CN203991331U - Detection machine and detection robot thereof - Google Patents
Detection machine and detection robot thereof Download PDFInfo
- Publication number
- CN203991331U CN203991331U CN201420358061.0U CN201420358061U CN203991331U CN 203991331 U CN203991331 U CN 203991331U CN 201420358061 U CN201420358061 U CN 201420358061U CN 203991331 U CN203991331 U CN 203991331U
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- detection
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- robot
- forearms
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Abstract
The utility model discloses a kind of detection machine and detects robot, and this detection machine includes support and detects robot, this detection robot includes initiatively forearms, industrial CCD on industrial CCD, two power transmission shafts, two driven large arms, two driven forearms and once of a pedestal, two motors, two reductors, two initiatively large arms, two, by being arranged at by the side of feeding track detecting robot, coordinate and utilize the lower industrial CCD and the upper industrial CCD that detect robot respectively all elements of pcb board tow sides to be carried out to while detection automatically, to improve product yield, reduce production costs, replace the mode of artificial your detection of tradition, greatly improve detection efficiency, reduce labour intensity, reduce error, improve and control precision, and be conducive to ensure detection quality, the product that the utility model not only can apply to electron trade detects, can also apply to packaging industry simultaneously, dyeing, pharmaceutical industry, the detection of the product of food service industry.
Description
Technical field
The utility model relates to product detection device art, refers in particular to a kind of detection machine and detects robot.
Background technology
Pcb board completes after AI plug-in unit, pcb board need to be sent into wave-soldering, in order to ensure product 100% non-defective unit of PCB product in the time entering wave-soldering, reduce the later stage defective products maintenance of PCB product, before entering wave-soldering, need pcb board to detect, detect there being pin class component while detecting element body whether to tilt, whether slant range is within claimed range, whether component pin stretches out, whether extension elongation reaches requirement, surface mount elements to PCB two sides all detects, whether detecting element has to leak is pasted, whether paster has inclination, whether slant range is within claimed range.
But, at present the detection of pcb board mainly being relied on manually, its detection efficiency is low, and labour intensity is large, easily makes people dazzled, and therefore manual detection can not ensure that the pcb board being detected is all qualified, and being badly in need of at present a kind of machine can continue automatically to detect to it.
Summary of the invention
In view of this, the utility model is for the disappearance of prior art existence, its main purpose is to provide a kind of detection machine and detects robot, and it can effectively solve existing employing manual detection product and have the problem that detection efficiency is low, labour intensity large and detection quality does not pass a test.
For achieving the above object, the utility model adopts following technical scheme:
A kind of robot that detects, includes initiatively forearms, industrial CCD on industrial CCD, two power transmission shafts, two driven large arms, two driven forearms and once of a pedestal, two motors, two reductors, two initiatively large arms, two; This two motor and two reductors are all arranged at the bottom of pedestal, and this two motor drives respectively corresponding reductor running; This two initiatively large arm is installed on respectively the output of two reductors, and two initiatively large arms are by corresponding reductor drive activity; This two actives forearm links the outer end of arm greatly with corresponding active respectively, and the end of two active forearms links each other; This lower industrial CCD is installed on two initiatively links place of forearm; This two power transmission shaft left and right is arranged at intervals at by the side of pedestal, and two power transmission shafts all go up downward-extension, and the lower end of two power transmission shafts connects with the corresponding large arm of active, two initiatively greatly arms drive corresponding power transmission shaft rotation; This two driven large arm be installed on respectively correspondence power transmission shaft upper end and synchronously rotate with corresponding power transmission shaft; This two driven forearm links with the outer end of corresponding driven large arm respectively, and the end of two driven forearms links each other; On this, industrial CCD is installed on link place of two driven forearms, on this industrial CCD be positioned at lower industrial CCD directly over.
Preferably, described motor is servomotor, and this reductor is harmonic wave speed reducing machine.In prior art, general precision is positive and negative 0.05, and the precision after improving is positive and negative 0.005.
Preferably, described two active forearms link the outer end of arm greatly with corresponding active by crossed roller bearing respectively, and the end of two active forearms also links by crossed roller bearing each other.
Preferably, described two driven forearms link with the outer end of corresponding driven large arm by crossed roller bearing respectively, and the end of two driven forearms also links by crossed roller bearing each other.
A kind of detection machine, includes support and aforementioned detection robot; On the surface of this support, be provided with feeding track, in this feeding track, be provided with conveyer belt, this conveyer belt is turned round by feeding driven by motor; This detection robot is arranged on the surface of support and is positioned at by the side of feeding track, and this lower industrial CCD and upper industrial CCD lay respectively at below and the top of feeding track.
Preferably, further include connection platform, this connection platform includes frame, certified products pipeline and defective products and collects line, in this frame, be provided with lifting platform, this lifting platform is driven and is risen or decline by an elevating mechanism, this certified products pipeline and defective products are collected line and self are arranged on lifting platform and with the synchronous rising of lifting platform or decline, rise or decline with lifting platform, this certified products pipeline and defective products are collected line and are alternately docked with the output of feeding track, and this certified products pipeline and defective products are collected on line and be provided with conveying motor.
Preferably, described defective products collect line be positioned at certified products pipeline directly over.
