CN117103234B - Manipulator for visual inspection of appearance of light guide plate - Google Patents
Manipulator for visual inspection of appearance of light guide plate Download PDFInfo
- Publication number
- CN117103234B CN117103234B CN202311371603.8A CN202311371603A CN117103234B CN 117103234 B CN117103234 B CN 117103234B CN 202311371603 A CN202311371603 A CN 202311371603A CN 117103234 B CN117103234 B CN 117103234B
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- Prior art keywords
- light guide
- plate
- driving
- guide plate
- moving
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- 238000011179 visual inspection Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000007689 inspection Methods 0.000 claims abstract description 15
- 239000012636 effector Substances 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009881 electrostatic interaction Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a manipulator for visual inspection of appearance of a light guide plate, and particularly relates to the field of production of light guide plates, wherein the manipulator comprises a mechanical arm, an end effector is arranged at the output end of the mechanical arm, and the end effector comprises: the mounting plate is arranged at the output end of the mechanical arm; the clamping device comprises a sucker which is arranged at two ends of the bottom of the mounting plate and is used for sucking the light guide plate; the driving mechanism is fixedly arranged at the output end of the driving mechanism and is used for driving the sucker to move towards the middle part of the mounting plate and driving the sucker to swing towards the upper part of the end part of the mounting plate. According to the invention, the two ends of the light guide plate are driven to bend upwards by the sucker, then the separating roller is clung to the lower surface of the bending part of the idle light guide plate, and when the separating roller rotates, a pushing force is applied to the idle light guide plate, so that the electrostatic adsorption force between the light guide plates is overcome, and the end part of the idle light guide plate slides downwards and is separated from the light guide plate for inspection.
Description
Technical Field
The invention relates to the technical field of light guide plate production, in particular to a manipulator for visual inspection of the appearance of a light guide plate.
Background
In the production process of the light guide plate, defects such as point injury, line scratch, shadow and the like cannot be avoided due to the influence of factors such as raw materials, temperature and the like, display abnormality can be caused, and the use of a user is influenced, so that the appearance defect of the light guide plate needs to be detected.
The visual inspection device mainly composed of a visual camera and an auxiliary lighting lamp is used for inspecting the appearance of the light guide plate, and the visual inspection of the light guide plate is slower than the production speed of the light guide plate, so that the light guide plates are often stacked together, and then the manipulator sucks the light guide plates to an inspection station for visual inspection.
The existing manipulator adopts a multi-axis mechanical arm, and a clamping device is arranged at the tail end of the mechanical arm, and because the thickness of the light guide plate is not large, the clamping device usually adopts a sucking disc mode, absorbs the light guide plate at a material taking station through the sucking disc, and then sends the light guide plate to a detection station for detection through the mechanical arm.
However, in the process of stacking the light guide plates together, friction occurs between the light guide plates, static electricity is generated, and the light guide plates are adsorbed together due to the action of the static electricity. When the vacuum chuck on the manipulator is used for sucking, two or more than two light guide plates can be sucked simultaneously, so that detection confusion is caused. The prior art adopts the mode that sets up the vacuum chuck that can shake, after absorbing the light guide plate, shake through one or more vacuum chucks, utilize the inertia of light guide plate (light guide plate is less when thinner) and make two light guide plates produce elastic deformation through the shake, the light guide plate elastic deformation's of below degree is big, the light guide plate of top is because by vacuum chuck absorption, warp for little, this just makes the edge between the light guide plate produce the clearance, and the clearance is along with the shake is bigger and bigger more, and then makes two light guide plates break away from.
The existing manipulator is suitable for a relatively thick light guide plate or a light guide plate which is thin but poor in flexibility. For the thinner and better flexible light guide plate, in the shaking process, the two light guide plates deform synchronously, the inertia is smaller, and a gap is difficult to generate between the light guide plates, namely, the separation is difficult.
Disclosure of Invention
The invention provides a manipulator for visual inspection of the appearance of a light guide plate, which aims to solve the problems that: in the shaking separation process, the thin and flexible light guide plates are difficult to separate because the two light guide plates deform synchronously and have small inertia, and gaps are difficult to generate between the light guide plates.
