CN110125555A - A kind of removing of automatic laser and detection device - Google Patents
A kind of removing of automatic laser and detection device Download PDFInfo
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- CN110125555A CN110125555A CN201910496518.1A CN201910496518A CN110125555A CN 110125555 A CN110125555 A CN 110125555A CN 201910496518 A CN201910496518 A CN 201910496518A CN 110125555 A CN110125555 A CN 110125555A
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- Prior art keywords
- send
- pickup
- cabinet body
- laser lift
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 151
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 19
- 238000010521 absorption reaction Methods 0.000 claims description 14
- 239000000779 smoke Substances 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 10
- 239000003546 flue gas Substances 0.000 claims description 10
- 239000003517 fume Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000000087 laser glass Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/16—Removal of by-products, e.g. particles or vapours produced during treatment of a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
Abstract
The invention belongs to laser lift-off and detection technique fields, more particularly to a kind of removing of automatic laser and detection device, including cabinet body, delivery mechanism, laser lift-off device, vision detection system and automatic pick-up robot, the cabinet body includes part mounting table and cabinet body front door, and the part mounting table is equipped with transmission device；Cabinet body is sent into and is exited to part by transmission device by the delivery mechanism；The laser lift-off device is used to carry out laser lift-off to part；Whether the vision detection system is qualified for detecting laser lift-off graph text information obtained；The automatic pick-up robot includes robot body and the removal mechanism that is fixedly connected with robot body, and the removal mechanism is successively sent to laser lift-off device and vision detection system, and will test qualified part and send delivery mechanism back to for grabbing part；The automatic pick-up robot is fixed on interior of the cabinet, and the laser lift-off device and vision detection system are each attached at the top of cabinet body, the setting of the two interval.
Description
Technical field
The invention belongs to laser lift-off and detection technique fields, and in particular to a kind of removing of automatic laser and detection dress
It sets.
Background technique
Character or pattern generally are embodied in parts product by laser lift-off on electroplated component, are then swashed by detection
Whether the graph text information that photospallation obtains is qualified.In the prior art, it generally requires and part is manually sent to carry out laser lift-off, on part
Graph text information is carved out, it is then whether qualified by artificial detection graph text information.Artificial detection is carried out after laser lift-off on the one hand
Increase workload, on the other hand, the resolution of artificial detection is low, can not be accurately detected comparatively fine difference, and into
It tends to visual fatigue occur and cause to malfunction after a large amount of detection work of row, increases disqualification rate.Therefore, it is necessary to open
It sends out automatic laser glass and detection device a kind of, laser lift-off and detection work is disposably realized by machine, improves work
Efficiency and Detection accuracy.
Summary of the invention
In engraving text and picture information on part, in order to improve laser lift-off and the working efficiency for detecting process and detection accurately
Rate, the invention discloses a kind of removing of automatic laser and detection devices, and delivery mechanism, automatic pick-up robot, laser are shelled
It is arranged in a cabinet body from device and vision detection system, zero be sent by automatic pick-up robot crawl by delivery mechanism
Part is then sent to laser lift-off device and carries out laser lift-off, then send to vision detection system and carry out graph text information detection, effectively improves
Working efficiency and Detection accuracy.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of removing of automatic laser and detection device, including
Cabinet body, the cabinet body include part mounting table and cabinet body front door, and the part mounting table is equipped with transmission device；
Cabinet body is sent into and is exited to part by transmission device by delivery mechanism, the delivery mechanism；
Laser lift-off device, the laser lift-off device are used to carry out laser lift-off to part；
Whether vision detection system, the vision detection system are qualified for detecting laser lift-off graph text information obtained；
Automatic pick-up robot, the automatic pick-up robot includes robot body and what is be fixedly connected with robot body take
Part mechanism, the removal mechanism are successively sent to laser lift-off device and vision detection system, and will test qualification for grabbing part
Part send delivery mechanism back to；
The automatic pick-up robot is fixed on interior of the cabinet, and the laser lift-off device and vision detection system are each attached to cabinet body
Top, the setting of the two interval.
Specifically, above-mentioned delivery mechanism includes sending part plate and being fixed on to send to send part fixed device on part plate, described to send part
Fixed device includes that at least one is fixed on to send and send part clamp system on part plate；The removal mechanism includes taking board and at least
One pickup clamp system being fixed on taking board；It is described send part clamp system include for holding parts send part fixture block and
For drive send part fixture block be closed or open send part gripper cylinder；The pickup clamp system includes taking for holding parts
Part fixture block and for drive pickup fixture block be closed or open pickup gripper cylinder.
