CN109239091B - Capacitor appearance detection mechanism - Google Patents
Capacitor appearance detection mechanism Download PDFInfo
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- CN109239091B CN109239091B CN201811277411.XA CN201811277411A CN109239091B CN 109239091 B CN109239091 B CN 109239091B CN 201811277411 A CN201811277411 A CN 201811277411A CN 109239091 B CN109239091 B CN 109239091B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 187
- 239000003990 capacitor Substances 0.000 title claims abstract description 169
- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 239000000758 substrate Substances 0.000 claims description 21
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 238000007689 inspection Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000002950 deficient Effects 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 21
- 230000009471 action Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000012946 outsourcing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a capacitor appearance detection mechanism, which solves the technical problems that: in the existing capacitor production mentioned in the background art, the appearance detection of the finished product of the capacitor is mainly finished by manpower, and the technical problems that the working content is single, workers are easy to tired, and detection omission is easy exist. The technical scheme who adopts, a condenser outward appearance detection mechanism includes first manipulator, base plate, first manipulator bed hedgehopping support, condenser guide slot, second manipulator bed hedgehopping support, qualified product basin, inferior product basin and second manipulator. The advantage, this condenser outward appearance detection mechanism, host computer adopt ripe pneumatic structure such as gyration cylinder and finger cylinder, reliable operation, simple structure.
Description
The invention relates to a capacitor appearance detection mechanism.
Background
In the existing capacitor production, the appearance detection of the finished product of the capacitor is mainly finished by manpower, no suitable automatic detection equipment exists, the working content is single, workers are easy to tired, and detection omission is easy. It is necessary to design an appropriate automated appearance inspection device.
Disclosure of Invention
The invention aims to solve the technical problems that in the existing capacitor production mentioned in the background technology, the appearance detection of a finished product of a capacitor is mainly finished by manpower, and the working content is single, workers are easy to tired, and the detection is easy to miss.
In order to solve the problems, the invention adopts the following technical scheme:
The appearance detection mechanism for the capacitor comprises a first manipulator (100), a substrate (301), a first manipulator heightening bracket (302), a capacitor guide groove (303), a second manipulator heightening bracket (304), a qualified product basin (305), a defective product basin (306) and a second manipulator (400),
The substrate (301) is horizontally arranged, the second manipulator heightening bracket (304) is arranged on the substrate (301), the second manipulator (400) is arranged on the second manipulator heightening bracket (304), the first manipulator heightening bracket (302) is arranged on the substrate (301), and the first manipulator (100) is arranged on the first manipulator heightening bracket (302); the first manipulator (100) is positioned at the feeding side of the host machine and used for grabbing electrolytic capacitors (001) in the capacitor guide grooves (303) one by one to be sent into the host machine, the capacitor guide grooves (303) are horizontally arranged, the electrolytic capacitors (001) with feet are vertically arranged in the capacitor guide grooves (303) side by side, and the pins of the electrolytic capacitors (001) are downward; the capacitor guide groove (303) is positioned on the feeding side of the first manipulator (100), and the discharging side of the first manipulator (100) points to the feeding end of the second manipulator (400); the second manipulator (400) is positioned above the first manipulator (100) and used for grabbing the electrolytic capacitor (001) conveyed by the first manipulator (100); the qualified product basin (305) is arranged on the substrate (301) and is positioned on the discharging side of the second manipulator (400), and the inferior product basin (306) is arranged on the substrate (301) and is positioned on the side surface of the second manipulator (400);
The first mechanical arm (100) comprises a first guide rod cylinder (101), a first connecting plate (102), a first rotary cylinder (103), a first vertical rod (104), a first sliding sleeve (105), a first cylinder (106), two first swinging forks (108), two first supporting plates (111), a first top plate (112) and two rotary clamping jaw cylinder mechanisms (120), wherein the first guide rod cylinder (101) is vertically arranged on a first mechanical arm heightening bracket (302), a piston rod of the first guide rod cylinder (101) faces upwards, the first connecting plate (102) is horizontally arranged, and the back surface of the first connecting plate (102) is fixedly connected with the end part of the piston rod of the first guide rod cylinder (101); the first rotary cylinder (103) is horizontally arranged on the first connecting plate (102), the first vertical rod (104) is vertically arranged, and a flange at the bottom of the first vertical rod (104) is connected with a rotary table of the first rotary cylinder (103); the first sliding sleeve (105) is sleeved on the first vertical rod (104) through a bearing, a circle of annular sliding grooves are concavely arranged on the outer surface of the first sliding sleeve (105), a section of cross arm is extended on the outer surface of the first sliding sleeve (105) along the radial direction, and the annular sliding grooves are above the cross arm; the first air cylinder (106) is vertically arranged on the first connecting plate (102), and a piston rod of the first air cylinder (106) faces upwards and is connected with the cross arm; the first top plate (112) is horizontally arranged, and the back surface of the first top plate (112) is fixedly connected with the top of the first vertical rod (104); the two first support plates (111) are vertically arranged on the back surface of the first top plate (112) and are symmetrically arranged about the first vertical rod (104); the two first swinging forks (108) are L-shaped, two linkage points are arranged at the two ends of the L-shaped first swinging forks (108) and are respectively an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped first swinging forks (108) and is a middle linkage point; the lower end part linkage points of the two first swinging forks (108) are respectively arranged in the annular chute in a sliding way through first pin shafts (107), the middle part linkage points of the two first swinging forks (108) are respectively connected with the lower ends of the two first supporting plates (111) in a rotating way through second pin shafts (109), the upper end part linkage points of the two first swinging forks (108) are respectively connected with the two rotary clamping jaw cylinder mechanisms (120) in a sliding way through third pin shafts (110), and the two rotary clamping jaw cylinder mechanisms (120) are symmetrically arranged relative to the first vertical rod (104);
The two rotary belt clamping jaw cylinder mechanisms (120) comprise a sliding cylinder frame (121), a first sliding block (122), a first guide rail (123), a first shifting fork (124) and an SMC rotary belt clamping jaw finger cylinder (125), wherein the first guide rail (123) is fixed on a first top plate (112), the first sliding block (122) is arranged on the first guide rail (123) in a sliding manner, the sliding cylinder frame (121) is L-shaped, and the back surface of a bottom plate of the sliding cylinder frame (121) is arranged on the first sliding block (122); the first shifting fork (124) is vertically arranged on the back surface of the bottom plate of the sliding cylinder frame (121), a guide groove is vertically downwards arranged at the middle position of the first shifting fork (124), and the guide groove is in sliding fit with the third pin shaft (110); the SMC type rotary finger cylinder (125) with clamping jaws is horizontally arranged and fixed on a side plate of the sliding cylinder frame (121), and the clamping fingers (127) of the SMC type rotary finger cylinder (125) are outwards used for clamping the outer peripheral surface of the electrolytic capacitor (001);
The second manipulator (400) comprises a second guide rod cylinder (401), a second coupling plate (402), a second rotary cylinder (403), a second vertical rod (404), a second sliding sleeve (405), a second cylinder (406), two second swinging forks (408), two second support plates (411), a second top plate (412) and two rotary grabbing mechanisms (420),