In order to achieve the above object, the present invention provides a manipulator for visual inspection of appearance of a light guide plate, comprising a manipulator, an end effector is mounted at an output end of the manipulator, and the end effector comprises: the mounting plate is arranged at the output end of the mechanical arm; the clamping device comprises a sucker which is arranged at two ends of the bottom of the mounting plate and is used for sucking the light guide plate; the driving mechanism is fixedly arranged at the output end of the driving mechanism and is used for driving the sucker to move towards the middle part of the mounting plate and driving the sucker to swing upwards at the end part of the mounting plate, and when the sucker swings upwards, the end part of the light guide plate bends upwards; the separating mechanism comprises a separating roller and a power component, the output end of the power component is fixedly connected with one end of the separating roller, the separating mechanism further comprises a first driving component, and the first driving component is used for driving the separating roller to be close to or far away from the sucker; when the separating roller is close to the sucker and clings to the lower surface of the end part of the idle light guide plate, the power component drives the separating roller to rotate, and the end part of the idle light guide plate is under the action of the pushing force of the separating roller, so that the end part of the idle light guide plate is separated downwards from the end part of the inspection light guide plate; the light guide plate is absorbed by the sucker, and the idle light guide plate is absorbed below the light guide plate.
In a preferred embodiment, the driving mechanism comprises a first driving plate, one side, far away from the middle part of the mounting plate, of the first driving plate is provided with a second driving plate, the first driving plate and the second driving plate are fixedly connected with the mounting plate, a moving block is arranged between the first driving plate and the second driving plate, a straight notch is formed in the first driving plate, a straight groove part is formed in the second driving plate, a downward inclined chute part is formed in one end, close to the middle part of the mounting plate, of the straight notch and the straight groove part are located at the same horizontal height, a first pin shaft and a second pin shaft are respectively inserted into two sides of the second driving plate, the first pin shaft slides in the straight groove part, the second pin shaft slides in the straight groove part and the chute part, and the sucker is fixedly mounted on the first pin shaft.
In a preferred embodiment, the driving mechanism further comprises a moving rod and a connecting shaft, one end of the moving rod is rotatably sleeved on the moving block, the connecting shaft is inserted on the moving rod, the first air cylinder is installed at the upper end of the mounting plate, the output end of the first air cylinder is hinged with a connecting rod, and one end of the connecting rod, which is far away from the first air cylinder, is hinged with the upper end of the connecting shaft.
In a preferred embodiment, the first driving part comprises a fixing plate fixedly installed at the upper end of the mounting plate, a swing plate is hinged to one side, close to the end portion of the mounting plate, of the fixing plate, the separating roller is rotatably connected to the bottom of the swing plate, a second air cylinder is arranged on the fixing plate, the fixed end of the second air cylinder is hinged to the fixing plate, and the output end of the second air cylinder is hinged to the swing plate.
In a preferred embodiment, a stage is provided below the mounting plate, on which a carrier plate is provided for carrying the light guide plate, and on which positioning pins are provided for positioning the carrier plate.
In a preferred embodiment, the four moving boxes are arranged around the carrying plate, the pushing plates are vertically inserted on the moving boxes, the second driving part is arranged at the bottom of the objective table and used for driving the four moving boxes to move towards the direction close to the carrying plate or away from the carrying plate.
In a preferred embodiment, the driving part comprises a disc, the disc is arranged below the object stage, a guide groove is formed in the circumferential direction of the disc, two ends of the guide groove are respectively located on one side close to the middle of the disc and one side far away from the middle of the disc, a bent rod is fixedly arranged at the bottom of the moving box, one end of the bent rod far away from the moving box slides in the guide groove, and the disc is driven by a driving motor III.
In a preferred embodiment, the mounting rods are fixedly connected to the two ends of the objective table, the third rack is slidably arranged on the mounting rods, the third rack is rotatably connected to the mounting rods and meshed with the third gear, the separating rod is fixedly connected to one end, close to the objective table, of the third rack, and the third gear is driven by the fourth motor.
In a preferred embodiment, the mechanical arm comprises a Y-axis moving assembly, the Y-axis moving assembly comprises a first fixing frame, a first moving seat is slidably arranged on the first fixing frame, a first rack is fixedly arranged on the first fixing frame, a first motor is arranged on the first moving seat, a first gear is fixedly arranged at the output end of the first motor, and the first gear is meshed with the first rack.
