CN112198155B - Carrier and detection device - Google Patents
Carrier and detection device Download PDFInfo
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- CN112198155B CN112198155B CN202011126414.0A CN202011126414A CN112198155B CN 112198155 B CN112198155 B CN 112198155B CN 202011126414 A CN202011126414 A CN 202011126414A CN 112198155 B CN112198155 B CN 112198155B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- General Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a carrier and a detection device, wherein the carrier comprises a base, a first positioning component, a first driving component, a second driving component and a second positioning component. The first positioning component is fixedly arranged on the base. The first driving component is arranged on the base. The second driving assembly is arranged on the first driving assembly. The second positioning assembly is arranged on the second driving assembly. The first driving assembly is used for driving the second driving assembly to move relative to the first positioning assembly, and the second driving assembly is used for driving the second positioning assembly to move relative to the first positioning assembly, so that the second positioning assembly and the first positioning assembly clamp the workpiece from two sides. Through the mode, the invention can be compatible with workpieces with different specifications.
Description
Technical Field
The invention belongs to the technical field of automatic equipment, and particularly relates to a carrier and a detection device.
Background
The carrier is used to hold the workpiece in the correct position for further processing of the workpiece.
The existing carrier corresponds to workpieces one by one, and cannot be compatible with workpieces with different specifications. For example, the notebook computer is provided with an upper cover, a lower cover and a middle frame, and three carriers are required to be correspondingly arranged when the appearance of the three carriers is detected, so that the manufacturing cost is increased, and the detection efficiency is reduced.
Disclosure of Invention
The invention mainly solves the technical problem of providing a carrier and a detection device which can be compatible with workpieces with various specifications.
In order to solve the technical problems, the invention adopts a technical scheme that a carrier is provided, the carrier comprises:
A base;
The first positioning component is fixedly arranged on the base;
the first driving assembly is arranged on the base;
the second driving assembly is arranged on the first driving assembly;
The second positioning component is arranged on the second driving component;
the first driving assembly is used for driving the second driving assembly to move relative to the first positioning assembly, and the second driving assembly is used for driving the second positioning assembly to move relative to the first positioning assembly, so that the second positioning assembly and the first positioning assembly clamp the workpiece from two sides.
Further, the second drive assembly and the second positioning assembly move in the same direction relative to the first positioning assembly.
Further, the second driving assembly includes:
A first movable member;
The first guide piece is connected between the first movable piece and the first driving assembly and used for guiding the first movable piece to move relative to the first driving assembly in a first direction so as to be close to or far away from the first positioning assembly;
the first driver is used for driving the first movable piece to be far away from the first positioning assembly;
The elastic piece is connected between the first movable piece and the first driving component and is used for generating elastic force to drive the first movable piece to approach the first positioning component;
the second positioning component is fixedly arranged on the first movable piece.
Further, the base is provided with a front surface and a back surface which are opposite, and is provided with a through mounting hole which is communicated with the two sides of the front surface and the back surface of the base;
The second driving component is arranged on one side of the front surface of the base;
One part of the first driving component is positioned on one side of the back surface of the base, and the other part of the first driving component penetrates through the mounting hole and then is connected with the second driving component.
Further, the first driving assembly includes:
The second movable piece is positioned on one side of the back surface of the base, and the other part of the second movable piece penetrates through the mounting hole and then is connected with the second driving assembly;
the second guide piece is connected between the second movable piece and the back surface of the base and used for guiding the second movable piece to move relative to the base in the first direction so as to be close to or far away from the first positioning assembly;
the second driver is arranged on one side of the back surface of the base and used for driving the second movable piece to move.
Further, the mounting hole comprises a first hole and a second hole which are arranged at intervals, and the first hole and the second hole respectively penetrate through the base and are respectively communicated with the two sides of the front surface and the back surface of the base;
the second guide piece is arranged between the first hole and the second hole;
The second movable member includes:
The first installation part is arranged on one side of the back surface of the base and is connected with the second guide piece;
the first bending part extends from the edge of the first mounting part towards the base side and penetrates through the first hole;
the second bending part extends from the edge of the first mounting part towards the base side and penetrates through the second hole;
The second installation part is arranged on one side of the front surface of the base and is in a strip shape, and two ends of the second installation part are respectively in one-to-one correspondence with the first holes and the second holes;
the first connecting part extends from one end of the second mounting part towards the base side, penetrates through the first hole and is fixedly connected with the first mounting part;
The second connecting part extends from the other end of the second mounting part towards the base side, penetrates through the second hole and is fixedly connected with the first mounting part;
The second driving assembly is connected with at least one of the first bending part, the second mounting part, the first connecting part and the second connecting part.
Further, the carrier includes:
The carrier comprises:
the third positioning component is fixedly arranged on the base;
The third driving assembly is arranged on the base;
the fourth driving assembly is arranged on the third driving assembly;
the fourth positioning component is arranged on the fourth driving component;
The third driving component is used for driving the fourth driving component to move relative to the third positioning component, the fourth driving component is used for driving the fourth positioning component to move relative to the third positioning component, so that the fourth positioning component and the third positioning component clamp the workpiece from two sides, and the moving direction of the fourth positioning component relative to the third positioning component is different from that of the second positioning component relative to the first positioning component.
Further, the first driving assembly includes:
a second movable member;
the second guide piece is connected between the second movable piece and the base and used for guiding the second movable piece to move relative to the base in the first direction so as to be close to or far away from the first positioning assembly;
the second driver is used for driving the second movable piece to move;
the second driving component is arranged on the second movable piece;
The third drive assembly includes:
a third movable member;
The third guide piece is connected between the third movable piece and the base and used for guiding the third movable piece to move relative to the base in a second direction so as to be close to or far away from the third positioning assembly;
the fourth driving component is arranged on the third movable piece;
The third movable piece is in transmission fit with the second movable piece so as to move under the drive of the second movable piece, when the second movable piece is close to the first positioning component, the third movable piece is close to the third positioning component, and when the second movable piece is far away from the first positioning component, the third movable piece is far away from the third positioning component.