It is specifically, above-mentioned that send the fixed device of part further include that at least one is fixed on to send and send part hold-down mechanism, institute on part plate
Stating and sending part hold-down mechanism includes sending part briquetting and for driving that part briquetting is sent to move up and down part is sent to compress for compressing component
Cylinder.
Specifically, it is above-mentioned send the fixed device of part further include be used to support part send part supporting mechanism, the removal mechanism
It further include the pickup supporting mechanism for being used to support part, the pickup supporting mechanism includes the pickup supporting block for being used to support part
Cylinder is supported with the pickup for driving pickup supporting block to support part.
Specifically, above-mentioned delivery mechanism further includes being fixed on the fix in position sensing device sent on part plate；The part packet
Part noumenon is included, there is part installation position on the part noumenon, it is described that part clamp system and pickup clamp system is sent to pass through
Part installation position Clamp blocks；The removal mechanism further includes the barn door that several are fixed on taking board.
Specifically, the rotating seat that above-mentioned robot body has pedestal, connect with base rotation is rotatablely connected with rotating seat
Rotating arm, with rotating arm rotation connection transmission arm and with transmission arm rotation connection manipulator, the removal mechanism with
Manipulator is fixedly connected, the rotary shaft and horizontal plane of the rotating seat, the rotary shaft of the rotating arm and transmission arm with
Horizontal plane is parallel, and parallel to each other, and the rotary shaft of the manipulator is parallel to the horizontal plane, and vertical with the rotary shaft of transmission arm.
Specifically, it there are two above-mentioned delivery mechanism is set, and sets there are two corresponding removal mechanism, described two removal mechanisms
It is symmetrical arranged on the basis of horizontal plane；It is described to send there are two part clamp system sets, it is described to send there are two part hold-down mechanism sets, it is described
There are two pickup clamp system is set.
Specifically, above-mentioned automatic laser removing and detection device further include the fume treatment mechanism of setting on the cabinet；
The fume treatment mechanism includes interconnected smoke absorption pipe and flue gas processing device, and the cabinet body further includes being arranged in cabinet
Process chamber at the top of body rear, the process chamber have the bottom plate for separating with interior of the cabinet and the riser perpendicular to bottom plate,
The riser is equipped with smoke absorption hole, and the smoke absorption pipe protrudes into interior of the cabinet by smoke absorption hole；The process chamber
Side wall is equipped with the extraneous radiator fan of connection.
Specifically, above-mentioned automatic laser removing and detection device further include the discard receiving that interior of the cabinet is arranged in
Case, the discard storage case are equipped with discard sensing device, are additionally provided on the taking board for whether incuding discard
The discarding inductor being dropped.
Specifically, above-mentioned automatic laser removing and detection device, further include the mold changing machine being arranged on cabinet body inner sidewall
Structure, the die changing mechanism include the mold changing bar for changing the mold bracket and being arranged on mold changing bracket, and the taking board has and mold changing bar
Corresponding mold changing hole.
The present invention have it is following the utility model has the advantages that the present invention by delivery mechanism, automatic pick-up robot, laser lift-off device and
Vision detection system is arranged in a cabinet body, grabs the part being sent by delivery mechanism by automatic pick-up robot, then
It send to laser lift-off device and carries out laser lift-off, then send to vision detection system and carry out graph text information detection, effectively increase work
Efficiency and Detection accuracy.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is external structure schematic diagram of the invention；
Fig. 2 is main view of the invention (omitting cabinet body front door)；
Fig. 3 is that top view of the invention (omits cabinet body front door and cabinet body top plate, to avoid the bottom plate of process chamber from blocking other knots
Structure only shows the bottom plate of part process chamber in figure)；
Fig. 4 is perspective view of the invention (omitting cabinet body front door, cabinet body top plate and part side cabinet)；
Fig. 5 is partial schematic diagram of the invention；
Fig. 6 is the structural schematic diagram of delivery mechanism in the present invention；
Fig. 7 is the structural schematic diagram of automatic pick-up robot in the present invention；
