CN112027656A - Shielding detection equipment and method for robot feeding electronic equipment or components - Google Patents
Shielding detection equipment and method for robot feeding electronic equipment or components Download PDFInfo
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- CN112027656A CN112027656A CN202010822987.0A CN202010822987A CN112027656A CN 112027656 A CN112027656 A CN 112027656A CN 202010822987 A CN202010822987 A CN 202010822987A CN 112027656 A CN112027656 A CN 112027656A
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- cylinder
- discharging
- feeding
- limiting
- frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/24—Arrangements for testing
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K9/00—Screening of apparatus or components against electric or magnetic fields
- H05K9/0007—Casings
Abstract
The invention relates to the field of electronic equipment detection, in particular to shielding detection equipment and a shielding detection method for a robot feeding electronic component or equipment, wherein a detection module is positioned at the side of a feeding conveying module and a discharging conveying module, a detection port on the detection module faces the feeding conveying module and the discharging conveying module, and a robot arm is positioned above the feeding conveying module and the discharging conveying module; the feeding conveying module is used for conveying the material to be detected placed in the feeding tray to the feeding area and moving out the empty feeding tray from the lower part of the feeding area; the robot arm absorbs the material to be detected in the feeding area into the detection module, and the detection module detects the material to be detected. The shielding box that detection module used is the formula of turning up, and whole tool all exposes outside the box after the chamber door is opened, does not have any to block, and the robot arm of being convenient for judges the position of tool, has simplified robot arm's action, has indirectly improved detection efficiency.
Description
Technical Field
The invention relates to the field of electronic equipment detection, in particular to shielding detection equipment and a shielding detection method for robot feeding electronic equipment or components.
Background
In order to ensure that the electronic device has better various wireless signal transmission functions, enterprises need to detect the wireless signal transmission function of a new product in the development and manufacturing stages, and the use of a shielding box cannot be avoided in the detection process. The shielding box can isolate external high-frequency signal interference, transmit and receive signals and detect, and the like, so the shielding box can provide shielding detection for other electronic equipment such as a mobile phone and the like.
The conventional shielding detection device, for example, an automatic shielding box disclosed in chinese patent publication No. CN110470910A, includes a box body having a shielding cavity and a cavity opening, a box door movably disposed on the box body, a data plug, a sensor, a controller, a jig, a first driver for driving the box door to move relative to the box body to open and close the cavity opening, and a second driver for driving the data plug and the jig to move closer to or away from each other. The box door is movably arranged on the box body and used for opening and closing the cavity opening, the data plug head is located in the shielding cavity, the jig is arranged on the box body and provided with a placing area for electronic equipment to be placed, the sensor is arranged on the jig or the box body and aligned with the placing area, the first driver is arranged on the box body or the box door, the second driver is arranged on the jig or the box body and assembled and connected with the data plug head, and the controller is electrically connected with the data plug head, the sensor, the first driver, the second driver and the jig respectively.
However, the above-described shield detection device has the following problems:
1. traditional shielded cell is upturning formula or drawer type, and the tool can be sheltered from to the box structure, leads to the unable accurate tool position of judging of robot arm, makes robot arm move complicacy when placing the material.
2. When tradition detected, the material was not placed on the tray, but directly presss from both sides the detection station through robot arm, and the phenomenon that the material was missed to examine appears in the easy operation like this, and is difficult to discover the material that misses, causes the influence to the quality of material.
Disclosure of Invention
In order to solve the problems of the existing shielding detection equipment, the invention aims to provide a box door turning-out type, so that a jig is exposed outside a box body, and the motion track of a robot arm is simplified; the materials are placed in the tray for feeding and discharging, whether the materials are detected or not can be clearly seen, the phenomenon of missing detection cannot occur, the tray automatically enters and exits, and manual operation is not needed for the shielding detection equipment and the method for the robot feeding electronic equipment or components.
For the purpose of the invention, the following technical scheme is adopted for implementation:
a shielding detection method sequentially comprises the following steps:
s1: the feeding tray enters a first transfer device through a first storage device, the first transfer device conveys the feeding tray to the discharging end, and a first grabbing device grabs the feeding tray onto a first supporting device;
s2: the robot arm grabs the material on the first supporting device into the detection module for detection;
s3: the discharging tray enters a second transfer device through a second storage device, the second transfer device conveys the feeding tray to the discharging end, and a second grabbing device grabs the discharging tray onto a second supporting device;
s4: the robot arm grabs the detected material into a discharging tray on the second supporting device;
s5: when the feeding tray is empty, the first lifting device moves the empty feeding tray out of the lower part of the rack; after the discharging tray is full, the second lifting device moves the discharging tray out of the lower part of the rack.
A shielding detection device for robot feeding electronic equipment or components comprises a rack, and a feeding conveying module, a discharging conveying module, a detection module and a robot arm which are arranged on the rack; the feeding conveying module and the discharging conveying module are arranged in opposite directions, the detection module is positioned on the side of the feeding conveying module and the discharging conveying module, a detection port on the detection module faces the feeding conveying module and the discharging conveying module, and the robot arm is positioned above the feeding conveying module and the discharging conveying module; the feeding conveying module is used for conveying the material to be detected placed in the feeding tray to the feeding area and moving out the empty feeding tray from the lower part of the feeding area; the robot arm sucks the material to be detected in the feeding area into the detection module, and the detection module detects the material to be detected; the discharging conveying module is used for conveying the empty discharging tray to the discharging area, the detected material is placed on the discharging tray through the robot arm, and the discharging tray is fully placed and then discharged from the lower part of the discharging area; the detection module comprises a shielding box; the shielding box comprises a box body, a box door, a transfer plate, a rotary buckle plate, a box opening cylinder, a slide rail, a slide table cylinder, a slide table connecting plate, a jig frame, a jig, a detection cylinder and a detection element; the front side surface of the box body is provided with an opening; the lower part of the box door is fixedly provided with an adapter plate, the adapter plate is connected with a rotary buckle plate, and the rotary buckle plate is hinged below the opening of the box body; the left side and the right side of the box body are both provided with box opening cylinders, and the output ends of the box opening cylinders are hinged to the middle part of the box door; two parallel slide rails are arranged in the box body, a sliding table is slidably mounted on the slide rails, the front part of the sliding table is fixedly connected with a sliding table connecting plate, the sliding table connecting plate is connected to the output end of a sliding table cylinder, and the sliding table cylinder is mounted in the box body; a jig frame is arranged on the sliding table, a jig is arranged on the jig frame, and a jig groove is formed in the middle of the upper end face of the jig; and a detection cylinder is vertically arranged in the box body, and the output end of the detection cylinder is connected with a detection element.