Further, a long strip-shaped groove is formed in the third movable piece, the groove is located in a corner, adjacent to the second movable piece, of the third movable piece and extends towards the center of the third movable piece, a roller capable of rotating around the axis of the second movable piece is arranged on the second movable piece, the roller is clamped in the groove, and the roller can roll back and forth along the extending direction of the groove.
Further, the method comprises the steps of:
The vacuum chuck is fixed on at least one of the base, the first positioning assembly and the second positioning assembly and is used for being communicated with a negative pressure source so as to adsorb a workpiece.
Further, a first positioning component is fixed on the base, protrudes from the outer edge of the base and extends outwards, and has a free end for abutting against the side face of the workpiece
The second positioning component is arranged on the second driving component, protrudes out of the outer edge of the base and extends outwards, and the free end of the second positioning component is used for abutting against the side face of the workpiece.
Further, the first positioning assembly includes:
the first overhanging piece protrudes out of the outer edge of the base and extends outwards;
a first positioning piece fixed at the free end of the first overhanging piece and having a cylindrical surface for abutting against the side surface of the workpiece, and/or
The second positioning assembly includes:
the second overhanging piece is arranged on the second driving assembly, protrudes out of the outer edge of the base and extends outwards and is used for moving relative to the first positioning assembly under the driving of the second driving assembly;
The second locating piece is fixed at the free end of the second overhanging piece and is cylindrical, and the cylindrical surface of the second locating piece is used for abutting against the side surface of the workpiece.
In order to solve the technical problem, the present application further provides a detection device, including:
The carrier;
The appearance detection component is used for collecting data representing appearance characteristics of the workpiece;
And the fifth driving assembly is used for driving the carrier to move so as to adjust the orientation of the carrier.
Further, the fifth driving assembly includes:
a fifth driving body;
The fifth driving end is rotatably arranged on the fifth driving main body around the axis of the fifth driving end and is fixedly connected with the base;
the rotating shaft is coaxially sleeved in the fifth driving end, is fixedly connected with the fifth driving end and is provided with a plurality of openings;
and the slip ring is fixedly connected to one end of the rotating shaft, which is opposite to the base, and is communicated with the plurality of openings.
Further, the appearance detection assembly includes:
a support;
The device comprises at least three first acquisition units, a first camera and a second camera, wherein each first acquisition unit is arranged on a support and is used for shooting images of a workpiece, at least one first acquisition unit is used for shooting the front surface of the workpiece, at least one first acquisition unit is used for shooting the back surface of the workpiece, and at least one first acquisition unit is used for shooting the side surface of the workpiece;
And each second acquisition unit is arranged on the support and used for scanning the outer contour of the workpiece, wherein at least one second acquisition unit is used for scanning the front surface of the workpiece, at least one second acquisition unit is used for scanning the back surface of the workpiece, and at least one second acquisition unit is used for scanning the side surface of the workpiece.
Further, each first acquisition unit comprises:
the fourth driver is arranged on the support;
the mounting plate is arranged at the driving end of the fourth driver and used for moving under the driving of the fourth driver;
the camera is fixed on the mounting plate;
And the light source is fixed on the mounting plate.
The application has the beneficial effects that the first driving component is used for driving the second driving component to move relative to the first positioning component, and the second driving component is used for driving the second positioning component to move relative to the first positioning component, so that the second positioning component and the first positioning component clamp the workpiece from two sides. The second positioning assembly moves within a first preset range relative to the first positioning assembly under the driving of the first driving assembly. The second positioning assembly moves within a second preset range relative to the first positioning assembly under the driving of the second driving assembly. The second positioning assembly moves within one of the first predetermined range and the second predetermined range to accommodate workpieces of different specifications, and the second positioning assembly moves within the other of the first predetermined range and the second predetermined range to clamp the workpieces. The carrier provided by the application can be compatible with workpieces of different specifications.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a detection device of the present application;
FIG. 2 is a schematic three-dimensional structure of a workpiece to be inspected in an embodiment of the inspection apparatus of the present application;
FIG. 3 is an E-direction view in FIG. 1;
FIG. 4 is an enlarged view of a partial view of FIG. 3;
FIG. 5 is a schematic view of a workpiece clamped from both sides in an embodiment of the inspection apparatus of the present application;
FIG. 6 is a partial view of the left side view of FIG. 3;
FIG. 7 is a partial view (with the base omitted) of the bottom view of FIG. 3;
FIG. 8 is a cross-sectional view of F-F in FIG. 1;
FIG. 9 is a schematic diagram of a fifth driving assembly (with sixth and seventh drivers omitted) in an embodiment of the detection device of the present application;
fig. 10 is an H-direction view in fig. 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the inspection apparatus 1000 of the present application may include a carrier 100, an appearance inspection assembly 200, and a fifth driving assembly 300. The carrier 100 is used for clamping a workpiece to be inspected for appearance. The appearance detection assembly 200 is used to collect data characterizing the appearance of a workpiece. The fifth driving component 300 is used for driving the carrier 100 to move so as to adjust the orientation of the carrier 100.
As shown in fig. 2, the work 10 to be appearance-detected may be an upper cover, a lower cover, or a middle frame of a notebook computer. For ease of description, the workpiece 10 is abstracted into a rectangular block having a thickness, including opposing front and back sides, and four sides A, B, C, D connected between the front and back sides. The appearance detection area is, as shown by the cross-sectional line area in fig. 2, four sides and partial areas of the front and rear surfaces at each side.
During detection, the workpiece 10 is clamped on the carrier 100, and the four side surfaces A, B, C, D of the workpiece 10 sequentially pass through the appearance detection assembly 200 under the drive of the fifth driving assembly 300, so that appearance detection is completed. For example, as the side a passes the appearance assembly 200, the appearance detection assembly 200 collects appearance data of the side a and portions of the front and back surfaces adjacent to the side a (by taking pictures and scanning contours, see more particularly the description of the appearance detection assembly 200 section below).
