CN113682780A

CN113682780A - Automatic check out test set of material loading upset

Info

Publication number: CN113682780A
Application number: CN202110954013.2A
Authority: CN
Inventors: 张俊峰; 叶长春; 黄家富
Original assignee: Guangzhou Supersonic Automation Technology Co Ltd
Current assignee: Guangzhou Supersonic Automation Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-11-23

Abstract

The invention discloses automatic feeding and overturning detection equipment which comprises a feeding station, a feeding device, a first picking structure, a camera device, a first rotary driving device and a position adjusting device, wherein the feeding station is arranged on the feeding station; the feeding device is used for conveying the products to a feeding station; the first picking structure is used for picking up products of the feeding station; the camera device is used for acquiring an appearance image of the product picked up by the first picking structure; the first rotary driving device is used for driving the first picking structure to rotate so as to adjust the orientation of the surface of the product facing the camera device and also enable the first picking structure to face the feeding station; the position adjusting device is used for adjusting the relative positions of the first picking structure and the camera device so as to enable the camera device to focus the product, and the first picking structure can be close to or far away from the feeding station. The automatic feeding and overturning detection equipment can realize mechanical overturning and feeding, so that the labor intensity of workers is reduced, and the efficiency is improved.

Description

Automatic check out test set of material loading upset

Technical Field

The invention relates to detection equipment, in particular to detection equipment capable of automatically feeding and overturning.

Background

Appearance detection is required before the finished product of part of products, such as apple watch battery cores, leaves a factory so as to ensure the appearance quality; the conventional adoption is placed the product on check out test table of check out test set, and later check out test set's camera shoots the face of product orientation camera, and follow-up through manual upset product to obtain the outward appearance of a plurality of faces of product, above-mentioned process needs manual blowing and turn-over, increases artifical intensity of labour, reduce efficiency.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the detection equipment capable of automatically feeding and overturning, which can realize mechanical overturning and feeding so as to reduce the labor intensity of workers and improve the efficiency.

The purpose of the invention is realized by adopting the following technical scheme:

an automatic check out test set of material loading upset includes:

a feeding station;

the feeding device is used for conveying products to the feeding station;

a first picking structure for picking up products of the loading station;

the camera device is used for acquiring an appearance image of the product picked up by the first picking structure;

the first rotary driving device is used for driving the first picking structure to rotate so as to adjust the orientation of the surface of the product facing the camera device and also enable the first picking structure to face the feeding station;

and the position adjusting device is used for adjusting the relative positions of the first picking structure and the camera device so as to enable the camera device to focus the product, and also enable the first picking structure to be close to or far away from the feeding station.

Further, the number of the first pick-up structures is at least two; the number of the feeding stations is at least two, and the at least two feeding stations correspond to the at least two first picking structures one to one; the number of the camera devices is at least two, and the at least two camera devices correspond to the at least two first picking-up structures one to one.

Further, the first pick-up structure comprises a suction nozzle and an anti-shaking structure; the suction nozzle is used for adsorbing a product; the anti-shaking structure is used for abutting against the product to prevent the product from shaking laterally relative to the suction nozzle.

Furthermore, the anti-shaking structure can also lift relative to the suction nozzle, and the first picking structure further comprises an elastic buffer element which is used for providing elastic stress for promoting the anti-shaking structure to descend relative to the suction nozzle.

Further, the first rotary drive means comprises a first motor for driving the first pick-up structure in rotation about a horizontal axis and a second motor for driving the first pick-up structure in rotation about a vertical axis.

Further, the position adjusting device comprises a first Z-direction driving device and a bidirectional driving device; the first Z-direction driving device is used for driving the first picking structure to move along the Z direction and can be close to or far away from the feeding station when moving along the Z direction; the bidirectional driving device is used for driving the camera device to move along the X direction and the Y direction respectively.

The feeding station is arranged on the transfer platform, and the lifting driving device is used for driving the transfer platform to lift along the Y direction.

Furthermore, an adsorption cavity is formed in the transfer platform, adsorption holes are formed in the feeding station, and the adsorption holes are communicated with the adsorption cavity and the outside.

Further, the device also comprises a second picking structure, a second rotary driving device and a second Z-direction driving device; the second picking structure is used for receiving the products picked by the first picking structure; the second rotary driving device is used for driving the second picking structure to rotate so as to adjust the orientation of the surface of the product facing the camera device and also enable the second picking structure to face the first picking structure; the second Z-direction driving device is used for driving the second picking structure to move along the Z direction; the first rotary drive is also used to direct the first pick up structure towards the second pick up structure.

