CN116040310A

CN116040310A - Flexible pick-up rigid positioning conveying device, conveying method and defect detection equipment

Info

Publication number: CN116040310A
Application number: CN202310113553.7A
Authority: CN
Inventors: 张俊; 李欢; 李润泽; 王亮; 曹葵康; 周明
Original assignee: Tztek Technology Co Ltd
Current assignee: Tztek Technology Co Ltd
Priority date: 2023-02-15
Filing date: 2023-02-15
Publication date: 2023-05-02
Anticipated expiration: 2043-02-15
Also published as: CN116040310B

Abstract

The invention provides a flexible pickup rigid positioning carrying device, a carrying method and defect detection equipment, which belong to the field of precision conveying and detection, wherein the carrying device comprises a carrying frame seat, a mechanical arm main control seat, an X arm, a Y arm, a lifting screw rod and a flexible pickup head which are sequentially connected; the space driving of the flexible pick-up head in the three directions of XYZ is realized through the main control seat of the mechanical arm, the X arm, the Y arm and the lifting screw rod; the flexible pick-up head adopts a rigid positioning component for rigidly positioning the flexibly picked-up product before carrying; the defect detection equipment comprises a feeding station, a left and right material distribution, carrying and shaping module, an optical detection station and an automatic blanking station of the butt joint production line; the product pickup of the method has the advantages that the rigid positioning function is added on the basis of flexible pickup, and the stability and the positioning quality of the product in the carrying process are ensured; is convenient for popularization and application in the field of conveying of 3C, semiconductor, photovoltaic and other products related to plate subclasses.

Description

Flexible pick-up rigid positioning conveying device, conveying method and defect detection equipment

Technical Field

The invention belongs to the field of high-precision transfer, and particularly relates to a flexible pick-up rigid positioning carrying device, a flexible pick-up rigid positioning carrying method and a defect detection device.

Background

With the rapid development of the 3C (generally, the combination of Computer, communication, and consumer electronics, also called information home appliances) industry, especially consumer electronics markets, such as mobile terminals, and electronic wearable products, the output of electronic components is increasing, and it is particularly important to control the quality of the electronic components in the production process.

The quality control of the 3C soft package battery, the chip, the cover plate, the frame, the lens, the earphone, the key and the like is particularly important. With the development of machine vision quantity detection technology and artificial intelligence AI deep learning, high-speed and high-quality detection equipment for 3C batteries is possible, and quality assurance of transportation of the key components is also possible. Specifically, in the conventional transfer and transportation of plate products, such as soft package batteries, cover plates, glass pieces and the like, when vacuum adsorption pickup is adopted, the conventional suction nozzle is used for sucking, and buffering is added at most, but in the transfer process, the buffering is easy to cause vibration in the rapid carrying process, so that the stability, the positioning quality and the like of the plate products can be changed, and the subsequent process is unstable or the quality is reduced.

Therefore, there is a need to develop a handling device that is flexible or cushions the picked-up product and that is stable and stationary during handling.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide a flexible pick-up rigid positioning carrying device, a flexible pick-up rigid positioning carrying method and a defect detection device, which can solve the problems.

The flexible pick-up rigid positioning carrying device comprises a carrying frame seat, a mechanical arm main control seat, an X arm, a Y arm, a lifting screw rod and a flexible pick-up head which are sequentially connected; the space driving of the flexible pick-up head in the three directions of XYZ is realized through the main control seat of the mechanical arm, the X arm, the Y arm and the lifting screw rod; the flexible pick-up head adopts a rigid positioning component for rigidly positioning the flexibly picked-up product before carrying.

Further, the flexible pick-up head comprises an inverted T-shaped adapter, a pushing cylinder connecting bottom plate, a pushing cylinder connecting vertical plate, a floating connecting sleeve bolt assembly, a buffer spring, a floating block, a rectangular suction plate and a vacuum source; the inverted T-shaped adapter, the pushing cylinder connecting bottom plate, the floating connecting sleeve bolt assembly, the floating block, the rectangular suction plate and the vacuum source provide vacuum adsorption force for adsorbing and picking up products; the floating connecting sleeve bolt assembly, the buffer spring and the floating block provide flexible buffer, so that the adsorbed product is prevented from being damaged by rigid touch; the pushing cylinder is connected with the bottom plate, the pushing cylinder switching vertical plate and the floating connecting sleeve bolt assembly to provide rigid pushing for rigidly positioning the cushioning and adsorbing product.