In a preferred embodiment, the mechanical arm further comprises a Z-axis moving assembly, the Z-axis moving assembly comprises a second fixing frame, the second fixing frame is fixedly arranged on the first moving seat, the second fixing frame is slidably arranged on the second moving seat, a second rack is fixedly arranged on the second fixing frame, a second motor is arranged on the second moving seat, a second gear is fixedly arranged at the output end of the second motor, and the second gear is meshed with the second rack.
The invention has the technical effects and advantages that: according to the invention, the two ends of the light guide plate are driven to bend upwards by the sucker, then the separating roller is clung to the lower surface of the bending part of the idle light guide plate, and when the separating roller rotates, a pushing force is applied to the idle light guide plate, so that the electrostatic adsorption force between the light guide plates is overcome, and the end part of the idle light guide plate slides downwards and is separated from the light guide plate for inspection.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a partial structure of the present invention.
Fig. 3 is a schematic partial structure of the driving mechanism of the present invention.
Fig. 4 is an exploded view of fig. 3 in accordance with the present invention.
Fig. 5 is a schematic view of the suction cup of the present invention after swinging.
Fig. 6 is a schematic diagram of a partial structure of the present invention.
Fig. 7 is a partial cross-sectional view of the present invention.
Fig. 8 is a schematic diagram of a second driving part of the present invention.
Fig. 9 is a schematic view of the structure of the Y-axis moving assembly and the Z-axis moving assembly of the present invention.
Fig. 10 is a schematic view of the suction cup of the present invention sucking the light guide plate.
Fig. 11 is a schematic view of the light guide plates of the present invention when they are separated.
The reference numerals are: 1. a mechanical arm; 11. a Y-axis moving assembly; 111. a first fixing frame; 112. a first movable seat; 113. a first rack; 114. a first motor; 115. a first gear; 12. a Z-axis movement assembly; 121. a second fixing frame; 122. a second movable seat; 123. a second rack; 124. a second motor; 125. a second gear; 2. a mounting plate; 3. a suction cup; 31. a vacuum generator; 4. a driving mechanism; 41. a first driving plate; 411. a straight slot; 42. a second driving plate; 421. a straight groove portion; 422. a chute portion; 43. a moving block; 44. a pin shaft I; 45. a second pin shaft; 46. a moving rod; 47. a connecting shaft; 48. a first cylinder; 49. a connecting rod; 5. a separation mechanism; 51. a separation roller; 52. a power component; 53. a first driving part; 531. a fixing plate; 532. a swinging plate; 533. a second cylinder; 6. an objective table; 61. a carrying plate; 62. a positioning pin; 7. a moving case; 71. a push plate; 8. a second driving part; 81. a disc; 82. a guide groove; 83. bending a rod; 9. a mounting rod; 91. a third rack; 92. a third gear; 93. a separation rod; 100. a light guide plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Referring to fig. 1 to 11 of the specification, a manipulator for visual inspection of appearance of a light guide plate includes a mechanical arm 1, an end effector is mounted at an output end of the mechanical arm 1, and the end effector includes: the mounting plate 2 is arranged at the output end of the mechanical arm 1; the clamping device comprises a sucker 3, wherein the sucker 3 is arranged at two ends of the bottom of the mounting plate 2, and the sucker 3 is used for sucking the light guide plate 100; the driving mechanism 4 is fixedly arranged at the output end of the driving mechanism 4, and the driving mechanism 4 is used for driving the sucking disc 3 to move towards the middle part of the mounting plate 2 and driving the sucking disc 3 to swing upwards at the end part of the mounting plate 2, and when the sucking disc 3 swings upwards, the end part of the light guide plate 100 is bent upwards; the separating mechanism 5, the separating mechanism 5 comprises a separating roller 51 and a power component 52, the output end of the power component 52 is fixedly connected with one end of the separating roller 51, the separating mechanism 5 also comprises a first driving component 53, and the first driving component 53 is used for driving the separating roller 51 to be close to or far away from the sucker 3; when the separating roller 51 is close to the sucker 3 and is clung to the lower surface of the end part of the idle light guide plate 100, the power part 52 drives the separating roller 51 to rotate, and the end part of the idle light guide plate 100 is under the action of the pushing force of the separating roller 51, so that the end part of the idle light guide plate 100 is separated downwards from the end part of the inspection light guide plate 100; the inspection light guide plate 100 is the light guide plate 100 absorbed by the sucker 3, and the idle light guide plate 100 is the light guide plate 100 absorbed below the inspection light guide plate 100.