Preferably, the detection module further comprises a detection frame, eight detection stations are arranged on the detection frame, and a shielding box is slidably mounted on each detection station; the opening on the box body is rectangular; the top of the box body is provided with a cover plate, and the cover plate is locked on the box body through a lock catch; the slipway connecting plate is L-shaped; the jig groove is rectangular.
Preferably, the feeding and conveying module comprises a first storage device, a first transfer device, a first grabbing device, a first supporting device and a first lifting device; the first storage device is positioned at the feeding end of the first transfer device, the first grabbing device is positioned on the side of the discharge end of the first transfer device, the first supporting device is positioned at the discharge end of the first transfer device, and the first lifting device is positioned below the first supporting device; first storage device is used for supporting the material loading tray of range upon range of range, and put first the material loading tray that is located the below and move the device on, first move the device and carry the material loading tray from the material loading end to the discharge end, first grabbing device grabs the material loading tray that is located the discharge end on first strutting arrangement, when there is not the material on the material loading tray, first strutting arrangement puts empty material loading tray on first elevating gear, first elevating gear is used for shifting out empty material loading tray from the below of frame.
Preferably, the two first storage devices are respectively positioned at two sides of the first transfer device, and each first storage device comprises a first jacking cylinder, a first jacking push plate, a first jacking guide rod, a first limiting frame, a first limiting cylinder, a first limiting connecting plate, a first limiting block and a first limiting head; the first jacking cylinder is vertically arranged inside the first transfer device, the output end of the first jacking cylinder is connected with the middle part of the first jacking push plate, and the upper end surface of the first jacking push plate supports the feeding tray at the lowest part; two sides of the first jacking push plate are connected with first jacking guide rods, and the first jacking guide rods penetrate through guide holes in the side wall of the first transfer device; the first limiting frame is positioned on the outer side of the first transfer device, a first limiting cylinder is transversely installed on the first limiting frame, the output end of the first limiting cylinder is connected with the middle part of a first limiting connecting plate, two sides of the first limiting connecting plate are both transversely connected with first limiting blocks, first limiting heads are arranged at the end parts of the first limiting blocks, the first limiting heads are cylindrical, and the first limiting heads are clamped in grooves in the side edges of the feeding tray; the first transfer device comprises a first transfer seat, a first transfer motor, a first belt assembly and a first guide wheel; the first motor that moves is carried in a side-mounting of first removal seat, first belt subassembly is connected to the output that moves the motor that moves, and first belt subassembly is installed on the first inside wall that moves the seat both sides that moves, and first leading wheel has a plurality ofly, and first leading wheel lateral rotation installs at first removal seat side top, and first leading wheel is used for the direction when material loading tray carries.
Preferably, the first grabbing device comprises a first grabbing frame, a first transverse moving cylinder, a first transverse moving guide rod, a first longitudinal moving cylinder, a first vertical moving cylinder, a first grabbing cylinder and a first grabbing plate; the middle part of the first grabbing frame is transversely provided with a first transverse moving cylinder, the upper side and the lower side of the first transverse moving cylinder are respectively provided with a first transverse moving guide rod, the output end of the first transverse moving cylinder is connected with a first longitudinal moving cylinder, the output end of the first longitudinal moving cylinder is connected with a first vertical moving cylinder, the output end of the first vertical moving cylinder is connected with a first grabbing cylinder, the output end of the first grabbing cylinder is connected with two first grabbing plates, the first grabbing plates are L-shaped, and the two first grabbing plates are matched to grab the feeding tray; the first supporting device comprises a first horizontal supporting cylinder, a first vertical supporting cylinder and a first supporting plate; the first horizontal supporting cylinder is horizontally arranged on the rack, the output end of the first horizontal supporting cylinder is vertically connected with the first vertical supporting cylinder, the output end of the first vertical supporting cylinder is transversely fixed with a first supporting plate, the first supporting plate is provided with two semicircular limiting grooves, and the limiting grooves are formed in flanges at the bottom of the feeding tray; the first lifting device comprises a first fixing frame, a first lifting frame and a first material storage frame; first mount fixed mounting is in the lower part of frame, and first crane slidable mounting is on first mount, and first storage frame is installed in the one end of first crane, and first storage frame is used for placing empty material loading tray.
Preferably, the discharging and conveying module comprises a second storage device, a second transfer device, a second grabbing device, a second supporting device and a second lifting device; the second storage device is positioned at the feeding end of the second transfer device, the second gripping device is positioned on the side of the discharge end of the second transfer device, the second supporting device is positioned at the discharge end of the second transfer device, and the second lifting device is positioned below the second supporting device; the second storage device is used for supporting the stacked discharging trays, the discharging trays located at the bottom are placed on the second transfer device, the second transfer device conveys the discharging trays to the discharging end from the feeding end, the second grabbing device grabs the discharging trays located at the discharging end onto the second supporting device, when the discharging trays are filled with materials, the second supporting device places the discharging trays onto the second lifting device, and the second lifting device is used for moving the discharging trays out from the lower portion of the rack.
Preferably, the two second storage devices are respectively positioned at two sides of the second transfer device, and each second storage device comprises a second jacking cylinder, a second jacking push plate, a second jacking guide rod, a second limiting frame, a second limiting cylinder, a second limiting connecting plate, a second limiting block and a second limiting head; the second jacking cylinder is vertically arranged inside the second transfer device, the output end of the second jacking cylinder is connected with the middle part of the second jacking push plate, and the upper end surface of the second jacking push plate supports the lowest discharging tray; two sides of the second jacking push plate are connected with second jacking guide rods, and the second jacking guide rods penetrate through guide holes in the side wall of the second transfer device; the second limiting frame is positioned on the outer side of the second transfer device, a second limiting cylinder is transversely installed on the second limiting frame, the output end of the second limiting cylinder is connected with the middle part of a second limiting connecting plate, the two sides of the second limiting connecting plate are both transversely connected with second limiting blocks, second limiting heads are arranged at the end parts of the second limiting blocks, the second limiting heads are cylindrical, and the second limiting heads are clamped in grooves in the side edges of the discharging tray; the second transfer device comprises a second transfer seat, a second transfer motor, a second belt assembly and a second guide wheel; the second moves a side-mounting second of carrying the seat and moves the motor, and the second moves the output that moves the motor and connects the second belt assembly, and the second belt assembly is installed on the second moves the inside wall that carries the seat both sides, and the second leading wheel has a plurality ofly, and the second leading wheel lateral rotation is installed and is moved a side top at the second, and the direction when the second leading wheel is used for ejection of compact tray to carry.