The second guide rod cylinder (401) is vertically arranged on the second manipulator heightening bracket (304), a piston rod of the second guide rod cylinder (401) faces upwards, the second coupling plate (402) is horizontally arranged, and the back surface of the second coupling plate (402) is fixedly connected with the end part of the piston rod of the second guide rod cylinder (401); the second rotary cylinder (403) is horizontally arranged on the second connecting plate (402), the second vertical rod (404) is vertically arranged, and a flange at the bottom of the second vertical rod (404) is connected with a rotary table of the second rotary cylinder (403); the second sliding sleeve (405) is sleeved on the second vertical rod (404) through a bearing, a circle of annular sliding grooves are concavely arranged on the outer surface of the second sliding sleeve (405), a section of cross arm is extended on the outer surface of the second sliding sleeve (405) along the radial direction, and the annular sliding grooves are above the cross arm; the second air cylinder (406) is vertically arranged on the second coupling plate (402), and a piston rod of the second air cylinder (406) faces upwards and is connected with the cross arm; the second top plate (412) is horizontally arranged, and the back surface of the second top plate (412) is fixedly connected with the top of the second vertical rod (404); the two second supporting plates (411) are vertically arranged on the back of the second top plate (412) and are symmetrically arranged about the second vertical rod (404); the two second swinging forks (408) are L-shaped, two linkage points are arranged at the two ends of the L-shaped second swinging forks (408) and are respectively an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped second swinging forks (408) and is a middle linkage point; the lower end part linkage points of the two second swinging forks (408) are respectively arranged in the annular chute in a sliding way through fourth pin shafts (407), the middle part linkage points of the two second swinging forks (408) are respectively connected with the lower ends of the two second supporting plates (411) in a rotating way through fifth pin shafts (409), the upper end part linkage points of the two second swinging forks (408) are respectively connected with two rotating grabbing mechanisms (420) in a sliding way through sixth pin shafts (410), and the two rotating grabbing mechanisms (420) are symmetrically arranged about the second vertical rod (404);
The two rotary grabbing mechanisms (420) comprise sliding plates (421), second sliding blocks (422), second guide rails (423), second shifting forks (424), motors (425) and SMC finger cylinders (426), the second guide rails (423) are fixed on a second top plate (412), the second sliding blocks (422) are arranged on the second guide rails (423) in a sliding mode, and the back faces of the sliding plates (421) are arranged on the second sliding blocks (422); the second shifting fork (424) is vertically arranged on the back surface of the bottom plate of the sliding plate (421), a guide groove is vertically downwards arranged at the middle position of the second shifting fork (424), and the guide groove is in sliding fit with the sixth pin shaft (410); the motor (425) is vertically downwards arranged on the sliding plate (421), a motor shaft of the motor (425) penetrates through the sliding plate (421) and stretches out, an SMC finger cylinder (426) is suspended on the motor shaft of the motor (425) through a connecting flange, and two fingers (427) in the SMC finger cylinder (426) are downwards arranged to clamp pins of an electrolytic capacitor (001) conveyed by the first manipulator (100).
For the optimization of the technical scheme of the invention, the capacitor appearance detection mechanism further comprises an outer Zhou Shexiang head (230) for detecting the appearance of the outer surface of the capacitor and an end camera (220) for detecting the appearance of the end surfaces of the two ends of the capacitor, wherein the outer Zhou Shexiang head (230) and the end camera (220) are arranged on a substrate (301) through a camera bracket, and the end camera (220) is positioned at the discharge end of a first manipulator (100) and used for photographing and checking the two ends of an electrolytic capacitor (001); the outer Zhou Shexiang head (230) is positioned on one side of the discharging end of the second manipulator (400), and the outer Zhou Shexiang head (230) performs photographing inspection on the outer surface of the electrolytic capacitor (001) before the rotary grabbing mechanism (420) grabs and sends the electrolytic capacitor into the qualified product basin (305).
For the optimization of the technical scheme of the invention, a gap for clamping the piston rod of the first cylinder (106) is formed on the cross arm in the first sliding sleeve (105), the piston rod of the first cylinder (106) is inserted into the gap and the piston rod of the first cylinder (106) is fixed in the gap through the bolt locking gap; a gap for clamping a piston rod of the second air cylinder (406) is formed in a cross arm in the second sliding sleeve (405), and the piston rod of the second air cylinder (406) is inserted into the gap and is fixed in the gap through a bolt locking gap.
For the preferred embodiment of the invention, the cross section of the capacitor guide groove (303) is U-shaped.
The beneficial effects of the invention are as follows:
1. the capacitor appearance detection mechanism has the advantages that the main machine adopts mature pneumatic structures such as the rotary cylinder and the finger cylinder, and the like, the work is reliable, and the structure is simple.
2. The appearance detection mechanism of the capacitor is suitable for appearance detection of the capacitor with the foot.
3. This condenser outward appearance detection mechanism carries out automated inspection to the finished product outward appearance of condenser, has overcome current manual detection and has had work content singleness, and the workman is tired easily, leaks the technical problem who examines easily.
Drawings
Fig. 1 is a general view of a capacitor appearance detecting mechanism (a feed chute is a partial view in the drawing).
Fig. 2 is a schematic structural view of the first robot.
Fig. 3 is a schematic view of the rotary band jaw cylinder mechanism of fig. 2.
Fig. 4 is a schematic structural view of the second robot.
Fig. 5 is a schematic structural view of the rotary grasping mechanism of fig. 4.
Detailed Description
The technical scheme of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the contents of the present invention more comprehensible, the present invention is further described with reference to fig. 1 to 5 and the detailed description below.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the capacitor appearance detection mechanism in the present embodiment includes a first robot 100, a substrate 301, a first robot elevating bracket 302, a capacitor guide groove 303, a second robot elevating bracket 304, a qualified product bowl 305, a defective product bowl 306, and a second robot 400.
As shown in fig. 1, the substrate 301 is horizontally arranged, the second robot raising support 304 is disposed on the substrate 301, the second robot 400 is disposed on the second robot raising support 304, the first robot raising support 302 is disposed on the substrate 301, and the first robot 100 is disposed on the first robot raising support 302; the first manipulator 100 is located at the feeding side of the host machine and is used for grabbing the electrolytic capacitors 001 in the capacitor guide grooves 303 one by one to be sent into the host machine, the capacitor guide grooves 303 are horizontally arranged, the electrolytic capacitors 001 with the pins are vertically arranged in the capacitor guide grooves 303 side by side, and the pins of the electrolytic capacitors 001 face downwards; the capacitor guide groove 303 is positioned on the feeding side of the first manipulator 100, and the discharging side of the first manipulator 100 points to the feeding end of the second manipulator 400; the second manipulator 400 is located above the first manipulator 100 and is used for grabbing the electrolytic capacitor 001 conveyed by the first manipulator 100; the qualified product basin 305 is disposed on the substrate 301 and located at the discharging side of the second manipulator 400, and the unqualified product basin 306 is disposed on the substrate 301 and located at the side of the second manipulator 400.
As shown in fig. 1, the capacitor appearance detecting mechanism in this embodiment further includes a peripheral camera 230 for detecting the appearance of the outer surface of the capacitor and an end camera 220 for detecting the appearance of the end surfaces at both ends of the capacitor, where the peripheral camera 230 and the end camera 220 are both disposed on a substrate 301 through a camera bracket, and the end camera 220 is located at the discharge end of the first manipulator 100 for photographing and checking both ends of the electrolytic capacitor 001; the peripheral camera 230 is located at one side of the discharge end of the second manipulator 400, and the peripheral camera 230 performs photographing inspection on the outer surface of the electrolytic capacitor 001 before the rotary grabbing mechanism 420 grabs and feeds the qualified product into the tray 305.
In this embodiment, the two ends of the capacitor and the outer surface of the capacitor are inspected by photographing with the peripheral camera 230 and the end camera 220, and the application of the peripheral camera 230 and the end camera 220 is a conventional technology in the prior art, which is not described in this embodiment.
As shown in fig. 2 and 3, the first robot 100 includes a first guide rod cylinder 101, a first link plate 102, a first revolving cylinder 103, a first upright 104, a first sliding sleeve 105, a first cylinder 106, two first swing forks 108, two first support plates 111, a first top plate 112, and two rotary belt gripper cylinder mechanisms 120.