Further, the device also comprises a qualified station, a defective station and an output device; the output device is used for conveying the products picked by the second picking structure to the qualified station or the defective station.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the feeding device, the feeding station, the first picking structure, the first rotary driving device, the position adjusting device and the camera device are arranged, so that the feeding device conveys a product to the feeding station, the first rotary driving device and the position adjusting device are matched to enable the first picking structure to face and be close to the product of the feeding station, so that the first picking structure can pick up the product to realize mechanical feeding, then, the surface of the product facing the camera device can be mechanically turned over under the matching of the first rotary driving device and the position adjusting device, and then, the multi-surface appearance of the product is photographed, therefore, the labor intensity of workers is reduced, and the efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of an automatic loading and overturning detection device according to the present invention;

FIG. 2 is a schematic structural diagram of a first pick-up structure, a first rotary driving device, a position adjusting device, a second pick-up structure, a second rotary driving device and a second Z-direction driving device according to the present invention;

FIG. 3 is a schematic structural diagram of a first pick-up structure, a first rotary driving device, a first Z-direction driving device, a second pick-up structure, a second rotary driving device and a second Z-direction driving device according to the present invention;

FIG. 4 is an enlarged view of the structure of portion A of FIG. 3 according to the present invention;

FIG. 5 is a schematic diagram of a first pick-up structure according to the present invention;

fig. 6 is a schematic structural view of the turning platform and the lifting driving device of the present invention.

In the figure: 10. a transfer platform; 11. a feeding station; 12. an adsorption hole; 20. a feeding device; 30. a first pick-up structure; 31. a suction nozzle; 32. an anti-sway structure; 33. an elastic buffer element; 34. a mounting seat; 40. a camera device; 41. a camera; 42. a light source assembly; 50. a first rotary drive device; 51. a first motor; 52. a second motor; 60. a position adjusting device; 61. a first Z-direction driving device; 62. a bi-directional drive device; 621. a Y-direction driving device; 622. an X-direction driving device; 70. a lift drive; 80. a second pick-up structure; 90. a second rotary drive device; 100. a second Z-direction driving device; 110. an output device; 120. a defective work station; 130. a qualified station; 140. and (5) producing the product.

Detailed Description

Referring to fig. 1 to 6, the present invention discloses an automatic feeding and turning detection apparatus, including a feeding station 11, a feeding device 20, a first picking structure 30, a camera device 40, a first rotation driving device 50 and a position adjusting device 60, wherein:

the feeding device 20 is used for conveying the products 140 to the feeding station 11;

the first pick-up structure 30 is used for picking up the products 140 of the loading station 11;

the camera device 40 is used for acquiring an appearance image of the product 140 picked up by the first picking structure 30;

the first rotary driving device 50 is used for driving the first picking structure 30 to rotate so as to adjust the orientation of the face of the product 140 facing the camera device 40, and also can enable the first picking structure 30 to face the feeding station 11;

the position adjusting device 60 is used for adjusting the relative positions of the first picking structure 30 and the camera device 40, so that the camera device 40 focuses on the product 140, and the first picking structure 30 can be close to or far away from the loading station 11.

On the basis of the structure, when the automatic feeding device is used, the feeding device 20 conveys the product 140 to the feeding station 11, the position adjusting device 60 drives the first picking structure 30 to be close to the feeding station 11, and the first rotary driving device 50 drives the first picking structure 30 to face to the position right above the feeding station 11, so that the picking structure can pick up the product 140, and the automatic feeding of the product 140 is completed; then, the first rotary driving device 50 faces the surface of the product 140 to be detected to the camera device 40, the relative position between the camera device 40 and the product 140 is adjusted by the position adjusting device 60, so that focusing of the camera device 40 is realized to photograph the product 140, then the first rotary driving device 50 adjusts the surface of the product 140 facing the camera device 40, and refocusing is performed by the position adjusting device 60, so that automatic turning of the product 140 is realized, and then an appearance image of multiple surfaces of the product 140 can be obtained; therefore, the labor intensity of workers is reduced, and the efficiency is improved.