The carrier 100, the appearance detecting unit 200, and the fifth driving unit 300 are described in detail below, respectively.
As shown in fig. 3 and 4, the carrier embodiment of the present application may include a base 110, a first positioning assembly 120, a first driving assembly 130, a second driving assembly 140, a second positioning assembly 150, a third positioning assembly 160, a third driving assembly 170, a fourth driving assembly 180, and a fourth positioning assembly 190.
The first positioning component 120 is fixedly disposed on the base 110. The first driving assembly 130 is disposed on the base 110. The second driving assembly 140 is disposed on the first driving assembly 130. The second positioning assembly 150 is disposed on the second driving assembly 140. Wherein the first driving assembly 130 is used for driving the second driving assembly 140 to move relative to the first positioning assembly 120, and the second driving assembly 140 is used for driving the second positioning assembly 150 to move relative to the first positioning assembly 120, so that the second positioning assembly 150 and the first positioning assembly 120 clamp the workpiece 10 from two sides (clamp the workpiece 10 from two sides of the side surface A, B).
The third positioning member 160 is fixed to the base 110. The third driving assembly 170 is disposed on the base 110. The fourth driving assembly 180 is disposed on the third driving assembly 170. The fourth positioning assembly 190 is disposed on the fourth driving assembly 180. Wherein the third driving assembly 170 is configured to drive the fourth driving assembly 180 to move relative to the third positioning assembly 160, and the fourth driving assembly 180 is configured to drive the fourth positioning assembly 190 to move relative to the third positioning assembly 160, such that the fourth positioning assembly 190 and the third positioning assembly 160 clamp the workpiece 10 from both sides (clamp the workpiece 10 from both sides of the side C, D). The direction of movement of the fourth positioning assembly 190 relative to the third positioning assembly 160 is different from the direction of movement of the second positioning assembly 150 relative to the first positioning assembly 120.
The second positioning assembly 150 moves in a first direction relative to the first positioning assembly 120. The fourth positioning assembly 190 moves in the second direction relative to the third positioning assembly 160. In this embodiment, the first direction is perpendicular to the second direction. In other embodiments, the first direction and the second direction may also be disposed obliquely.
The base 110 is generally rectangular and has four sides a, b, c, d. After the workpiece 10 is clamped to the carrier 100, the four sides a, b, c, d of the base 110 are in one-to-one correspondence with the four sides A, B, C, D of the workpiece 10, respectively. The second positioning assembly 150, the first positioning assembly 120, the fourth positioning assembly 190 and the third positioning assembly 160 are disposed on four sides a, b, c, d of the base 110, respectively.
Two first positioning members 120 are disposed at a distance from each other on the side b of the base 110. A second positioning member 150 is provided on the side a of the base 110. Two third positioning members 160 are disposed at intervals on the side d of the base 110. On the side c of the base 110, two fourth positioning members 190 are disposed at intervals. The particular number of first positioning assembly 120, second positioning assembly 150, third positioning assembly 160, and fourth positioning assembly 190 may be adjusted according to particular needs.
The working principle and operation of the present embodiment will be described in detail with the scheme of clamping the workpiece 10 from both sides of the side surface A, B, and the scheme of clamping the workpiece 10 from both sides of the side surface C, D will be understood with reference.
The second positioning assembly 150 moves within a first predetermined range relative to the first positioning assembly 120 under the driving of the first driving assembly 130. The second positioning assembly 150 moves within a second predetermined range relative to the first positioning assembly 120 under the driving of the second driving assembly 140. In this embodiment, the second positioning assembly 150 moves within a first predetermined range to accommodate workpieces 10 of different specifications. The second positioning assembly 150 moves within a second predetermined range to clamp the workpiece 10. In other embodiments, the second positioning assembly 150 may also move within a second predetermined range to accommodate workpieces 10 of different specifications. The second positioning assembly 150 moves within a first predetermined range to clamp the workpiece 10.
Fig. 5 is a schematic view of the structure of the workpiece 10 clamped by both sides of the side A, B. The dashed boxes in the figure represent the extreme positions of the second drive assembly 140 and the second positioning assembly 150, respectively.
As shown in fig. 5, the first predetermined range a=l2-L1 described above. L1 is the minimum distance of the second driving assembly 140 relative to the first positioning assembly 120. L2 is the maximum distance of the second driving assembly 140 relative to the first positioning assembly 120. The second predetermined range b=l4-L3 described above. L3 is the minimum distance between the second positioning assembly 150 and the first positioning assembly 120 when the second driving assembly 140 is fixed (at the first predetermined position). L4 is the maximum distance of the second positioning component 150 relative to the first positioning component 120 in the case where the second driving component 140 is fixed. The first predetermined range a may be 50mm and may then be substantially compatible with different workpieces 10 having dimensions that fluctuate within 50 mm. The second predetermined range B may be 10mm. The dimensions A, B, L, L2, L3, L4 and L0 described below are all the dimensions in the first direction.
The following describes the mounting and clamping process with reference to fig. 3 to 5:
The first driving assembly 130 drives the second driving assembly 140 to move to the first predetermined position, and when the second driving assembly 140 is located at the first predetermined position, the distance L0 between the sides A, B of the workpiece 10 is greater than L3 and less than L4.
The second driving assembly 140 drives the second positioning assembly 150 away from the first positioning assembly 120.
(Placing the workpiece 10 on the vacuum chuck 101. The vacuum chuck 101, see below) the workpiece 10 side B is held against the first positioning assembly 120 with reference to the first positioning assembly 120 to define the position of the workpiece 10 on the base 110.