As shown in fig. 2, the first guide rod cylinder 101 is vertically arranged on the first manipulator elevating bracket 302, the piston rod of the first guide rod cylinder 101 faces upwards, the first connecting plate 102 is horizontally arranged, and the back surface of the first connecting plate 102 is fixedly connected with the end part of the piston rod of the first guide rod cylinder 101; the first rotary cylinder 103 is horizontally arranged on the first connecting plate 102, the first vertical rod 104 is vertically arranged, and a flange at the bottom of the first vertical rod 104 is connected with a rotary table of the first rotary cylinder 103; the first sliding sleeve 105 is sleeved on the first vertical rod 104 through a linear bearing, and the first sliding sleeve 105 can slide axially relative to the first vertical rod 104 and also can rotate. A circle of annular sliding grooves are concavely arranged on the outer surface of the first sliding sleeve 105, a section of cross arm is extended on the outer surface of the first sliding sleeve 105 along the radial direction, and the annular sliding grooves are above the cross arm. The first air cylinder 106 is vertically arranged on the first connecting plate 102, the cylinder body end of the first air cylinder 106 is fixed on the first connecting plate 102, and the piston rod of the first air cylinder 106 faces upwards and is connected with the cross arm. A gap for clamping the piston rod of the first cylinder 106 is formed in the cross arm in the first sliding sleeve 105, the piston rod of the first cylinder 106 is inserted into the gap, and the piston rod of the first cylinder 106 is fixed in the gap through the bolt locking gap.
As shown in fig. 2, the first top plate 112 is horizontally arranged and the back surface of the first top plate 112 is fixedly connected with the top of the first upright 104; the two first support plates 111 are vertically arranged on the back of the first top plate 112 and are symmetrically arranged with respect to the first upright 104; the two first swinging forks 108 are L-shaped, two linkage points are arranged at the two ends of the L-shaped first swinging fork 108 and are respectively an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped first swinging fork 108 and is a middle linkage point; the lower end part linkage points of the two first swinging forks 108 are respectively arranged in the annular sliding groove in a sliding manner through first pin shafts 107, the middle part linkage points of the two first swinging forks 108 are respectively connected with the lower ends of two first support plates 111 in a rotating manner through second pin shafts 109, the upper end part linkage points of the two first swinging forks 108 are respectively connected with two rotary clamping claw cylinder mechanisms 120 in a sliding manner through third pin shafts 110, and the two rotary clamping claw cylinder mechanisms 120 are symmetrically arranged about the first vertical rod 104.
As shown in fig. 3, the two rotary belt gripper cylinder mechanisms 120 each include a sliding cylinder frame 121, a first slider 122, a first guide rail 123, a first fork 124, and an SMC rotary belt gripper finger cylinder 125, the first guide rail 123 is fixed on the first top plate 112, the first slider 122 is slidably disposed on the first guide rail 123, the sliding cylinder frame 121 is in an "L" shape, and the back surface of the bottom plate of the sliding cylinder frame 121 is disposed on the first slider 122; the first shifting fork 124 is vertically arranged on the back surface of the bottom plate of the sliding cylinder frame 121, a guide groove is vertically arranged downwards at the middle position of the first shifting fork 124, and the guide groove is in sliding fit with the third pin shaft 110; the SMC type rotary finger cylinder with gripper 125 is horizontally disposed and fixed to a side plate of the carriage cylinder frame 121, and the gripper 127 of the SMC type rotary finger cylinder with gripper 125 faces outward to grip an outer peripheral surface of the electrolytic capacitor 001.
As shown in fig. 1, the gripping fingers 127 of the SMC type rotary finger cylinder 125 grip or release the electrolytic capacitor 001; the rotating table 126 in the SMC type rotating finger cylinder 125 with clamping jaws is reset in a forward rotation half-turn and a reverse rotation half-turn, so that the clamped electrolytic capacitor 001 is driven to be reset in a reverse rotation half-turn after being forward rotated half-turn, and the end cameras 230 are convenient for shooting and detecting the two end parts of the electrolytic capacitor 001 to be detected.
The SMC type rotary finger cylinder with gripper 125 used in this embodiment is an outsource and is purchased directly. The SMC type rotary finger cylinder with gripper 125 is purchased from SMC (chinese) limited, and sold to the outside.
The first guide rod cylinder 101, the first cylinder 106 and the first rotary cylinder 103 adopted in this embodiment are outsourcing parts, and many manufacturers in the market at present are all selling, and this embodiment is not limited to a specific purchasing manufacturer.
The operation of the first manipulator 100 in this embodiment is controlled as follows:
the first guide cylinder 101 drives the two rotary belt gripper cylinder mechanisms 120 to be raised or lowered as a whole at the same time.
The piston rod of the first cylinder 106 pushes out upwards to push the first sliding sleeve 105 to slide upwards along the first vertical rod 104, the annular groove of the first sliding sleeve 105 pushes the first swinging fork 108 to rotate anticlockwise along the second pin shaft 109 of the middle part linkage point through the first pin shafts 107 of the lower end part linkage points of the two first swinging forks 108, and the third pin shafts 110 of the upper end part linkage points of the two first swinging forks 108 push the first shifting fork 124 to move outwards, so that the whole two rotary claw-carrying cylinder mechanisms 120 extend outwards along the first guide rail 123.
The piston rod of the first cylinder 106 is retracted, the first sliding sleeve 105 is pulled to slide downwards along the first vertical rod 104 for resetting, the annular groove of the first sliding sleeve 105 pushes the first swinging fork 108 to rotate clockwise along the second pin shaft 109 of the middle part linkage point through the first pin shafts 107 of the lower end part linkage points of the two first swinging forks 108, and the third pin shafts 110 of the upper end part linkage points of the two first swinging forks 108 push the first shifting fork 124 to move inwards, so that the whole two rotary claw-carrying cylinder mechanisms 120 are retracted inwards along the first guide rail 123.
The rotary table of the first rotary cylinder 103 drives the first vertical rod 104 to rotate clockwise, the first vertical rod 104 drives the first top plate 112 and the two rotary belt clamping claw cylinder mechanisms 120 arranged at two ends of the first top plate 112 to rotate integrally and synchronously, (at the moment, the first swinging fork 108 connected with the first supporting plate 111 also rotates along with the first swinging fork, and the first sliding sleeve 105 does not rotate); counterclockwise rotation and opposite action.
The two sliding jaws 127 in the SMC type rotating band jaw finger cylinder 125 hold or release the electrolytic capacitor 001.
The rotating table 126 in the SMC type rotating finger cylinder 125 with clamping jaws is reset in a forward rotation half-turn and a reverse rotation half-turn, so that the clamped electrolytic capacitor 001 is driven to reset in a reverse rotation half-turn after being forward rotated half-turn, and the end cameras 230 are convenient for shooting and detecting the end parts of the two ends of the capacitor to be detected.
The working procedure of the first manipulator 100 in this embodiment is as follows:
Two rotary band clamp jaw cylinder mechanisms 120 are defined as a first rotary band clamp jaw cylinder mechanism and a second rotary band clamp jaw cylinder mechanism.
The first rotary cylinder mechanism with the clamping claw acts to grasp:
The piston rod of the first cylinder 106 pushes out upwards to push the first sliding sleeve 105 to slide upwards along the first vertical rod 104, the annular sliding groove of the first sliding sleeve 105 pushes the first swinging fork 108 to rotate anticlockwise along the second pin shaft 109 at the middle part linkage point of the first swinging fork 108 through the first pin shaft 107 at the lower end part linkage point of the first swinging fork 108, and the third pin shaft 110 at the upper end part linkage point of the first swinging fork 108 pushes the first shifting fork 124 to move outwards to enable the two rotary claw-carrying cylinder mechanisms 120 to integrally extend outwards along the first guide rail 123.
The pins of the electrolytic capacitor 001 held in the first rotary band clamping jaw cylinder mechanism are clamped by the second robot 400.
