CN202770779U - Detection device capable of applying multi-shaft mechanical arm - Google Patents
Detection device capable of applying multi-shaft mechanical arm Download PDFInfo
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- CN202770779U CN202770779U CN201220425738.9U CN201220425738U CN202770779U CN 202770779 U CN202770779 U CN 202770779U CN 201220425738 U CN201220425738 U CN 201220425738U CN 202770779 U CN202770779 U CN 202770779U
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Abstract
The utility model discloses a detection device capable of applying a multi-shaft mechanical arm. The detection device comprises a first image scanning device and a multi-shaft mechanical arm which is arranged by corresponding to the first image scanning device. The first image scanning device is arranged on one side of a first area to be detected, and the first area to be detected is correspondingly located in field depth area range of the first image scanning device. The multi-shaft mechanical arm comprises a pickup portion and a machine arm, the pickup portion is used for fixing an object to be detected, the machine arm is used for connecting the pickup portion so as to move the object to be detected, the machine arm moves the object to be detected to the first area to be detected and rotates the object to be detected, and accordingly the first image scanning device can capture each image on the visual plane of the object to be detected. According to the detection device capable of applying the multi-shaft mechanical arm, the multi-view detection function is achieved, visual planes of polyhedral object to be detected at various angles can be obtained by shooting, and thereby each visual plane of the object to be detected can be subjected to defect detection.
Description
Technical field
The utility model relates to a kind of pick-up unit that uses the multi-spindle machining arm, espespecially a kind of pick-up unit that one article to be measured is carried out the multiaspect detection by the multi-spindle machining arm.
Background technology
The accurate detection is a very important ring in the robotization control.The development of the automatic control technology of sight can be talked about by the concept of volume production.Volume production is the abbreviation of a large amount of productions (Mass Production), and its concept namely comes across human society very early, has low cost, high efficiency advantage.But the implementation of volume production is limited by normalized condition precedent.Before normalization not yet can be reached, the object of volume production only limited to the industry of low technical, low precision, such as simple products such as fragments of brick.Popularize along with normalized, divide the work carefullyyer, the treatable object of volume production also increases simultaneously.Yet along with the demand of the accurate industrial high standard of bringing, also need just can meet through tight detection the standard of general supply chain for the quality of product.Be with, how product is carried out the detection of high precision, be output as a large problem of processing procedure manufacturer so that high-quality product material to be provided.
The accurate product that usually is applicable to possess high precision, hangs down serious forgiveness that detects usually cooperates robotization control to produce the line setting, and is equipped on the terminal position of supply chain, the finished product of making is carried out the detection that the surface is stained, wear and tear, leak the flaws such as copper.It usually includes an optical instrument (such as line sweep video camera, face smear camera etc.) and in order to the surperficial capture to article to be measured, detects the flaws such as foreign matter or pattern anomalies with the computer image treatment technology again.In known technology, normally determinand is delivered in the field depth of above-mentioned optical instrument by a conveying belt and carried out capture, yet, most pick-up unit only possesses the effect of the single visual plane of article to be measured being carried out capture is arranged, and the surface that can not cooperate polyhedral product to carry out various dimensions is detected.Such as TaiWan, China I230255 patent, disclose a kind of automatic optical checking machine, include a upright platform and several Charged Coupled Devices (charge coupled device, CCD).This Charged Coupled Device is in order to carry out optical check to glass substrate.This automatic optical checking machine comprise in addition a multiaxis to mechanical arm, in order to load and to unload this glass substrate on a platform.Yet this device only can only be used for the detection of planar substrates, can not be applicable to carry out for polyhedron the situation of various dimensions capture.
For polyhedral detection, in fact typically use an XY θ microscope carrier to adjust position, the angle of determinand, make the capture face of determinand in the field depth of optical instrument, yet when moving the dimension arrival location of the single vector of polyhedral technology palpus through XY θ microscope carrier, just can carry out the displacement of another vector direction, be the speed that is subject to operation, this device is used for a large amount of effects that detect and not satisfactory.
