CN114751195A

CN114751195A - Material taking and placing device, carrier plate, material testing system and material testing method

Info

Publication number: CN114751195A
Application number: CN202110032117.8A
Authority: CN
Inventors: 高绍峰; 杨虎; 陈琦; 周中山
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2022-07-15

Abstract

The disclosure relates to a material taking and placing device, a carrier plate, a material testing system and a material testing method. Wherein, material is got and is put device includes that one or more clamp gets the mechanism, gets the mechanism and includes: the clamping jaw comprises at least one first clamping block and at least one second clamping block which are arranged oppositely, wherein limiting parts are respectively arranged on the opposite surfaces of the first clamping block and the second clamping block and used for limiting the carrier plate; and the driving end of the taking and placing driving part is connected with the clamping jaw and drives the clamping jaw to clamp or open so as to clamp or release the carrier plate. This openly get material through the mode that presss from both sides the clamping jaw centre gripping support plate of getting the mechanism is indirect gets material and puts, need not to get the mechanism and readjust to pressing from both sides to the material of different specifications, can adapt to the test demand of different specifications material, and the commonality promotes by a wide margin to, can reduce operating time, thereby also improved the efficiency of software testing of material.

Description

Material taking and placing device, carrier plate, material testing system and material testing method

Technical Field

The present disclosure relates to the field of electronic technologies, and in particular, to a material pick-and-place device, a carrier plate, a material testing system, and a material testing method.

Background

With the continuous development of electronic technology, the functions of electronic devices are more and more. Taking a mobile phone as an example, a mobile phone motherboard is used as a core component of electronic equipment, and plays an important role in each function of the electronic equipment.

A mobile phone motherboard is generally a Printed Circuit Board Assembly (PCBA) formed by a Printed Circuit Board (PCB) through Surface Mount Technology (SMT). In order to ensure that the functions and performance of the mobile phone motherboard meet the production requirements, the mobile phone motherboard needs to be subjected to function testing before being assembled.

In the related art, in a mobile phone mainboard test production line, the manual loading and unloading operation of a mainboard in a test fixture is completed, and the problems of high labor cost, low efficiency, high management difficulty and the like exist in the mode. In other related arts, the manipulator is matched with the sucker, and the automatic loading and unloading of the mainboard are realized in a manner that the sucker adsorbs the mainboard. However, for different types of mainboards, the suction position of the suction cup and the point position of the control system need to be manually adjusted again, which is poor in universality and low in detection efficiency.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a material taking and placing device, a carrier, a material testing system and a material testing method.

According to a first aspect of the present disclosure, there is provided a material taking and placing device, wherein the material is placed on a carrier plate, the material taking and placing device comprises one or more clamping mechanisms, and the clamping mechanisms comprise: the clamping jaw comprises at least one first clamping block and at least one second clamping block which are arranged oppositely, wherein limiting parts are respectively arranged on the opposite surfaces of the first clamping block and the second clamping block and used for limiting the carrier plate; and the driving end of the clamping driving part is connected with the clamping jaw to drive the clamping jaw to clamp or open so as to clamp or release the carrier plate.

In one embodiment, the limiting portion is a groove.

In one embodiment, the upper and lower surfaces of the groove are respectively inclined outwards to form inclined planes.

In an embodiment, the first clamping block and the second clamping block are respectively provided with two grooves.

In one embodiment, the grasping mechanism further includes: the pressing piece is arranged on the clamping jaw, wherein the pressing piece is abutted against the material to press the material onto the carrier plate in the state that the carrier plate is clamped by the clamping jaw.

In one embodiment, the gripping mechanism is connected to the robot by a connector.

In one embodiment, the clamping mechanism is connected with the connecting piece through a lifting cylinder.

In one embodiment, two clamping mechanisms are provided, namely a first clamping mechanism and a second clamping mechanism, and the first clamping mechanism and the second clamping mechanism are arranged at an interval, so that the first clamping jaw mechanism and the second clamping jaw mechanism do not interfere with each other in a working state; the first clamping mechanism is used for clamping or releasing a to-be-tested carrier plate, and the to-be-tested carrier plate bears a to-be-tested material; the second clamping mechanism is used for clamping or releasing the tested carrier plate, and the tested carrier plate bears the tested material.

In an embodiment, the two clamping mechanisms are respectively a first clamping mechanism and a second clamping mechanism, and in an operating state, the first clamping mechanism and the second clamping mechanism are vertically staggered through the lifting cylinder.

In one embodiment, the manipulator drives the clamping mechanism to rotate by driving the connecting piece to rotate.

In an embodiment, the material taking and placing device further includes a vision mechanism for taking a picture of the carrier plate and identifying the characteristic position.

In one embodiment, based on the characteristic position, the clamping mechanism clamps the carrier plate and aligns the carrier plate with a receiving plate on the testing device.

According to a second aspect of the present disclosure, there is provided a carrier board for being picked and placed by the material picking and placing device according to any one of the embodiments of the first aspect, the carrier board comprising: the support plate body is including placing district and spacing district, it is used for placing the material to place the district, spacing district is used for getting the mechanism clamp through pressing from both sides and gets.

In one embodiment, one or more placing grooves are arranged on the placing area and used for placing the material.

In an embodiment, the carrier body is provided with a visual positioning point for identifying a characteristic position through a visual mechanism, and based on the characteristic position, the clamping mechanism clamps the carrier and aligns the carrier with a receiving plate on the testing device.