In the above technical scheme, sucking disc 3 is vacuum chuck, clamping device still includes vacuum generator 31, and vacuum generator 31's output is linked together with sucking disc 3, and vacuum generator 31 installs on mounting panel 2, and sucking disc 3 is provided with four, and the both ends of mounting panel 2 all set up two, and when sucking disc 3 absorbed light guide plate 100, four angles that four sucking discs 3 absorbed light guide plate 100 respectively. The driving mechanism 4 can drive the suction cup 3 to move on one hand and can drive the suction cup 3 to swing on the other hand, so that a linear cylinder and a swinging cylinder can be configured for each suction cup 3 to drive the suction cup 3 to act. The power part 52 is a motor, the motor is used for driving the separating roller 51 to rotate, and the driving part 53 can adopt an air cylinder or a ball screw pair to drive the separating roller 51 to move so as to achieve the purpose of driving the separating roller 51 to be close to or far from the sucker 3.
It should be further noted that, the mechanical arm 1 may be a three-axis mechanical arm, so as to drive the end effector to move, thereby achieving the purpose of sucking the light guide plate 100 from the material taking station to the visual inspection station.
In a specific implementation scenario, the light guide plates 100 are stacked at the material taking station, when visual inspection is performed, the mechanical arm 1 drives the end effector to move to the material taking station, then the end effector descends, the uppermost light guide plate 100 is sucked by the suction cup 3, and when the light guide plates 100 are sucked together due to electrostatic interaction, the suction cup 3 sucks one light guide plate 100, but possibly two or more light guide plates 100 are sucked together, as shown in fig. 10. Therefore, firstly, the driving mechanism 4 drives the suction cup 3 to move toward the middle of the mounting plate 2 (i.e. the direction of the X-axis in fig. 1), then, the driving mechanism 4 drives the suction cup 3 to swing upwards by an angle, the specific angle can be determined according to different types of light guide plates 100, at this time, both ends of the light guide plates 100 are bent upwards, and since the light guide plates 100 are relatively soft, the light guide plates 100 that are adsorbed together cannot be separated, the driving member one 53 drives the separation roller 51 to approach the bending part of the light guide plate 100, and the separation roller 51 is attached to the lower surface of the idle light guide plate 100, as shown in fig. 11. Then the separating roller 51 is driven to rotate by the power component 52, the rotation direction is shown in fig. 11, the outer surface of the separating roller 51 is coated with elastic rubber, the elastic rubber applies thrust to the idle light guide plate 100, so that the end part of the idle light guide plate 100 slides downwards and is separated from the end part of the inspection light guide plate 100, as shown in fig. 11, finally the idle light guide plate 100 is completely separated from the inspection light guide plate 100 under the action of gravity, and the light guide plate 100 is sent to a detection station by the mechanical arm 1.
It should be noted that, the sucker 3 moves first to make the light guide plate 100 generate a buffer area and then swing upwards, so as to prevent the sucker 3 from directly swinging upwards to cause tensile damage to the light guide plate 100 or prevent the light guide plate 100 from being separated from the sucker 3.
Referring to fig. 1-5 of the specification, another structure of a driving mechanism 4 is provided herein, which can drive a suction cup 3 to act without adopting four linear cylinders and four swinging cylinders, specifically, the driving mechanism 4 comprises a driving plate one 41, one side of the driving plate one 41 far away from the middle of a mounting plate 2 is provided with a driving plate two 42, both the driving plate one 41 and the driving plate two 42 are fixedly connected with the mounting plate 2, a moving block 43 is arranged between the driving plate one 41 and the driving plate two 42, a straight notch 411 is formed on the driving plate one 41, a straight groove 421 is formed on the driving plate two 42, a downward inclined chute 422 is formed at one end of the straight groove 421 near the middle of the mounting plate 2, the straight notch 411 and the straight groove 421 are at the same level, two sides of the driving plate two 42 are respectively inserted with a pin one 44 and a pin two 45, the pin one 44 slides in the straight groove 411, the pin two 45 slides in the straight groove 421 and the chute 422, and the suction cup 3 is fixedly mounted on the pin one 44.
