively arranged at left and right sides of column, further include hough transform platform, testing agency, display device, finished product collecting box, waste collection box and controller, the electric feeding arm, blanking arm are automatically performed feeding, detection and the blanking of capacitance with capacitive sensing mechanism.Both arms of the present invention cooperate, and feeding, detection and blanking can be completed parallel, be remarkably improved capacitance appearance detection efficiency.
Description
Technical field
The present invention relates to a kind of capacitance appearance automatic detecting machine based on tow-armed robot structure, belongs to the automatic braid of capacitance
System tooling technical field.
Background technology
In capacitance production process, domestic capacitance manufacturing enterprise mostly uses greatly human eye and carries out capacitance meter under high magnification microscope
Planar defect inspection, such as casing cut open and split, blister, cut, playing trace, rubber plug exposing.Artificial vision's detection when long, it is difficult to meet and criticize
Accurate detection when amount production to capacitance appearance.Demand with capacitance manufacturing enterprise to capacitance appearance automatic detection device is increasingly
Urgently, domestic at present some capacitance automatic detection devices also occur, but there is system structure complexity, it is difficult to insertion is existing
In production line, accuracy of detection is poor, efficiency is low.
Invention content
The present invention proposes a kind of capacitance appearance automatic detecting machine based on tow-armed robot structure, solves in the prior art
Hold automatic detection device there are system structures it is complicated, be difficult to be embedded in existing production line, the technology that accuracy of detection is poor, efficiency is low is asked
Topic.
In order to solve the above-mentioned technical problem, the present invention uses following specific technical solution：
A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure, including carrying mechanism, hough transform platform, inspection
Survey mechanism, display device, finished product collecting box, waste collection box and controller；
The carrying mechanism includes hollow pillar stand, feeding arm and blanking arm, and feeding arm and blanking arm are respectively arranged in hollow
At left and right sides of column, feeding arm and blanking arm include one and carry capacitance to required corresponding pose when detecting to cooperate with
Five degree of freedom motion arm；
The hough transform platform is installed below carrying mechanism, is used to support carrying mechanism；
The testing agency and display device are installed on carrying mechanism, respectively detecting capacitance open defect and aobvious
Show capacitance detecting result；
The finished product collecting box and waste collection box are placed in respectively on the right side of hough transform platform and lower section, to collect capacitance
Finished product and waste product；
The controller control feeding arm, blanking arm and capacitive sensing mechanism are completed to grasp capacitor loading, detection, blanking
Make.
Controller controls feeding arm and blanking arm and grips capacitance to be detected, and feeding arm and blanking arm include one assisting
With carrying five degree of freedom motion arm of the capacitance to required corresponding pose when detecting, controller control operation arm swing, it is flexible or/
And overturning, and testing agency and display device are utilized, the upper and lower surface of capacitance and side are detected automatically, display detection
As a result, simultaneously classifying according to testing result.High degree of automation, detection efficiency is high, multi-faceted complete detection, accuracy of detection
Height, and the detection machine is simple in structure, the very convenient existing production line of insertion reduces production cost.
Be further improved, the five degree of freedom motion arm include shoulder extension cylinder, shoulder support shell, L-type armed lever one,
Joint oscillating cylinder, joint telescopic cylinder, L-type armed lever two, wrist oscillating cylinder and hand clamping cylinder；The portion stretches gas
Cylinder, joint oscillating cylinder, joint telescopic cylinder, wrist oscillating cylinder and hand clamping cylinder are electrically connected between controller,
Shoulder extension cylinder is mounted on the madial wall of hollow pillar stand, and shoulder extension cylinder piston rod telescopically passes through hollow pillar stand side
Wall is connected with one end of L-type armed lever one；The shoulder support shell is mounted on hollow pillar stand lateral wall；The L-type armed lever one
The one end being connect with shoulder extension cylinder piston rod can slidably reciprocate in shoulder support shell, one other end of L-type armed lever and pass
Oscillating cylinder shell is saved to be connected；The joint oscillating cylinder piston rod is connected with joint telescopic cylinder shell；It stretches in the joint
Contracting cylinder piston rod is connected with one end of L-type armed lever two, and two other end of L-type armed lever connects wrist oscillating cylinder shell；Described
Wrist oscillating cylinder piston rod connects hand clamping cylinder；Gripping finger there are two being set on the hand clamping cylinder.
It is further improved, there are difference in height at the feeding arm and blanking arm and hollow pillar stand attaching, this difference in height is full
For foot when feeding arm mutually exchanges folder capacitance with blanking arm, blanking arm gripping finger can clamp capacitance from feeding arm gripping finger.