According to a third aspect of the present disclosure, there is provided a material testing system comprising: a carrier plate for carrying a material, the carrier plate being as described in any of the embodiments of the second aspect above; the testing device comprises one or more bearing plates for bearing the carrier plate, and is used for testing the material; the material taking and placing device according to any one of the embodiments of the first aspect, wherein the material taking and placing device is configured to grip or release the carrier plate so as to place the carrier plate on the receiving plate.

In one embodiment, one or more positioning pins are arranged on the bearing plate; one or more positioning holes corresponding to the one or more positioning pins are arranged on the carrier plate.

In one embodiment, the material testing system further comprises: and the conveying assembly line is used for conveying the carrier plate, and when the carrier plate is positioned at a fixed position of the conveying assembly line, the clamping mechanism clamps the carrier plate.

According to a fourth aspect of the present disclosure, there is provided a material testing method applied to the material testing system of any one of the embodiments of the third aspect, the material testing method including: the clamping mechanism clamps a to-be-tested carrier plate, wherein the to-be-tested carrier plate is loaded with to-be-tested materials; the clamping mechanism releases the carrier plate to be tested and places the carrier plate to be tested on a bearing plate of the testing device; and testing the material to be tested on the test carrier board to be tested through the testing device.

In one embodiment, the gripping mechanism comprises a first gripping mechanism and a second gripping mechanism; the clamp is got the mechanism and is got the examination support plate that awaits measuring and includes: clamping the carrier plate to be tested by the first clamping mechanism; the clamping mechanism releases the carrier plate to be tested and places the carrier plate to be tested on a bearing plate of the testing device, and the clamping mechanism comprises: determining whether a tested carrier plate exists on the bearing plate, wherein the tested carrier plate bears a tested material, if the tested carrier plate exists on the bearing plate, the tested carrier plate is clamped by the second clamping mechanism, the carrier plate to be tested is released by the first clamping mechanism, and the carrier plate to be tested is placed on the bearing plate; if the bearing plate does not have the tested carrier plate, the carrier plate to be tested is directly released through the first clamping mechanism, and the carrier plate to be tested is placed on the bearing plate.

In one embodiment, the material handling apparatus further comprises a vision mechanism, and the material testing method further comprises: acquiring image information of the carrier plate to be tested through the vision mechanism; the clamp is got the mechanism and is got the examination support plate that awaits measuring and includes: acquiring the position of the carrier plate to be tested based on the image information, and clamping the carrier plate to be tested by the clamping mechanism according to the position of the carrier plate to be tested; the clamping mechanism releases the carrier plate to be tested and places the carrier plate to be tested on a bearing plate of the testing device, and the clamping mechanism comprises: based on the image information, determining the position of the carrier plate to be tested and the position of the bearing plate, and placing the carrier plate to be tested on a bearing plate feeding material taking and placing device of the testing device by the clamping mechanism according to the position of the carrier plate to be tested and the position of the bearing plate, wherein the material is placed on the carrier plate, the clamping mechanism is characterized in that the material taking and placing device comprises one or more clamping mechanisms, and the clamping mechanism comprises: a clamping jaw; and the driving end of the taking and placing driving part is connected with the clamping jaw to drive the clamping jaw to clamp or open so as to clamp or release the carrier plate.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: this openly get material through the mode that presss from both sides the clamping jaw centre gripping support plate of getting the mechanism is indirect gets material and puts, need not to get the mechanism and readjust to pressing from both sides to the material of different specifications, can adapt to the test demand of different specifications material, and the commonality promotes by a wide margin to, can reduce operating time, thereby also improved the efficiency of software testing of material.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural diagram of a material testing system according to an exemplary embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a drawer structure of a testing device according to an exemplary embodiment of the present disclosure.

Fig. 3a is a schematic structural diagram of a carrier board placed on a receiving board according to an exemplary embodiment of the present disclosure.

Fig. 3b is a schematic diagram of a carrier board and a receiving board structure provided according to an exemplary embodiment of the present disclosure.

Fig. 3c is a schematic partial cross-sectional view of a carrier board placed on a receiving board according to an exemplary embodiment of the disclosure.

Fig. 4 is a schematic view of a part of a material taking and placing device according to an exemplary embodiment of the disclosure.

Figure 5 is a partial schematic structural view of a jaw provided in accordance with another exemplary embodiment of the present disclosure.

Fig. 6a to 6f are schematic diagrams illustrating changes in operating states of a material testing system according to an exemplary embodiment of the disclosure.

FIG. 7 is a block flow diagram of a material testing method provided in accordance with an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Circuit boards are essential in electronic devices. The Circuit Board is generally a Printed Circuit Board (PCB), also called a substrate, and a Printed Circuit and a plurality of functional devices, such as a baseband chip, a power management chip, a CPU, a control module such as a bluetooth, a touch screen, a WIFI sensor, and a connection device such as a display interface, a camera interface, a battery connection interface, are formed on the PCB by Surface Mount Technology (SMT), and these control modules and connection devices together with the PCB form a Printed Circuit Board Assembly (PCBA), such as a motherboard.

Because the circuit board is an important part in the electronic equipment, in order to ensure that the function and the performance of the circuit board meet the production requirements, in order to improve the automation degree of a circuit board testing assembly line, in the related art, the loading and unloading operation of the circuit board in the testing jig is realized through the vacuum suction nozzle of the suction device.

In addition, to the test demand of different specification circuit boards, the position of a plurality of vacuum suction nozzle on the mounting bracket can be adjusted to the absorption position of different circuit boards of adaptation. Generally, the suction position is a hollow area on the circuit board, i.e. a blank area.