Fig. 8 is the structural schematic diagram of removal mechanism in the present invention；
Fig. 9 is the enlarged drawing of part B in Fig. 8；
Figure 10 is to send part hold-down mechanism in the present invention and send the structural schematic diagram of part clamp system；
Figure 11 is that (pickup supporting mechanism is in the structural schematic diagram of pickup clamp system and pickup supporting mechanism in figure in the present invention
Off working state)；
Figure 12 is the structural schematic diagram of die changing mechanism in the present invention；
Figure 13 is rearview of the invention；
In figure: 1. cabinet bodies；11. part mounting table；111. transmission device；12. cabinet body front door；121. fixed door；122. shutter；
131. bottom plate；132. riser；133. process chamber door；134. radiator fan；14. monitoring camera；15. Press line；16. cabinet body
Top plate；17. maintenance door；171. safety door latch；2. delivery mechanism；21. sending part plate；211. handle；22. sending part clamp system；
221. send part fixture block；222. send part gripper cylinder；23. sending part hold-down mechanism；231. send part briquetting；232. send part compression cylinder；
24. sending part supporting mechanism；25. fix in position sensing device；3. robot body；31. pedestal；32. rotating seat；33. rotating arm；
34. transmission arm；35. manipulator；4. removal mechanism；41. taking board；411. abandon inductor；412. mold changing holes；42. pickup is pressed from both sides
Tight mechanism；421. pickup fixture blocks；422. pickup gripper cylinders；43. pickup supporting mechanism；431. pickup supporting blocks；432. pickup
Support cylinder；44. barn door；5. laser lift-off device；6. vision detection system；71. smoke absorption pipe；72. flue gas processing device；
8. discard storage case；81. discard sensing device；9. die changing mechanism；91. changing the mold bracket；92. changing the mold bar；P. part；P1.
Part installation position.
Specific embodiment
Presently in connection with embodiment, the present invention is described in further detail.
Before the present invention is with the direction E in Fig. 1, after being with the direction opposite with E.
As shown in Figs 1-4, automatic laser removing and detection device, including cabinet body 1, delivery mechanism 2, laser lift-off device 5,
Vision detection system 6 and automatic pick-up robot, cabinet body 1 include part mounting table 11 and cabinet body front door 12, part mounting table 11
It is equipped with transmission device 111；Part P is sent into and is exited cabinet body 1 by transmission device 111 by delivery mechanism 2；Laser lift-off device 5
For carrying out laser lift-off to part P；Vision detection system 6 is for detecting whether laser lift-off graph text information obtained closes
Lattice；Automatic pick-up robot includes robot body 3 and the removal mechanism being fixedly connected with robot body 34, removal mechanism 4
It for grabbing part P, successively send to laser lift-off device 5 and vision detection system 6, and will test qualified part and send part machine back to
Structure 2；Automatic pick-up robot is fixed on inside cabinet body 1, and laser lift-off device 5 and vision detection system 6 are each attached to the top of cabinet body 1
Portion, the setting of the two interval.
After part P is in place, delivery mechanism 2 automatically fixes part P, and is sent into cabinet body 1 by transmission device 111
Portion, cabinet body front door 12 are closed, and automatic pick-up robot is sent part P to laser lift-off device by 4 automatic part picking of removal mechanism
Laser lift-off is carried out at 5, is then sent to vision detection system 6 except graph text information detection is carried out again, is detected what laser lift-off obtained
Whether graph text information matches with target picture and text, and then automatic pick-up robot will test qualified part P again and send delivery mechanism 2 back to
On, delivery mechanism 2 again fixes part P, and cabinet body front door 12 is opened, and transmission device 111 sends delivery mechanism 2 back to cabinet body 1 again
It is external.Whole process grabs part P by automatic pick-up robot, send to each station, is done directly vision after laser lift-off
Work is detected, it is high-efficient, and Detection accuracy is high.
In a particular embodiment, as shown in Figure 1, cabinet body front door 12 includes fixed door 121 and shutter 122, shutter 122 declines
Cabinet body front door 12 is closed, shutter 122, which rises, opens cabinet body front door 12.
In a particular embodiment, it shown in as shown in Figure 1, Figure 2, Fig. 4 and Figure 13, is equipped with respectively in 1 left and right sides of cabinet body and rear
Three fan maintenance doors 17, maintenance door 17 are locked by safety door latch 171.By three fan maintenance doors 17 can be convenient in cabinet body 1
The all parts in portion are overhauled.
In a particular embodiment, vision detection system 6 can be selected such as CCD vision detection system, also can choose other
The system that can carry out Automatic Visual Inspection.