It is further improved, the testing agency includes smart camera, light source, light source bracket, barn door；Smart camera and
It is electrically connected between light source and controller, the smart camera is mounted on hollow pillar stand antetheca；Light source is coaxial with smart camera, and
It is fixed on hollow pillar stand antetheca by light source bracket；Barn door is opposite with smart camera, is mounted on hough transform platform.
It is further improved, is set on the hough transform platform deck plate there are one blanking through-hole, blanking through-hole is located at intelligent phase
Between machine and barn door, and above waste collection box.
It is further improved, the smart camera of the testing agency is taken with display device to be electrical connected.
The testing agency takes with display device to be electrical connected.
The present invention has the following effects that：
1, controller control feeding arm and blanking arm grip capacitance to be detected, feeding arm and blanking arm include one to
The five degree of freedom motion arm of required corresponding pose when collaboration carrying capacitance to detection, controller control operation arm swing are stretched
Or/and overturning, and testing agency and display device are utilized, the upper and lower surface of capacitance and side are detected automatically, display inspection
It surveys as a result, simultaneously classifying according to testing result.High degree of automation, detection efficiency is high, so that capacitance appearance is received comprehensive
Detection, accuracy of detection is high.
2, since feeding arm and blanking arm can adjust the pose of capacitance in a certain range, the present invention is made to be regarded only with one
Feel completes the detection of capacitance appearance, and detection efficiency is high, and system composed structure is simple, convenient in embedded existing production line, reducing
Production cost.
Description of the drawings
Fig. 1 is the capacitance appearance automatic detecting machine schematic diagram based on tow-armed robot structure according to the present invention.
Fig. 2 is the capacitance carrying mechanism and capacitive sensing mechanism attaching schematic diagram of the present invention.
Fig. 3 is that the capacitance schematic diagram from previous process is clamped in the feeding arm of the present invention.
Fig. 4 is that the feeding arm clamp capacitance of the present invention detects pin schematic diagram.
Fig. 5 is that the feeding arm clamp capacitance of the present invention detects schematic bottom view.
Fig. 6 is that the feeding arm clamp capacitance of the present invention detects top schematic diagram.
Fig. 7 is that the feeding arm of the present invention and blanking arm change folder moment schematic diagram.
Fig. 8 is that the blanking arm clamp capacitance of the present invention detects one semi-schematic of side.
Fig. 9 is that the blanking arm clamp capacitance of the present invention detects another semi-schematic in side.
Specific implementation mode
Below in conjunction with the accompanying drawings with specific implementation example to the capacitance appearance automatic detecting machine based on tow-armed robot structure into
Row elaborates.
Fig. 1 is a kind of capacitance appearance automatic detecting machine based on tow-armed robot structure disclosed by the invention, including is carried
Mechanism 1, carrying mechanism 1 are equipped with hollow pillar stand 11, feeding arm and blanking arm, and feeding arm and blanking arm are respectively arranged in hollow pillar stand
11 the left and right sides, further include hough transform platform 2, testing agency 3, display device 6, finished product collecting box 5, waste collection box 4 and
Controller；
Wherein, feeding arm and blanking arm include a five degree of freedom motion arm 12, and capacitance is carried to corresponding to cooperate with
Detection pose；Hough transform platform 2 is installed on 1 lower section of carrying mechanism, is used to support carrying mechanism 1；Testing agency 3 and display fill
6 are set to be installed on capacitance carrying mechanism 1, respectively to detect capacitance open defect and display capacitance detecting result；Finished product is received
Header 5 and waste collection box 4 are placed in 2 right side of hough transform platform and lower section respectively, to collect the finished product and waste product of capacitance；Control
Device processed control feeding arm, blanking arm and capacitive sensing mechanism complete to capacitor loading, detection, blanking detection.
As shown in Fig. 2, five degree of freedom motion arm 12 includes shoulder extension cylinder 121, shoulder support shell 122, L-type armed lever
One 123, joint oscillating cylinder 124, joint telescopic cylinder 125, L-type armed lever 2 126, wrist oscillating cylinder 127 and hand clamp
Cylinder 128；Shoulder extension cylinder 121 is mounted on the madial wall of hollow pillar stand 11, and 121 piston rod of shoulder extension cylinder is scalable
Ground is connected across 11 side wall of hollow pillar stand with one end of L-type armed lever 1；Shoulder support shell 122 is mounted on hollow pillar stand 11
On lateral wall；One end that L-type armed lever 1 is connect with 121 piston rod of shoulder extension cylinder can be come in shoulder support shell 122
Sliding is returned, one 123 other end of L-type armed lever is connected with 124 shell of joint oscillating cylinder；124 piston rod of joint oscillating cylinder and pass
125 shell of telescopic cylinder is saved to be connected；Telescopic cylinder 125 piston rod in joint is connected with one end of L-type armed lever 2 126, L-type armed lever two
126 other ends connect 127 shell of wrist oscillating cylinder；127 piston rod of wrist oscillating cylinder connects hand clamping cylinder 128；Hand
Gripping finger there are two being set on portion's clamping cylinder 128.