Among the above-mentioned scheme, through the mode of the direct adsorption circuit board of vacuum suction nozzle, there is following problem:

1. in the actual operation process, because the required negative pressure (atmospheric pressure) of vacuum suction nozzle probably has undulantly, the adsorption affinity when leading to vacuum suction nozzle to adsorb the circuit board is unstable, and there is the possibility that drops in the circuit board, absorbs the reliability poor, influences the efficiency of software testing of circuit board.

2. Due to the circuit boards of different specifications, differences exist in the structure, size and distribution positions of devices on the circuit boards. Therefore, when testing circuit boards of different specifications, an operator must readjust the suction position of the vacuum suction nozzle and recalibrate the positioning point of the control system, which has poor universality and seriously affects the testing efficiency of the circuit boards.

In view of the existence of above-mentioned problem, this disclosure provides a material gets puts device, gets the material through pressing from both sides the indirect clamp of getting of mechanism to can adapt to the material test demand of different specifications, improve commonality and efficiency of software testing.

Fig. 1 is a schematic structural diagram of a material testing system provided according to an exemplary embodiment of the present disclosure. Fig. 2 is a schematic view of a part of a material taking and placing device according to an exemplary embodiment of the disclosure.

As shown in fig. 1 and fig. 2, the material taking and placing device 30 of the present disclosure is used for clamping or releasing the carrier board 42 carrying the material 300 (as shown in fig. 3 b), and placing the carrier board carrying the material to be tested in the testing device 10, so that the testing device 10 tests the material to be tested.

The material 300 may be a motherboard of an electronic device. The electronic device may be a cell phone, a tablet computer, a notebook computer, a wearable device such as a smart watch and a smart bracelet. The mainboard is used as a core component of the electronic equipment and is integrated with a management system. Taking a mobile phone as an example, for example, a baseband chip and a power management chip for encoding, a radio frequency processor and a radio frequency power amplifier for signal transmission, a CPU, a memory, a control module such as a bluetooth, a touch screen, a WIFI sensor, and a connection device such as a display interface, a camera interface, and a battery connection interface are integrated on a motherboard. The material 300 may be a secondary board, also called a small board, and a tail plug board of a mobile phone, and is connected with the main board through a flat cable. A telephone receiver, a key charging interface and the like can be integrated on the keyboard.

Carrier plate 42 may be substantially rectangular. One or more grooves for placing the material can be arranged on the material, wherein the shape of the groove can be matched with the shape of the material to prevent the material from being separated during the conveying process. But not limited thereto, the material may be directly placed on the carrier plate 42.

Fig. 2 is a schematic diagram of a drawer structure of a testing apparatus provided according to an exemplary embodiment of the present disclosure. As shown in fig. 1 and 2, the testing device 10 may include one or more testing platforms, each of which is provided with a testing drawer 11. A receiving plate 41 is placed on the test drawer 11 for receiving a carrier plate 42. The testing device 10 may further include a control system by which the material handling device 30 may be controlled to handle. In addition, the control system can also acquire the test state of the material 300 inside the testing device 10, so as to determine whether the material 300 is tested completely.

As shown in fig. 1 and 2, a material handling device 30 according to an embodiment of the present disclosure may include one or more gripping mechanisms 32. The gripping mechanism 32 is used to grip or release the carrier plate 42. Further, the material taking and placing device 30 may further include a robot hand 31. The end of the robot arm 31 is connected to the gripping mechanism 32 for conveying the carrier plate 42.

The gripping mechanism 32 may include jaws and a gripping drive 33. The jaws are connected to the driving end of the gripping driving member 33, and the gripping driving member 33 drives the jaws to grip or spread to grip or release the carrier plate 42.

In one example, the jaw includes first and second oppositely disposed clamp blocks 321, 322. The first block 321 and the second block 322 may be connected by a connecting plate. The clamping driving member 33 may be a clamping jaw cylinder, a telescopic end of the clamping jaw cylinder may be connected to the first clamping block 321, the second clamping block 322 is fixed, and the first clamping block 321 moves towards or away from the second clamping block 322 by the telescopic action of the clamping jaw cylinder, so as to clamp or release the carrier plate 42. But not limited thereto, the telescopic end of the jaw cylinder may also be connected to the second clamp block 322 while the first clamp block 321 remains fixed.

In another example, the gripping drive 33 may be a motor and screw nut pair, the screw being connected to the output shaft of the motor, the nut being connected to the first clamping block 321, the second clamping block 322 remaining stationary. The screw rod is driven to rotate by the motor in a forward and reverse rotation mode, so that the nut drives the first clamping block 321 to move towards or away from the second clamping block 322. But not limited thereto, the nut may be coupled to the second clamping block 322 while the first clamping block 321 remains fixed.

The material taking and placing device 30 of the embodiment of the present disclosure takes and places the material indirectly by clamping the carrier plate 42 with the clamping jaws of the clamping mechanism 32, and the clamping mechanism 32 does not need to be readjusted for the material 300 of different specifications, so that the device can meet the test requirements of the material 300 of different specifications, the universality is greatly improved, and the operation time can be reduced, thereby improving the test efficiency of the material 300.