Further, the driving mechanism 4 further comprises a moving rod 46 and a connecting shaft 47, one end of the moving rod 46 is rotatably sleeved on the moving block 43, the connecting shaft 47 is inserted on the moving rod 46, a first air cylinder 48 is installed at the upper end of the mounting plate 2, a connecting rod 49 is hinged to the output end of the first air cylinder 48, and one end, away from the first air cylinder 48, of the connecting rod 49 is hinged to the upper end of the connecting shaft 47.
It should be noted that, the pin one 44 and the pin two 45 are respectively and fixedly installed at two sides of the middle part of the moving block 43, the state before the suction cup 3 swings is shown in fig. 3, when the suction cup 3 needs to act, the first cylinder 48 drives the connecting rod 49 to move, and the connecting rod 49 drives the moving block 43 to move through the connecting shaft 47 and the moving rod 46; first, the second pin 45 moves in the straight slot 421, the first pin 44 moves in the straight slot 411, and the moving block 43 and the suction cup 3 are in a translational state, and when the second pin 45 moves into the chute 422, the moving block 43 swings, so that the moving block 43 drives the suction cup 3 to swing through the first pin 44, as shown in fig. 5.
It should be noted that, each suction cup 3 is configured with a first driving plate 41, a second driving plate 42, a moving block 43, a first pin 44 and a second pin 45, and two suction cups 3 located at the same end of the mounting plate 2 share a moving rod 46, a connecting shaft 47, a first cylinder 48 and a connecting rod 49, so that only two first cylinders 48 are needed to drive the four suction cups 3, and the control is simpler.
Referring to fig. 1-2 of the drawings, the first driving part 53 includes a fixed plate 531, the fixed plate 531 is fixedly mounted on the upper end of the mounting plate 2, a swing plate 532 is hinged to one side of the fixed plate 531 near the end of the mounting plate 2, the separation roller 51 is rotatably connected to the bottom of the swing plate 532, a second air cylinder 533 is disposed on the fixed plate 531, the fixed end of the second air cylinder 533 is hinged to the fixed plate 531, and the output end of the second air cylinder 533 is hinged to the swing plate 532.
It should be noted that, the power component 52 is fixedly installed on the swing plate 532, and is used for driving the separation roller 51 to rotate, and through the expansion and contraction of the second air cylinder 533, the swing plate 532 can be driven to swing, when the swing plate 532 swings downward, the separation roller 51 can contact with the lower surface of the idle light guide plate 100, and when the swing plate 532 swings upward, the suction of the suction cup 3 on the light guide plate 100 is not affected.
Referring to fig. 1, 6 and 7 of the specification, a stage 6 is disposed below the mounting plate 2, a carrier plate 61 is disposed on the stage 6, the carrier plate 61 is used for carrying the light guide plate 100, and positioning pins 62 are disposed on the stage 6, and the positioning pins 62 are used for positioning the carrier plate 61.
The carrier plate 61 is provided with positioning holes corresponding to the positioning pins 62, and the positioning pins 62 are positioned in the positioning holes when the carrier plate 61 is placed on the stage 6.
Further, moving boxes 7 are arranged around the carrying plate 61, pushing plates 71 are vertically inserted on the moving boxes 7, a second driving part 8 is arranged at the bottom of the objective table 6, and the second driving part 8 is used for driving the four moving boxes 7 to move towards the direction close to the carrying plate 61 or away from the carrying plate 61.
Further, the second driving part 8 comprises a disc 81, the disc 81 is arranged below the object stage 6, a guide groove 82 is formed in the circumferential direction of the disc 81, two ends of the guide groove 82 are respectively located on one side close to the middle of the disc 81 and one side far away from the middle of the disc 81, a bent rod 83 is fixedly arranged at the bottom of the moving box 7, one end, far away from the moving box 7, of the bent rod 83 slides in the guide groove 82, and the disc 81 is driven by a third driving motor.