Preferably, the second grabbing device comprises a second grabbing frame, a second transverse moving cylinder, a second transverse moving guide rod, a second longitudinal moving cylinder, a second vertical moving cylinder, a second grabbing cylinder and a second grabbing plate; a second transverse moving cylinder is transversely installed in the middle of the second grabbing frame, second transverse moving guide rods are arranged on the upper side and the lower side of the second transverse moving cylinder, the output end of the second transverse moving cylinder is connected with a second longitudinal moving cylinder, the output end of the second longitudinal moving cylinder is connected with a second vertical moving cylinder, the output end of the second vertical moving cylinder is connected with a second grabbing cylinder, the output end of the second grabbing cylinder is connected with two second grabbing plates, the second grabbing plates are L-shaped, and the two second grabbing plates are matched with each other to grab the discharging tray; the second supporting device comprises a second horizontal supporting cylinder, a second vertical supporting cylinder and a second supporting plate; the second horizontal supporting cylinder is horizontally arranged on the rack, the output end of the second horizontal supporting cylinder is vertically connected with the second vertical supporting cylinder, the output end of the second vertical supporting cylinder is transversely fixed with the second supporting plate, the second supporting plate is provided with two semicircular limiting grooves, and the limiting grooves are buckled on a flange at the bottom of the discharging tray; the second lifting device comprises a second fixed frame, a second lifting frame and a second material storage frame; the second fixing frame is fixedly arranged at the lower part of the rack, the second lifting frame is slidably arranged on the second fixing frame, the second storage frame is arranged at one end of the second lifting frame, and the second storage frame is used for placing a discharging tray.
Preferably, the robot arm has six degrees of freedom, and the execution end of the robot arm is provided with a connecting flange, and the bottom of the connecting flange is provided with six suckers for sucking materials.
In conclusion, the technical effects of the invention are as follows:
1. the shielding box that detection module used is the formula of turning up, and whole tool all exposes outside the box after the chamber door is opened, does not have any to block, and the robot arm of being convenient for judges the position of tool, has simplified robot arm's action, has indirectly improved detection efficiency.
2. The material is put and is fed on the material loading tray, and the material after the detection is put on ejection of compact tray, only need observe whether material still has on the material loading tray like this, just can judge whether appear leaking the phenomenon of examining, when taking place to leak the material phenomenon, as long as operation robot arm snatch the material of leaking can, it is relatively easy to handle. The material loading tray and the material discharging tray are automatically moved, the empty material loading tray can be directly used as the material discharging tray after being collected, and the material loading tray and the material discharging tray are mutually standby.
Drawings
FIG. 1 is a flow chart of the operation of the present invention.
Fig. 2 is a schematic structural diagram of the feeding conveying module and the discharging conveying module.
Fig. 3 is a schematic structural diagram of the detection module.
Fig. 4 is a schematic structural diagram of a robot arm.
Fig. 5 is a schematic structural diagram of the first storage device and the first transfer device.
Fig. 6 is a schematic structural view of the first grasping apparatus.
Fig. 7 is a schematic structural diagram of the first supporting device.
Fig. 8 is a schematic structural diagram of the first lifting device.
Fig. 9 is a schematic structural view of the second storage device and the second transfer device.
Fig. 10 is a schematic structural view of the second grasping apparatus.
Fig. 11 is a schematic structural view of the second supporting device.
Fig. 12 is a schematic structural view of the second lifting device.
Fig. 13 is a schematic structural view of the shielding box.
Fig. 14 is a cross-sectional view a-a of fig. 13.
Fig. 15 is a plan view of the jig.
Detailed Description
As shown in fig. 2, 3 and 4, the shielding detection device for the robot feeding electronic device or the component includes a rack, and a feeding conveying module 1, a discharging conveying module 2, a detection module 3 and a robot arm 4 which are mounted on the rack. The feeding conveying module 1 and the discharging conveying module 2 are oppositely arranged, the feeding directions of the feeding conveying module 1 and the discharging conveying module 2 are on the same straight line, the detection module 3 is located on the side of the feeding conveying module 1 and the discharging conveying module 2, the detection port on the detection module 3 faces the feeding conveying module 1 and the discharging conveying module 2, and the robot arm 4 is located above the feeding conveying module 1 and the discharging conveying module 2. The robot arm 4 has six degrees of freedom, and the execution end of the robot arm 4 is equipped with a connecting flange, and the bottom of the connecting flange is equipped with six sucking discs used for sucking materials. The feeding conveying module 1 is used for conveying the materials to be detected placed in the feeding tray to the feeding area and moving out the empty feeding tray from the lower part of the feeding area. The robot arm 4 sucks the material to be detected in the feeding area into the detection module 3, and the detection module 3 detects the material to be detected. The discharging conveying module 2 is used for conveying an empty discharging tray to a discharging area, materials after detection are placed on the discharging tray through the robot arm 4, and the discharging tray is discharged from the lower side of the discharging area after being filled.
The feeding and conveying module 1 includes a first storage device 11, a first transfer device 12, a first gripping device 13, a first supporting device 14, and a first lifting device 15. The first storage device 11 is located at the feeding end of the first transfer device 12, the first gripping device 13 is located at the side of the discharging end of the first transfer device 12, the first supporting device 14 is located at the discharging end of the first transfer device 12, and the first lifting device 15 is located below the first supporting device 14. The first storage device 11 is used for supporting feeding trays arranged in a stacked mode and placing the feeding tray located at the lowest position on the first transfer device 12, the first transfer device 12 conveys the feeding trays from the feeding end to the discharging end, the first grabbing device 13 grabs the feeding trays located at the discharging end onto the first supporting device 14, when no material exists on the feeding trays, the first supporting device 14 places empty feeding trays onto the first lifting device 15, and the first lifting device 15 is used for moving the empty feeding trays out of the lower portion of the rack.