After the second manipulator 400 clamps the electrolytic capacitor 001, the second rotary belt clamping claw cylinder mechanism 120 acts to release the electrolytic capacitor 001;
The piston rod of the first guide rod cylinder 101 is retracted downward to drive the two rotary band gripper cylinder mechanisms 120 to descend integrally at the same time, so that the two slide grippers 127 in the SMC rotary band gripper finger cylinder 125 in the first rotary band gripper cylinder mechanism 120 are located on both sides of the electrolytic capacitor 001 in the capacitor guide groove 303.
The electrolytic capacitor 001 is held by two slide claws 127 in the SMC type rotary finger cylinder 125 in the first rotary finger cylinder mechanism 120, the electrolytic capacitor 001 is held by the two slide claws 127 on the outer peripheral surface thereof, and the leads of the electrolytic capacitor 001 face down.
The piston rod of the first guide rod cylinder 101 is pushed out upward, driving the two rotary band jaw cylinder mechanisms 120 to rise integrally at the same time.
The piston rod of the first cylinder 106 is retracted downwardly, causing the two rotary jaw cylinder mechanisms 120 to retract inwardly entirely along the first rail 123.
The rotary table of the first rotary cylinder 103 drives the first vertical rod 104 to rotate 180 degrees clockwise, the first vertical rod 104 drives the first top plate 112 and the two rotary belt clamping claw cylinder mechanisms 120 arranged at two ends of the first top plate 112 to integrally and synchronously rotate 180 degrees, so that the two sliding clamping claws 127 in the SMC rotary belt clamping claw finger cylinder 125 in the first rotary belt clamping claw cylinder mechanism rotate to positions corresponding to the end cameras 230; while the two slide jaws 127 in the SMC type rotary band clamp finger cylinder 125 in the second rotary band clamp jaw cylinder mechanism are rotated to positions corresponding to the electrolytic capacitors 001 in the capacitor guide grooves 303.
At this time, the end camera 230 performs a photographing inspection of the leadless end face of the electrolytic capacitor 001.
The rotating table 126 in the SMC type rotating band clamping finger cylinder 125 in the first rotating band clamping jaw cylinder mechanism rotates 180 ° so that the two sliding clamping jaws 127 clamp the pins of the electrolytic capacitor 001 upward, and the end camera 230 performs photographing inspection on the pin end faces of the electrolytic capacitor 001.
The pins of the electrolytic capacitor 001 held in the first rotary band clamping jaw cylinder mechanism are clamped by the second robot 400.
After the second robot 400 grips the electrolytic capacitor 001, the first rotary gripper cylinder mechanism 120 operates to release the electrolytic capacitor 001;
the piston rod of the first cylinder 106 is pushed upward, causing the two rotary jaw cylinder mechanisms 120 to extend entirely outward along the first rail 123.
The piston rod of the first guide rod cylinder 101 is retracted downward to drive the two rotary band clamping jaw cylinder mechanisms 120 to integrally descend at the same time, so that the two sliding clamping jaws 127 in the SMC type rotary band clamping jaw finger cylinder 125 in the second rotary band clamping jaw cylinder mechanism are positioned at both sides of the electrolytic capacitor 001 in the capacitor guide groove 303.
The electrolytic capacitor 001 is held by two slide jaws 127 in the SMC type rotary band clamp finger cylinder 125 in the second rotary band clamp finger cylinder mechanism.
The piston rod of the first guide rod cylinder 101 is pushed out upward, driving the two rotary band jaw cylinder mechanisms 120 to rise integrally at the same time.
The piston rod of the first cylinder 106 is retracted downwardly, causing the two rotary jaw cylinder mechanisms 120 to retract inwardly entirely along the first rail 123.
The rotary table of the first rotary cylinder 103 drives the first vertical rod 104 to rotate 180 degrees anticlockwise, the first vertical rod 104 drives the first top plate 112 and the two rotary claw-carrying cylinder mechanisms 120 arranged at two ends of the first top plate 112 to integrally and synchronously rotate 180 degrees, so that the two sliding clamping claws 127 in the SMC rotary claw-carrying finger cylinder 125 in the second rotary claw-carrying cylinder mechanism rotate to positions corresponding to the end cameras 230; at the same time, the two slide jaws 127 in the SMC type rotary finger cylinder 125 in the first rotary jaw cylinder mechanism are rotated to positions corresponding to the electrolytic capacitors 001 in the capacitor guide grooves 303.
At this time, the end camera 230 performs a photographing inspection of the leadless end face of the electrolytic capacitor 001.
The rotating table 126 in the SMC type rotating band clamping finger cylinder 125 in the second rotating band clamping jaw cylinder mechanism rotates 180 ° so that the two sliding clamping jaws 127 clamp the pins of the electrolytic capacitor 001 upward, and the end camera 230 performs photographing inspection on the pin end faces of the electrolytic capacitor 001.
The above actions are repeated.
As shown in fig. 4 and 5, the second robot 400 includes a second guide bar cylinder 401, a second link plate 402, a second swing cylinder 403, a second upright 404, a second sliding sleeve 405, a second cylinder 406, two second swing forks 408, two second support plates 411, a second top plate 412, and two rotary gripping mechanisms 420.
As shown in fig. 4, the second guide rod cylinder 401 is vertically arranged on the second manipulator raising bracket 304, the piston rod of the second guide rod cylinder 401 faces upwards, the second coupling plate 402 is horizontally arranged, and the back surface of the second coupling plate 402 is fixedly connected with the end part of the piston rod of the second guide rod cylinder 401; the second revolving cylinder 403 is horizontally arranged on the second coupling plate 402, the second upright rod 404 is vertically arranged, and a flange at the bottom of the second upright rod 404 is connected with a revolving platform of the second revolving cylinder 403; the second sliding sleeve 405 is sleeved on the second vertical rod 404 through a bearing, a circle of annular sliding grooves are concavely arranged on the outer surface of the second sliding sleeve 405, a section of cross arm is extended on the outer surface of the second sliding sleeve 405 along the radial direction, and the annular sliding grooves are above the cross arm; the second air cylinder 406 is vertically arranged on the second coupling plate 402, and a piston rod of the second air cylinder 406 faces upwards and is connected with the cross arm; a gap for clamping a piston rod of the second air cylinder 406 is formed in the cross arm in the second sliding sleeve 405, and the piston rod of the second air cylinder 406 is inserted into the gap and is fixed in the gap through a bolt locking gap.
As shown in fig. 4, the second top plate 412 is horizontally disposed and the back of the second top plate 412 is fixedly coupled to the top of the second upright 404; the two second support plates 411 are vertically arranged on the back of the second top plate 412 and symmetrically arranged with respect to the second upright 404; the two second swinging forks 408 are L-shaped, two linkage points are arranged at the two ends of the L-shaped second swinging fork 408, namely an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped second swinging fork 408 and is a middle linkage point; the lower end part linkage points of the two second swinging forks 408 are respectively arranged in the annular chute in a sliding manner through fourth pin shafts 407, the middle part linkage points of the two second swinging forks 408 are respectively connected with the lower ends of the two second supporting plates 411 in a rotating manner through fifth pin shafts 409, the upper end part linkage points of the two second swinging forks 408 are respectively connected with two rotary grabbing mechanisms 420 in a sliding manner through sixth pin shafts 410, and the two rotary grabbing mechanisms 420 are symmetrically arranged relative to the second vertical rod 404.