In one embodiment, one gripping mechanism 32 may be provided. A carrier plate 42 to be tested, i.e., the carrier plate 42 carrying the material 300 to be tested, may be conveyed through a conveying line 20 such as a conveyor belt. When the carrier 42 to be tested is transferred to the station to be tested, the manipulator 31 drives the clamping mechanism 32 to move to the station to be tested, and the clamping jaws of the clamping mechanism 32 clamp to clamp the carrier 42 to be tested. Then, the manipulator 31 drives the carrier board 42 to be tested held by the clamping mechanism 32 to move to the testing drawer 11 of the testing apparatus 10, and the clamping jaws open to release the carrier board 42 to be tested, so as to place the carrier board 42 to be tested on the receiving board 41. Then, the test drawer 11 is closed into the test apparatus 10, and the carrier board 42 to be tested is tested by the test apparatus 10. After testing, the testing drawer 11 is opened to expose the tested carrier board 42, i.e. the carrier board carrying the tested material 300, out of the testing apparatus 10, and the jaws of the gripping mechanism 32 are clamped to grip the tested carrier board 42. Then, the manipulator 31 drives the gripping mechanism 32 to move the gripped tested carrier board 42 to the tested station of the transfer line 20, and the flow is transferred to the next process, such as the assembly process, through the transfer line 20.

In another embodiment, as shown in fig. 1, fig. 2 and fig. 6a to fig. 6f, the gripping mechanism 32 may be provided with two gripping mechanisms, namely a first gripping mechanism and a second gripping mechanism, which are spaced apart from each other, so that the first jaw mechanism and the second jaw mechanism do not interfere with each other in the working state. The first clamping mechanism is used for clamping or releasing the carrier plate 42 to be tested, and the carrier plate 42 to be tested carries the material 300 to be tested; the second clamping mechanism is used to clamp or release the tested carrier 42, which carries the tested material 300.

As shown in fig. 6a, when the carrier 42 to be tested is transferred to the station to be tested, the manipulator 31 drives the first clamping mechanism to move to the station to be tested, and the clamping jaws of the first clamping mechanism clamp to clamp the carrier 42 to be tested. Next, the manipulator 31 drives the carrier board to be tested 42 held by the first gripper and the second gripper to move to the testing drawer 11 of the testing apparatus 10, at this time, the control system can obtain whether there is a carrier board 42 already tested on the receiving board 41 of the testing drawer 11, and if there is a carrier board 42 already tested, the second gripper grips the carrier board 42 to separate the carrier board 42 already tested from the receiving board 41 (as shown in fig. 6 b). Then, the jaws of the first clamping mechanism are opened to release the carrier plate 42 to be tested, so as to place the carrier plate 42 to be tested on the vacant receiving plate 41 (as shown in fig. 6 c). Next, the testing drawer 11 is closed into the testing apparatus 10, and the carrier board 42 to be tested is tested by the testing apparatus 10 (as shown in fig. 6 d). Then, the robot 31 drives the tested carrier boards 42 to move to the tested stations of the transfer line 20 (as shown in fig. 6 e), and the flow is transferred to the next process (as shown in fig. 6 f) through the transfer line 20, such as the assembly process.

The material taking and placing device 30 of the embodiment of the disclosure can make the testing device 10 achieve seamless connection of the testing of the material 300 by arranging two clamping mechanisms 32, one clamping the carrier board to be tested, and the other clamping the tested carrier board, so as to improve the testing efficiency.

In one embodiment, as shown in fig. 2 and 3, the clamping jaw includes at least one first clamping block 321 and at least one second clamping block 322, which are oppositely disposed. The opposite surfaces of the first clamping block 321 and the second clamping block 322 are respectively provided with a limiting portion for limiting the carrier plate 42.

For example, as shown in fig. 2, the stopper portion may include a clamping surface 324 and upper and lower stopper surfaces 325. The clamping surface 324 is used to clamp the carrier plate 42. The lower stop face 325 serves to prevent the carrier plate 42 from disengaging the jaws.

In the material taking and placing device 30 of the embodiment of the disclosure, the grooves are respectively disposed on the opposite surfaces of the first clamping block 321 and the second clamping block 322, when the clamping jaw clamps the carrier plate 42, the carrier plate 42 is partially limited in the grooves, so as to prevent the carrier plate 42 from being separated from the clamping jaw, improve the reliability of the clamping jaw clamping the carrier plate 42, and thereby improve the testing efficiency of the material 300.

In one embodiment, the upper and lower surfaces of the groove are respectively inclined outwards to form inclined planes. The upper and lower surfaces of the groove are the upper and lower limiting surfaces 325. The inclined planes formed by respectively inclining the upper limiting surface and the lower limiting surface 325 outwards can effectively prevent the interference between the upper and lower surfaces of the groove and the outer edge of the carrier plate 42 in the process of clamping the carrier plate 42 by the clamping jaw, and prevent the possibility of the occurrence of the clamping of the carrier plate 42. Therefore, the clamping jaw can clamp the carrier plate 42 more easily, the clamping is smoother, the clamping reliability and the clamping efficiency are improved, and the testing efficiency of the material is improved.

In one example, the first clamping block 321 and the second clamping block 322 are each provided with one groove, wherein the groove extends along a direction perpendicular to the clamping or opening direction of the clamping jaw.

When the first clamping block 321 and the second clamping block 322 are arranged one by one, the length of the groove needs to be a certain length, so that the carrier plate 42 is prevented from being separated from the clamping jaws during the moving process of the clamping mechanism 32, and the stability of the clamping jaws for clamping the carrier plate 42 is improved.

In another example, the first clamping block 321 and the second clamping block 322 may be respectively provided with two grooves which are arranged at intervals along a direction perpendicular to the clamping or opening direction of the clamping jaws. Compared with the first clamping block 321 and the second clamping block 322, the arrangement of the two first clamping blocks 321 and the two clamping blocks 322 can reduce the processing amount of the groove under the condition that the clamping jaw clamps the carrier plate 42 stably, and save materials and processing cost.