In the present embodiment, the number of the first pick-up structures 30 is at least two; the number of the feeding stations 11 is at least two, and the at least two feeding stations 11 correspond to the at least two first picking structures 30 one by one; the number of the camera devices 40 is at least two, and the at least two camera devices 40 correspond to the at least two first picking-up structures 30 one by one; thus, the shooting of a plurality of products 140 can be performed simultaneously, and the efficiency is improved.

The feeding device 20 can adopt the matching of a conveyer belt conveying device and a sucker manipulator, the conveyer belt conveying device conveys the products 140, and the sucker manipulator conveys the conveyed products 140 to the feeding station 11; the output device 110 may be a robot.

The camera device 40 includes a camera 41 and a light source assembly 42, the camera 41 is located above the picking-up structure and is disposed downward, and the light source assembly 42 is used for emitting light toward the product 140.

The first picking mechanism 30 may adopt a clamp or a clamping mechanism, etc., and in the present invention, preferably, the picking mechanism includes a suction nozzle 31, the suction nozzle 31 may communicate with an external air extractor through a hose and realize internal negative pressure by the external air extractor, so as to adsorb the product 140, and at this time, the suction nozzle 31 adsorbs only one side of the product 140 without shielding other sides of the product 140, so as to photograph multiple sides of the product 140 as much as possible.

Because the suction nozzle 31 is supported by a soft rubber material, after the product 140 is adsorbed, the product 140 can obliquely shake relative to the lateral direction thereof, and therefore, the first pickup structure 30 of the embodiment further includes the shake prevention structure 32; the shaking prevention structure 32 is used for abutting against the product 140 sucked by the suction nozzle 31 to prevent the product 140 from shaking laterally relative to the suction nozzle 31, so that the subsequent product 140 moves more stably.

The anti-shaking structure 32 in this embodiment has an anti-shaking surface for abutting against the product 140, and the anti-shaking surface surrounds the outside of the suction nozzle 31, so that the anti-shaking surface can fully abut against the portion of the product 140 surrounding the suction nozzle 31.

This prevent rocking adsorption equipment includes mount pad 34, and suction nozzle 31 and prevent rocking structure 32 all set up on mount pad 34, like this, with suction nozzle 31 and prevent rocking structure 32 equipment together, prevent losing, and do benefit to the bulk movement.

In this embodiment, when the suction nozzle 31 sucks the product 140, the suction nozzle 31 is compressed, and the anti-shaking structure 32 presses the product 140 downward, so as to avoid excessive explosion of the product 140 such as a battery cell under pressure, the first pickup structure 30 further includes an elastic buffer element 33, and the anti-shaking structure 32 can be lifted relative to the suction nozzle 31; the elastic buffer member 33 is used to provide an elastic stress for urging the anti-sway structure 32 to move downward; like this, when anti-rocking structure 32 supports and presses product 140 and there is the continuation downward movement trend, anti-rocking structure 32 can be pushed up by product 140 to avoid excessively squeezing product 140, at this moment, the buffering elastic component can provide the power of anti-rocking structure 32 downstream, thereby makes anti-rocking structure 32 and product 140 keep the butt.

Specifically, the elastic buffer element 33 abuts against the mounting seat 34 and the shaking prevention structure 32, respectively, or the elastic buffer element 33 abuts against the shaking prevention structure 32 and the suction nozzle 31, respectively; the elastic buffer member 33 may be a spring, an elastic sheet, or the like.

In this embodiment, the first rotary drive means 50 comprises a first motor 51 for driving the first pick-up structure 30 in rotation about a horizontal axis and a second motor 52 for driving the first pick-up structure 30 in rotation about a vertical axis; thus, the 360-degree rotation of the product 140 on the first picking structure 30 in the vertical and horizontal directions is realized, the adjustment range is wide, and the shooting of the other surfaces of the product 140 except the picked surface can be realized; furthermore, the first picking structure 30 is driven by the first motor 51 to rotate around the horizontal axis, so that the first picking structure 30 faces the feeding station 11; that is, by combining the first motor 51 and the second motor 52, the product 140 can be turned over and toward the feeding station 11 synchronously.