It should be noted that, the moving box 7 is slidably mounted on the stage 6, the disc 81 is driven to rotate by the motor three, the disc 81 can drive the bent rod 83 and the moving box 7 to move back and forth through the guide slot 82, the stacked light guide plates 100 can be pushed by the pushing plates 71 on the moving box 7, the four pushing plates 71 can push the light guide plates 100 in order, and especially when the idle light guide plates 100 are separated from the inspection light guide plates 100, the idle light guide plates 100 are pushed in order, so that the sucking disc 3 can accurately suck the light guide plates 100 next time.
Further, the mounting rods 9 are fixedly connected to the two ends of the objective table 6, the three racks 91 are slidably arranged on the mounting rods 9, the three racks 91 are rotatably connected to the three gears 92 on the mounting rods 9, the three racks 91 are meshed with the three gears 92, the separating rods 93 are fixedly connected to one end, close to the objective table 6, of the three racks 91, and the three gears 92 are driven by the motor four.
It should be noted that, as shown in fig. 11, when the idle light guide plate 100 is separated from the inspection light guide plate 100, the middle of the idle light guide plate 100 may be concave downward, and the motor four and the gear three 92 drive the rack three 91 and the separating rod 93 to move, so that the separating rod 93 may be inserted into the concave space of the idle light guide plate 100, at this time, the mechanical arm 1 may drive the suction cup 3 to rise at a relatively high speed, so that the idle light guide plate 100 is separated from the inspection light guide plate 100 rapidly, and the production speed is accelerated. A vision camera may be provided on the frame to detect whether the idle light guide plate 100 is depressed, and if not, the third rack 91 and the separation lever 93 do not act.
Referring to fig. 1 and 9 of the drawings, the mechanical arm 1 includes a Y-axis moving assembly 11, the Y-axis moving assembly 11 includes a first fixed frame 111, a first moving seat 112 is slidably mounted on the first fixed frame 111, a first rack 113 is fixedly mounted on the first fixed frame 111, a first motor 114 is mounted on the first moving seat 112, a first gear 115 is fixedly mounted at an output end of the first motor 114, and the first gear 115 is meshed with the first rack 113.
Further, the mechanical arm 1 further comprises a Z-axis moving assembly 12, the Z-axis moving assembly 12 comprises a second fixing frame 121, the second fixing frame 121 is fixedly installed on the first moving seat 112, a second moving seat 122 is slidably installed on the second fixing frame 121, a second rack 123 is fixedly installed on the second fixing frame 121, a second motor 124 is installed on the second moving seat 122, a second gear 125 is fixedly installed at the output end of the second motor 124, and the second gear 125 is meshed with the second rack 123.
It should be noted that, the first motor 114 may drive the first moving seat 112 to move along the Y axis on the first fixing frame 111 through the engagement of the first gear 115 and the first rack 113, the second motor 124 may drive the second moving seat 122 to move along the Z axis on the second fixing frame 121 through the engagement of the second gear 125 and the second rack 123, and the mounting plate 2 is mounted on the second moving seat 122, so that the mounting plate 2 may be driven to move along the Y axis and the Z axis through the Y axis moving assembly 11 and the Z axis moving assembly 12.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The utility model provides a light guide plate outward appearance vision detects uses manipulator which characterized in that: including arm (1), the end effector is installed to the output of arm (1), and the end effector includes:
the mounting plate (2) is arranged at the output end of the mechanical arm (1);
the clamping device comprises a sucker (3), wherein the sucker (3) is arranged at two ends of the bottom of the mounting plate (2), and the sucker (3) is used for sucking the light guide plate (100);
the driving mechanism (4), the sucking disc (3) is fixedly arranged at the output end of the driving mechanism (4), the driving mechanism (4) is used for driving the sucking disc (3) to move towards the middle part of the mounting plate (2) and driving the sucking disc (3) to swing upwards at the end part of the mounting plate (2), and when the sucking disc (3) swings upwards, the end part of the light guide plate (100) is bent upwards;