In a kind of specific embodiment, as shown in Fig. 5, Fig. 6, Fig. 8, Figure 10 and Figure 11, delivery mechanism 2 includes sending part
Plate 21 and being fixed on is sent send part fixed device on part plate 21, and sending the fixed device of part includes that at least one is fixed on and send on part plate 21
Send part clamp system 22；Removal mechanism 4 includes taking board 41 and at least one is fixed on the pickup clamping machine on taking board 41
Structure 42；Send part clamp system 22 include for holding parts P send part fixture block 221 and for drive send part fixture block 221 be closed or
That opens send part gripper cylinder 222；Pickup clamp system 42 includes for the pickup fixture block 421 of holding parts P and for driving
The pickup gripper cylinder 422 pickup fixture block 421 closure or opened.
After part P is in place, part clamp system 22 is sent to start, makes to send the drive of part gripper cylinder 222 that part fixture block 221 is sent to close
It closes, Clamp blocks P is then transported on device 111 and send delivery mechanism 2 to cabinet body 1, and cabinet body front door 12 is closed, automatic part picking
Robot drives removal mechanism 4 to reach pickup position, and pickup clamp system 42 starts, and pickup gripper cylinder 422 drives pickup folder
Block 421 is closed, Clamp blocks P, is then sent the drive of part gripper cylinder 222 that part fixture block 221 is sent to open, is unclamped part P, later automatically
Pickup robot drives the removal mechanism 4 for being clamped with part P to reach and carries out laser lift-off at laser lift-off device 5, then send to vision
It is detected at detection system 6, and will test qualified part and send delivery mechanism 2 back to, at this point, part gripper cylinder 222 is sent to drive
Part fixture block 221 is sent to be closed, Clamp blocks P, then pickup gripper cylinder 422 drives pickup fixture block 421 to open, and unclamps part P, so
Cabinet body front door 12 is opened afterwards, and delivery mechanism 2 is sent part P outside cabinet body 1 back to by transmission device 111, send part gripper cylinder 222
Drive send part fixture block 221 to open, and unclamps part P.Wherein, part gripper cylinder 222 and pickup gripper cylinder 422 is sent to can choose
Such as MHZ2 finger cylinder, being also possible to other any can complete holding action and can be used for this invention for holding parts
Any clamping device of P.
In a particular embodiment, it send and is equipped with buffer unit on part fixture block 221 and pickup fixture block 421, avoid drawing part P
Wound or abrasion.
In a kind of specific embodiment, as shown in Fig. 5, Fig. 6 and Figure 10, sending the fixed device of part further includes at least one
It is fixed on to send and send part hold-down mechanism 23 on part plate 21, sending part hold-down mechanism 23 includes sending part briquetting 231 for compressing component P
With for drive send part briquetting 231 move up and down send part compression cylinder 232.
After part P is in place, part hold-down mechanism 23 is sent to start, make to send the drive of part compression cylinder 232 send part briquetting 231 to
Lower movement, pushes down part P, and part clamp system 22 is then sent to start, and makes to send the drive of part gripper cylinder 222 that part fixture block 221 is sent to be closed,
Clamp blocks P；It is then transported on device 111 to send delivery mechanism 2 to cabinet body 1, cabinet body front door 12 is closed；Automatic part picking machine
People drives removal mechanism 4 to reach pickup position, and pickup clamp system 42 starts, and pickup gripper cylinder 422 drives pickup fixture block 421
Closure, Clamp blocks P；Then it send the drive of part gripper cylinder 222 that part fixture block 221 is sent to open, unclamps part P, send part compression cylinder
232 drives send part briquetting 231 to move upwards, and unclamp part P；Automatic pick-up robot drives the pickup for being clamped with part P later
Mechanism 4, which reaches, carries out laser lift-off at laser lift-off device 5, then send to being detected at vision detection system 6, and will test qualification
Part send delivery mechanism 2 back to, send part briquetting 231 to move downward at this point, part compression cylinder 232 is sent first to drive, push down part P,
Then send the drive of part gripper cylinder 222 that part fixture block 221 is sent to be closed, Clamp blocks P；Then pickup gripper cylinder 422 drives pickup
Fixture block 421 is opened, and part P is unclamped；Cabinet body front door 12 is opened, and delivery mechanism 2 sends part P back to cabinet body 1 by transmission device 111
Outside send the drive of part compression cylinder 232 that part briquetting 231 is sent to move upwards, unclamps part P, part gripper cylinder 222 is then sent to drive
It send part fixture block 221 to open, unclamps part P.During 4 Clamp blocks P of delivery mechanism, first by sending part hold-down mechanism 23 to compress zero
Part P, then by giving part clamp system 22 Clamp blocks P.It, can be first by sending part compacting machine during delivery mechanism 4 unclamps part P
Structure 23 unclamps part P, then by sending part clamp system 22 to unclamp part P, is also possible to opposite sequence, the two can also simultaneously into
Row.