As shown in fig. 5, the two rotary grabbing mechanisms 420 each include a slide plate 421, a second slider 422, a second guide rail 423, a second fork 424, a motor 425, and an SMC finger cylinder 426, the second guide rail 423 is fixed on the second top plate 412, the second slider 422 is slidably disposed on the second guide rail 423, and the back surface of the slide plate 421 is disposed on the second slider 422; the second shifting fork 424 is vertically arranged on the back surface of the bottom plate of the sliding plate 421, a guide groove is vertically downwards arranged at the middle position of the second shifting fork 424, and the guide groove is in sliding fit with the sixth pin 410; the motor 425 is vertically arranged on the slide plate 421 downwards, a motor shaft of the motor 425 penetrates through the slide plate 421 and extends out, the SMC finger cylinder 426 is suspended on the motor shaft of the motor 425 through a connecting flange, and two fingers 427 in the SMC finger cylinder 426 are downwards arranged to clamp pins of the electrolytic capacitor 001 conveyed by the first manipulator 100.
In this embodiment, the motor 425 in the second manipulator 400 is reset in one turn in a forward direction and in one turn in a reverse direction, so that the electrolytic capacitor 001 clamped by the SMC finger cylinder 426 is driven to reset in one turn in a reverse direction after being rotated in a forward direction, and the peripheral camera 230 is convenient for shooting and detecting the electrolytic capacitor 001 to be detected.
The SMC finger cylinder 426 in the second manipulator 400 of this embodiment is an outsource piece that is purchased directly. SMC finger cylinder 426 is purchased by SMC (China) Inc., and sold externally.
The second guide rod cylinder 401, the second cylinder 406 and the second revolving cylinder 403 adopted in this embodiment are all outsourcing parts, and many manufacturers in the market at present are all selling, and this embodiment is not limited to a specific purchasing manufacturer.
The operation of the second manipulator 400 in this embodiment is controlled as follows:
The second guide cylinder 401 drives the two rotary grasping mechanisms 420 to be raised or lowered as a whole at the same time.
The piston rod of the second cylinder 406 pushes out upwards to push the second sliding sleeve 405 to slide upwards along the second vertical rod 404, the annular groove of the second sliding sleeve 405 pushes the second swinging fork 408 to rotate anticlockwise along the fifth pin 409 of the middle part linkage point through the fourth pin 407 of the lower end part linkage point of the two second swinging forks 408, and the sixth pin 410 of the upper end part linkage point of the two second swinging forks 408 pushes the second shifting fork 424 to move outwards, so that the whole two rotary grabbing mechanisms 420 extend outwards along the second guide rail 423.
The piston rod of the second cylinder 406 is retracted, the second sliding sleeve 405 is pulled to slide downwards along the second vertical rod 404 for resetting, the annular groove of the second sliding sleeve 405 pushes the second swinging fork 408 to rotate clockwise along a fifth pin 409 of a middle part linkage point through a fourth pin 407 of the lower end part linkage point of the two second swinging forks 408, and a sixth pin 410 of the upper end part linkage point of the two second swinging forks 408 pushes the second shifting fork 424 to move inwards, so that the two rotary grabbing mechanisms 420 are integrally retracted inwards along the second guide rail 423.
The rotary table of the second rotary cylinder 403 drives the second upright rod 404 to rotate clockwise, the second upright rod 404 drives the second top plate 412 and the two rotary grabbing mechanisms 420 installed at two ends of the second top plate 412 to rotate integrally and synchronously, (at this time, the second swinging fork 408 connected with the second supporting plate 411 also rotates along with the second top plate, and the second sliding sleeve 405 is not rotated); counterclockwise rotation and opposite action.
Two fingers 427 within the SMC finger cylinder 426 grip or release the electrolytic capacitor 001.
The motor shaft of the motor 425 in the rotary grabbing mechanism 420 rotates forward for one circle and reversely rotates for one circle to reset, so that the electrolytic capacitor 001 clamped by the two fingers 427 in the SMC finger cylinder 426 is driven to rotate forward for one circle and then reversely rotates for one circle to reset, and the peripheral camera 230 is convenient for shooting and detecting the outer surface of the capacitor to be detected.
The working procedure of the second manipulator 400 in this embodiment is as follows:
Two rotary gripping mechanisms 420 in the second manipulator 400 are defined as a first rotary gripping mechanism and a second rotary gripping mechanism.
The first rotary grabbing mechanism acts to grab: it is assumed that the two fingers 427 of the SMC finger cylinder 426 in the second rotary gripping mechanism have gripped the electrolytic capacitor 001.
The piston rod of the second cylinder 406 is pushed upward, so that the two rotary grasping mechanisms 420 integrally extend outward along the second rail 423.
The piston rod of the second guide bar cylinder 401 is retracted downward to drive the two rotary grasping mechanisms 420 while being lowered integrally so that the two fingers 427 of the SMC finger cylinder 426 in the first rotary grasping mechanism 420 are located on both sides of the capacitor 001.
Two fingers 427 of the SMC finger cylinder 426 in the first rotary gripping mechanism 420 grip the pins of the electrolytic capacitor 001 held in the first rotary claw-cylinder mechanism.
Meanwhile, the motor 425 in the second rotary grabbing mechanism rotates forward for one circle to drive the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 to rotate for one circle, so that the peripheral camera 230 can conveniently photograph and inspect the outer peripheral surface of the electrolytic capacitor 001.
The piston rod of the second guide cylinder 401 is pushed out upward to drive the two rotary grasping mechanisms 420 to rise integrally at the same time.
At the same time, the motor shaft of the motor 425 in the second rotary grasping mechanism is reversed and reset.
The piston rod of the second cylinder 406 is retracted downward, causing the two rotary grasping mechanisms 420 to retract entirely inward along the second rail 423.
At the same time, the detection result of the electrolytic capacitor 001 in the second rotary gripping mechanism is determined, and if the detection is qualified, the two fingers 427 of the SMC finger cylinder 426 are released, and the qualified product falls into the qualified product tray 305. If the detection is failed, the two fingers 427 of the SMC finger cylinder 426 are not released to continue holding the capacitor 001, and if the turret of the second turret cylinder 403 is reset to the position of 90 °, the electrolytic capacitor 001 held in the second turret gripping mechanism is located above the defective product tray 306, and if the two fingers 427 of the SMC finger cylinder 426 are released, the defective product falls into the defective product tray 306.
The rotary table of the second rotary cylinder 403 drives the upright rod 404 to rotate 180 degrees clockwise, and the upright rod 404 drives the second top plate 412 and the two rotary grabbing mechanisms 420 arranged at two ends of the second top plate 412 to integrally and synchronously rotate 180 degrees, so that the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 in the first rotary grabbing mechanism is positioned above the qualified product basin 305. At this time, the second rotary grasping mechanism rotates to the grasping position.
The grabbing action of the first rotary grabbing mechanism is completed.
The second rotary grabbing mechanism acts to grab:
The piston rod of the second cylinder 406 is pushed upward, so that the two rotary grasping mechanisms 420 integrally extend outward along the second rail 423.
The piston rod of the second guide bar cylinder 401 is retracted downward to drive the two rotary grasping mechanisms 420 while being lowered integrally so that the two fingers 427 of the SMC finger cylinder 426 in the first rotary grasping mechanism 420 are located on both sides of the capacitor 001.
Two fingers 427 of the SMC finger cylinder 426 in the second rotary gripper mechanism 420 grip the pins of the electrolytic capacitor 001 held in the second rotary jaw cylinder mechanism.
Meanwhile, the motor 425 in the first rotary grabbing mechanism rotates forward for one circle to drive the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 to rotate for one circle, so that the peripheral camera 230 can conveniently photograph and inspect the outer peripheral surface of the electrolytic capacitor 001.
The piston rod of the second guide cylinder 401 is pushed out upward to drive the two rotary grasping mechanisms 420 to rise integrally at the same time.
At the same time, the motor shaft of the motor 425 in the first rotary grasping mechanism is reversed and reset.
The piston rod of the second cylinder 406 is retracted downward, causing the two rotary grasping mechanisms 420 to retract entirely inward along the second rail 423.