In one embodiment, gripper mechanism 32 further comprises a compression member 323. The pressing member 323 is provided to the jaw. The pressing member 323 is used for pressing the material 300 against the carrier plate 42 when the clamping claws clamp the carrier plate 42, so as to press the material 300 against the carrier plate 42. Illustratively, the clamping members 323 can be provided in two spaced apart positions perpendicular to the direction in which the jaws are clamped or opened. In another example, the hold-down members 323 are positioned between the jaws and the carrier plate 42.

In the process that the manipulator 31 drives the clamping mechanism 32 to move, due to inertia, the material 300 placed on the carrier plate 42 may be thrown out from the carrier plate 42, and the pressing member 323 tightly presses the material 300 against the carrier plate 42, thereby effectively avoiding the risk that the material 300 is thrown out from the carrier plate 42. The stability of the material 300 carried on the carrier 42 is improved, and the reliability of the material taking and placing device 32 in the process of transferring the carrier 42 is ensured. In addition, due to the arrangement of the pressing piece 323, a groove for placing the material 300 does not need to be formed in the carrier plate 42, the placing position of the material 300 does not need to be adjusted, and the material taking and placing device 32 can adapt to the materials 300 with different specifications, so that the universality is strong.

In one example, the pressing member 323 may be made of a flexible material such as foam, rubber, or silicone. The foam can be, for example, an antistatic foam. Wherein, the antistatic pressure cotton can prevent to produce static, avoids causing the damage to the electrical part on the circuit board.

The pressing member 323 is made of a flexible material such as foam, rubber or silica gel, and the flexible material has good softness, so that the material 300 can be prevented from being damaged while being pressed on the carrier plate 42. In addition, the material 300 can be effectively applied to materials 300 with different specifications, and the universality is strong.

In one embodiment, as shown in fig. 1 and 2, the material handling device 32 further includes a connecting member 36 and a robot 31. The gripper mechanism 32 is connected to the robot by a connecting member 36. For example, the robot 31 is connected above the link 36, and the gripping mechanism 32 is connected below the link.

Illustratively, the connecting member 36 may have a V-shaped bracket structure. A flange column 38 is connected to the upper side of the middle end of the V-shaped link 36, and the link 36 is connected to the end of the robot 31 via the flange column 38. The robot 31 may be a six-axis robot. Gripper mechanism 32 may be attached below link 36. For example, the first gripping mechanism and the second gripping mechanism are respectively attached below both side end portions of the V-shaped link 36.

In one embodiment, a lifting drive 34 is provided between the connecting member 36 and the first grasping mechanism and/or between the connecting member and the second grasping mechanism, and the lifting drive 34 drives the first grasping mechanism and/or the second grasping mechanism to ascend or descend. The lifting driving member 34 may be a lifting cylinder, and in an operating state, the first clamping mechanism and the second clamping mechanism are vertically displaced by the lifting cylinder to prevent mutual interference.

In one example, the lifting driving member 34 may be a lifting cylinder, and one lifting cylinder may be provided to connect to the connecting member 36, and a lifting driving end thereof is connected to the gripping driving member 33 of the first gripping mechanism, so as to drive the gripping driving member 33 and the gripping claws to lift together. That is, one of the two gripping mechanisms can be independently lifted, and the other gripping mechanism cannot be independently lifted.

In another example, the lifting driving member 34 may be two lifting cylinders, which are respectively connected to the connecting members 36, a lifting driving end of one lifting cylinder is connected to the gripping driving member 33 of the first gripping mechanism to drive the gripping driving member 33 and the gripping jaws of the first gripping mechanism to lift together, and a lifting driving end of the other lifting cylinder is connected to the gripping driving member 33 of the second gripping mechanism to drive the gripping driving member 33 and the gripping jaws of the second gripping mechanism to lift together. That is, both gripping mechanisms can be independently raised and lowered.

The material taking and placing device 30 of the embodiment of the disclosure enables at least one of the first clamping mechanism and the second clamping mechanism to independently lift through the arrangement of the lifting driving element 34, and when one clamping mechanism descends to perform clamping on the carrier plate 42, the other clamping mechanism rises, so that the two clamping mechanisms can be prevented from interfering, the clamping of the clamping mechanisms is affected, and the reliability of the clamping mechanisms for clamping the carrier plate 42 is improved.

In one embodiment, the coupling 36 is provided with a first quick-change coupling 35 and a second quick-change coupling. The first gripper device is connected to a connecting piece 36 via a first quick-change coupling 35. The second gripping mechanism is connected to the coupling piece 36 via a second quick-change coupling. The first quick-change coupling 35 and the second quick-change coupling may be of a bayonet type construction.

Through the arrangement of the first quick-change connector 35 and the second quick-change connector, when the clamping mechanism 32 fails, the clamping mechanism 32 can be replaced quickly, and the testing efficiency is improved.

In one embodiment, the material handling device 30 further includes a vision mechanism for photographing the carrier plate 42 and identifying the characteristic position.

In one example, the picking mechanism 32 can pick the carrier board 42 and align the carrier board 42 with a receiving board on the testing device based on the characteristic position. For example, the vision mechanism may be provided on the link 36 or may be provided on the manipulator 31. Illustratively, the vision mechanism includes an industrial camera 39 and a camera light source 37. The camera light source 37 assists in photographing the industrial camera 39, and provides enough light source for the industrial camera 39, so that when the industrial camera 39 photographs the carrier plate 42, the obtained image of the carrier plate 42 is clearer. The images of the carrier board 42 captured by the industrial camera 39 are uploaded to the control system, and the position of the carrier board 42 and the position of the receiving board 41 of the testing device 10 are analyzed by combining with a software algorithm, so as to realize the alignment of the carrier board 42 and the receiving board 41.