In a particular embodiment, it send 231 surface of part briquetting to be equipped with buffer unit, avoids that part P is scratched or worn.
In a kind of specific embodiment, as shown in Fig. 5, Fig. 6, Fig. 8 and Figure 11, sending the fixed device of part further includes being used for
Support part P's send part supporting mechanism 24, and removal mechanism 4 further includes the pickup supporting mechanism 43 for being used to support part, pickup branch
Support mechanism 43 includes being used to support the pickup supporting block 431 of part P and for driving pickup supporting block 431 to support the pickup of part
Support cylinder 432.
The device of the invention can be used for various types of parts, when part be in bending, and it is relatively thin when, only by compress and
Clamping may not be able to be by part accurately fix in position, so as to will affect the accuracy of laser lift-off, and therefore, part is sent in setting
Supporting mechanism 24 facilitates the placement location of accurate part P, to be conducive to accurate pickup, the pickup of removal mechanism 4 supports machine
Structure 43 is supported part (as shown in figure 8, pickup supporting block 431 supports the bending section of part P by pickup supporting block 431
Position), to be conducive to carry out accurate laser lift-off in next step.
After part P is in place, by the one end for sending part supporting mechanism 24 to support part P, part hold-down mechanism 23 is sent to start,
Make to send the drive of part compression cylinder 232 that part briquetting 231 is sent to move downward, pushes down part P, then send part clamp system 22 to start, make
Send the drive of part gripper cylinder 222 that part fixture block 221 is sent to be closed, Clamp blocks P；Device 111 is then transported on to send delivery mechanism 2 to cabinet
Inside body 1, cabinet body front door 12 is closed, and automatic pick-up robot drives removal mechanism 4 to reach pickup position, pickup clamp system 42
Starting, pickup gripper cylinder 422 drive pickup fixture block 421 to be closed, and Clamp blocks P, then pickup supporting mechanism 43 starts, pickup
It supports cylinder 432 that pickup supporting block 431 is driven to rotate, makes pickup supporting block 431 and part P leans the (specific embodiment party of Fig. 7
It is against the knee of part P in formula), support part P；Then send the drive of part gripper cylinder 222 that part fixture block 221 is sent to open, pine
Part P is opened, send the drive of part compression cylinder 232 that part briquetting 231 is sent to move upwards, unclamps part P；Automatic pick-up robot band later
The dynamic removal mechanism 4 for being clamped with part P, which reaches, carries out laser lift-off at laser lift-off device 5, then send at vision detection system 6 into
Row detection, and will test qualified part and send delivery mechanism 2 back to；At this point, part supporting mechanism 24 is sent to fix one end of part P,
Sending part compression cylinder 232 first to drive send part briquetting 231 to move downward, and pushes down part P, and the drive of part gripper cylinder 222 is then sent to send
Part fixture block 221 is closed, Clamp blocks P；Then pickup support cylinder 432 drives pickup supporting block 431 to reversely rotate, and makes pickup branch
Bracer 431 drives pickup fixture block 421 to open far from part P, pickup gripper cylinder 422, unclamps part P；Cabinet body front door 12 is opened,
Delivery mechanism 2 is sent part P outside cabinet body 1 back to by transmission device 111；Send part compression cylinder 232 drive send part briquetting 231 to
Part P is unclamped in upper movement, then send the drive of part gripper cylinder 222 that part fixture block 221 is sent to open, unclamps part P.Delivery mechanism 4 is pressed from both sides
During tight part P, first by sending part hold-down mechanism 23 compressing component P, then by sending part clamp system 22 Clamp blocks P.Send part
It, can be first by sending part hold-down mechanism 23 to unclamp part P, then by sending part clamp system 22 to unclamp during part P unclamps in mechanism 4
Part P, is also possible to opposite sequence, and the two can also carry out simultaneously.
In a particular embodiment, if part P itself is easily-deformable, and there is many places bending, then can be correspondingly arranged multiple send
Part supporting mechanism 24 and multiple pickup supporting mechanisms 43.