The invention also provides a flexible pick-up rigid positioning carrying method, which comprises the following steps:

s1, positioning a product, and enabling a carrying device to move in the XYZ three-axis directions through a mechanical arm so as to align a flexible pick-up head with a product below;

s2, flexibly abutting, wherein the carrying device drives the flexible pick-up head to abut against a product below through the lifting screw rod, and the buffer spring is compressed to a first compression position;

s3, vacuum adsorption, wherein the flexible pick-up head is opened to vacuum, and the product is sucked tightly, so that flexible pick-up of the product is realized;

s4, rigidly pushing and positioning, wherein a pushing cylinder is actuated to push the top of the bolt of the floating connecting sleeve bolt assembly, and a buffer spring below the floating connecting sleeve bolt assembly is compressed to a second compression position, so that rigidly positioning of a picked product is realized;

s5, carrying the product, wherein the carrying device moves in the XYZ three-axis directions through the mechanical arm, and carries the picked product to a target station.

The invention also provides defect detection equipment, which comprises a butt joint production line feeding station, a left and right material distribution, carrying and shaping module, an optical detection station and a blanking automatic material distribution station, wherein the butt joint production line feeding station, the left and right material distribution, carrying and shaping module, the optical detection station and the blanking automatic material distribution station are connected with the controller in a telecommunication way and are sequentially arranged; the butt joint production line feeding station and the optical detection station both comprise the conveying device and convey products according to the conveying method.

Compared with the prior art, the invention has the beneficial effects that: the product pickup of the method has the advantages that the rigid positioning function is added on the basis of flexible pickup, and the stability and the positioning quality of the product in the carrying process are ensured; the high-quality conveying requirements of follow-up procedures such as defect detection equipment and the like are met, and the device is convenient to popularize and apply in the field of conveying of plate small products such as 3C, semiconductors and photovoltaics.

Drawings

FIG. 1 is a schematic view of a handling apparatus according to the present invention;

FIG. 2 is an enlarged view of FIG. 1 at A;

FIG. 3 is a schematic view of another view of the handling device;

FIG. 4 is an enlarged view at B in FIG. 3;

FIG. 5 is a schematic diagram of an inverted T-adapter;

FIG. 6 is a schematic diagram of a state of a carrying method;

FIG. 7 is a schematic flow chart of a carrying method;

FIG. 8 is a schematic top view of an example of a defect inspection apparatus;

fig. 9 is a schematic top view of another example of a defect detection apparatus.

In the drawing the view of the figure,

1. carrying a frame base; 2. a main control seat of the mechanical arm; 3. an X arm; 4. a Y arm; 5. lifting the screw rod; 6. an inverted T-shaped adapter 6; 7. the pushing cylinder is connected with the bottom plate; 8. pushing the cylinder tightly; 9. pushing the cylinder switching vertical plate tightly; 10. a floating connecting sleeve bolt assembly; 11. a buffer spring; 12. a slider; 13. a rectangular suction plate; 14. an alignment block;

1000. a defect detection device; 100. a butt joint production line feeding station; 200. a left and right material-separating, carrying and shaping module; 300. an optical inspection station; 310. a robot transfer mechanism; 320. an angle automatic adjusting mechanism; 330. a side fixed shooting mechanism; 400. a blanking automatic material distributing station; 410. detecting an OK automatic receiving cabin; 420. and detecting the NG belt line.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present 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.

It should be appreciated that "system," "apparatus," "unit," and/or "module" as used in this specification is a method for distinguishing between different components, elements, parts, portions, or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

Conveying device

The flexible pick-up rigid positioning carrying device comprises a carrying frame seat 1, a mechanical arm main control seat 2, an X arm 3, a Y arm 4, a lifting screw rod 5 and a flexible pick-up head which are sequentially connected with one another, wherein the flexible pick-up rigid positioning carrying device is shown in fig. 1-5; the space driving of the flexible pick-up head in the three directions of XYZ is realized through the mechanical arm main control seat 2, the X arm 3, the Y arm 4 and the lifting screw rod 5; the flexible pick-up head adopts a rigid positioning component for rigidly positioning the flexibly picked-up product before carrying.

Arrangement relation: the bottom of the mechanical arm main control seat 2 is fixed to the top of the carrying frame seat 1; the Y arm 4 and the X arm 3 are movably connected to the mechanical arm main control seat 2 in sequence in a controlled manner, so that horizontal movement and position adjustment of the device are realized; the lifting screw rod 5 is vertically connected to the Y arm 4 and is controlled to lift, so that the height of the device is adjusted.