The second driving assembly 140 drives the second positioning assembly 150 to approach the first positioning assembly 120 such that the second positioning assembly 150 abuts against the side a of the workpiece 10, thereby clamping the workpiece 10 from both sides of the side A, B.
In the present embodiment, the first driving assembly 130 enables the carrier 100 to be compatible with workpieces 10 of different specifications.
As shown in fig. 3 and 4, when the second driving unit 140 makes an acute angle with respect to the moving direction of the first positioning unit 120, the second driving unit moves in the first direction (the direction in which the side A, B of the workpiece 10 is spaced apart). Similarly, when the second positioning element 150 forms an acute angle with the first direction relative to the moving direction of the first positioning element 120, a moving amount is generated in the first direction during the movement. However, in order to improve the clamping efficiency, in this embodiment, the second driving assembly 140 and the second positioning assembly 150 move in the same direction (the first direction) relative to the first positioning assembly 120. Likewise, the fourth drive assembly 180 and the fourth positioning assembly 190 move in the same direction (second direction) relative to the third positioning assembly 160.
The specific structure of the second driving assembly 140 will be described below, and the fourth driving assembly 180 may be referred to as being implemented.
As shown in fig. 4, 6 and 7, the second driving assembly 140 includes a first movable member 141, a first guide member 144, a first driver 142, and an elastic member 143.
The first guide member 144 is connected between the first movable member 141 and the first driving assembly 130, and is used for guiding the first movable member 141 to move relative to the first driving assembly 130 in a first direction so as to approach or depart from the first positioning assembly 120. The first driver 142 is used for driving the first movable member 141 away from the first positioning component 120. The elastic member 143 is connected between the first movable member 141 and the first driving assembly 130, and is used for generating an elastic force to drive the first movable member 141 to approach the first positioning assembly 120. The second positioning assembly 150 is fixedly disposed on the first movable member 141.
In the present embodiment, the first guiding member 144 is a sliding rail and sliding block structure, and in other embodiments, a guiding pillar and guiding sleeve structure or other structures may be used to guide the first movable member 141 to move relative to the first driving assembly 130.
In this embodiment, the first driver 142 is disposed on the side of the first movable member 141 facing the first positioning component 120, the first driver 142 is a first cylinder 142, the first cylinder 142 includes a first cylinder 1421 and a first piston rod 1422 that can relatively move, the first cylinder 1421 is fixedly disposed on the first driving component 130, and a free end of the first piston rod 1422 is used for propping against the first movable member 141. In other embodiments, the first driver 142 may be a cylinder or an electric cylinder.
In this embodiment, the elastic member 143 is a spring and is always in a stretched state, and generates an elastic force in the direction toward the first positioning member 120. Other elements having elasticity, such as rubber pads, may also be used in other embodiments.
Before clamping the workpiece 10, the first movable member 141 is positioned closest to the first positioning member 120 under the elastic force of the elastic member 143.
When clamping the workpiece 10, the first driver 142 is controlled to generate driving force to overcome the elastic force of the elastic member 143, so as to drive the first movable member 141 away from the first positioning assembly 120.
After the side B of the workpiece 10 abuts against the first positioning component 120 to complete positioning, the first driver 142 is controlled to remove the driving force, so that the first movable member 141 abuts against the side a of the workpiece 10 under the elastic force of the elastic member 143, thereby clamping the workpiece 10.
When the workpiece 10 is removed after the appearance inspection is completed, the first driver 142 is controlled to generate a driving force against the elastic force of the elastic member 143 to drive the first movable member 141 away from the first positioning member 120.
The workpiece 10 is removed.
The first driver 142 is controlled to remove the driving force, and the first movable member 141 is positioned at a position closest to the first positioning member 120 under the elastic force of the elastic member 143.
The second driving assembly 140 clamps the workpiece 10 by elastic force, and the clamping force is constant and adjustable, so that the workpiece 10 is prevented from being damaged.
To shield the workpiece 10 as little as possible, the base 110 is sized to be relatively small and the space for mounting the first drive assembly 130 and the second drive assembly 140 is limited. In order to make the connection structure among the first driving assembly 130, the second driving assembly 140 and the base 110 more compact to save space, the first driving assembly 130 and the second driving assembly 140 may be disposed at both sides of the base 110, respectively.
As shown in fig. 6, the base 110 has a front surface 111 and a rear surface 112 opposite to each other, and is provided with a mounting hole 113 therethrough. The mounting hole 113 communicates with both sides of the front surface 111 and the rear surface 112 of the base 110. The second driving assembly 140 is disposed on the front 111 side of the base 110. One part of the second movable member 131 is located at the back 112 side of the base 110, and the other part penetrates through the mounting hole 113 and is connected to the second driving assembly 140.
As shown in fig. 3,4, and 6 to 8, in particular, the first driving assembly 130 includes a second movable member 131, a second guide member 133, and a second driver 132.
One part of the second movable member 131 is located at the back 112 side of the base 110, and the other part penetrates through the mounting hole 113 and is connected to the second driving assembly 140. The second guide member 133 is coupled between the second movable member 131 and the rear surface 112 of the base 110, and guides the first movable member 141 to move relative to the base 110 in a first direction to approach or separate from the first positioning member 120. The second driver 132 is disposed on the back 112 side of the base 110, and is used for driving the second movable member 131 to move.
In this embodiment, the second guide member 133 is a sliding rail and sliding block structure, and in other embodiments, a guide pillar and guide sleeve structure or other structures may be used to guide the second movable member 131 to move relative to the base 110.
In this embodiment, the second driver 132 is a second cylinder, which includes a second cylinder body and a second piston rod that can move relatively, the second cylinder body is fixedly disposed on the back surface 112 of the base 110, and the free end of the second piston rod is fixedly connected to the second movable member 131. In other embodiments, the second driver 132 may be a cylinder or an electric cylinder.
The second movable member 131 is driven by the second driver 132 to move relative to the base 110, so as to drive the second driving assembly 140 to move integrally relative to the base 110.