As shown in fig. 5, there are two first storage devices 11, the two first storage devices 11 are respectively located at two sides of the first transfer device 12, and the first storage device 11 includes a first jacking cylinder 111, a first jacking push plate 112, a first jacking guide rod 113, a first limiting frame 114, a first limiting cylinder 115, a first limiting connection plate 116, a first limiting block 117, and a first limiting head 118. First jacking cylinder 111 is vertical installs in the inside of first transfer device 12, and the middle part of first jacking push pedal 112 is connected to first jacking cylinder 111's output, and the last terminal surface of first jacking push pedal 112 supports the material loading tray of below. The two sides of the first jacking push plate 112 are connected with first jacking guide rods 113, and the first jacking guide rods 113 pass through guide holes on the side wall of the first transfer device 12. The first limiting frame 114 is located at the outer side of the first transfer device 12, a first limiting cylinder 115 is transversely mounted on the first limiting frame 114, the output end of the first limiting cylinder 115 is connected with the middle of a first limiting connecting plate 116, the two sides of the first limiting connecting plate 116 are transversely connected with a first limiting block 117, a first limiting head 118 is arranged at the end of the first limiting block 117, the first limiting head 118 is cylindrical, and the first limiting head 118 is clamped in a groove at the side edge of the feeding tray. The first transfer device 12 includes a first transfer base 121, a first transfer motor 122, a first belt assembly 123, and a first guide wheel 124. The first moving and carrying motor 122 is installed on one side of the first moving and carrying seat 121, the output end of the first moving and carrying motor 122 is connected with the first belt assembly 123, the first belt assembly 123 is installed on the inner side walls of the two sides of the first moving and carrying seat 121, the number of the first guide wheels 124 is multiple, the first guide wheels 124 are installed on the top of the side faces of the first moving and carrying seat 121 in a transverse rotating mode, and the first guide wheels 124 are used for guiding when a loading tray is conveyed.
When the first storage device 11 and the first transfer device 12 act, the loading tray is stacked together and is stacked on the first jacking push plate 112, then the first jacking cylinder 111 drives the first jacking push plate 112 to move upwards until the height of the groove on the side surface of the second feeding tray from bottom to top is consistent with the height of the first limiting head 118, at the moment, the first jacking cylinder 111 stops moving, the first limiting cylinder 115 is started, the first limiting cylinder 115 pushes the first limiting block 117 to move towards the feeding tray until the first limiting head 118 extends into the groove on the side surface of the second feeding tray from bottom to top, at this time, the first jacking cylinder 111 drives the first jacking push plate 112 to move downwards, the lowest feeding tray falls onto the first belt assembly 123, the first transfer motor 122 drives the first belt assembly 123 to rotate, and the lowest feeding tray moves to the discharge end under the action of the first guide wheel 124.
As shown in fig. 6, the first grasping apparatus 13 includes a first grasping frame 131, a first lateral movement cylinder 132, a first lateral movement guide rod 133, a first longitudinal movement cylinder 134, a first vertical movement cylinder 135, a first grasping cylinder 136, and a first grasping plate 137. First lateral shifting cylinder 132 of middle part horizontal installation of first snatching frame 131, the upper and lower both sides of first lateral shifting cylinder 132 all are equipped with first lateral shifting guide bar 133, first longitudinal shifting cylinder 134 is connected to the output of first lateral shifting cylinder 132, first vertical shifting cylinder 135 is connected to the output of first longitudinal shifting cylinder 134, first cylinder 136 of snatching is connected to the output of first vertical shifting cylinder 135, two first boards 137 of snatching are connected to the output of first cylinder 136 of snatching, first board 137 of snatching is the L shape, two first boards 137 of snatching cooperate, snatch the material loading tray.
When the first grabbing device 13 acts, the first grabbing cylinder 136 drives the two first grabbing plates 137 to approach each other, the two first grabbing plates 137 clamp the side face of the feeding tray, and then the feeding tray is placed on the first supporting device 14 under the cooperation of the first transverse moving cylinder 132, the first longitudinal moving cylinder 134 and the first vertical moving cylinder 135.
As shown in fig. 7, the first supporting device 14 includes a first horizontal supporting cylinder 141, a first vertical supporting cylinder 142, and a first supporting plate 143. First horizontal support cylinder 141 is horizontally arranged on the frame, the output end of first horizontal support cylinder 141 is vertically connected with first vertical support cylinder 142, the output end of first vertical support cylinder 142 transversely fixes first support plate 143, two semicircular limiting grooves 144 are arranged on first support plate 143, and limiting grooves 144 are arranged on the flange at the bottom of the feeding tray.
As shown in fig. 8, the first lifting device 15 includes a first fixing frame 151, a first lifting frame 152, and a first storage frame 153. First mount 151 fixed mounting is in the lower part of frame, and first crane 152 slidable mounting is on first mount 151, and first storage rack 153 is installed in the one end of first crane 152, and first storage rack 153 is used for placing empty material loading tray.
When the first supporting device 14 and the first lifting device 15 act, the first lifting frame 152 is lifted upwards until the top of the first storage rack 153 contacts the bottom of the feeding tray, at this time, the first horizontal supporting cylinder 141 pulls out the first vertical supporting cylinder 142, so that the feeding tray falls on the top of the first storage rack 153, and then the first lifting frame 152 is reset.
The discharging conveying module 2 comprises a second storage device 21, a second transfer device 22, a second gripping device 23, a second supporting device 24 and a second lifting device 25. The second storage device 21 is located at the feeding end of the second transfer device 22, the second gripping device 23 is located at the side of the discharging end of the second transfer device 22, the second supporting device 24 is located at the discharging end of the second transfer device 22, and the second lifting device 25 is located below the second supporting device 24. The second storage device 21 is used for supporting the stacked discharging trays, the discharging tray located at the lowest position is placed on the second transfer device 22, the second transfer device 22 conveys the discharging trays from the feeding end to the discharging end, the second grabbing device 23 grabs the discharging trays located at the discharging end onto the second supporting device 24, when the discharging trays are filled with materials, the second supporting device 24 places the discharging trays onto the second lifting device 25, and the second lifting device 25 is used for moving the discharging trays out from the lower portion of the rack.