In a kind of specific embodiment, as shown in fig. 6, delivery mechanism 2 further includes being fixed on to send consolidating on part plate 21
Fixed sensing device 25 in place；Part P includes part noumenon, has part installation position P1 on part noumenon, send part clamp system 22
Pass through part installation position P1 Clamp blocks P with pickup clamp system 42.Wherein, fix in position sensing device 25 can be according to zero
The concrete shape of part is arranged one to multiple, for determine part P whether fix in position, when fix in position sensing device 25 determines
After part P is fixed properly in place, automatic pick-up robot just will drive removal mechanism 4 and carry out pickup, it is ensured that precise manipulation.
Directly by part installation position P1 Clamp blocks P, it is possible to prevente effectively from other positions to part P cause to damage.
In a kind of specific embodiment, as shown in Figure 5 and Figure 8, removal mechanism 4 further includes that several are fixed on pickup
Barn door 44 on plate 41.Barn door 44 can help part P to carry out shading, thus the picture and text for carrying out vision detection system 6
Information identification, improves the accuracy of identification.
In a kind of specific embodiment, as shown in figure 5 and figure 7, robot body 3 has pedestal 31 and pedestal 31
The rotating seat 32 of rotation connection, the rotating arm 33 being rotatablely connected with rotating seat 32, the transmission arm 34 being rotatablely connected with rotating arm 33
And the manipulator 35 being rotatablely connected with transmission arm 34, removal mechanism 4 are fixedly connected with manipulator 35, the rotary shaft of rotating seat 32
With horizontal plane, the rotary shaft of rotating arm 33 and transmission arm 34 is parallel to the horizontal plane, and parallel to each other, the rotation of manipulator 35
Shaft is parallel to the horizontal plane, and vertical with the rotary shaft of transmission arm 34.
In a kind of specific embodiment, as shown in Figure 2-5, there are two delivery mechanism 2 is set, and set that there are two corresponding
Removal mechanism 4, two removal mechanisms 4 are symmetrical arranged on the basis of horizontal plane；It send there are two part clamp system 22 sets, part is sent to compress
There are two mechanism 23 is set, there are two pickup clamp system 42 is set.Two delivery mechanisms 2 are set, and are correspondingly arranged two extractors
Structure 4 can disposably handle two part P, and after a removal mechanism 4 grabs a part P, manipulator 35 drives removal mechanism 4
180 ° of rotation grabs another part P by another removal mechanism 4, is then sent to laser lift-off device 5 and carries out laser lift-off,
Carry out subsequent operation again later.It is respectively set two and send part clamp system 22, two are sent part hold-down mechanism 23 and two pickup folders
Tight mechanism 42, is conducive to firmly fix part P.It in a particular embodiment, can be with if part P itself is unlikely to deform
One part clamp system 22 is only set, and one is sent part hold-down mechanism 23 and a pickup clamp system 42, according to the specific of part P
Shape, if part P is easily-deformable, and part P longer, then settable three or more are sent part clamp system 22, three or more
Send the pickup clamp system 42 of part hold-down mechanism 23 and three or more.
In a particular embodiment, a variety of delivery mechanisms 2 and removal mechanism 4 can be prepared, to match different parts, right
When different parts carry out laser lift-off, it is only necessary to replace delivery mechanism 2 and removal mechanism 4.Wherein, sending can set on part plate 21
Handle 211 is set, delivery mechanism 2 is convenient for changing.
It further include the fume treatment mechanism being arranged on cabinet body 1 as in Figure 2-4 in a kind of specific embodiment,
Fume treatment mechanism includes interconnected smoke absorption pipe 71 and flue gas processing device 72, and cabinet body 1 further includes being arranged in cabinet body 1
Process chamber at the top of rear, process chamber have for the bottom plate 131 separated inside cabinet body 1 and perpendicular to the riser of bottom plate 131
132, riser 132 is equipped with smoke absorption hole, and smoke absorption pipe 71 is protruded into inside cabinet body 1 by smoke absorption hole；Process chamber side
Wall is equipped with the extraneous radiator fan 134 of connection.It is separated inside process chamber and cabinet body 1, smoke absorption pipe 71 passes through smoke absorption
Hole is protruded into inside cabinet body 1, absorb laser lift-off during generate flue gas, and by flue gas processing device 72 to flue gas at
Reason, avoids flue gas from depositing inside cabinet body 1 and pollutes, can cause to corrode to each device to avoid flue gas, can also be to avoid
Flue gas directly excludes to cause environmental pollution.Further, it is also possible to be arranged laser lift-off device 5 and vision detection system 6 in process chamber
It is interior.
Process chamber door 133 is arranged in process chamber rear, and chamber top plate directly utilizes part cabinet body top plate 16.