The second movable member 131 and the sidewall of the mounting hole 113 have a gap in the first direction, and the gap is sufficient for the second movable member 131 to move relative to the base 110 in the first direction.
More specifically, the mounting hole 113 includes a first hole 1131 and a second hole 1132 that are disposed at intervals, and the first hole 1131 and the second hole 1132 respectively penetrate through the base 110 and respectively communicate with two sides of the front surface 111 and the back surface 112 of the base 110. The second guide 133 is disposed between the first hole 1131 and the second hole 1132. The second movable member 131 includes a first mounting portion 1311, a first bent portion 1312, a second bent portion 1313, a second mounting portion 1314, a first connecting portion 1315, and a second connecting portion 1316. The first mounting portion 1311 is provided on the back surface 112 side of the base 110, and is connected to the second guide 133. The first bending portion 1312 extends from an edge of the first mounting portion 1311 toward the base 110, and penetrates into the first hole 1131. The second bending portion 1313 extends from an edge of the first mounting portion 1311 toward the base 110, and penetrates into the second hole 1132. The second mounting portion 1314 is disposed on the front 111 side of the base 110, and has a strip shape, and two ends respectively correspond to the first holes 1131 and the second holes 1132 one by one. The first connecting portion 1315 extends from one end of the second mounting portion 1314 toward the base 110, penetrates through the first hole 1131, and is fixedly connected to the first mounting portion 1311. The second connecting portion 1316 extends from the other end of the second mounting portion 1314 toward the base 110, penetrates through the second hole 1132, and is fixedly connected to the first mounting portion 1311. The second driving unit 140 is connected to at least one of the first bent portion 1312, the second bent portion 1313, the second mounting portion 1314, the first connecting portion 1315, and the second connecting portion 1316.
In this embodiment, two first guiding elements 144 are disposed in the second driving assembly 140, the two first guiding elements 144 are respectively corresponding to the first bending portion 1312 and the second bending portion 1313 one by one, and the first movable element 141 is respectively connected to the first bending portion 1312 and the second bending portion 1313 through the two first guiding elements 144. Two elastic pieces 143 are disposed in the second driving assembly 140, the two elastic pieces 143 are respectively corresponding to the first connecting portion 1315 and the second connecting portion 1316 one by one, one end of one elastic piece 143 is connected to the first movable piece 141, and the other end is connected to the first connecting portion 1315. The other elastic member 143 has one end connected to the first movable member 141 and the other end connected to the second connecting portion 1316. The first cylinder block 1421 of the first cylinder 142 is fixed to the second mounting section 1314. The first cylinder 142 is ventilated, and the first movable member 141 drives the second positioning assembly 150 to move. The first cylinder 142 is disconnected, and the elastic member 143 drives the first movable member 141 to drive the second positioning assembly 150 to reset.
The specific structure of the first driving assembly 130 is described in detail above, and the third driving assembly 170 may be referred to as being implemented.
To reduce manufacturing costs, the first drive assembly 130 and the third drive assembly 170 may share a single power unit (the second drive 132).
As shown in fig. 3 and 8, in particular, the third driving assembly 170 includes a third movable member 171 and a third guide member (not visible in the drawings). The third guide member is connected between the third movable member 171 and the base 110 for guiding the third movable member 171 to move relative to the base 110 in the second direction to approach or separate from the third positioning member 160. The fourth driving assembly 180 is disposed at the third movable member 171. The third movable member 171 is in driving engagement with the second movable member 131, so as to move under the driving of the second movable member 131, and when the second movable member 131 approaches the first positioning assembly 120, the third movable member 171 approaches the third positioning assembly 160, and when the second movable member 131 is away from the first positioning assembly 120, the third movable member 171 is away from the third positioning assembly 160.
The third driving assembly 170 is designed with reference to the first driving assembly 130, and a portion of the third movable member 171 is also disposed on the back surface 112 side of the base 110. The difference is that the third driving assembly 170 has no power device, and the third movable member 171 is in transmission fit with the second movable member 131 to realize the sharing of the power device with the first driving assembly 130, so that the cost is saved.
Specifically, a long groove 1711 is formed on the third movable member 171, the groove 1711 is located at a corner of the third movable member 171 adjacent to the second movable member 131 and extends toward the center of the third movable member 171, a roller 134 rotatable about its own axis is disposed on the second movable member 131, and the roller 134 is engaged in the groove 1711 and is capable of reciprocating along the extending direction of the groove 1711.
The roller 134 rolls in the groove 1711 with relatively little rolling friction, reducing transmission resistance. In other embodiments, the groove 1711 may be disposed on the second movable member 131, and the roller 134 may be disposed on the third movable member 171.
After the carrier 100 clamps the workpiece 10, the workpiece 10 needs to be driven to rotate so as to perform appearance detection on different sides of the workpiece. Centrifugal force is generated during rotation, and the clamping force (elastic force) provided by the second and fourth driving assemblies 140 and 180 may not block the centrifugal force, resulting in weak fixation of the workpiece 10. To this end, as shown in fig. 3, the carrier 100 further includes a vacuum chuck 101, and the vacuum chuck 101 is fixed to at least one of the base 110, the first positioning assembly 120 and the second positioning assembly 150, for communicating with a negative pressure source (not shown) to adsorb the workpiece 10.
Further, a plurality of vacuum chucks 101 are provided at the front side of the base 110. The end face of each vacuum chuck 101 is used to carry and attract a workpiece 10. When clamping the workpiece 10, the workpiece 10 is placed above the plurality of vacuum chucks 101, and after the second driving assembly 140 and the fourth driving assembly 180 clamp the workpiece 10, the vacuum chucks 101 are controlled to adsorb the workpiece 10 so as to fix the workpiece 10. By providing a plurality of vacuum chucks 101, the workpiece 10 can be firmly fixed.