As shown in fig. 9, there are two second storage devices 21, the two second storage devices 21 are respectively located at two sides of the second transfer device 22, and the second storage device 21 includes a second jacking cylinder 211, a second jacking push plate 212, a second jacking guide rod 213, a second limiting frame 214, a second limiting cylinder 215, a second limiting connection plate 216, a second limiting block 217, and a second limiting head 218. The second jacking cylinder 211 is vertically installed in the second transfer device 22, the output end of the second jacking cylinder 211 is connected with the middle of the second jacking push plate 212, and the upper end surface of the second jacking push plate 212 supports the lowest discharging tray. The two sides of the second jacking push plate 212 are connected with second jacking guide rods 213, and the second jacking guide rods 213 pass through guide holes on the side wall of the second transfer device 22. The second limiting frame 214 is located on the outer side of the second transfer device 22, a second limiting cylinder 215 is transversely mounted on the second limiting frame 214, the output end of the second limiting cylinder 215 is connected with the middle of a second limiting connecting plate 216, the two sides of the second limiting connecting plate 216 are transversely connected with second limiting blocks 217, second limiting heads 218 are arranged at the end portions of the second limiting blocks 217, the second limiting heads 218 are cylindrical, and the second limiting heads 218 are clamped in grooves in the side edges of the discharging tray. The second transfer device 22 includes a second transfer base 221, a second transfer motor 222, a second belt assembly 223, and a second guide wheel 224. A second transfer motor 222 is arranged on one side of the second transfer seat 221, the output end of the second transfer motor 222 is connected with a second belt assembly 223, the second belt assembly 223 is arranged on the inner side wall of the two sides of the second transfer seat 221, a plurality of second guide wheels 224 are arranged, the second guide wheels 224 are transversely and rotatably arranged on the top of the side surface of the second transfer seat 221, and the second guide wheels 224 are used for guiding the discharging tray during conveying.
When the second storage device 21 and the second transfer device 22 are operated, the loading tray is stacked together and is stacked on the second jacking push plate 212, then the second jacking cylinder 211 drives the second jacking push plate 212 to move upwards until the height of the groove on the side surface of the second discharging tray from bottom to top is consistent with the height of the second limiting head 218, at the moment, the second jacking cylinder 211 stops moving, the second limiting cylinder 215 is started, the second limiting cylinder 215 pushes the second limiting block 217 to move towards the discharging tray until the second limiting head 218 extends into the groove on the side surface of the second discharging tray from bottom to top, at this time, the second jacking cylinder 211 drives the second jacking push plate 212 to move downwards, the lowest discharging tray falls on the second belt assembly 223, the second transfer motor 222 drives the second belt assembly 223 to rotate, and the lowest feeding tray moves to the discharging end under the action of the second guide wheel 224.
As shown in fig. 10, the second grasping apparatus 23 includes a second grasping frame 231, a second lateral movement cylinder 232, a second lateral movement guide rod 233, a second longitudinal movement cylinder 234, a second vertical movement cylinder 235, a second grasping cylinder 236, and a second grasping plate 237. The second snatchs frame 231's middle part lateral installation second lateral shifting cylinder 232, the upper and lower both sides of second lateral shifting cylinder 232 all are equipped with second lateral shifting guide bar 233, second longitudinal shifting cylinder 234 is connected to second lateral shifting cylinder 232's output, second vertical shifting cylinder 235 is connected to second longitudinal shifting cylinder 234's output, second vertical shifting cylinder 235's output is connected to second vertical shifting cylinder 235 and is snatched cylinder 236, two second boards 237 are grabbed to the output that second grabbed cylinder 236 are connected, second board 237 is grabbed to the second, two second boards 237 cooperate, grab the ejection of compact tray.
When the second grabbing device 23 acts, the second grabbing cylinder 236 drives the two second grabbing plates 237 to approach each other, the two second grabbing plates 237 clamp the side surface of the discharging tray, and then the discharging tray is placed on the second supporting device 24 under the cooperation of the second transverse moving cylinder 232, the second longitudinal moving cylinder 234 and the second vertical moving cylinder 135.
As shown in fig. 11, the second supporting device 24 includes a second horizontal supporting cylinder 241, a second vertical supporting cylinder 242, and a second supporting plate 243. The second horizontal supporting cylinder 241 is horizontally arranged on the frame, the output end of the second horizontal supporting cylinder 241 is vertically connected with the second vertical supporting cylinder 242, the output end of the second vertical supporting cylinder 242 transversely fixes a second supporting plate 243, the second supporting plate 243 is provided with two semicircular limiting grooves 244, and the limiting grooves 244 are buckled on a flange at the bottom of the discharging tray.
As shown in fig. 12, the second lifting device 25 includes a second fixing frame 251, a second lifting frame 252 and a second material storage frame 253. The second fixing frame 251 is fixedly arranged at the lower part of the rack, the second lifting frame 252 is slidably arranged on the second fixing frame 251, the second storage frame 253 is arranged at one end of the second lifting frame 252, and the second storage frame 253 is used for placing a discharging tray.
When the second supporting device 24 and the second lifting device 25 act, the second lifting frame 252 is lifted upwards until the top of the second storage rack 253 contacts the bottom of the discharging tray, at this time, the second horizontal supporting cylinder 241 pulls out the second vertical supporting cylinder 242, so that the discharging tray falls to the top of the second storage rack 253, and then the second lifting frame 252 is reset.
When module 1 and ejection of compact transport module 2 mutually supported and solved the tradition and examined, the material was not placed on the tray, but directly presss from both sides the detection station through robot arm, and the phenomenon that the material was leaked and examined appears in the easy operation like this, and is difficult to discover the material that leaks and examine, causes the problem of influence to the quality of material. The invention has the advantages that materials are placed on the feeding tray for feeding, and the detected materials are placed on the discharging tray, so that the detection omission phenomenon can be judged only by observing whether the materials are left on the feeding tray, when the detection omission phenomenon occurs, only the operation robot arm is required to grab the leaked materials, and the processing is relatively easy. The material loading tray and the material discharging tray are automatically moved, the empty material loading tray can be directly used as the material discharging tray after being collected, and the material loading tray and the material discharging tray are mutually standby.