In a kind of specific embodiment, as shown in Fig. 3, Fig. 8 and Fig. 9, automatic laser removing and detection device are also
Including the discard storage case 8 inside cabinet body 1 is arranged in, discard storage case 8 is equipped with discard sensing device 81, taking board
The discarding inductor 411 whether being dropped for incuding discard is additionally provided on 41.If the detection of vision detection system 6 does not conform to
Lattice, then underproof discard will not be sent back to delivery mechanism 2 by automatic pick-up robot, but directly by discard abandon to
In discard storage case 8, the discarding inductor 411 on taking board 41 can help to confirm whether discard is dropped, discard
Sensing device 81 can help to confirm in discard storage case 8 whether there is discard.
In a kind of specific embodiment, as shown in Fig. 3, Fig. 4, Fig. 8 and Figure 12, automatic laser removing and detection dress
Setting further includes the die changing mechanism 9 being arranged on 1 inner sidewall of cabinet body, and die changing mechanism 9 includes mold changing bracket 91 and setting in mold changing branch
Mold changing bar 92 on frame 91, taking board 41 have mold changing hole 412 corresponding with mold changing bar 92.The setting of die changing mechanism 9 can be straight
It connects and automatic pick-up robot is changed the mold and (can directly be disassembled removal mechanism 4), when system senses mold changing bar
Behind 92 insertion mold changing holes 412, gas circuit disconnects automatically, so that removal mechanism 4 be made to unload from manipulator 35.
In a particular embodiment, as shown in figs. 8 and 12, if there are two removal mechanism 4, two removal mechanisms are shared
One taking board 41, is symmetrical arranged two mold changing holes 412 at the top and bottom of taking board 41, and die changing mechanism 9 sets that there are two mold changing bars
92, after two mold changing bars 92 are inserted into two mold changing holes 412 respectively, gas circuit disconnects automatically, unloads removal mechanism 4 from manipulator 35
Under.
In a kind of specific embodiment, as shown in Figures 2 and 3, automatic laser removing and detection device further include
The monitoring camera 14 of 1 vertex of cabinet body is set and the Press line 15 of 1 bottom of cabinet body, the induction of Press line 15 are set
Weight is more than or equal to 5kg.Monitoring camera 14 can help to monitor 1 inner case of cabinet body, and Press line 15 is conducive to protection behaviour
The safety for making personnel will do it interlink warning, equipment is out of service when the weight that Press line 15 senses is greater than 5kg.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of automatic laser removing and detection device, it is characterised in that: including
Cabinet body (1), the cabinet body (1) include part mounting table (11) and cabinet body front door (12), on the part mounting table (11)
Equipped with transmission device (111)；
Part (P) is sent into and is exited cabinet body (1) by transmission device (111) by delivery mechanism (2), the delivery mechanism (2)；
Laser lift-off device (5), the laser lift-off device (5) are used to carry out laser lift-off to part (P)；
Vision detection system (6), the vision detection system (6) is for detecting whether laser lift-off graph text information obtained closes
Lattice；
Automatic pick-up robot, the automatic pick-up robot include robot body (3) and fix company with robot body (3)
The removal mechanism (4) connect, the removal mechanism (4) are successively sent for grabbing part (P) to laser lift-off device (5) and vision inspection
Examining system (6), and will test qualified part and send delivery mechanism (2) back to；
The automatic pick-up robot is fixed on cabinet body (1) inside, and the laser lift-off device (5) and vision detection system (6) are equal
It is fixed at the top of cabinet body (1), the setting of the two interval.
2. automatic laser removing as described in claim 1 and detection device, it is characterised in that: delivery mechanism (2) packet
It includes and send part plate (21) and being fixed on to send on part plate (21) to send part fixed device, described to send the fixed device of part include that at least one is solid
It is scheduled on to send and send part clamp system (22) on part plate (21)；The removal mechanism (4) includes taking board (41) and at least one is solid
The pickup clamp system (42) being scheduled on taking board (41)；It is described that send part clamp system (22) include for holding parts (P)
Send part fixture block (221) and for drive send part fixture block (221) be closed or open send part gripper cylinder (222)；The pickup folder
Tight mechanism (42) includes for the pickup fixture block (421) of holding parts (P) and for driving pickup fixture block (421) to be closed or open
Pickup gripper cylinder (422).