the separating mechanism (5), the separating mechanism (5) comprises a separating roller (51) and a power component (52), the output end of the power component (52) is fixedly connected with one end of the separating roller (51), the separating mechanism (5) further comprises a first driving component (53), and the first driving component (53) is used for driving the separating roller (51) to be close to or far away from the sucker (3); when the separating roller (51) is close to the sucker (3) and is clung to the lower surface of the end part of the idle light guide plate (100), the power component (52) drives the separating roller (51) to rotate, and the end part of the idle light guide plate (100) is under the action of the pushing force of the separating roller (51) so that the end part of the idle light guide plate (100) is separated downwards from the end part of the inspection light guide plate (100);
the light guide plate (100) for the inspection is a light guide plate (100) adsorbed by the sucker (3), and the idle light guide plate (100) is a light guide plate (100) adsorbed below the light guide plate (100) for the inspection;
the driving mechanism (4) comprises a first driving plate (41), one side, away from the middle part of the mounting plate (2), of the first driving plate (41) is provided with a second driving plate (42), the first driving plate (41) and the second driving plate (42) are fixedly connected with the mounting plate (2), a moving block (43) is arranged between the first driving plate (41) and the second driving plate (42), a straight notch (411) is formed in the first driving plate (41), a straight groove part (421) is formed in the second driving plate (42), a downward inclined groove part (422) is formed in one end, close to the middle part of the mounting plate (2), of the straight groove part (421), the straight groove part (411) and the straight groove part (421) are located on the same horizontal height, a pin shaft one (44) and a pin shaft two (45) are respectively inserted into two sides of the second driving plate (42), the pin shaft one (44) slides in the inside of the straight groove part (411), and the pin shaft two (45) slides in the straight groove part (421) and the inside of the inclined groove part (422), and the pin shaft (3) slides on the first pin shaft (44) and is fixedly arranged on a sucker (44).
The driving mechanism (4) further comprises a moving rod (46) and a connecting shaft (47), one end of the moving rod (46) is rotatably sleeved on the moving block (43), the connecting shaft (47) is inserted on the moving rod (46), a first air cylinder (48) is arranged at the upper end of the mounting plate (2), a connecting rod (49) is hinged to the output end of the first air cylinder (48), and one end, far away from the first air cylinder (48), of the connecting rod (49) is hinged to the upper end of the connecting shaft (47).
2. The manipulator for visual inspection of light guide plate appearance according to claim 1, wherein: the first driving part (53) comprises a fixed plate (531), the fixed plate (531) is fixedly arranged at the upper end of the mounting plate (2), one side, close to the end part of the mounting plate (2), of the fixed plate (531) is hinged with a swinging plate (532), the separating roller (51) is rotationally connected to the bottom of the swinging plate (532), the fixed plate (531) is provided with a second air cylinder (533), the fixed end of the second air cylinder (533) is hinged with the fixed plate (531), and the output end of the second air cylinder (533) is hinged with the swinging plate (532).
3. The manipulator for visual inspection of light guide plate appearance according to claim 1, wherein: an objective table (6) is arranged below the mounting plate (2), an objective table (61) is arranged on the objective table (6), the objective table (61) is used for bearing the light guide plate (100), a positioning pin (62) is arranged on the objective table (6), and the positioning pin (62) is used for positioning the objective table (61).
4. A manipulator for visual inspection of appearance of a light guide plate according to claim 3, characterized in that: the four-direction moving device is characterized in that moving boxes (7) are arranged around the carrying plate (61), pushing plates (71) are vertically inserted on the moving boxes (7), a driving part II (8) is arranged at the bottom of the objective table (6), and the driving part II (8) is used for driving the four moving boxes (7) to move towards the direction close to the carrying plate (61) or away from the carrying plate (61).
5. The manipulator for visual inspection of light guide plate appearance according to claim 4, wherein: the second driving part (8) comprises a disc (81), the disc (81) is arranged below the objective table (6), a guide groove (82) is formed in the circumferential direction of the disc (81), two ends of the guide groove (82) are respectively located on one side close to the middle of the disc (81) and one side far away from the middle of the disc (81), a bent rod (83) is fixedly arranged at the bottom of the moving box (7), one end of the bent rod (83) far away from the moving box (7) slides in the guide groove (82), and the disc (81) is driven by a driving motor three.