In order to detect the appearance of the side surfaces of the workpiece 10 and the adjacent front and rear partial areas thereof, the carrier 100 should block the workpiece 10 as little as possible when clamping the workpiece 10.
Specifically, the first positioning component 120 is fixed on the base 110, protrudes from the outer edge of the base 110 and extends towards the outer side, and has a free end for abutting against the side surface of the workpiece 10.
The first positioning assembly 120 forms an overhanging beam structure that reduces shadowing of the back side (toward the base 110 side) of the workpiece 10.
More specifically, the first positioning member 120 includes a first cantilever member 121 and a first positioning member 122 the first cantilever member 121 protrudes from an outer edge of the base 110 and extends toward an outer side. The first positioning member 122 is fixed to the free end of the first cantilever member 121, and has a cylindrical shape, and a cylindrical surface thereof is used to abut against a side surface of the workpiece 10.
By the cylindrical surface abutting the side of the workpiece 10, line contact is made, reducing shielding of the side of the workpiece 10 by the first positioning assembly 120.
Similarly, the second positioning component 150 is disposed on the second driving component 140, protrudes from the outer edge of the base 110 and extends towards the outer side, and has a free end for abutting against the side surface of the workpiece 10. More specifically, the second positioning assembly 150 includes a second cantilever 152 and a second positioning 151. The second overhanging element 152 is disposed on the second driving element 140, protrudes from the outer edge of the base 110, and extends towards the outer side, so as to move relative to the first positioning element 120 under the driving of the second driving element 140. The second positioning member 151 is fixed to the free end of the second cantilever member 152, and has a cylindrical shape, and a cylindrical surface is used to abut against the side surface of the workpiece 10.
The specific structure of the second positioning assembly 150 has the same advantages as the first positioning assembly 120.
In this embodiment, the first positioning component 120 and the second positioning component 150 both adopt cantilever beam structures. In other embodiments, the cantilever beam structure can be alternatively arranged according to the requirement.
Likewise, the third positioning assembly 160 and the fourth positioning assembly 190 may also be respectively performed with reference to the first positioning assembly 120, which is not described herein.
The fifth driving assembly 300 is described in detail below.
As shown in fig. 1, the fifth driving assembly 300 includes a fifth driver 310, a sixth driver 320, and a seventh driver 330.
The carrier 100 is disposed on the fifth driver 310, and the fifth driver 310 is used for driving the carrier 100 to rotate around the third direction. The fifth driver 310 is disposed at a moving end of the sixth driver 320, and the sixth driver 320 is configured to drive the fifth driver 310 to reciprocate in the second direction. The sixth driver 320 is disposed at a moving end of the seventh driver 330, and the seventh driver 330 is configured to drive the sixth driver 320 to reciprocate in the first direction.
By the above structure, the driving carrier 100 is reciprocally moved in the first direction, the second direction, and rotated around the third direction. Any two of the first direction, the second direction and the third direction are perpendicular to each other.
The sixth driver 320 and the seventh driver 330 may be linear motors, and the fifth driver 310 may be a rotary cylinder.
Because the carrier 100 needs to rotate during operation, there is difficulty in providing negative pressure to the vacuum chuck 101 on the carrier 100 or supplying air to the air cylinders (e.g., the first air cylinder 142, the second air cylinder 132) on the carrier 100. For this purpose, the following design is made.
As shown in fig. 3 and 9, the fifth driver 310 includes a fifth driving body 311 and a fifth driving end 312. The fifth driving end 312 is rotatably disposed on the fifth driving body 311 around its own axis and fixedly connected to the base 110. The fifth drive assembly 300 further comprises a spindle 340 and a slip ring 350. The rotating shaft 340 is coaxially sleeved in the fifth driving end 312 and fixedly connected thereto, and has a plurality of openings. The slip ring 350 is fixedly connected to an end of the rotating shaft 340 facing away from the base 110, and is in communication with the plurality of openings.
The fifth driving body 311 is disposed at the moving end of the sixth driver 320. The rotary shaft 340 may be fixed to the fifth driving end 312 by a latch. The opening in the spindle 340 is for communication with a vacuum chuck 101 or a cylinder on the carrier 100.
Slip rings are known in the art for forming a medium passage between a stationary member and a rotating member for transferring vacuum or compressed gas. In this embodiment, the rotating member, i.e. the rotating shaft 340, and the fixing member, i.e. the high-pressure air source or the negative-pressure air source (not shown).
The appearance detecting assembly 200 is described in detail below.
As shown in fig. 1 and 10, the appearance inspection assembly 200 includes a stand 210, at least three first collecting units 220, and at least three second collecting units 230.
Each of the first capturing units 220 is disposed on the support 210, and is configured to capture an image of the workpiece 10. Wherein at least one first acquisition unit 220 is used for photographing the front surface of the workpiece 10. The at least one first acquisition unit 220 is used to capture the back side of the workpiece 10. The at least one first acquisition unit 220 is used to capture the sides of the workpiece 10. Each of the second acquisition units 230 is disposed on the support 210 for scanning an outer contour of the workpiece 10. Wherein at least one second acquisition unit 230 is used to scan the front surface of the workpiece 10. At least one second acquisition unit 230 is used to scan the backside of the workpiece 10. At least one second acquisition unit 230 is used to scan the side of the workpiece 10.
In this embodiment, four first collecting units 220 are provided. In the third direction, one of the first collecting units 220 is disposed at the lower portion of the support 210, the other is disposed at the middle portion, and the remaining two are disposed at the upper portion. The first collecting unit 220 disposed at the lower portion of the stand 210 is used to photograph the rear surface of the workpiece 10. The first collecting unit 220 disposed at the middle of the stand 210 is used for photographing the side of the workpiece 10. Two first collecting units 220 disposed at the upper portion of the support 210 are disposed at intervals in the first direction for photographing the front surface of the workpiece 10.