Summary of the invention
Technical problem to be solved in the utility model is: for above-mentioned the deficiencies in the prior art, provide a kind of pick-up unit that uses the multi-spindle machining arm, a kind of multi-spindle machining arm that uses carries out the pick-up unit that multiaspect detects to a polyhedral determinand.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of pick-up unit that uses the multi-spindle machining arm, surface blemish for detection of several visible planar of article to be measured, be characterized in: this pick-up unit includes the first device of image scanning and multi-spindle machining arm, this first device of image scanning is arranged at a side in one first zone to be measured, and this first zone to be measured is positioned at the depth of field regional extent of this first device of image scanning relatively; The section of picking up and one that this multi-spindle machining arm includes fixing above-mentioned article to be measured links this and picks up section with the horn of mobile above-mentioned article to be measured, and this horn moves that above-mentioned article to be measured are supreme to be stated the first zone to be measured and rotate these article to be measured to capture the image of several visible planar of above-mentioned article to be measured by this first device of image scanning.
Further, this pick-up unit includes one second device of image scanning, and is arranged at the second zone to be measured in this second device of image scanning field depth and the above-mentioned article to be measured of a mounting to this second zone to be measured so that the second device of image scanning should carry out to a visible planar of these article to be measured the microscope carrier of image capture.
Further, this microscope carrier includes one first carrier and one second carrier, this second carrier includes one and is threaded to this first carrier top and is adsorbed the first state of this article one side to be measured by the reference position axle, and one be reset to reference position with will this article to be measured relatively the another side of this one side upwards expose to the open air so that the second state that confession the second device of image scanning carries out capture.
Further, this second device of image scanning is line sweep video camera (Line Scan Camera).
Further, this second device of image scanning is face smear camera (Area Scan Camera).
Further, this pick-up unit includes the light filling light fixture that a pair of these article to be measured carry out light filling.
Further, this section of picking up is vacuum absorption device.
Further, this first device of image scanning is face smear camera (Area Scan Camera).
Further, this first device of image scanning is line sweep video camera (Line Scan Camera).
Therefore, the utility model compared with prior art has the following advantages:
1. the utility model has more the measuring ability of standby various visual angles than prior art, can shooting obtains the visible planar of each angle of polyhedron determinand, and then each visible planar of determinand is carried out Defect Detection.
2. because multiaxis horn of the present utility model can carry out the movement of multiaxis simultaneously, than the XY θ microscope carrier of prior art, not only translational speed is faster, more because the multiaxis horn operates in the three-dimensional space, its operational space nargin is wider, can mutually configure with described pick-up unit more flexibly.
Description of drawings
Fig. 1 is the schematic appearance of the utility model pick-up unit.
Fig. 2 is the operation chart one of the utility model pick-up unit.
Fig. 3 is the operation chart two of the utility model pick-up unit.
Fig. 4 is the operation chart three of the utility model pick-up unit.
Fig. 5 is the operation chart four of the utility model pick-up unit.
Fig. 6 is the operation chart five of the utility model pick-up unit.
Label declaration:
100... pick-up unit 10 ... the first device of image scanning
11 ... first to be measured regional 12 ... the light filling light fixture
20 ... the second device of image scanning 21 ... the second zone to be measured
22 ... light filling light fixture 30 ... the multi-spindle machining arm
31 ... pick up section 32 ... horn
40 ... microscope carrier 41 ... the first carrier
42 ... the first carrier 200... article to be measured.
Embodiment
Relevant detailed description of the present utility model and technology contents now just cooperate graphic being described as follows.Moreover, graphic in the utility model, for convenience of explanation, its ratio may not be drawn by actual ratio, and exaggerative situation is arranged, and these are graphic and ratio is non-in order to limit scope of the present utility model.