6. The manipulator for visual inspection of light guide plate appearance according to claim 4, wherein: the utility model discloses a motor, including objective table (6), rack three (91) and gear three (92), all fixedly connected with installation pole (9) at both ends of objective table (6), the slip is provided with rack three (91) on installation pole (9), and it is connected with gear three (92) to rotate on installation pole (9), rack three (91) meshes with gear three (92), one end fixedly connected with release lever (93) that rack three (91) is close to objective table (6), gear three (92) are by four drives of motor.
7. The manipulator for visual inspection of light guide plate appearance according to claim 1, wherein: the mechanical arm (1) comprises a Y-axis moving assembly (11), the Y-axis moving assembly (11) comprises a first fixed frame (111), a first moving seat (112) is slidably arranged on the first fixed frame (111), a first rack (113) is fixedly arranged on the first fixed frame (111), a first motor (114) is arranged on the first moving seat (112), a first gear (115) is fixedly arranged at the output end of the first motor (114), and the first gear (115) is meshed with the first rack (113);
the mechanical arm (1) further comprises a Z-axis moving assembly (12), the Z-axis moving assembly (12) comprises a second fixed frame (121), the second fixed frame (121) is fixedly arranged on the first movable seat (112), a second movable seat (122) is slidably arranged on the second fixed frame (121), a second rack (123) is fixedly arranged on the second fixed frame (121), a second motor (124) is arranged on the second movable seat (122), a second gear (125) is fixedly arranged at the output end of the second motor (124), and the second gear (125) is meshed with the second rack (123);
the mounting plate (2) is mounted on the second movable seat (122).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311371603.8A CN117103234B (en) | 2023-10-23 | 2023-10-23 | Manipulator for visual inspection of appearance of light guide plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311371603.8A CN117103234B (en) | 2023-10-23 | 2023-10-23 | Manipulator for visual inspection of appearance of light guide plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117103234A CN117103234A (en) | 2023-11-24 |
| CN117103234B true CN117103234B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311371603.8A Active CN117103234B (en) | 2023-10-23 | 2023-10-23 | Manipulator for visual inspection of appearance of light guide plate |
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| Country | Link |
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| CN (1) | CN117103234B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001305374A (en) * | 2000-04-19 | 2001-10-31 | Toshiba Mach Co Ltd | Mechanism for aligning surface to be joined between optical parts |
| CN104227898A (en) * | 2013-06-11 | 2014-12-24 | 鸿富锦精密工业（深圳）有限公司 | A light guide plate manufacturing device |
| CN205312617U (en) * | 2015-12-29 | 2016-06-15 | 苏州塞一澳电气有限公司 | A single cylinder welding diversion feeding agencies |
| CN208946352U (en) * | 2018-09-07 | 2019-06-07 | 深圳市吉富鸿科技有限公司 | A kind of light guide plate die-cutting machine blank module |
| CN209579300U (en) * | 2019-01-24 | 2019-11-05 | 东莞市镕泰自动化设备有限公司 | A kind of rotation vessel quick-mounting device |
| CN212601910U (en) * | 2020-08-07 | 2021-02-26 | 唐山学院 | Sucking disc manipulator for plastic handle production line |
-
2023
- 2023-10-23 CN CN202311371603.8A patent/CN117103234B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001305374A (en) * | 2000-04-19 | 2001-10-31 | Toshiba Mach Co Ltd | Mechanism for aligning surface to be joined between optical parts |
| CN104227898A (en) * | 2013-06-11 | 2014-12-24 | 鸿富锦精密工业（深圳）有限公司 | A light guide plate manufacturing device |
| CN205312617U (en) * | 2015-12-29 | 2016-06-15 | 苏州塞一澳电气有限公司 | A single cylinder welding diversion feeding agencies |
| CN208946352U (en) * | 2018-09-07 | 2019-06-07 | 深圳市吉富鸿科技有限公司 | A kind of light guide plate die-cutting machine blank module |
| CN209579300U (en) * | 2019-01-24 | 2019-11-05 | 东莞市镕泰自动化设备有限公司 | A kind of rotation vessel quick-mounting device |
| CN212601910U (en) * | 2020-08-07 | 2021-02-26 | 唐山学院 | Sucking disc manipulator for plastic handle production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117103234A (en) | 2023-11-24 |
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