With blanking arm and 11 attaching of hollow pillar stand there are difference in height, this difference in height need to meet when feeding arm and blanking feeding arm
When arm mutually exchanges folder capacitance, blanking arm gripping finger can clamp capacitance from feeding arm gripping finger.
Testing agency 3 includes smart camera 31, light source 32, light source bracket 33 and barn door 34；Smart camera 31 is mounted on
On 11 antetheca of hollow pillar stand；Light source 32 and smart camera 31 are coaxial, and are fixed on 11 antetheca of hollow pillar stand by light source bracket 33
On；Barn door 34 is opposite with smart camera 31, is mounted on hough transform platform 2.
It is set on 2 deck plate of hough transform platform there are one blanking through-hole, blanking through-hole is located at smart camera 31 and barn door 34
Between, and positioned at 4 top of waste collection box.
The testing agency 3 takes with display device 6 to be electrical connected.
A kind of operation principle of capacitance appearance automatic detecting machine based on tow-armed robot structure of the present invention is as follows：
A) clamping of feeding arm carries out 7 pin of capacitance, bottom surface and the detection of the appearance of top surface, such as schemes from the capacitance 7 of previous process
3, shown in Fig. 4, Fig. 5 and Fig. 6, following steps are specifically included：
A) 125 piston rod of joint telescopic cylinder of feeding arm first is protruding, is swung by L-type armed lever 2 126, wrist
Cylinder 127 and hand clamping cylinder 128 drive two gripping fingers on hand clamping cylinder 128 to be adjusted to and the electricity from previous process
Hold and is located on the same line；Then, start the 124 outside side oscillation of joint oscillating cylinder, L-type armed lever 2 126, wrist is driven to swing
Cylinder 127, hand clamping cylinder 128 are swung out together；Finally, start 121 piston rod of shoulder extension cylinder to stretch out, band is started
Portion's clamping cylinder 128 clamps the capacitance 7 from previous process；
B) start 121 piston rod of shoulder extension cylinder to retract, drive hand clamping cylinder 128 to clamp capacitance 7 and retract together；
Start the 124 inside side oscillation of joint oscillating cylinder, by L-type armed lever 2 126, wrist oscillating cylinder 127, hand clamping cylinder
128, the band handstand of dynamic condenser 7 is vertically arranged before smart camera 31, carries out the pin detection of capacitance 7, if 7 pin of capacitance is unqualified, pine
Hand clamping cylinder 128 is opened, capacitance 7 is put into waste collection box 4, is otherwise entered in next step；
C) start wrist oscillating cylinder 127, rotate through 90 ° and 270 ° successively, carry out the inspection of 7 bottom and top of capacitance respectively
It surveys, as shown in Figure 5 and Figure 6, if 7 pin of capacitance is unqualified, unclamps hand clamping cylinder 128, capacitance 7 is put into waste collection box
4, otherwise enter in next step.
B) the capacitance 7 on blanking arm clamping feeding arm carries out the appearance detection of 7 side of capacitance, such as Fig. 7, Fig. 8 and Fig. 9 institute
Show, specifically includes following steps：
A) 125 piston rod of joint telescopic cylinder for starting blanking arm is protruding, is swung by L-type armed lever 2 126, wrist
Cylinder 127 and hand clamping cylinder 128 drive two gripping fingers on hand clamping cylinder 128 to be adjusted to and be clamped on feeding arm
Capacitance is located on the same line；Start the 124 inside side oscillation of joint oscillating cylinder, L-type armed lever 2 126, wrist is driven to swing gas
Cylinder 127, hand clamping cylinder 128 are inwardly swung together；Start 121 piston rod of shoulder extension cylinder to retract, hand is driven to clamp
Cylinder 128 clamps 7 pin of capacitance on feeding arm, while the hand clamping cylinder 128 of feeding arm unclamps capacitance 7；
B) start smart camera 31, carry out the half detection of 7 lateral surface of capacitance, if capacitance 7 is defective, capacitance 7 is put into
Otherwise waste collection box 4 enters in next step；
C) start wrist oscillating cylinder 127 and rotate through 180 °, the other half detection of 7 lateral surface of capacitance is carried out, if capacitance 7 has
Defect send unqualified capacitance to waste collection box 4, and otherwise, blanking arm send qualified capacitance to finished product collecting box 5.So far, complete
At the automatic detection of a capacitance appearance.