Pick-up unit relevant for utilization multi-spindle machining arm of the present utility model, see also Fig. 1, schematic appearance for the utility model pick-up unit, as shown in the figure: pick-up unit 100 of the present utility model, mainly be for several visible planar of article 200 to be measured are carried out the detection of surface blemish, these article 200 to be measured can be a polyhedral structure, and have several visible planar.More specifically, the utility model can be used for chip, crystal column surface, electronic packing part, electronic components, electronic device housing or other product that possesses several visible planar are carried out the detection at a plurality of visual angles.In the present embodiment, the utility model consists predominantly of first device of image scanning 10 that can carry out to single plane capture, and one moves, rotates these article 200 to be measured with regular fashion and makes this first device of image scanning 10 be obtained respectively the multi-spindle machining arm 30 of several visible planar of these article 200 to be measured.For ease of these article 200 to be measured are carried out capture, this first device of image scanning 10 is arranged at a side of one first to be measured regional 11, this first to be measured regional 11 depth of field regional extent that relatively is positioned at this first device of image scanning 10, and be provided with a pair of these article to be measured 200 on first to be measured regional 11 in a side of this first device of image scanning 10 and carry out light filling so that the light filling light fixture 12 of these the first device of image scanning 10 captures.Relevant for described depth of field regional extent, refer to that above-mentioned the first device of image scanning 10 can the zone of reasonableness on clear identification article to be measured 200 surfaces in.Be preferably a smear camera (Area Scan Camera) relevant for described the first device of image scanning 10, so that each visible angle of article 200 to be measured is distinguished capture, this first device of image scanning 10 also can be selected line sweep video camera (Line Scan Camera) according to the demand in the configuration in addition.
Above-mentioned multi-spindle machining arm 30 includes the section of picking up 31 of fixing above-mentioned article 200 to be measured, and one links this and picks up section 31 with the horn 32 of mobile above-mentioned article 200 to be measured.In the present embodiment, this picks up section 31 and is the vacuum slot of adsorbable article 200 to be measured, and when practical operation, this picks up section 31 and also can be by the jig arm of motor driving in order to clamping article 200 to be measured, is not limited it and implement kenel in the utility model.
Because must have at least simultaneously to cover because of the section of picking up 31 on the horn 32 when detecting article 200 to be measured by multi-spindle machining arm 30 causes capture incomplete, be with, the utility model more disposes one second device of image scanning 20, one is arranged at second to be measured regional 21 in the field depth of this second device of image scanning 20 and a microscope carrier 40 corresponding to this second device of image scanning 20.This microscope carrier 40 detects path movement and through above-mentioned second to be measured regional 21 in order to carry above-mentioned article to be measured 200 along one, obtaining the flat image of these article 200 to be measured by this second device of image scanning 20, and be provided with the light filling light fixture 22 that a pair of these article to be measured 200 of second to be measured regional 21 carry out light filling in a side of this second device of image scanning 20.Described the second device of image scanning 20 is preferably a line sweep video camera (Line Scan Camera), so that the program that detects is carried out continuously.Yet this second device of image scanning 20 also can be selected face smear camera (Area Scan Camera) according to the demand in the configuration.
Preferably, microscope carrier 40 of the present utility model has one first carrier 41, and second carrier 42 that is arranged at these the first carrier 41 1 sides, and this second carrier 42 includes one first state and one second state.Obtain a front image of above-mentioned article to be measured 200 in the second device of image scanning 20 after, this second carrier 42 operates in the first state.When the first state, this second carrier 42 is revolved and is turn to the top of this first carrier 41 by relative these the first carrier 41 axles in an initial position, with the front of adsorbing these article 200 to be measured by the vacuum absorption device on this second carrier 42.When the second state, these the second carrier 42 involutions make the back side of these article 200 to be measured up further to obtain back side image by this second device of image scanning 20 to reference position.Refer to position corresponding to above-mentioned vacuum slot absorption relevant for described front and the back side, that is front and the back side can represent respectively a be masked plane of position of these article 200 to be measured, and the relative another side on this plane.