The flexible pick-up head comprises an inverted T-shaped adapter 6 (see fig. 5), a pushing cylinder connecting bottom plate 7, a pushing cylinder 8, a pushing cylinder connecting vertical plate 9, a floating connecting sleeve bolt assembly 10, a buffer spring 11, a floating block 12, a rectangular suction plate 13 and a vacuum source; the inverted T-shaped adapter 6, the pushing cylinder connecting bottom plate 7, the floating connecting sleeve bolt assembly 10, the floating block 12, the rectangular suction plate 13 and the vacuum source provide vacuum adsorption force for adsorbing and picking up products; the floating connecting sleeve bolt assembly 10, the buffer spring 11 and the floating block 12 provide flexible buffer to avoid the damage of the adsorbed product caused by rigid touch; the pushing cylinder is connected with the bottom plate 7, the pushing cylinder 8, the pushing cylinder switching vertical plate 9 and the floating connecting sleeve bolt assembly 10 to provide rigid pushing for rigidly positioning the cushioning and adsorbing product.

The floating connecting sleeve bolt assembly 10 comprises a sleeve, a bolt and a limiting clamp spring.

Further, the top of the inverted T-shaped adapter 6 is connected to the end of the lifting screw 5 to transmit XYZ three-axis force to the whole flexible pick-up head; through holes are formed in four corners of the inverted T-shaped adapter 6 and are used for accommodating sleeves and bolt tops of the four floating connecting sleeve bolt assemblies 10.

Further, the pushing cylinder connecting bottom plate 7 is fixedly connected to the upper surface of the inverted T-shaped adapter 6, through holes are formed in the middle and four corners of the pushing cylinder connecting bottom plate 7, and the through holes in the middle are used for penetrating through the middle protruding connecting parts of the inverted T-shaped adapter 6; the four corners through holes correspond to the through holes formed in the four corners of the inverted T-shaped adapter 6 in position and size, and are used for accommodating the tops of the bolts of the four floating connecting sleeve bolt assemblies 10, so that the pushing and guiding are facilitated.

Further, two pushing cylinder switching risers 9 are vertically fixed to both sides of the pushing cylinder connecting base plate 7 opposite to each other, two pushing cylinders 8 are vertically connected to the inner surfaces of the two pushing cylinder switching risers 9, and push rods of the pushing cylinders 8 are aligned to the top of the bolts of the two floating connecting sleeve bolt assemblies 10 on the same side to provide thrust to the corresponding bolts.

Further, threaded holes corresponding to the four floating connecting sleeve bolt assemblies 10 are formed in four corners of the floating block 12 and are used for connecting the bottoms of the floating connecting sleeve bolt assemblies 10; a buffer spring 11 is sleeved between the floating joint sleeve bolt assembly 10 and the slider 12 to provide a buffer force.

Wherein, rectangle suction plate 13 includes suction plate connecting plate, silica gel suction plate and multilayer suction nozzle, and the multilayer suction nozzle passes the silica gel suction plate to be connected to the suction plate connecting plate to vacuum tube valve connection on the suction plate connecting plate.

In a specific example, the vacuum source of the flexible pick-up head adopts a vacuum generator, a vacuum pipe, a pipe valve and a valve controller, and the vacuum generator can be installed on the carrying frame seat 1, the mechanical arm main control seat 2 or integrated on the flexible pick-up head.

Further, the flexible pick-up head further comprises an alignment block 14 mounted on the side of the rectangular suction plate 13 for rapid alignment during product pick-up. In a specific example, L-shaped alignment blocks 14 are mounted to the rectangular suction plate 13 at two edges of one corner of the silicone suction plate. Of course, the alignment block 14 may take different shapes and mounting positions for different products.

Conveying method

A flexible pick-up rigid positioning handling method, which is based on the handling device described above, in particular with reference to fig. 6 and 7, comprises the following steps.

S1, positioning a product, and enabling the carrying device to move in the XYZ three-axis directions through the mechanical arm so as to align the flexible pick-up head with the product below.

S2, flexibly abutting, the carrying device drives the flexible pick-up head to abut against the product below through the lifting screw rod 5, and the buffer spring 11 is compressed to a first compression position.

S3, vacuum adsorption, wherein the flexible pick-up head is opened to vacuum, and the product is sucked tightly, so that flexible pick-up of the product is realized.