The position adjusting device 60 of the present embodiment includes a first Z-direction driving device 61 and a bidirectional driving device 62; the first Z-direction driving device 61 is used for driving the first picking structure 30 to move along the Z direction, and can be close to or far away from the feeding station 11 when moving along the Z direction; in this way, the first picking structure 30 can be close to or far away from the loading station 11, and meanwhile, when the first picking structure 30 moves along the Z direction, the relative position of the first picking structure 30 relative to the camera device 40 in the Z direction can be adjusted; and the bidirectional driving device 62 is matched for driving the camera device 40 to move along the X direction and the Y direction respectively, so that the relative positions of the camera device 40 and the first picking-up structure 30 in the X, Y and Z directions respectively are realized, the focusing of the camera device 40 is realized, the camera device 40 and the first picking-up structure 30 can be driven to move simultaneously, and the efficiency is improved.

Specifically, the bidirectional driving device 62 includes a Y-direction driving device 621 for driving the image pickup device 40 to move in the Y-direction and an X-direction driving device 622 for driving the image pickup device 40 to move in the X-direction; the Y-direction driving device 621 and the X-direction driving device 622 can be both of a structure in which an air cylinder or a motor is engaged with the screw rod.

In order to avoid that the first picking structure 30 is not beneficial to picking because the first picking structure 30 only rotates and moves in the Z direction, the automatic feeding and overturning detection equipment further comprises a transfer platform 10 and a lifting driving device 70, wherein the feeding station 11 is arranged on the transfer platform 10, and the lifting driving device 70 is used for driving the transfer platform 10 to lift along the Y direction, so that the transfer platform 10 can be close to the first picking structure 30; furthermore, when the first picking structure 30 includes the suction nozzle 31 for sucking the product 140, the transfer platform 10 is lifted, so that the suction nozzle 31 can be attached to the product 140, and the product 140 can be stably sucked by the suction nozzle 31.

The lifting driving device 70 may be, but not limited to, a conventional structure in which an air cylinder, a motor and a screw rod are engaged.

In this embodiment, be provided with the absorption chamber on the transfer platform 10, seted up on the material loading station 11 and adsorbed hole 12, adsorbed hole 12 intercommunication absorption chamber and outside, like this, product 140 places on adsorbing hole 12, realizes the negative pressure that adsorbs chamber and absorption hole 12 through external equipment to can avoid product 140 to deflect or drop, pick up in order to ensure follow-up more stable.

The automatic feeding and overturning detection equipment comprises a second picking structure 80, a second rotary driving device 90 and a second Z-direction driving device 100; the second pick-up structure 80 is adapted to receive the products 140 picked up by the first pick-up structure 30; the second rotary driving device 90 is used for driving the second picking structure 80 to rotate so as to adjust the orientation of the surface of the product 140 facing the camera device 40, and also to enable the second picking structure 80 to face the first picking structure 30; the second Z-direction driving device 100 is used for driving the second picking structure 80 to move along the Z direction; the first rotary drive means 50 also serve to orient the first pick-up structure 30 towards the second pick-up structure 80.

On the basis of the above structure, when the first picking structure 30 picks up the product 140, the two first picking structures 30 and the second picking structure 80 face each other through the first rotary driving device 50 and the second rotary driving device 90, and the two first picking structures 30 and the second picking structure 80 approach each other through the first Z-direction driving device 61 and the second Z-direction driving device 100 to a certain position, the second picking structure 80 can pick up the product 140 grabbed by the first picking structure 30, so that the face of the product 140 originally facing the first picking structure 30 is exposed, where it should be noted that the exposed face of the product 140 means that the face of the product 140 does not face the second picking structure 80, that is, is not shielded by the second picking structure 80; therefore, the turnover grabbing of the product 140 is realized, and manual turnover is not needed; then, under the action of the second rotary driving device 90, the newly exposed appearance image can be directed to the image capturing device 40, and the second Z-direction driving device 100 and the bidirectional driving device 62 are matched to realize refocusing of the image capturing device 40, so that the appearance image of the newly exposed surface of the product 140 can be automatically acquired, and as can be seen from the above, when the image capturing device 40 and the product 140 on the first picking-up structure 30 and the second picking-up structure 80 respectively move in the X direction and the Y direction to focus, only one bidirectional driving device 62 is needed, so that the structure is simplified, and the labor intensity is further reduced.

The automatic feeding and overturning detection equipment further comprises a qualified station 130, a defective station 120 and an output device 110; the output device 110 is used for conveying the products 140 picked up by the second picking structure 80 to the qualified station 130 or the defective station 120, so that after the appearances of the products 140 are obtained and the quality of the products 140 is judged, the qualified products 140 can be transferred to the qualified station 130, the defective products 140 can be transferred to the defective station 120, the products 140 can be automatically classified, and the labor intensity is further reduced.