As shown in fig. 13, 14 and 15, the detection module 3 includes a shield case 31 and a detection frame 32. There are eight detection stations on the test rack 32, all slidable mounting shielded cell 31 on every detection station. The shielding box 31 comprises a box body 311, a box door 312, an adapter plate 3121, a rotary buckle 3122, a box opening cylinder 314, a sliding rail 315, a sliding table 316, a sliding table cylinder 3161, a sliding table connecting plate 3162, a jig frame 317, a jig 3171, a detection cylinder 318 and a detection element 319. The top of the box 311 is provided with a cover plate, and the cover plate is locked on the box 311 through a lock catch. The front side of the box 311 is provided with an opening, and the opening is rectangular. The lower part of the box door 312 is fixed with an adapter plate 3121, the adapter plate 3121 is connected with a rotary buckle 3122, and the rotary buckle 3122 is hinged below the opening of the box body 311. The left side and the right side of the box body 311 are both provided with box opening cylinders 314, and the output ends of the box opening cylinders 314 are hinged to the middle part of the box door 312. Two parallel slide rails 315 are arranged inside the box body 311, a sliding table 316 is slidably mounted on the slide rails 315, the front part of the sliding table 316 is fixedly connected with a sliding table connecting plate 3162, and the sliding table connecting plate 3162 is L-shaped. The sliding table connecting plate 3162 is connected to the output end of the sliding table cylinder 3161, and the sliding table cylinder 3161 is installed in the case 311. The sliding table 316 is provided with a jig frame 317, the jig frame 317 is provided with a jig 3171, and the middle part of the upper end surface of the jig 3171 is provided with a jig groove 3172. The jig groove 3172 is rectangular. A detection cylinder 318 is vertically arranged in the box body 311, and the output end of the detection cylinder 318 is connected with a detection element 319.
When the detection module 3 acts, the unpacking cylinder 314 pushes the box door 312 to be opened outwards, the sliding table cylinder 3161 pushes the sliding table 316 out of the box body 311, the jig frame 317 and the jig 3171 on the jig frame 317 are located outside the box body 311, the robot arm 4 sucks and places the material to be detected on the feeding tray into the jig groove 3172, then the sliding table cylinder 3161 resets, the unpacking cylinder 314 resets, the material enters the box body 311 to be detected, after the detection is completed, the unpacking cylinder 314 pushes the box door 312 to be opened outwards, the sliding table cylinder 3161 pushes the sliding table 316 out of the box body 311, and the robot arm places the detected material on the discharging tray.
The detection module 3 solves the problem that the traditional shielding box is of an upturning type or a drawer type, the jig can be shielded by the box structure, the position of the jig can not be accurately judged by the robot arm, and the robot arm is complex in action when materials are placed. The shielding box 31 used by the detection module 3 is of an outward-turning type, and the whole jig 3171 is exposed outside the box body 311 after the box door 312 is opened, so that no blocking exists, the robot arm 4 can conveniently judge the position of the jig 3171, the action of the robot arm 4 is simplified, and the detection efficiency is indirectly improved.
As shown in fig. 1, a mask detection method sequentially includes the following steps:
s1: the loading tray enters the first transfer device 12 through the first storage device 11, the first transfer device 12 conveys the loading tray to the discharge end, and the first grabbing device 13 grabs the loading tray onto the first supporting device 14.
S2: the robot arm 4 grabs the material on the first supporting device 14 into the detection module 3 for detection.
S3: the discharging tray enters the second transfer device 22 through the second storage device 21, the second transfer device 22 conveys the feeding tray to the discharging end, and the second grabbing device 23 grabs the discharging tray onto the second supporting device 24.
S4: the robot arm 4 grabs the detected material into the discharging tray on the second supporting device 24.
S5: when the loading tray is empty, the first lifting device 15 moves the empty loading tray out from the lower part of the frame. After the discharge tray is full, the second lifting device 25 moves the discharge tray out from the lower part of the frame.
Claims (10)
1. A shielding detection method for robot feeding electronic equipment or components is characterized by sequentially comprising the following steps:
the feeding tray enters a first transfer device (12) through a first storage device (11), the first transfer device (12) conveys the feeding tray to a discharging end, and a first grabbing device (13) grabs the feeding tray onto a first supporting device (14);
the robot arm (4) grabs the material on the first supporting device (14) into the detection module (3) for detection;
the discharging tray enters a second transfer device (22) through a second storage device (21), the second transfer device (22) conveys the feeding tray to the discharging end, and a second grabbing device (23) grabs the discharging tray onto a second supporting device (24);
the robot arm (4) grabs the detected material into a discharging tray on the second supporting device (24);
when the feeding tray is empty, the first lifting device (15) moves the empty feeding tray out of the lower part of the rack; after the discharging tray is full, the second lifting device (25) moves the discharging tray out of the lower part of the rack.
2. The shielding detection equipment for the robot feeding electronic equipment or components is characterized by comprising a rack, a feeding conveying module (1), a discharging conveying module (2), a detection module (3) and a robot arm (4), wherein the feeding conveying module, the discharging conveying module (2), the detection module and the robot arm are arranged on the rack; the feeding conveying module (1) and the discharging conveying module (2) are arranged oppositely, the detection module (3) is positioned on the side of the feeding conveying module (1) and the discharging conveying module (2), a detection port on the detection module (3) faces the feeding conveying module (1) and the discharging conveying module (2), and the robot arm (4) is positioned above the feeding conveying module (1) and the discharging conveying module (2); the feeding conveying module (1) is used for conveying the material to be detected placed in the feeding tray to the feeding area and moving out the empty feeding tray from the lower part of the feeding area; the robot arm (4) sucks the material to be detected in the feeding area into the detection module (3), and the detection module (3) detects the material to be detected; the discharging conveying module (2) is used for conveying the empty discharging tray to the discharging area, the detected material is placed on the discharging tray through a robot arm (4), and the discharging tray is discharged from the lower part of the discharging area after being filled;
the detection module (3) comprises a shielding box (31); the shielding box (31) comprises a box body (311), a box door (312), an adapter plate (3121), a rotary buckle plate (3122), a box opening cylinder (314), a sliding rail (315), a sliding table (316), a sliding table cylinder (3161), a sliding table connecting plate (3162), a jig frame (317), a jig (3171), a detection cylinder (318) and a detection element (319); the front side surface of the box body (311) is provided with an opening; an adapter plate (3121) is fixed at the lower part of the box door (312), the adapter plate (3121) is connected with a rotary buckle plate (3122), and the rotary buckle plate (3122) is hinged below the opening of the box body (311); the left side and the right side of the box body (311) are both provided with box opening cylinders (314), and the output ends of the box opening cylinders (314) are hinged to the middle part of the box door (312); two parallel sliding rails (315) are arranged in the box body (311), a sliding table (316) is slidably mounted on the sliding rails (315), the front part of the sliding table (316) is fixedly connected with a sliding table connecting plate (3162), the sliding table connecting plate (3162) is connected with the output end of a sliding table cylinder (3161), and the sliding table cylinder (3161) is mounted in the box body (311); a jig frame (317) is arranged on the sliding table (316), a jig (3171) is arranged on the jig frame (317), and a jig groove (3172) is arranged in the middle of the upper end face of the jig (3171); a detection cylinder (318) is vertically arranged in the box body (311), and the output end of the detection cylinder (318) is connected with a detection element (319).