At the same time, the detection result of the electrolytic capacitor 001 in the first rotary gripping mechanism is determined, and if the detection is acceptable, the two fingers 427 of the SMC finger cylinder 426 are released, and the acceptable product falls into the acceptable product tray 305. If the detection is failed, the two fingers 427 of the SMC finger cylinder 426 are not released to continue holding the capacitor 001, and if the turret of the second turret cylinder 403 is reset to the 90 ° position, the electrolytic capacitor 001 held in the first turret gripping mechanism is located above the defective product tray 306, and if the two fingers 427 of the SMC finger cylinder 426 are released, the defective product falls into the defective product tray 306.
The rotary table of the second rotary cylinder 403 drives the upright rod 404 to rotate 180 degrees clockwise, and the upright rod 404 drives the second top plate 412 and the two rotary grabbing mechanisms 420 arranged at two ends of the second top plate 412 to integrally and synchronously rotate 180 degrees, so that the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 in the second rotary grabbing mechanism is positioned above the qualified product basin 305. At this time, the first rotary grabbing mechanism rotates to the clamping position.
And completing the grabbing action of the second rotary grabbing mechanism, and then performing the action of the first rotary grabbing mechanism to grab.
The above actions are repeated.
The working process of the capacitor appearance detection mechanism of the embodiment is as follows:
A) The operator vertically discharges the electrolytic capacitors 001 in sequence in the capacitor guide groove 303 with the leads of the capacitor guide groove 303 facing downward.
B) The first robot 100 operates to grasp the electrolytic capacitor 001 in the capacitor guide groove 303; the method comprises the following specific steps:
Two rotary band clamp jaw cylinder mechanisms 120 are defined as a first rotary band clamp jaw cylinder mechanism and a second rotary band clamp jaw cylinder mechanism.
The first rotary cylinder mechanism with the clamping claw acts to grasp:
The piston rod of the first cylinder 106 pushes out upwards to push the first sliding sleeve 105 to slide upwards along the first vertical rod 104, the annular sliding groove of the first sliding sleeve 105 pushes the first swinging fork 108 to rotate anticlockwise along the second pin shaft 109 at the middle part linkage point of the first swinging fork 108 through the first pin shaft 107 at the lower end part linkage point of the first swinging fork 108, and the third pin shaft 110 at the upper end part linkage point of the first swinging fork 108 pushes the first shifting fork 124 to move outwards to enable the two rotary claw-carrying cylinder mechanisms 120 to integrally extend outwards along the first guide rail 123.
The pins of the electrolytic capacitor 001 held in the first rotary band clamping jaw cylinder mechanism are clamped by the second robot 400.
After the second manipulator 400 clamps the electrolytic capacitor 001, the second rotary belt clamping claw cylinder mechanism 120 acts to release the electrolytic capacitor 001;
The piston rod of the first guide rod cylinder 101 is retracted downward to drive the two rotary band gripper cylinder mechanisms 120 to descend integrally at the same time, so that the two slide grippers 127 in the SMC rotary band gripper finger cylinder 125 in the first rotary band gripper cylinder mechanism 120 are located on both sides of the electrolytic capacitor 001 in the capacitor guide groove 303.
The electrolytic capacitor 001 is held by two slide claws 127 in the SMC type rotary finger cylinder 125 in the first rotary finger cylinder mechanism 120, the electrolytic capacitor 001 is held by the two slide claws 127 on the outer peripheral surface thereof, and the leads of the electrolytic capacitor 001 face down.
The piston rod of the first guide rod cylinder 101 is pushed out upward, driving the two rotary band jaw cylinder mechanisms 120 to rise integrally at the same time.
The piston rod of the first cylinder 106 is retracted downwardly, causing the two rotary jaw cylinder mechanisms 120 to retract inwardly entirely along the first rail 123.
The rotary table of the first rotary cylinder 103 drives the first vertical rod 104 to rotate 180 degrees clockwise, the first vertical rod 104 drives the first top plate 112 and the two rotary belt clamping claw cylinder mechanisms 120 arranged at two ends of the first top plate 112 to integrally and synchronously rotate 180 degrees, so that the two sliding clamping claws 127 in the SMC rotary belt clamping claw finger cylinder 125 in the first rotary belt clamping claw cylinder mechanism rotate to positions corresponding to the end cameras 230; while the two slide jaws 127 in the SMC type rotary band clamp finger cylinder 125 in the second rotary band clamp jaw cylinder mechanism are rotated to positions corresponding to the electrolytic capacitors 001 in the capacitor guide grooves 303.
At this time, the end camera 230 performs a photographing inspection of the leadless end face of the electrolytic capacitor 001.
The rotating table 126 in the SMC type rotating band clamping finger cylinder 125 in the first rotating band clamping jaw cylinder mechanism rotates 180 ° so that the two sliding clamping jaws 127 clamp the pins of the electrolytic capacitor 001 upward, and the end camera 230 performs photographing inspection on the pin end faces of the electrolytic capacitor 001.
The pins of the electrolytic capacitor 001 held in the first rotary band clamping jaw cylinder mechanism are clamped by the second robot 400.
C) The first rotary grabbing mechanism in the second manipulator 400 acts to clamp the electrolytic capacitor 001 clamped in the first rotary cylinder mechanism with clamping jaws; the method comprises the following specific steps:
Two rotary gripping mechanisms 420 in the second manipulator 400 are defined as a first rotary gripping mechanism and a second rotary gripping mechanism.
The first rotary grabbing mechanism acts to grab:
The piston rod of the second cylinder 406 is pushed upward, so that the two rotary grasping mechanisms 420 integrally extend outward along the second rail 423.
The piston rod of the second guide rod cylinder 401 is retracted downward to drive the two rotary grasping mechanisms 420 to integrally descend at the same time, so that the two fingers 427 of the SMC finger cylinder 426 in the first rotary grasping mechanism 420 are located at both sides of the electrolytic capacitor 001 for grasping the electrolytic capacitor 001 sent from the first robot 100.
Two fingers 427 of the SMC finger cylinder 426 in the first rotary gripping mechanism grip the pins of the electrolytic capacitor 001 gripped in the first rotary gripper cylinder mechanism.
The piston rod of the second guide cylinder 401 is pushed out upward to drive the two rotary grasping mechanisms 420 to rise integrally at the same time.
At the same time, the motor shaft of the motor 425 in the second rotary grasping mechanism is reversed and reset.
The piston rod of the second cylinder 406 is retracted downward, causing the two rotary grasping mechanisms 420 to retract entirely inward along the second rail 423.
The rotary table of the second rotary cylinder 403 drives the upright rod 404 to rotate 180 degrees clockwise, and the upright rod 404 drives the second top plate 412 and the two rotary grabbing mechanisms 420 arranged at two ends of the second top plate 412 to integrally and synchronously rotate 180 degrees, so that the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 in the first rotary grabbing mechanism is positioned above the qualified product basin 305. At this time, the second rotary grasping mechanism rotates to the grasping position.
The grabbing action of the first rotary grabbing mechanism is completed.
D) The second rotary belt gripper cylinder mechanism in the first robot 100 operates to grip the electrolytic capacitor 001 in the capacitor guide groove 303; the method comprises the following specific steps:
the piston rod of the first cylinder 106 is pushed upward, causing the two rotary jaw cylinder mechanisms 120 to extend entirely outward along the first rail 123.
The piston rod of the first guide rod cylinder 101 is retracted downward to drive the two rotary band clamping jaw cylinder mechanisms 120 to integrally descend at the same time, so that the two sliding clamping jaws 127 in the SMC type rotary band clamping jaw finger cylinder 125 in the second rotary band clamping jaw cylinder mechanism are positioned at both sides of the electrolytic capacitor 001 in the capacitor guide groove 303.
The electrolytic capacitor 001 is held by two slide jaws 127 in the SMC type rotary band clamp finger cylinder 125 in the second rotary band clamp finger cylinder mechanism.