The second pickup structure 80, the second rotary driving device 90, and the second Z-direction driving device 100 may be configured as the first pickup structure 30, the first rotary driving device 50, and the first Z-direction driving device 61 may be an air cylinder.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. The utility model provides an automatic check out test set of material loading upset which characterized in that includes:

a loading station (11);

-a feeding device (20), said feeding device (20) being adapted to convey products (140) to said loading station (11);

a first pick-up structure (30), said first pick-up structure (30) being intended to pick up the products (140) of said loading station (11);

-a camera device (40), said camera device (40) being adapted to acquire an appearance image of a product (140) picked up by said first pick-up structure (30);

a first rotary driving device (50), wherein the first rotary driving device (50) is used for driving the first picking structure (30) to rotate so as to adjust the orientation of the surface of the product (140) facing the camera device (40), and also enable the first picking structure (30) to face the feeding station (11);

the position adjusting device (60) is used for adjusting the relative positions of the first picking structure (30) and the camera device (40) so that the camera device (40) can focus on the product (140), and the first picking structure (30) can be close to or far away from the feeding station (11).

2. The automatic loading overturning detection apparatus according to claim 1, characterized in that said first pick-up structures (30) are at least two in number; the number of the feeding stations (11) is at least two, and at least two feeding stations (11) correspond to at least two first picking structures (30) one by one; the number of the camera devices (40) is at least two, and at least two camera devices (40) correspond to at least two first picking structures (30) one by one.

3. The automatic loading overturning detection apparatus according to claim 1, characterized in that said first pick-up structure (30) comprises a suction nozzle (31) and an anti-shaking structure (32); the suction nozzle (31) is used for adsorbing a product (140); the shaking prevention structure (32) is used for abutting against the product (140) so as to prevent the product (140) from shaking laterally relative to the suction nozzle (31).

4. The automatic feeding and overturning detection device according to claim 3, characterized in that said anti-shaking structure (32) is also liftable with respect to said suction nozzle (31), said first pick-up structure (30) further comprising an elastic buffer element (33), said elastic buffer element (33) being adapted to provide an elastic stress for urging said anti-shaking structure (32) to descend with respect to said suction nozzle (31).

5. The automatic loading tipping detection apparatus according to claim 1, characterized in that the first rotary drive means (50) comprise a first motor (51) for driving the first pick-up structure (30) in rotation about a horizontal axis and a second motor (52) for driving the first pick-up structure (30) in rotation about a vertical axis.

6. The automatic feeding and turning detection apparatus according to any one of claims 1 to 5, characterized in that said position adjustment means (60) comprise first Z-direction drive means (61) and bidirectional drive means (62); the first Z-direction driving device (61) is used for driving the first picking structure (30) to move along the Z direction and can be close to or far away from the feeding station (11) when moving along the Z direction; the bidirectional driving device (62) is used for driving the camera device (40) to move along the X direction and the Y direction respectively.

7. The automatic feeding and overturning detection equipment as claimed in claim 6, further comprising a transfer platform (10) and a lifting driving device (70), wherein the feeding station (11) is arranged on the transfer platform (10), and the lifting driving device (70) is used for driving the transfer platform (10) to lift along the Y direction.

8. The automatic feeding and overturning detection equipment as claimed in claim 7, wherein an adsorption cavity is arranged on the transfer platform (10), an adsorption hole (12) is formed in the feeding station (11), and the adsorption hole (12) is communicated with the adsorption cavity and the outside.

9. The automatic loading inversion detection apparatus of claim 6, further comprising a second pick-up structure (80), a second rotary drive (90) and a second Z-drive (100); the second pick-up structure (80) is intended to receive the products (140) picked up by the first pick-up structure (30); the second rotary driving device (90) is used for driving the second picking structure (80) to rotate so as to adjust the orientation of the face of the product (140) facing the camera device (40), and also enable the second picking structure (80) to face the first picking structure (30); the second Z-direction driving device (100) is used for driving the second picking structure (80) to move along the Z direction; the first rotary drive means (50) are also used to orient the first pick-up structure (30) towards the second pick-up structure (80).

10. The automatic feeding and turning detection equipment as claimed in claim 9, further comprising a qualification station (130), a defective station (120), an output device (110); the output device (110) is used for conveying the products (140) picked up by the second picking structure (80) to the qualified station (130) or the defective station (120).