The alignment of the carrier plate 42 and the receiving plate 41 is realized by the vision mechanism, so that the accuracy of picking and placing the material picking and placing device 32 is improved, and the reliability of the testing device 10 in testing the material 300 loaded on the carrier plate 42 is ensured. According to a second aspect of the embodiments of the present disclosure, a carrier plate 42 is provided, which is taken and placed by the material taking and placing device as described in any one of the embodiments of the first aspect. The carrier plate 42 includes a carrier plate body, which includes a placement area for placing materials and a spacing area for clamping by the clamping mechanism 32. The carrier plate 42 is gripped by the gripping mechanism 32, and the material on the carrier plate 42 is conveyed to the testing apparatus.

The material is indirectly taken and placed in a manner that the carrier plate 42 is clamped by the clamping mechanism 32, the clamping mechanism 32 does not need to be readjusted for the material 300 with different specifications, the test requirements of the material 300 with different specifications can be met, the universality is greatly improved, the operation time can be shortened, and the test efficiency of the material 300 is also improved.

In one example, one or more placing grooves are arranged on the placing area and used for placing the materials. Carrier plate 42 may be substantially rectangular. One or more grooves for placing the material can be arranged on the material conveying device, wherein the shape of the groove can be matched with the shape of the material to prevent the material from being separated in the conveying process. But not limited thereto, the material may be directly placed on the carrier plate 42.

In one embodiment, the carrier body has a vision positioning point for identifying a characteristic position through the vision mechanism, and the clamping mechanism clamps the carrier 42 and aligns the carrier with the receiving plate 41 of the testing apparatus based on the characteristic position.

The alignment of the carrier plate 42 and the receiving plate 41 is realized by the vision mechanism, so that the accuracy of picking and placing the material picking and placing device 32 is improved, and the reliability of the testing device 10 in testing the material 300 loaded on the carrier plate 42 is ensured.

According to a third aspect of the embodiments of the present disclosure, as shown in fig. 1, a material testing system 100 is provided, which includes one or more carrier boards 42, a testing apparatus 10, and a material handling apparatus 30 according to any one of the embodiments of the first aspect.

The carrier plate 42 is used to carry the material. The test device 10 includes one or more receiving plates 41 for receiving a carrier plate 42. Test apparatus 10 is used to test a material 300 carried on a carrier board 42.

Carrier plate 42 may be substantially rectangular. One or more grooves for placing the material can be arranged on the material, wherein the shape of the groove can be matched with the shape of the material to prevent the material from being separated in the conveying process. But not limited thereto, the material may be directly placed on the carrier plate 42.

The testing device 10 may comprise one or more testing platforms, each of which is provided with a testing drawer 11. A receiving plate 41 is placed on the test drawer 11 for receiving a carrier plate 42. The testing device 10 may further include a control system by which the material handling device 30 may be controlled to operate. Whether the material 300 carried on the carrier board 42 is tested can be obtained by the control system.

The material testing system 100 of the embodiment of the present disclosure indirectly transfers the material 300 to the testing device 10 for picking and placing in a manner that the material picking and placing device 30 clamps the carrier plate 42, and the material picking and placing device 30 does not need to be readjusted for the material 300 of different specifications, so that the testing requirements of the material 300 of different specifications can be met, the universality is greatly improved, and the operation time can be reduced, thereby improving the testing efficiency of the testing device 10 on the material 300.

In one embodiment, as shown in fig. 3b, one or more positioning pins 411 are provided on the receiving plate 41. One or more positioning holes 42 corresponding to the one or more positioning pins 411 are provided on the carrier plate 42.

The positioning pins 411 may be provided in two, diagonally arranged. Illustratively, the receiving plate 41 is provided with a receiving slot for receiving the carrier plate 42. The shape and size of the receiving groove are adapted to the shape and size of the carrier plate 42. The positioning pins 411 may be respectively provided at diagonal positions of the accommodating groove. Correspondingly, positioning holes 421 are respectively disposed at the opposite angles of the carrier 42, and copper sleeves can be sleeved on the positioning holes 421.

The positioning pins 411 and the positioning holes 42 arranged diagonally can effectively prevent the carrier plate 42 from moving relative to the receiving plate 41, so that the carrier plate 42 is placed on the receiving plate 41 more stably, the material 300 carried on the carrier plate 42 is more stable, and the reliability of the testing device 10 in testing the material 300 is ensured.

In one embodiment, the material testing system 100 further includes a transfer line 20. The transfer line 20 is used to transfer the carrier plates 42. The transfer line 20 may be a conveyor line, or a conveyor roller line. When the carrier plate 42 is located at a fixed position of the conveyance line 20, the gripping mechanism 32 grips the carrier plate 42. Thus, compared with the mode that the vision mechanism visually recognizes the carrying plate 42, the clamping efficiency can be improved, and the testing efficiency can be further improved.

Compared with the prior art in which the carrier plate 42 carries the material 300 to be conveyed on the conveying line 20, the material testing system 100 of the embodiment of the disclosure does not need to adjust the width of the conveying line 20 according to the shape and size of the material 300, and only needs to match the width of the carrier plate 42, thereby being capable of adapting to the conveying requirements of different materials 300, reducing the time of the conveying line 20, and improving the testing efficiency.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a material testing method 400 applied to the material testing system 100 of any one of the embodiments of the second aspect, the material testing method 400 includes: step S11, step S12, and step S13.

In step S11, the clamping mechanism 32 clamps the carrier board 42 to be tested, wherein the carrier board 42 to be tested carries the material 300 to be tested.

The carrier 42 to be tested can be placed on the conveying line 20 for conveying, when the carrier 42 to be tested is conveyed to the test station, the manipulator 31 can drive the clamping mechanism 32 to move to the test station, and the clamping jaws of the clamping mechanism 32 clamp to clamp the carrier 42 to be tested.