The foregoing is merely a kind of capacitance appearance automatic detecting machines based on tow-armed robot structure of the present invention
One preferable case study on implementation, but the practical range of the present invention is not limited thereto example.
Claims (6)
1. a kind of capacitance appearance automatic detecting machine based on tow-armed robot structure, it is characterised in that：Including carrying mechanism (1),
Hough transform platform (2), testing agency (3), display device (6), finished product collecting box (5), waste collection box (4) and controller；
The carrying mechanism (1) includes hollow pillar stand (11), feeding arm and blanking arm, during feeding arm and blanking arm are respectively arranged in
At left and right sides of empty column (11), feeding arm and blanking arm include one and carry capacitance to required corresponding when detecting to cooperate with
The five degree of freedom motion arm (12) of pose；
The hough transform platform (2) is installed below carrying mechanism (1), is used to support carrying mechanism (1)；
The testing agency (3) and display device (6) are installed on carrying mechanism (1), are lacked respectively to detect capacitance appearance
Fall into and show capacitance detecting result；
The finished product collecting box (5) and waste collection box (4) are placed in respectively on the right side of hough transform platform (2) and lower section, to receive
Collect the finished product and waste product of capacitance；
The controller control feeding arm, blanking arm and capacitive sensing mechanism are completed to operate capacitor loading, detection, blanking.
2. the capacitance appearance automatic detecting machine according to claim 1 based on tow-armed robot structure, it is characterised in that：Institute
Five degree of freedom motion arm (12) is stated to include shoulder extension cylinder (121), shoulder support shell (122), L-type armed lever one (123), close
Oscillating cylinder (124), joint telescopic cylinder (125), L-type armed lever two (126), wrist oscillating cylinder (127) and hand is saved to clamp
Cylinder (128)；Portion's telescopic cylinder (121), joint oscillating cylinder (124), joint telescopic cylinder (125), wrist swing gas
Cylinder (127) and hand clamping cylinder (128) are electrically connected between controller, and shoulder extension cylinder (121) is mounted on hollow vertical
On the madial wall of column (11), shoulder extension cylinder (121) piston rod telescopically passes through hollow pillar stand (11) side wall and L-type armed lever
One end of one (123) is connected；The shoulder support shell (122) is mounted on hollow pillar stand (11) lateral wall；The L-type armed lever
One end that one (123) are connect with shoulder extension cylinder (121) piston rod can slidably reciprocate in shoulder support shell (122), L-type
Armed lever one (123) other end is connected with joint oscillating cylinder (124) shell；Joint oscillating cylinder (124) piston rod and pass
Telescopic cylinder (125) shell is saved to be connected；One end phase of joint telescopic cylinder (125) piston rod and L-type armed lever two (126)
Even, L-type armed lever two (126) other end connects wrist oscillating cylinder (127) shell；Described wrist oscillating cylinder (127) piston
Bar connects hand clamping cylinder (128)；Gripping finger there are two being set on the hand clamping cylinder (128).
3. the capacitance appearance automatic detecting machine according to claim 1 or 2 based on tow-armed robot structure, feature exist
In：The feeding arm and blanking arm at the attaching of hollow pillar stand (11) there are difference in height, this difference in height meet when feeding arm with
When blanking arm mutually exchanges folder capacitance, blanking arm gripping finger can clamp capacitance from feeding arm gripping finger.
4. the capacitance appearance automatic detecting machine according to claim 3 based on tow-armed robot structure, it is characterised in that：Institute
It includes smart camera (31), light source (32), light source bracket (33) and barn door (34) to state testing agency (3)；Smart camera (31)
It is electrically connected between light source and controller, the smart camera (31) is mounted on hollow pillar stand (11) antetheca；Light source (32) with
Smart camera (31) coaxially, and is fixed on by light source bracket (33) on hollow pillar stand (11) antetheca；Barn door (34) and intelligence
Camera (31) relatively, is mounted on hough transform platform (2).
5. the capacitance appearance automatic detecting machine according to claim 4 based on tow-armed robot structure, it is characterised in that：Institute
It states and is set on hough transform platform (2) deck plate there are one blanking through-hole, blanking through-hole is located at smart camera (31) and barn door (34)
Between, and above waste collection box (4).
6. the capacitance appearance automatic detecting machine according to claim 5 based on tow-armed robot structure, it is characterised in that：Institute
The smart camera (31) for stating testing agency (3) is taken with display device (6) and is electrical connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430559.6A CN108344745A (en) | 2018-05-07 | 2018-05-07 | A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810430559.6A CN108344745A (en) | 2018-05-07 | 2018-05-07 | A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110052427A (en) * | 2019-04-11 | 2019-07-26 | 台州学院 | A kind of cylindrical capacitive detection machine |
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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 detecting multiple defects |
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