The piston rod of the first guide rod cylinder 101 is pushed out upward, driving the two rotary band jaw cylinder mechanisms 120 to rise integrally at the same time.
The piston rod of the first cylinder 106 is retracted downwardly, causing the two rotary jaw cylinder mechanisms 120 to retract inwardly entirely along the first rail 123.
The rotary table of the first rotary cylinder 103 drives the first vertical rod 104 to rotate 180 degrees anticlockwise, the first vertical rod 104 drives the first top plate 112 and the two rotary claw-carrying cylinder mechanisms 120 arranged at two ends of the first top plate 112 to integrally and synchronously rotate 180 degrees, so that the two sliding clamping claws 127 in the SMC rotary claw-carrying finger cylinder 125 in the second rotary claw-carrying cylinder mechanism rotate to positions corresponding to the end cameras 230; at the same time, the two slide jaws 127 in the SMC type rotary finger cylinder 125 in the first rotary jaw cylinder mechanism are rotated to positions corresponding to the electrolytic capacitors 001 in the capacitor guide grooves 303.
At this time, the end camera 230 performs a photographing inspection of the leadless end face of the electrolytic capacitor 001.
The rotating table 126 in the SMC type rotating band clamping finger cylinder 125 in the second rotating band clamping jaw cylinder mechanism rotates 180 ° so that the two sliding clamping jaws 127 clamp the pins of the electrolytic capacitor 001 upward, and the end camera 230 performs photographing inspection on the pin end faces of the electrolytic capacitor 001.
Pins of the electrolytic capacitor 001 held in the second rotary band clamping jaw cylinder mechanism are clamped by the second robot 400.
E) The second rotary grabbing mechanism in the second manipulator 400 acts to clamp the electrolytic capacitor 001 clamped in the second rotary clamping jaw cylinder mechanism; the method comprises the following specific steps:
The piston rod of the second cylinder 406 is pushed upward, so that the two rotary grasping mechanisms 420 integrally extend outward along the second rail 423.
The piston rod of the second guide bar cylinder 401 is retracted downward to drive the two rotary grasping mechanisms 420 while being lowered integrally so that the two fingers 427 of the SMC finger cylinder 426 in the first rotary grasping mechanism 420 are located on both sides of the electrolytic capacitor 001.
Two fingers 427 of the SMC finger cylinder 426 in the second rotary gripping mechanism grip the pins of the electrolytic capacitor 001 held in the second rotary jaw cylinder mechanism.
Meanwhile, the motor 425 in the first rotary grabbing mechanism rotates forward for one circle to drive the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 to rotate for one circle, so that the peripheral camera 230 can conveniently photograph and inspect the outer peripheral surface of the electrolytic capacitor 001.
The piston rod of the second guide cylinder 401 is pushed out upward to drive the two rotary grasping mechanisms 420 to rise integrally at the same time.
At the same time, the motor shaft of the motor 425 in the first rotary grasping mechanism is reversed and reset.
The piston rod of the second cylinder 406 is retracted downward, causing the two rotary grasping mechanisms 420 to retract entirely inward along the second rail 423.
At the same time, the detection result of the electrolytic capacitor 001 in the first rotary gripping mechanism is determined, and if the detection is acceptable, the two fingers 427 of the SMC finger cylinder 426 are released, and the acceptable product falls into the acceptable product tray 305. If the detection is failed, the two fingers 427 of the SMC finger cylinder 426 are not released to continue holding the capacitor 001, and if the turret of the second turret cylinder 403 is reset to the 90 ° position, the electrolytic capacitor 001 held in the first turret gripping mechanism is located above the defective product tray 306, and if the two fingers 427 of the SMC finger cylinder 426 are released, the defective product falls into the defective product tray 306.
The rotary table of the second rotary cylinder 403 drives the upright rod 404 to rotate 180 degrees clockwise, and the upright rod 404 drives the second top plate 412 and the two rotary grabbing mechanisms 420 arranged at two ends of the second top plate 412 to integrally and synchronously rotate 180 degrees, so that the electrolytic capacitor 001 clamped by the two fingers 427 of the SMC finger cylinder 426 in the second rotary grabbing mechanism is positioned above the qualified product basin 305. At this time, the first rotary gripping mechanism is rotated to the gripping position.
And completing the grabbing action of the second rotary grabbing mechanism, and then performing the action of the first rotary grabbing mechanism to grab.
F) Repeating the steps B-E.
While the invention has been described in the context of what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and variations apparent to those skilled in the art.
Claims (3)
1. The utility model provides a condenser outward appearance detection mechanism which characterized in that: comprises a first manipulator (100), a substrate (301), a first manipulator heightening bracket (302), a capacitor guide groove (303), a second manipulator heightening bracket (304), a qualified product basin (305), a defective product basin (306) and a second manipulator (400),
The substrate (301) is horizontally arranged, the second manipulator heightening bracket (304) is arranged on the substrate (301), the second manipulator (400) is arranged on the second manipulator heightening bracket (304), the first manipulator heightening bracket (302) is arranged on the substrate (301), and the first manipulator (100) is arranged on the first manipulator heightening bracket (302); the first manipulator (100) is positioned at the feeding side of the host machine and used for grabbing electrolytic capacitors (001) in the capacitor guide grooves (303) one by one to be sent into the host machine, the capacitor guide grooves (303) are horizontally arranged, the electrolytic capacitors (001) with feet are vertically arranged in the capacitor guide grooves (303) side by side, and the pins of the electrolytic capacitors (001) are downward; the capacitor guide groove (303) is positioned on the feeding side of the first manipulator (100), and the discharging side of the first manipulator (100) points to the feeding end of the second manipulator (400); the second manipulator (400) is positioned above the first manipulator (100) and used for grabbing the electrolytic capacitor (001) conveyed by the first manipulator (100); the qualified product basin (305) is arranged on the substrate (301) and is positioned on the discharging side of the second manipulator (400), and the inferior product basin (306) is arranged on the substrate (301) and is positioned on the side surface of the second manipulator (400);
The first mechanical arm (100) comprises a first guide rod cylinder (101), a first connecting plate (102), a first rotary cylinder (103), a first vertical rod (104), a first sliding sleeve (105), a first cylinder (106), two first swinging forks (108), two first supporting plates (111), a first top plate (112) and two rotary clamping jaw cylinder mechanisms (120), wherein the first guide rod cylinder (101) is vertically arranged on a first mechanical arm heightening bracket (302), a piston rod of the first guide rod cylinder (101) faces upwards, the first connecting plate (102) is horizontally arranged, and the back surface of the first connecting plate (102) is fixedly connected with the end part of the piston rod of the first guide rod cylinder (101); the first rotary cylinder (103) is horizontally arranged on the first connecting plate (102), the first vertical rod (104) is vertically arranged, and a flange at the bottom of the first vertical rod (104) is connected with a rotary table of the first rotary cylinder (103); the first sliding sleeve (105) is sleeved on the first vertical rod (104) through a bearing, a circle of annular sliding grooves are concavely arranged on the outer surface of the first sliding sleeve (105), a section of cross arm is extended on the outer surface of the first sliding sleeve (105) along the radial direction, and the annular sliding grooves are above the cross arm; the first air cylinder (106) is vertically arranged on the first connecting plate (102), and a piston rod of the first air cylinder (106) faces upwards and is connected with the cross arm; the first top plate (112) is horizontally arranged, and the back surface of the first top plate (112) is fixedly connected with the top of the first vertical rod (104); the two first support plates (111) are vertically arranged on the back surface of the first top plate (112) and are symmetrically arranged about the first vertical rod (104); the two first swinging forks (108) are L-shaped, two linkage points are arranged at the two ends of the L-shaped first swinging forks (108) and are respectively an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped first swinging forks (108) and is a middle linkage point; the lower end part linkage points of the two first swinging forks (108) are respectively arranged in the annular chute in a sliding way through first pin shafts (107), the middle part linkage points of the two first swinging forks (108) are respectively connected with the lower ends of the two first supporting plates (111) in a rotating way through second pin shafts (109), the upper end part linkage points of the two first swinging forks (108) are respectively connected with the two rotary clamping jaw cylinder mechanisms (120) in a sliding way through third pin shafts (110), and the two rotary clamping jaw cylinder mechanisms (120) are symmetrically arranged relative to the first vertical rod (104);