3. The shielding detection equipment for the robot-loaded electronic equipment or components and parts as claimed in claim 2, wherein the detection module (3) further comprises a detection frame (32), eight detection stations are arranged on the detection frame (32), and a shielding box (31) is slidably mounted on each detection station; the opening on the box body (311) is rectangular; the top of the box body (311) is provided with a cover plate, and the cover plate is locked on the box body (311) through a lock catch; the slipway connecting plate (3162) is L-shaped; the jig groove (3172) is rectangular.
4. The shielding detection equipment for the robot-loaded electronic equipment or components as claimed in claim 2, wherein the loading and conveying module (1) comprises a first storage device (11), a first transfer device (12), a first gripping device (13), a first supporting device (14) and a first lifting device (15); the first storage device (11) is positioned at the feeding end of the first transfer device (12), the first grabbing device (13) is positioned on the side of the discharging end of the first transfer device (12), the first supporting device (14) is positioned at the discharging end of the first transfer device (12), and the first lifting device (15) is positioned below the first supporting device (14); the first storage device (11) is used for supporting feeding trays which are arranged in a stacked mode and placing the feeding trays located at the lowest position on the first transfer device (12), the first transfer device (12) conveys the feeding trays from the feeding end to the discharging end, the first grabbing device (13) grabs the feeding trays located at the discharging end onto the first supporting device (14), when no material exists on the feeding trays, the first supporting device (14) places the empty feeding trays onto the first lifting device (15), and the first lifting device (15) is used for moving the empty feeding trays out of the lower portion of the rack.
5. The shielding detection equipment for the robot-loaded electronic equipment or components and parts according to claim 4, wherein the number of the first storage devices (11) is two, the two first storage devices (11) are respectively located on two sides of the first transfer device (12), and each first storage device (11) comprises a first jacking cylinder (111), a first jacking push plate (112), a first jacking guide rod (113), a first limiting frame (114), a first limiting cylinder (115), a first limiting connecting plate (116), a first limiting block (117) and a first limiting head (118); the first jacking cylinder (111) is vertically installed inside the first transfer device (12), the output end of the first jacking cylinder (111) is connected with the middle part of the first jacking push plate (112), and the upper end surface of the first jacking push plate (112) supports the feeding tray at the lowest part; both sides of the first jacking push plate (112) are connected with first jacking guide rods (113), and the first jacking guide rods (113) penetrate through guide holes in the side wall of the first transfer device (12); the first limiting frame (114) is positioned on the outer side of the first transfer device (12), a first limiting cylinder (115) is transversely installed on the first limiting frame (114), the output end of the first limiting cylinder (115) is connected with the middle of a first limiting connecting plate (116), two sides of the first limiting connecting plate (116) are both transversely connected with a first limiting block (117), a first limiting head (118) is arranged at the end part of the first limiting block (117), the first limiting head (118) is cylindrical, and the first limiting head (118) is clamped in a groove on the side edge of the loading tray; the first transfer device (12) comprises a first transfer seat (121), a first transfer motor (122), a first belt assembly (123) and a first guide wheel (124); the first motor (122) that moves of one side installation of first removal seat (121), first belt subassembly (123) are connected to the output that first moves motor (122) that moves, and first belt subassembly (123) are installed and are moved on the inside wall of carrying seat (121) both sides first, and first leading wheel (124) have a plurality ofly, and first leading wheel (124) lateral rotation installs and moves and carry seat (121) side top first, and first leading wheel (124) are used for the direction when material loading tray carries.
6. The shielding detection equipment for the robot-loaded electronic equipment or components as claimed in claim 4, wherein the first grabbing device (13) comprises a first grabbing frame (131), a first transverse moving cylinder (132), a first transverse moving guide rod (133), a first longitudinal moving cylinder (134), a first vertical moving cylinder (135), a first grabbing cylinder (136) and a first grabbing plate (137); a first transverse moving cylinder (132) is transversely installed in the middle of a first grabbing frame (131), first transverse moving guide rods (133) are arranged on the upper side and the lower side of the first transverse moving cylinder (132), the output end of the first transverse moving cylinder (132) is connected with a first longitudinal moving cylinder (134), the output end of the first longitudinal moving cylinder (134) is connected with a first vertical moving cylinder (135), the output end of the first vertical moving cylinder (135) is connected with a first grabbing cylinder (136), the output end of the first grabbing cylinder (136) is connected with two first grabbing plates (137), each first grabbing plate (137) is L-shaped, and the two first grabbing plates (137) are matched to grab a feeding tray; the first supporting device (14) comprises a first horizontal supporting cylinder (141), a first vertical supporting cylinder (142) and a first supporting plate (143); the feeding device comprises a rack, a first horizontal supporting cylinder (141), a first vertical supporting cylinder (142), a first supporting plate (143), two semicircular limiting grooves (144), a first horizontal supporting cylinder (141), a second vertical supporting cylinder (142), a third horizontal supporting cylinder (141), a fourth horizontal supporting cylinder (142), a fourth horizontal supporting cylinder (144), a fourth horizontal supporting cylinder (142), a fourth horizontal supporting cylinder (144), a fourth horizontal supporting cylinder (; the first lifting device (15) comprises a first fixing frame (151), a first lifting frame (152) and a first storage frame (153); first mount (151) fixed mounting is in the lower part of frame, and first crane (152) slidable mounting is on first mount (151), and one end at first crane (152) is installed in first storage frame (153), and first storage frame (153) are used for placing empty material loading tray.
7. The shielding detection equipment for the robot-loaded electronic equipment or components as claimed in claim 2, wherein the discharging and conveying module (2) comprises a second storage device (21), a second transfer device (22), a second gripping device (23), a second supporting device (24) and a second lifting device (25); the second storage device (21) is positioned at the feeding end of the second transfer device (22), the second grabbing device (23) is positioned on the side of the discharging end of the second transfer device (22), the second supporting device (24) is positioned at the discharging end of the second transfer device (22), and the second lifting device (25) is positioned below the second supporting device (24); the second storage device (21) is used for supporting the discharging trays arranged in a stacked mode, the discharging trays located at the lowest position are placed on the second transfer device (22), the second transfer device (22) conveys the discharging trays from the feeding end to the discharging end, the second grabbing device (23) grabs the discharging trays located at the discharging end onto the second supporting device (24), when the discharging trays are filled with materials, the second supporting device (24) places the discharging trays onto the second lifting device (25), and the second lifting device (25) is used for moving the discharging trays out of the lower portion of the rack.