Relevant for relevant start details of the present utility model, see also Fig. 2 to Fig. 6, below be to disclose a kind of polyhedral testing process of the present utility model, wherein these article 200 to be measured include several sides, a front and a back side.For reaching following operation, mechanical arm of the present utility model must include four axles ability complete operation at least, at this its four axle is defined as respectively X-axis, Y-axis, Z axis, and θ axle, this X-axis, Y-axis, it is mobile in a three dimensions that Z axis is used for these article 200 to be measured of operation, this θ axle is used for these article 200 axles to be measured of fixed-point operation and revolves, its sequence of operation is as follows: in article 200 to be measured (polyhedron) when moving to operating platform, above-mentioned multi-spindle machining arm 30 picks up a front (back side) of these article 200 to be measured by this vacuum slot, and by above-mentioned X-axis, Y-axis, Z axis carries out X axis, Y-axis, and the movement of Z-axis direction (described X-axis, Y-axis, Z axis might not be distinguished the X in corresponding three-dimensional space, Y, Z-direction arranges, the utility model is not got rid of any enforcement pattern that uses three axles mobile article 200 to be measured in three dimensions), these article 200 to be measured are moved in the field depth of above-mentioned the first device of image scanning 10 (that is above-mentioned zone to be measured).Continuing, it is shown in Figure 2 to see also, this multi-spindle machining arm 30 moves this article 200 to be measured, make its side over against the camera lens of this first device of image scanning 10, and make the rotation of lens of these article 200 corresponding these the first device of image scanning 10 to be measured by above-mentioned θ axle, make this first device of image scanning 10 obtain the image of these article to be measured 200 each sides.Further, see also shown in Figure 3ly, for ease of the front that captures these article 200 to be measured and the image at the back side, this multi-spindle machining arm 30 transfers load to these article 200 to be measured on the first above-mentioned carrier 41, this first carrier 41 also has a vacuum absorption device, in order to adsorb above-mentioned article to be measured 200.Continue, as shown in Figure 4, when this microscope carrier 40 is sensed these article 200 to be measured and is placed on this first carrier 41, these microscope carrier 40 these article 200 to be measured of carrying move towards the field depth of this second device of image scanning 20, in these article 200 to be measured during through the second device of image scanning 20, linearly aligned Charged Coupled Device on this scanister (charge coupled device, CCD) is obtained the image in these article to be measured 200 fronts.Further, see also shown in Figure 5, obtain the image in these article to be measured 200 fronts in this scanister after, be arranged at the second carrier 42 of these the first carrier 41 1 sides towards the position upset of this first carrier 41, and by these article 200 to be measured of the absorption of the vacuum absorption device on this second carrier 42, and return back to reference position, make the back side of these article 200 to be measured up.At this moment, as shown in Figure 6, this microscope carrier 40 moves back to reference position along former detection path, makes this second device of image scanning 20 obtain the back side image of these article 200 to be measured.At last, via shifting apparatus article 200 to be measured are transferred load to delivery platform and finish all detections.
In sum, the utility model has more the measuring ability of standby various visual angles than prior art, can shooting obtains the visible planar of each angle of polyhedron determinand, and then each visible planar of determinand is carried out Defect Detection.In addition, because multiaxis horn of the present utility model can carry out the movement of multiaxis simultaneously, than the XY θ microscope carrier of prior art, not only translational speed is faster, more because the multiaxis horn operates in the three-dimensional space, its operational space nargin is wider, can mutually configure with described pick-up unit more flexibly.
Below the utility model is described in detail, only the above, it only is a preferred embodiment of the present utility model, when not limiting the scope that the utility model is implemented with this, be that all equalizations of doing according to the utility model claim change and modification, all should still belong in the patent covering scope of the present utility model.
Claims (9)
1. pick-up unit that uses the multi-spindle machining arm, surface blemish for detection of several visible planar of article to be measured, it is characterized in that: this pick-up unit includes the first device of image scanning and multi-spindle machining arm, this first device of image scanning is arranged at a side in one first zone to be measured, and this first zone to be measured is positioned at the depth of field regional extent of this first device of image scanning relatively; The section of picking up and one that this multi-spindle machining arm includes fixing above-mentioned article to be measured links this and picks up section with the horn of mobile above-mentioned article to be measured, and this horn moves that above-mentioned article to be measured are supreme to be stated the first zone to be measured and rotate these article to be measured to capture the image of several visible planar of above-mentioned article to be measured by this first device of image scanning.
2. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 1 is characterized in that: this device further includes one second device of image scanning, and is arranged at the second zone to be measured in this second device of image scanning field depth and the above-mentioned article to be measured of a mounting to this second zone to be measured so that the second device of image scanning should carry out to a visible planar of these article to be measured the microscope carrier of image capture.
3. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 2, it is characterized in that: described microscope carrier includes one first carrier and one second carrier, this second carrier include first state and that is threaded to this first carrier top and adsorbs this article one side to be measured by the reference position axle be reset to reference position with will this article to be measured relatively the another side of this one side upwards expose to the open air so that the second state that confession the second device of image scanning carries out capture.
4. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 2, it is characterized in that: described the second device of image scanning is the line sweep video camera.
5. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 2, it is characterized in that: described the second device of image scanning is the face smear camera.
6. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 1, it is characterized in that: this device further includes the light filling light fixture that these article to be measured is carried out light filling.
7. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 1, it is characterized in that: the described section of picking up is vacuum slot.
8. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 1, it is characterized in that: described the first device of image scanning is the face smear camera.
9. the pick-up unit of utilization multi-spindle machining arm as claimed in claim 1, it is characterized in that: described the first device of image scanning is the line sweep video camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220425738.9U CN202770779U (en) | 2012-08-27 | 2012-08-27 | Detection device capable of applying multi-shaft mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220425738.9U CN202770779U (en) | 2012-08-27 | 2012-08-27 | Detection device capable of applying multi-shaft mechanical arm |
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| CN202770779U true CN202770779U (en) | 2013-03-06 |
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| CN201220425738.9U Expired - Lifetime CN202770779U (en) | 2012-08-27 | 2012-08-27 | Detection device capable of applying multi-shaft mechanical arm |
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| CN105424717A (en) * | 2014-09-05 | 2016-03-23 | 由田新技股份有限公司 | Optical detection device for detecting multiple defects |
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| CN106767494A (en) * | 2015-11-25 | 2017-05-31 | 由田新技股份有限公司 | Image detection equipment and image detection method |
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| CN109709091A (en) * | 2017-10-25 | 2019-05-03 | 浙江大学常州工业技术研究院 | Equipment for testing product lacquer painting |
| CN109835709A (en) * | 2017-11-27 | 2019-06-04 | 浙江大学常州工业技术研究院 | A kind of lacquer painting detection device |
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- 2012-08-27 CN CN201220425738.9U patent/CN202770779U/en not_active Expired - Lifetime
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| CN105424717B (en) * | 2014-09-05 | 2017-12-15 | 由田新技股份有限公司 | Optical detection device for detecting multiple defects |
| CN105424717A (en) * | 2014-09-05 | 2016-03-23 | 由田新技股份有限公司 | Optical detection device for detecting multiple defects |
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| CN106767494A (en) * | 2015-11-25 | 2017-05-31 | 由田新技股份有限公司 | Image detection equipment and image detection method |
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| CN107703649A (en) * | 2016-08-08 | 2018-02-16 | 由田新技股份有限公司 | Transfer equipment for simultaneously detecting multiple material sheets to be detected and detection system thereof |
| CN107703649B (en) * | 2016-08-08 | 2020-08-04 | 由田新技股份有限公司 | Transfer equipment for simultaneously detecting multiple material sheets to be detected and detection system thereof |
| CN108204982A (en) * | 2016-12-16 | 2018-06-26 | 由田新技股份有限公司 | Multi-view image capturing device and multi-view image detecting equipment |
| CN109709091A (en) * | 2017-10-25 | 2019-05-03 | 浙江大学常州工业技术研究院 | Equipment for testing product lacquer painting |
| CN109835709A (en) * | 2017-11-27 | 2019-06-04 | 浙江大学常州工业技术研究院 | A kind of lacquer painting detection device |
| CN109987401A (en) * | 2017-12-29 | 2019-07-09 | 浙江大学常州工业技术研究院 | A kind of product lacquer painting detection device |
| CN107894431A (en) * | 2017-12-29 | 2018-04-10 | 福建工程学院 | A kind of two-segment type capsule medicine plate quality inspection device and method based on machine vision |
| CN110090817A (en) * | 2018-01-31 | 2019-08-06 | 浙江大学常州工业技术研究院 | Product lacquer painting detection device |
| CN108190510A (en) * | 2018-02-26 | 2018-06-22 | 浙江大学常州工业技术研究院 | A kind of product lacquer painting detects stacking adapter |
| CN110907455A (en) * | 2019-12-29 | 2020-03-24 | 常州微亿智造科技有限公司 | Three-body machine for detecting appearance of computer bottom cover and detection method thereof |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130306 |
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| CX01 | Expiry of patent term |