In step S12, the clamping mechanism 32 releases the carrier board 42 to be tested, and places the carrier board 42 to be tested on the receiving board 41 of the testing device 10.

The carrier board 42 to be tested clamped by the clamping mechanism 32 can be moved to the test drawer 11 of the test apparatus 10 by the manipulator 31, and the clamping jaws of the clamping mechanism 32 are opened to release the carrier board 42 to be tested, so as to place the carrier board 42 to be tested on the receiving board 41.

In step S13, the test device 10 tests the material 300 to be tested on the test board 42.

When the carrier board 42 to be tested is placed on the receiving board 41, the testing drawer 11 is closed to enter the testing device 10, and the carrier board 42 to be tested is tested by the testing device 10.

The material testing method 400 of the embodiment of the disclosure can improve the detection efficiency of the material 300.

In one embodiment, gripper mechanism 32 includes a first gripper mechanism and a second gripper mechanism. Step S11 includes: the carrier plate 42 to be tested is gripped by the first gripping mechanism. Step S12 includes: determining whether there is a tested carrier board on the receiving board 41, wherein the tested carrier board carries the tested material, if there is a tested carrier board on the receiving board 41, the tested carrier board is clamped by the second clamping mechanism, and the carrier board to be tested is released by the first clamping mechanism, and the carrier board to be tested 42 is placed on the receiving board 41. If there is no tested carrier on the receiving plate 41, the tested carrier is released directly by the first clamping mechanism, and the tested carrier 42 is placed on the receiving plate 41.

When the carrier 42 to be tested is transferred to the testing station, the manipulator 31 drives the first clamping mechanism to move to the testing station, and the clamping jaws of the first clamping mechanism clamp to clamp the carrier 42 to be tested. Then, the manipulator 31 drives the carrier board 42 to be tested and the second clamping mechanism clamped by the first clamping mechanism to move to the testing drawer 11 of the testing apparatus 10, at this time, the control system can obtain whether there is a tested carrier board 42 on the receiving board 41 of the testing drawer 11, and if there is a tested carrier board 42, the second clamping mechanism clamps the tested carrier board 42, so that the tested carrier board 42 is separated from the receiving board 41. Then, the jaws of the first clamping mechanism are opened to release the carrier plate 42 to be tested, so as to place the carrier plate 42 to be tested on the vacant receiving plate 41. Next, the testing drawer 11 is closed into the testing apparatus 10, and the carrier board 42 to be tested is tested by the testing apparatus 10. Then, the robot 31 moves the carrier boards 42 to the tested stations of the transfer line 20, and the flow is transferred to the next process, such as the assembly process, through the transfer line 20.

In the material testing method 400 of the embodiment of the disclosure, one clamping mechanism clamps the carrier board to be tested, and the other clamping mechanism clamps the tested carrier board, so that the testing device 10 can perform seamless connection on the material 300, and the testing efficiency is improved.

In one embodiment, the material handling apparatus 42 further comprises a vision mechanism, and the material testing method 400 further comprises: and acquiring image information of the carrier plate 42 to be tested through a vision mechanism.

Step S11 includes: based on the image information of the carrier plate 42 to be tested, the position of the carrier plate 42 to be tested is obtained, and the clamping mechanism 42 clamps the carrier plate 42 to be tested according to the position of the carrier plate 42 to be tested.

Step S12 includes: based on the image information of the carrier plate 42 to be tested, the position of the carrier plate 42 to be tested and the position of the receiving plate 41 are determined, and the clamping mechanism 42 places the carrier plate 42 to be tested on the receiving plate 41 of the testing device 10 according to the position of the carrier plate to be tested and the position of the receiving plate.

The vision mechanism may include an industrial camera 39 and a camera light source 37. The camera light source 37 assists in photographing the industrial camera 39, and provides enough light source for the industrial camera 39, so that when the industrial camera 39 photographs the carrier plate 42, the obtained image of the carrier plate 42 is clearer. The image information of the carrier board 42 shot by the industrial camera 39 is uploaded to the control system, the position of the carrier board 42 and the position of the receiving plate 41 of the testing device 10 are analyzed by combining a software algorithm, so as to realize the alignment of the carrier board 42 and the receiving plate 41, and the clamping mechanism 32 places the carrier board 42 to be tested on the receiving plate 41 of the testing device 10 according to the position of the carrier board 42 to be tested and the position of the receiving plate.

The alignment of the carrier plate 42 and the receiving plate 41 is realized by the vision mechanism, so as to improve the accuracy of picking and placing the material picking and placing device 32 and ensure the reliability of the testing device 10 in testing the material 300 loaded on the carrier plate 42.

It is understood that "plurality" in this disclosure means two or more, and other terms are analogous. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates a relationship where the contextual objects are an "or". The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.

It will be further understood that the terms "central," "longitudinal," "lateral," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present embodiments and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated.

It will be further understood that, unless otherwise specified, "connected" includes direct connections between the two members where no other elements are present and also includes indirect connections between the two members where other elements are present.

It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. The utility model provides a material is got and is put device, the material is placed on the support plate, its characterized in that, material is got and is put device and is included that one or more clamp get the mechanism, it includes to get the mechanism:

the clamping jaw comprises at least one first clamping block and at least one second clamping block which are arranged oppositely, wherein limiting parts are respectively arranged on the opposite surfaces of the first clamping block and the second clamping block and used for limiting the carrier plate;

and the driving end of the clamping driving part is connected with the clamping jaw to drive the clamping jaw to clamp or open so as to clamp or release the carrier plate.