In some application scenarios, the front surface of the workpiece 10 to be detected is uneven (has a height difference in the third direction), for example, the workpiece 10 is a middle frame of a notebook, and has a plurality of raised keys thereon, and the first acquisition units 220 acquire a certain distance, so two first acquisition units 220 need to be set to shoot the front surface of the workpiece 10, thereby meeting the detection requirement.
In this embodiment, three second collection units 230 are provided. In a third direction, at upper, middle, and lower portions of the support 210, respectively, to scan the front, side, and back surfaces of the workpiece 10, respectively.
To facilitate adjusting the photographing position, each of the first collecting units 220 includes a fourth driver 221, a mounting plate 222, a camera 223, and a light source 224. The fourth driver 221 is provided on the stand 210. The mounting plate 222 is disposed at the driving end of the fourth driver 221 for movement under the driving of the fourth driver 221. The camera 223 is fixed to the mounting plate 222. The light source 224 is fixed to the mounting plate 222.
When the fourth driver 221 is operated, the mounting plate 222 is driven to move, so that the position of the camera 223 is adjusted, and the shooting position is changed.
Further, the appearance inspection assembly 200 further includes a light source 240. The light source 240 is disposed at a distance from the first collecting unit 220 photographing the rear surface of the workpiece 10 in the third direction to supplement light from the front surface of the workpiece 10 to improve photographing effect.
In summary, the carrier and the detection device of the present embodiment have at least the following technical effects:
Can be compatible with workpieces of various specifications, and has high positioning precision.
The foregoing is only the embodiments of the present application, and therefore, the patent scope of the application is not limited thereto, and all equivalent structures or equivalent processes using the descriptions of the present application and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the application.
Claims (14)
1. A carrier for holding a workpiece, comprising:
A base;
The first positioning component is fixed on the base, protrudes out of the outer edge of the base and extends outwards, and the free end of the first positioning component is used for abutting against the side face of the workpiece;
the first driving assembly is arranged on the base;
the second driving assembly is arranged on the first driving assembly;
the second positioning component is arranged on the second driving component, protrudes out of the outer edge of the base and extends outwards, and the free end of the second positioning component is used for abutting against the side face of the workpiece;
The first driving assembly is used for driving the second driving assembly to move relative to the first positioning assembly, and the second driving assembly is used for driving the second positioning assembly to move relative to the first positioning assembly so that the second positioning assembly and the first positioning assembly clamp a workpiece from two sides;
The base is provided with a front surface and a back surface which are opposite, and is provided with a through mounting hole, and the mounting hole is communicated with two sides of the front surface and the back surface of the base;
the second driving component is arranged on one side of the front surface of the base;
the first drive assembly includes:
the second movable piece is positioned on one side of the back surface of the base, and the other part of the second movable piece penetrates through the mounting hole and then is connected with the second driving assembly;
The second movable piece and the side wall of the mounting hole have a gap in the first direction.
2. The carrier of claim 1, wherein the carrier comprises a plurality of support members,
The second drive assembly and the second positioning assembly move in the same direction relative to the first positioning assembly.
3. The carrier of claim 2, wherein the second drive assembly comprises:
A first movable member;
a first guide member coupled between the first movable member and the first driving assembly for guiding the first movable member to move relative to the first driving assembly in the first direction to approach or depart from the first positioning assembly;
A first driver for driving the first movable member away from the first positioning assembly;
The elastic piece is connected between the first movable piece and the first driving component and is used for generating elastic force to drive the first movable piece to approach the first positioning component;
the second positioning assembly is fixedly arranged on the first movable piece.
4. The carrier of claim 1, wherein the first drive assembly further comprises:
A second guide member coupled between the second movable member and the back surface of the base for guiding the second movable member to move relative to the base in the first direction to approach or depart from the first positioning assembly;
The second driver is arranged on one side of the back face of the base and used for driving the second movable piece to move.
5. The carrier of claim 4, wherein the carrier comprises a plurality of support members,
The mounting holes comprise first holes and second holes which are arranged at intervals, and the first holes and the second holes respectively penetrate through the base and are respectively communicated with two sides of the front surface and the back surface of the base;
the second guide piece is arranged between the first hole and the second hole;
The second movable member includes:
a first mounting portion provided on the back surface side of the base and connected to the second guide;
The first bending part extends from the edge of the first mounting part towards the base side and penetrates through the first hole;
The second bending part extends from the edge of the first mounting part towards the base side and penetrates through the second hole;
The second installation part is arranged on one side of the front surface of the base and is in a strip shape, and two ends of the second installation part are respectively in one-to-one correspondence with the first holes and the second holes;
the first connecting part extends from one end of the second mounting part towards the base side, penetrates through the first hole and is fixedly connected with the first mounting part;
The second connecting part extends from the other end of the second mounting part towards the base side, penetrates through the second hole and is fixedly connected with the first mounting part;
the second driving assembly is connected with at least one of the first bending part, the second mounting part, the first connecting part and the second connecting part.
6. The carrier of claim 1, wherein the carrier comprises a plurality of support members,
The carrier includes:
the third positioning assembly is fixedly arranged on the base;
the third driving assembly is arranged on the base;
the fourth driving assembly is arranged on the third driving assembly;
The fourth positioning assembly is arranged on the fourth driving assembly;
The third driving assembly is used for driving the fourth driving assembly to move relative to the third positioning assembly, the fourth driving assembly is used for driving the fourth positioning assembly to move relative to the third positioning assembly, so that the fourth positioning assembly and the third positioning assembly clamp the workpiece from two sides, and the moving direction of the fourth positioning assembly relative to the third positioning assembly is different from the moving direction of the second positioning assembly relative to the first positioning assembly.