The two rotary belt clamping jaw cylinder mechanisms (120) comprise a sliding cylinder frame (121), a first sliding block (122), a first guide rail (123), a first shifting fork (124) and an SMC rotary belt clamping jaw finger cylinder (125), wherein the first guide rail (123) is fixed on a first top plate (112), the first sliding block (122) is arranged on the first guide rail (123) in a sliding manner, the sliding cylinder frame (121) is L-shaped, and the back surface of a bottom plate of the sliding cylinder frame (121) is arranged on the first sliding block (122); the first shifting fork (124) is vertically arranged on the back surface of the bottom plate of the sliding cylinder frame (121), a guide groove is vertically downwards arranged at the middle position of the first shifting fork (124), and the guide groove is in sliding fit with the third pin shaft (110); the SMC type rotary finger cylinder (125) with clamping jaws is horizontally arranged and fixed on a side plate of the sliding cylinder frame (121), and the clamping fingers (127) of the SMC type rotary finger cylinder (125) are outwards used for clamping the outer peripheral surface of the electrolytic capacitor (001);
The second manipulator (400) comprises a second guide rod cylinder (401), a second coupling plate (402), a second rotary cylinder (403), a second vertical rod (404), a second sliding sleeve (405), a second cylinder (406), two second swinging forks (408), two second support plates (411), a second top plate (412) and two rotary grabbing mechanisms (420),
The second guide rod cylinder (401) is vertically arranged on the second manipulator heightening bracket (304), a piston rod of the second guide rod cylinder (401) faces upwards, the second coupling plate (402) is horizontally arranged, and the back surface of the second coupling plate (402) is fixedly connected with the end part of the piston rod of the second guide rod cylinder (401); the second rotary cylinder (403) is horizontally arranged on the second connecting plate (402), the second vertical rod (404) is vertically arranged, and a flange at the bottom of the second vertical rod (404) is connected with a rotary table of the second rotary cylinder (403); the second sliding sleeve (405) is sleeved on the second vertical rod (404) through a bearing, a circle of annular sliding grooves are concavely arranged on the outer surface of the second sliding sleeve (405), a section of cross arm is extended on the outer surface of the second sliding sleeve (405) along the radial direction, and the annular sliding grooves are above the cross arm; the second air cylinder (406) is vertically arranged on the second coupling plate (402), and a piston rod of the second air cylinder (406) faces upwards and is connected with the cross arm; the second top plate (412) is horizontally arranged, and the back surface of the second top plate (412) is fixedly connected with the top of the second vertical rod (404); the two second supporting plates (411) are vertically arranged on the back of the second top plate (412) and are symmetrically arranged about the second vertical rod (404); the two second swinging forks (408) are L-shaped, two linkage points are arranged at the two ends of the L-shaped second swinging forks (408) and are respectively an upper end linkage point and a lower end linkage point, and a linkage point is arranged at the corner of the L-shaped second swinging forks (408) and is a middle linkage point; the lower end part linkage points of the two second swinging forks (408) are respectively arranged in the annular chute in a sliding way through fourth pin shafts (407), the middle part linkage points of the two second swinging forks (408) are respectively connected with the lower ends of the two second supporting plates (411) in a rotating way through fifth pin shafts (409), the upper end part linkage points of the two second swinging forks (408) are respectively connected with two rotating grabbing mechanisms (420) in a sliding way through sixth pin shafts (410), and the two rotating grabbing mechanisms (420) are symmetrically arranged about the second vertical rod (404);
The two rotary grabbing mechanisms (420) comprise sliding plates (421), second sliding blocks (422), second guide rails (423), second shifting forks (424), motors (425) and SMC finger cylinders (426), the second guide rails (423) are fixed on a second top plate (412), the second sliding blocks (422) are arranged on the second guide rails (423) in a sliding mode, and the back faces of the sliding plates (421) are arranged on the second sliding blocks (422); the second shifting fork (424) is vertically arranged on the back surface of the bottom plate of the sliding plate (421), a guide groove is vertically downwards arranged at the middle position of the second shifting fork (424), and the guide groove is in sliding fit with the sixth pin shaft (410); the motor (425) is vertically downwards arranged on the sliding plate (421), a motor shaft of the motor (425) penetrates through the sliding plate (421) and stretches out, an SMC finger cylinder (426) is suspended on the motor shaft of the motor (425) through a connecting flange, and two fingers (427) in the SMC finger cylinder (426) are downwards arranged to clamp pins of an electrolytic capacitor (001) conveyed by the first manipulator (100);
The capacitor appearance detection mechanism further comprises an outer Zhou Shexiang head (230) for detecting the appearance of the outer surface of the capacitor and an end camera (220) for detecting the appearance of end surfaces at two ends of the capacitor, wherein the outer Zhou Shexiang head (230) and the end camera (220) are arranged on the substrate (301) through a camera bracket, and the end camera (220) is positioned at the discharge end of the first manipulator (100) and used for photographing and checking the two ends of the electrolytic capacitor (001); the outer Zhou Shexiang head (230) is positioned on one side of the discharging end of the second manipulator (400), and the outer Zhou Shexiang head (230) performs photographing inspection on the outer surface of the electrolytic capacitor (001) before the rotary grabbing mechanism (420) grabs and sends the electrolytic capacitor into the qualified product basin (305).
2. The capacitor appearance detection mechanism according to claim 1, wherein a gap for clamping a piston rod of the first cylinder (106) is formed in a cross arm in the first sliding sleeve (105), the piston rod of the first cylinder (106) is inserted into the gap, and the piston rod of the first cylinder (106) is fixed in the gap through the bolt locking gap; a gap for clamping a piston rod of the second air cylinder (406) is formed in a cross arm in the second sliding sleeve (405), and the piston rod of the second air cylinder (406) is inserted into the gap and is fixed in the gap through a bolt locking gap.
3. The capacitor appearance inspection mechanism according to claim 1, wherein the capacitor guide groove (303) has a "U" shape in cross section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811277411.XA CN109239091B (en) | 2018-10-30 | 2018-10-30 | Capacitor appearance detection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811277411.XA CN109239091B (en) | 2018-10-30 | 2018-10-30 | Capacitor appearance detection mechanism |
Publications (2)
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| CN111972703B (en) * | 2019-05-23 | 2022-07-08 | 上海烟草集团有限责任公司 | Modularized cigarette appearance detection device |
| CN110412243A (en) * | 2019-07-09 | 2019-11-05 | 衢州学院 | One kind being used for Factors on The Thermal Cracking of Rocks experimental provision |
| CN110385278B (en) * | 2019-08-20 | 2024-05-10 | 海瑞恩精密技术（太仓）有限公司 | Automobile steering gear sleeve detection device |
| CN111022853B (en) * | 2019-12-18 | 2022-03-29 | 广州市顶丰自动化设备有限公司 | Rotating mechanism and capacitance detector |
| CN111906036B (en) * | 2020-07-22 | 2022-01-18 | 上海快卜新能源科技有限公司 | Detection apparatus based on battery is utilized to echelon |
| CN117805498B (en) * | 2024-03-01 | 2024-05-10 | 国网辽宁省电力有限公司 | Reactive compensation capacitance state detection device for power distribution network |
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