2. A material handling device according to claim 1,

the limiting part is a groove.

3. A material handling device according to claim 2,

the upper and lower surfaces of the groove are respectively inclined outwards to form an inclined plane.

4. A material handling device according to claim 2,

The first clamping block and the second clamping block are respectively provided with two grooves.

5. A material handling device according to claim 1,

the gripping mechanism further comprises:

the pressing piece is arranged on the clamping jaw, wherein the pressing piece is abutted against the material to press the material onto the carrier plate in the state that the carrier plate is clamped by the clamping jaw.

6. A material handling apparatus according to any one of claims 1 to 5, wherein the gripper mechanism is connected to the robot by a linkage.

7. A material handling device according to claim 6,

the clamping mechanism is connected with the connecting piece through a lifting cylinder.

8. A material handling device according to claim 6,

the clamping mechanism is connected with the connecting piece through a quick-change connector.

9. A material taking and placing device as claimed in claim 6, wherein the two clamping mechanisms are a first clamping mechanism and a second clamping mechanism, and the first clamping mechanism and the second clamping mechanism are arranged at a distance, so that the first clamping mechanism and the second clamping mechanism do not interfere with each other in the working state;

The first clamping mechanism is used for clamping or releasing a carrier plate to be tested, and the carrier plate to be tested bears a material to be tested; the second clamping mechanism is used for clamping or releasing a tested carrier plate, and the tested carrier plate bears a tested material.

10. The material taking and placing device according to claim 7, wherein the number of the gripping mechanisms is two, namely a first gripping mechanism and a second gripping mechanism, and in an operating state, the first gripping mechanism and the second gripping mechanism are vertically displaced by the lifting cylinder.

11. A material handling device according to claim 6,

the manipulator drives the clamping mechanism to rotate by driving the connecting piece to rotate.

12. The material handling device of claim 1, further comprising a vision mechanism for taking a picture of the carrier and identifying the feature location.

13. A material handling device according to claim 11,

based on the characteristic position, the clamping mechanism clamps the support plate and aligns the support plate with a bearing plate on the testing device.

14. A carrier board for being picked and placed by a material pick and place device as claimed in any one of claims 1 to 13, the carrier board comprising: the support plate body is including placing district and spacing district, place the district and be used for placing the material, spacing district is used for getting the mechanism clamp through pressing from both sides and gets.

15. The carrier plate of claim 14,

one or more placing grooves are formed in the placing area and used for placing the materials.

16. The carrier plate of claim 14,

the carrier plate body is provided with a visual positioning point for identifying a characteristic position through a visual mechanism, and based on the characteristic position, the clamping mechanism clamps the carrier plate and aligns the carrier plate with a bearing plate on the testing device.

17. A material testing system, comprising:

a carrier plate for carrying a material, the carrier plate being a carrier plate according to any one of claims 14 to 16;

the testing device comprises one or more bearing plates for bearing the carrier plate, and is used for testing the material;

a material handling apparatus according to any one of claims 1 to 13, the apparatus being adapted to grip or release the carrier plate to place the carrier plate on the receiving plate.

18. The material testing system of claim 17,

one or more positioning pins are arranged on the bearing plate;

one or more positioning holes corresponding to the one or more positioning pins are arranged on the carrier plate.

19. The material testing system of claim 17, further comprising:

and the conveying assembly line is used for conveying the support plate, and when the support plate is located at the fixed position of the conveying assembly line, the clamping mechanism clamps the support plate.

20. A material testing method applied to the material testing system according to any one of claims 17 to 19, the material testing method comprising:

the clamping mechanism clamps a to-be-tested carrier plate, wherein the to-be-tested carrier plate bears a to-be-tested material;

the clamping mechanism releases the carrier plate to be tested and places the carrier plate to be tested on a bearing plate of the testing device;

and testing the material to be tested on the test carrier board to be tested through the testing device.

21. The material testing method as claimed in claim 20, wherein said gripping mechanism includes a first gripping mechanism and a second gripping mechanism;

It includes to press from both sides the mechanism clamp and get the examination support plate that awaits measuring: clamping the carrier plate to be tested through the first clamping mechanism;

press from both sides and get mechanism release the examination support plate that awaits measuring, and will the examination support plate that awaits measuring place in testing arrangement accept and include on the board:

determining whether a tested carrier plate exists on the bearing plate, wherein the tested carrier plate bears a tested material, if the tested carrier plate exists on the bearing plate, the tested carrier plate is clamped by the second clamping mechanism, the carrier plate to be tested is released by the first clamping mechanism, and the carrier plate to be tested is placed on the bearing plate; if no tested carrier plate exists on the bearing plate, the first clamping mechanism is used for releasing the carrier plate to be tested directly, and the carrier plate to be tested is placed on the bearing plate.

22. A material testing method according to claim 21, wherein the material handling apparatus further comprises a vision mechanism, the material testing method further comprising:

acquiring image information of the carrier plate to be tested through the vision mechanism;

the clamp is got the mechanism and is got the examination support plate that awaits measuring and includes: acquiring the position of the carrier plate to be tested based on the image information, and clamping the carrier plate to be tested by the clamping mechanism according to the position of the carrier plate to be tested;

Press from both sides and get mechanism release the examination support plate that awaits measuring, and will the examination support plate that awaits measuring place in testing arrangement accept and include on the board: and based on the image information, determining the position of the support plate to be tested and the position of the bearing plate, and placing the support plate to be tested on the bearing plate of the testing device by the clamping mechanism according to the position of the support plate to be tested and the position of the bearing plate.