7. The carrier of claim 6, wherein the carrier comprises a plurality of support members,
The first drive assembly further includes:
A second guide member coupled between the second movable member and the base for guiding the second movable member to move relative to the base in the first direction to approach or depart from the first positioning assembly;
the second driver is used for driving the second movable piece to move;
the second driving component is arranged on the second movable piece;
the third drive assembly includes:
a third movable member;
a third guide member coupled between the third movable member and the base for guiding the third movable member to move relative to the base in a second direction to approach or depart from the third positioning assembly;
The fourth driving component is arranged on the third movable piece;
The third movable piece is in transmission fit with the second movable piece, so that the second movable piece moves under the drive of the second movable piece, the third movable piece is close to the third positioning component when the second movable piece is close to the first positioning component, and the third movable piece is far away from the third positioning component when the second movable piece is far away from the first positioning component.
8. The carrier of claim 7, wherein the carrier comprises a plurality of pins,
The third movable piece is provided with a strip-shaped groove, the groove is positioned at the corner of the third movable piece adjacent to the second movable piece and extends towards the center of the third movable piece, the second movable piece is provided with a roller which can rotate around the axis of the second movable piece, and the roller is clamped in the groove and can roll reciprocally along the extending direction of the groove.
9. The carrier of claim 1, comprising:
And the vacuum chuck is fixed on at least one of the base, the first positioning assembly and the second positioning assembly and is used for being communicated with a negative pressure source so as to adsorb the workpiece.
10. The carrier of claim 1, wherein the carrier comprises a plurality of support members,
The first positioning assembly includes:
The first overhanging piece protrudes out of the outer edge of the base and extends towards the outer side;
A first positioning piece fixed at the free end of the first overhanging piece and having a cylindrical surface for abutting against the side surface of the workpiece, and/or
The second positioning assembly includes:
The second overhanging piece is arranged on the second driving assembly, protrudes out of the outer edge of the base and extends outwards and is used for moving relative to the first positioning assembly under the driving of the second driving assembly;
The second locating piece is fixed at the free end of the second overhanging piece and is cylindrical, and the cylindrical surface of the second locating piece is used for abutting against the side surface of the workpiece.
11. A detection apparatus for detecting an appearance of a workpiece, comprising:
the carrier of any one of claims 1 to 10;
an appearance detection component for collecting data characterizing appearance characteristics of the workpiece;
and the fifth driving assembly is used for driving the carrier to move so as to adjust the orientation of the carrier.
12. The detection apparatus according to claim 11, wherein the fifth drive assembly comprises:
a fifth driving body;
The fifth driving end is rotatably arranged on the fifth driving main body around the axis of the fifth driving end and is fixedly connected with the base;
The rotating shaft is coaxially sleeved in the fifth driving end, is fixedly connected with the fifth driving end and is provided with a plurality of openings;
and the slip ring is fixedly connected to one end of the rotating shaft, which is opposite to the base, and is communicated with the openings.
13. The detection apparatus according to claim 11, wherein the appearance detection component includes:
a support;
the device comprises at least three first acquisition units, at least one first acquisition unit and at least one second acquisition unit, wherein each first acquisition unit is arranged on the support and is used for shooting an image of the workpiece, at least one first acquisition unit is used for shooting the front surface of the workpiece, at least one first acquisition unit is used for shooting the back surface of the workpiece, and at least one first acquisition unit is used for shooting the side surface of the workpiece;
and at least three second acquisition units, wherein each second acquisition unit is arranged on the support and is used for scanning the outer contour of the workpiece, at least one second acquisition unit is used for scanning the front surface of the workpiece, at least one second acquisition unit is used for scanning the back surface of the workpiece, and at least one second acquisition unit is used for scanning the side surface of the workpiece.
14. The detection apparatus according to claim 13, wherein each of the first acquisition units includes:
the fourth driver is arranged on the support;
The mounting plate is arranged at the driving end of the fourth driver and used for moving under the driving of the fourth driver;
a camera fixed to the mounting plate;
And the light source is fixed on the mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011126414.0A CN112198155B (en) | 2020-10-20 | 2020-10-20 | Carrier and detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011126414.0A CN112198155B (en) | 2020-10-20 | 2020-10-20 | Carrier and detection device |
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| CN112198155A CN112198155A (en) | 2021-01-08 |
| CN112198155B true CN112198155B (en) | 2025-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011126414.0A Active CN112198155B (en) | 2020-10-20 | 2020-10-20 | Carrier and detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114199763B (en) * | 2021-10-28 | 2024-06-11 | 深圳市信维智能装备技术有限公司 | High-precision positioning carrier for connector visual detection |
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| CN208811953U (en) * | 2018-10-22 | 2019-05-03 | 蓝思科技（长沙）有限公司 | A kind of clamping device |
| CN109968250A (en) * | 2019-03-26 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | Processing platform and its positioning mechanism |
| CN210514530U (en) * | 2019-07-24 | 2020-05-12 | 国网浙江省电力有限公司电力科学研究院 | A sample comparison device for collection terminal and electric energy meter |
| CN213933612U (en) * | 2020-10-20 | 2021-08-10 | 无锡先导智能装备股份有限公司 | Carrier and detection device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013017219A1 (en) * | 2013-10-17 | 2015-04-23 | Phoenix Contact Gmbh & Co. Kg | Adjustable workpiece carrier |
| CN210361029U (en) * | 2019-08-05 | 2020-04-21 | 李睿 | A kind of axle assembly bearing clearance detection fixing device |
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2020
- 2020-10-20 CN CN202011126414.0A patent/CN112198155B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208811953U (en) * | 2018-10-22 | 2019-05-03 | 蓝思科技（长沙）有限公司 | A kind of clamping device |
| CN109968250A (en) * | 2019-03-26 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | Processing platform and its positioning mechanism |
| CN210514530U (en) * | 2019-07-24 | 2020-05-12 | 国网浙江省电力有限公司电力科学研究院 | A sample comparison device for collection terminal and electric energy meter |
| CN213933612U (en) * | 2020-10-20 | 2021-08-10 | 无锡先导智能装备股份有限公司 | Carrier and detection device |
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