S4, rigidly pushing and positioning, wherein a pushing cylinder 8 is actuated to push the top of a bolt of the floating connecting sleeve bolt assembly 10, and a buffer spring 11 below the floating connecting sleeve bolt assembly is compressed to a second compression position, so that rigidly positioning of a picked product is realized.

Defect detection apparatus

The defect detection equipment 1000, see fig. 8 and 9, comprises a butt joint production line feeding station 100, a left and right material separation, carrying and shaping module 200, an optical detection station 300 and a blanking automatic material separation station 400 which are connected with a controller in a telecommunication manner and are sequentially arranged; the docking production line loading station 100 and the optical inspection station 300 each include the aforementioned handling device, and carry the product according to the aforementioned carrying method.

The docking production line feeding station 100 is used for intercepting and measuring NG products and conveying measuring OK products to the left and right material-distributing, transporting and shaping modules 200.

The left and right material-separating, transporting and shaping modules 200 are arranged between the butt-joint production line feeding station 100 and the optical detection station 300, and are used for distributing the materials from the butt-joint production line feeding station 100 to the optical detection station 300 for defect detection after being shaped and turned over.

Wherein, the optical detection station 300 adopts an optical detection unit based on 2NN for adjusting the degree of freedom of a positive integer sleeve 6, and realizes the parallel optical detection of N channels and 2N bits; each set of optical detection unit comprises a robot transfer mechanism 310, an angle automatic adjustment mechanism 320 and a side fixed shooting mechanism 330, and is used for adjusting the omnibearing posture of a product to be detected and detecting defects. In the illustrated example, 4 sets of 6 degree of freedom adjustment optical detection units are employed.

The automatic blanking and distributing station 400 is arranged at the downstream of the optical detection station 300, the automatic blanking and distributing station 400 adopts a detection OK automatic receiving cabin 410 based on detection results and a sorting and blanking module of a detection NG belt line 420, the detection OK automatic receiving cabin 410 is used for automatically dishing, flowing out and receiving the detection OK products, and the detection NG belt line 420 enables the detection NG products to flow back to the manual re-judgment and dishing and receiving through the belt line. Of course, the automatic blanking and distributing station 400 can also adopt the example shown in fig. 9, and different blanking modes can be matched, so that the adaptability is improved.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible rigid positioning handling device, characterized in that:

the carrying device comprises a carrying frame seat (1), a mechanical arm main control seat (2), an X arm (3), a Y arm (4), a lifting screw rod (5) and a flexible pick-up head which are connected in sequence; space driving of the flexible pick-up head in the three directions of XYZ is realized through the mechanical arm main control seat (2), the X arm (3), the Y arm (4) and the lifting screw rod (5); the flexible pick-up head adopts a rigid positioning component for rigidly positioning the flexibly picked-up product before carrying.

2. Handling device according to claim 1, characterized in that:

the bottom of the mechanical arm main control seat (2) is fixed to the top of the carrying frame seat (1); the Y arm (4) and the X arm (3) are sequentially and movably connected to the mechanical arm main control seat (2) in a driving and controlling way, so that the horizontal movement and the position adjustment of the device are realized; the lifting screw rod (5) is vertically connected to the Y-arm (4) and can lift and move in a controlled manner, so that the height of the device is adjusted.

3. Handling device according to claim 1, characterized in that:

the flexible pick-up head comprises an inverted T-shaped adapter (6), a pushing cylinder connecting bottom plate (7), a pushing cylinder (8), a pushing cylinder connecting vertical plate (9), a floating connecting sleeve bolt assembly (10), a buffer spring (11), a floating block (12), a rectangular suction plate (13) and a vacuum source; the inverted T-shaped adapter (6), the pushing cylinder connecting bottom plate (7), the floating connecting sleeve bolt assembly (10), the floating block (12), the rectangular suction plate (13) and the vacuum source provide vacuum adsorption force for adsorbing and picking up products; the floating connecting sleeve bolt assembly (10), the buffer spring (11) and the floating block (12) provide flexible buffer to avoid the damage of the adsorbed product caused by rigid touch; the pushing cylinder is connected with the bottom plate (7), the pushing cylinder (8), the pushing cylinder switching vertical plate (9) and the floating connecting sleeve bolt assembly (10) to provide rigid pushing for rigidly positioning the cushioning and adsorbing product.