8. The shielding detection equipment for the robot-loaded electronic equipment or components according to claim 7, wherein the number of the second storage devices (21) is two, the two second storage devices (21) are respectively located at two sides of the second transfer device (22), and each second storage device (21) comprises a second jacking cylinder (211), a second jacking push plate (212), a second jacking guide rod (213), a second limiting frame (214), a second limiting cylinder (215), a second limiting connecting plate (216), a second limiting block (217) and a second limiting head (218); the second jacking cylinder (211) is vertically arranged inside the second transfer device (22), the output end of the second jacking cylinder (211) is connected with the middle part of the second jacking push plate (212), and the upper end surface of the second jacking push plate (212) supports the lowest discharging tray; both sides of the second jacking push plate (212) are connected with second jacking guide rods (213), and the second jacking guide rods (213) penetrate through guide holes in the side wall of the second transfer device (22); the second limiting frame (214) is positioned on the outer side of the second transfer device (22), a second limiting cylinder (215) is transversely installed on the second limiting frame (214), the output end of the second limiting cylinder (215) is connected with the middle of a second limiting connecting plate (216), two sides of the second limiting connecting plate (216) are transversely connected with second limiting blocks (217), second limiting heads (218) are arranged at the end parts of the second limiting blocks (217), the second limiting heads (218) are cylindrical, and the second limiting heads (218) are clamped in grooves in the side edges of the discharging tray; the second transfer device (22) comprises a second transfer seat (221), a second transfer motor (222), a second belt assembly (223) and a second guide wheel (224); a second transfer motor (222) is arranged on one side of a second transfer seat (221), the output end of the second transfer motor (222) is connected with a second belt assembly (223), the second belt assembly (223) is arranged on the inner side walls of two sides of the second transfer seat (221), a plurality of second guide wheels (224) are arranged, the second guide wheels (224) are transversely rotatably arranged on the top of the side face of the second transfer seat (221), and the second guide wheels (224) are used for guiding when the discharging tray is conveyed.
9. The shielding detection equipment for the robot-loaded electronic equipment or components according to claim 7, wherein the second grabbing device (23) comprises a second grabbing frame (231), a second transverse moving cylinder (232), a second transverse moving guide rod (233), a second longitudinal moving cylinder (234), a second vertical moving cylinder (235), a second grabbing cylinder (236) and a second grabbing plate (237); a second transverse moving cylinder (232) is transversely installed in the middle of the second grabbing frame (231), second transverse moving guide rods (233) are arranged on the upper side and the lower side of the second transverse moving cylinder (232), the output end of the second transverse moving cylinder (232) is connected with a second longitudinal moving cylinder (234), the output end of the second longitudinal moving cylinder (234) is connected with a second vertical moving cylinder (235), the output end of the second vertical moving cylinder (235) is connected with a second grabbing cylinder (236), the output end of the second grabbing cylinder (236) is connected with two second grabbing plates (237), the second grabbing plates (237) are L-shaped, and the two second grabbing plates (237) are matched to grab the discharging tray; the second supporting device (24) comprises a second horizontal supporting cylinder (241), a second vertical supporting cylinder (242) and a second supporting plate (243); the second horizontal supporting cylinder (241) is horizontally arranged on the rack, the output end of the second horizontal supporting cylinder (241) is vertically connected with the second vertical supporting cylinder (242), the output end of the second vertical supporting cylinder (242) is transversely fixed with a second supporting plate (243), the second supporting plate (243) is provided with two semicircular limiting grooves (244), and the limiting grooves (244) are buckled on a flange at the bottom of the discharging tray; the second lifting device (25) comprises a second fixed frame (251), a second lifting frame (252) and a second material storage frame (253); the second fixing frame (251) is fixedly arranged at the lower part of the rack, the second lifting frame (252) is slidably arranged on the second fixing frame (251), the second storage frame (253) is arranged at one end of the second lifting frame (252), and the second storage frame (253) is used for placing a discharging tray.
10. The shielding detection equipment for the robot-loaded electronic equipment or components and parts according to claim 2, wherein the robot arm (4) has six degrees of freedom, the execution end of the robot arm (4) is provided with a connecting flange, and the bottom of the connecting flange is provided with six suckers for sucking materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010822987.0A CN112027656A (en) | 2020-08-17 | 2020-08-17 | Shielding detection equipment and method for robot feeding electronic equipment or components |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010822987.0A CN112027656A (en) | 2020-08-17 | 2020-08-17 | Shielding detection equipment and method for robot feeding electronic equipment or components |
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| Publication Number | Publication Date |
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| CN112027656A true CN112027656A (en) | 2020-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010822987.0A Withdrawn CN112027656A (en) | 2020-08-17 | 2020-08-17 | Shielding detection equipment and method for robot feeding electronic equipment or components |
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| Country | Link |
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| CN (1) | CN112027656A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171933A (en) * | 2021-03-08 | 2021-07-27 | 厦门普诚科技有限公司 | Move a set mechanism and go up unloading point gum machine automatically |
| CN116835256A (en) * | 2023-08-08 | 2023-10-03 | 敬科(山东)智能科技有限公司 | Feeding and discharging workstation of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109239492A (en) * | 2018-09-13 | 2019-01-18 | 珠海市赛科自动化有限公司 | A kind of transformer detection device |
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- 2020-08-17 CN CN202010822987.0A patent/CN112027656A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109239492A (en) * | 2018-09-13 | 2019-01-18 | 珠海市赛科自动化有限公司 | A kind of transformer detection device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113171933A (en) * | 2021-03-08 | 2021-07-27 | 厦门普诚科技有限公司 | Move a set mechanism and go up unloading point gum machine automatically |
| CN116835256A (en) * | 2023-08-08 | 2023-10-03 | 敬科(山东)智能科技有限公司 | Feeding and discharging workstation of robot |
| CN116835256B (en) * | 2023-08-08 | 2024-02-23 | 敬科(山东)智能科技有限公司 | Feeding and discharging workstation of robot |
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Application publication date: 20201204 |