3. automatic laser removing as claimed in claim 2 and detection device, it is characterised in that: described to send the fixed device of part also
It is fixed on including at least one and send sending part hold-down mechanism (23) on part plate (21), it is described to send part hold-down mechanism (23) including being used for
Compressing component (P) send part briquetting (231) and for drive send part briquetting (231) move up and down send part compression cylinder (232).
4. automatic laser removing as claimed in claim 2 and detection device, it is characterised in that: described to send the fixed device of part also
Including being used to support sending part supporting mechanism (24) for part (P), the removal mechanism (4) further includes being used to support part (P)
Pickup supporting mechanism (43), the pickup supporting mechanism (43) include being used to support the pickup supporting block (431) of part (P) and using
Cylinder (432) are supported in the pickup of driving pickup supporting block (431) support part (P).
5. automatic laser removing as claimed in claim 2 and detection device, it is characterised in that: the delivery mechanism (2) is also
Including being fixed on the fix in position sensing device (25) sent on part plate (21)；The part (P) includes part noumenon, the part
There is part installation position (P1) on ontology, it is described that part clamp system (22) and pickup clamp system (42) is sent to install by part
Position (P1) Clamp blocks (P)；The removal mechanism (4) further includes the barn door (44) that several are fixed on taking board (41).
6. automatic laser removing as described in claim 1 and detection device, it is characterised in that: the robot body (3)
With pedestal (31), the rotating seat (32) with pedestal (31) rotation connection, the rotating arm (33) being rotatablely connected with rotating seat (32),
Manipulator (35) with the transmission arm (34) of rotating arm (33) rotation connection and with transmission arm (34) rotation connection, the pickup
Mechanism (4) is fixedly connected with manipulator (35), the rotary shaft and horizontal plane of the rotating seat (32), the rotating arm (33)
It is parallel to the horizontal plane with the rotary shaft of transmission arm (34), and parallel to each other, the rotary shaft and horizontal plane of the manipulator (35)
In parallel, and it is vertical with the rotary shaft of transmission arm (34).
7. automatic laser removing as claimed in claim 3 and detection device, it is characterised in that: the delivery mechanism (2) sets
There are two, and set there are two corresponding removal mechanism (4), described two removal mechanisms (4) are symmetrical arranged on the basis of horizontal plane；
It is described to send there are two part clamp system (22) sets, described to send there are two part hold-down mechanism (23) sets, the pickup clamp system
(42) there are two setting.
8. automatic laser removing as described in claim 1 and detection device, it is characterised in that: further include being arranged in cabinet body
(1) the fume treatment mechanism on；The fume treatment mechanism includes interconnected smoke absorption pipe (71) and fume treatment dress
It sets (72), the cabinet body (1) further includes that process chamber at the top of cabinet body (1) rear is arranged, and the process chamber, which has, to be used for and cabinet
The bottom plate (131) separated inside body (1) and the riser (132) perpendicular to bottom plate (131), the riser (132) are equipped with flue gas
Sucking, the smoke absorption pipe (71) protrude into cabinet body (1) inside by smoke absorption hole；The process chamber sidewalls, which are equipped with, to be connected
Lead to extraneous radiator fan (134).
9. automatic laser removing as described in claim 1 and detection device, it is characterised in that: further include being arranged in cabinet body
(1) internal discard storage case (8), the discard storage case (8) are equipped with discard sensing device (81), the pickup
The discarding inductor (411) whether being dropped for incuding discard is additionally provided on plate (41).
10. automatic laser removing as described in claim 1 and detection device, it is characterised in that: further include being arranged in cabinet body
(1) die changing mechanism on inner sidewall (9), the die changing mechanism (9) include mold changing bracket (91) and setting in mold changing bracket (91)
On mold changing bar (92), the taking board (41) has and mold changing bar (92) corresponding mold changing hole (412).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910496518.1A CN110125555A (en) | 2019-06-10 | 2019-06-10 | A kind of removing of automatic laser and detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910496518.1A CN110125555A (en) | 2019-06-10 | 2019-06-10 | A kind of removing of automatic laser and detection device |
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| Publication Number | Publication Date |
|---|---|
| CN110125555A true CN110125555A (en) | 2019-08-16 |
Family
ID=67580860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910496518.1A Pending CN110125555A (en) | 2019-06-10 | 2019-06-10 | A kind of removing of automatic laser and detection device |
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| Country | Link |
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| CN (1) | CN110125555A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110556322A (en) * | 2019-09-16 | 2019-12-10 | 中电九天智能科技有限公司 | Automatic air drying system and method for glass before laser stripping |
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