4. A handling device according to claim 3, wherein:

the top of the inverted T-shaped adapter (6) is connected to the tail end of the lifting screw rod (5) so as to transfer XYZ three-axis force to the whole flexible pick-up head; four corners of the inverted T-shaped adapter (6) are provided with through holes for accommodating sleeves and bolt tops of four floating connecting sleeve bolt assemblies (10).

5. The handling device of claim 4, wherein:

the pushing cylinder connecting bottom plate (7) is fixedly connected to the upper surface of the inverted T-shaped adapter (6), through holes are formed in the middle and four corners of the pushing cylinder connecting bottom plate (7), and the middle through holes are used for penetrating through the middle protruding connecting parts of the inverted T-shaped adapter (6); the four-corner through holes correspond to the through holes formed in the four corners of the inverted T-shaped adapter (6) in position and size and are used for accommodating the tops of the bolts of the four floating connecting sleeve bolt assemblies (10), so that the pushing and guiding are facilitated.

6. The handling device of claim 5, wherein:

the two pushing cylinder switching vertical plates (9) are vertically fixed on two sides of the pushing cylinder connecting bottom plate (7) in opposite directions, the two pushing cylinders (8) are vertically connected to the inner surfaces of the two pushing cylinder switching vertical plates (9), and push rods of the pushing cylinders (8) are aligned to the top parts of bolts of the two floating connecting sleeve bolt assemblies (10) on the same side so as to provide thrust for corresponding bolts.

7. The handling device of claim 5, wherein:

screw holes corresponding to the four floating connecting sleeve bolt assemblies (10) are formed in four corners of the floating block (12) and are used for connecting the bottoms of the floating connecting sleeve bolt assemblies (10); the buffer spring (11) is sleeved between the floating connecting sleeve bolt assembly (10) and the floating block (12) to provide buffer force.

8. A handling device according to claim 3, wherein:

the rectangular suction plate (13) comprises a suction plate connecting plate, a silica gel suction plate and a multi-layer suction nozzle, wherein the multi-layer suction nozzle penetrates through the silica gel suction plate to be connected to the suction plate connecting plate and is connected with a vacuum pipe valve on the suction plate connecting plate.

9. A method of handling a flexible pick-up rigid location, the method comprising:

s2, flexibly abutting, wherein the carrying device drives the flexible pick-up head to abut against a product below through the lifting screw rod (5), and the buffer spring (11) is compressed to a first compression position;

s4, rigidly pushing and positioning, wherein a pushing cylinder (8) is actuated to push the top of a bolt of the floating connecting sleeve bolt assembly (10), and a buffer spring (11) below the floating connecting sleeve bolt assembly is compressed to a second compression position to rigidly position a picked product;

10. A defect detection apparatus characterized in that:

the defect detection equipment (1000) comprises a butt joint production line feeding station (100), a left and right material distribution, carrying and shaping module (200), an optical detection station (300) and a blanking automatic material distribution station (400) which are connected with the controller in a telecommunication way and are sequentially arranged; wherein the docking production line loading station (100) and the optical inspection station (300) each comprise a handling device according to any one of claims 1 to 8 and handle products according to the handling method of claim 9;

the butt joint production line feeding station (100) is used for intercepting and measuring NG products and conveying the measured OK products to the left and right material distribution, transportation and shaping modules (200);

the left and right material distribution, carrying and shaping modules (200) are arranged between the butt joint production line feeding station (100) and the optical detection station (300) and are used for distributing the materials fed from the butt joint production line feeding station (100) to the optical detection station (300) for defect detection after being shaped and turned over;

the optical detection station (300) adopts 2N sets of optical detection units with 6 degrees of freedom adjusted based on N being a positive integer to realize 2N-bit parallel optical detection of an N channel; each set of optical detection unit comprises a robot transfer mechanism (310), an angle automatic adjustment mechanism (320) and a side fixed shooting mechanism (330) and is used for adjusting the omnibearing posture of a product to be detected and detecting defects;

the automatic blanking material distribution station (400) is arranged at the downstream of the optical detection station (300), the automatic blanking material distribution station (400) adopts a detection OK automatic material collection cabin (410) based on detection results and a sorting blanking module for detecting an NG belt line (420), the detection OK automatic material collection cabin (410) is used for automatically dishing and discharging and collecting the products of detection OK, and the detection NG belt line (420) enables the products of detection NG to flow backwards to the manual re-judgment and dishing and collecting through the belt line.