Preferably, described elevating mechanism includes mounting bedplate, lifting installing plate, elevating screw, motor and lifting guide pillar, this mounting bedplate is fixed on the surface of frame, this lifting platform be positioned at mounting bedplate directly over, this lifting installing plate be arranged in frame and be positioned at mounting bedplate under, this elevating screw and mounting bedplate, lifting platform, lifting installing plate is screwed together, this motor is installed on lifting installing plate and drives elevating screw to rotate, the lower end of this lifting guide pillar is fixedly connected with lifting installing plate, the upper end of lifting guide pillar is fixedly connected with lifting platform through mounting bedplate.
Preferably, further include control electronic box, this control electronic box is drawer type electronic box, and it can side direction pull out the leading flank that is arranged at support.
Preferably, further include casing, this outer cover of machine casing is lived aforementioned detection robot and feeding track, is provided with display and alarm lamp on this casing, and the front side of casing and rear side are respectively arranged with Qianmen and back door.
The utility model compared with prior art has obvious advantage and beneficial effect, particularly, and as shown from the above technical solution:
One, by being arranged at by the side of feeding track detecting robot, coordinate and utilize the lower industrial CCD and the upper industrial CCD that detect robot respectively all elements of pcb board tow sides to be carried out to while detection automatically, to improve product yield, reduce production costs, replace the mode of artificial your detection of tradition, greatly improve detection efficiency, reduce labour intensity, and be conducive to ensure detection quality, the product that the utility model not only can apply to electron trade detects, can also apply to packaging industry simultaneously, dyeing, pharmaceutical industry, the detection of the product of food service industry.
Two, by being provided with connection platform, if all elements are normal, certified products pipeline docks with the output of feeding track, by certified products pipeline, pcb board is sent into wave-soldering and produces; Note abnormalities if detect, drive lifting platform to decline by elevating mechanism, making defective products collect line declines and docks with the output of feeding track, then defective products is admitted to defective products and collects and carry out defective products in line and collect output, so realize the automatic classification of certified products and defective products, for testing product facilitates.
For more clearly setting forth architectural feature of the present utility model and effect, below in conjunction with accompanying drawing and specific embodiment, the utility model is elaborated.
Brief description of the drawings
Fig. 1 is the assembling schematic perspective view of the preferred embodiment of the utility model;
Fig. 2 is the assembling stereogram schematic diagram of another angle of preferred embodiment of the utility model;
Fig. 3 is the stereogram of casing open mode in the preferred embodiment of the utility model;
Fig. 4 is another angle schematic diagram of Fig. 3;
Fig. 5 is an angle schematic diagram again of Fig. 3;
Fig. 6 is the internal structure enlarged diagram of the preferred embodiment of the utility model;
Fig. 7 is the enlarged diagram that detects robot in the preferred embodiment of the utility model;
Fig. 8 is another angle schematic diagram of Fig. 7;
Fig. 9 is the side view that detects robot in the preferred embodiment of the utility model;
Figure 10 is the enlarged diagram of connection platform in the preferred embodiment of the utility model.
Accompanying drawing identifier declaration:
10, support 20, detection robot
21, pedestal 22, reductor
23, initiatively large arm 24, active forearm
25, lower industrial CCD 26, power transmission shaft
27, driven large arm 28, driven forearm
29, upper industrial CCD 30, feeding track
41, conveyer belt 42, feeding motor
50, connection platform 51, frame
52, certified products pipeline 53, defective products are collected line
54, lifting platform 55, elevating mechanism
551, mounting bedplate 552, lifting installing plate
553, elevating screw 554, motor
555, lifting guide pillar 56, conveying motor
60, control electronic box 70, casing
71, Qianmen 72, back door
81, display 82, alarm lamp.
Detailed description of the invention
Please refer to shown in Fig. 1 to Figure 10, the concrete structure that it has demonstrated the preferred embodiment of the utility model, includes support 10 and detects robot 20.
Wherein, be provided with feeding track 30 on the surface of this support 10, in this feeding track 30, be provided with conveyer belt 41, this conveyer belt 41 drives running by feeding motor 42.
This detection robot 20 is arranged on the surface of support 10 and is positioned at by the side of feeding track 30, as shown in Figure 7 to 9, this detection robot 20 includes initiatively forearms 24, industrial CCD 29 on industrial CCD 25, two power transmission shafts 26, two driven large arms 27, two driven forearms 28 and once of a pedestal 21, two motor (not shown), two reductors 22, two initiatively large arms 23, two; This pedestal 21 is the U-shaped structure that side direction is placed, and this pedestal 21 is fixedly installed on the surface of support 10; This two motor and two reductors 22 are all arranged at the bottom of pedestal 21, and this two motor drives respectively corresponding reductor 22 to turn round; This two initiatively large arm divide 23 outputs that are not installed on two reductors 22, two initiatively large arms 23 are by the 22 drive activities of corresponding reductor; This two actives forearm 24 links the outer end of arm 23 greatly with corresponding active respectively, and the end of two active forearms 24 links each other; This lower industrial CCD 25 is installed on two initiatively links place of forearm 24; These two power transmission shafts, 26 left and right are arranged at intervals at by the side of pedestal 21, and two power transmission shafts 26 are all gone up downward-extension, and the lower end of two power transmission shafts 26 connects with the corresponding large arm 23 of active, and two initiatively large arms 23 drive corresponding power transmission shaft 26 to rotate; This two driven large arm 27 be installed on respectively correspondence power transmission shaft 26 upper end and synchronously rotate with corresponding power transmission shaft 26; This two driven forearm 28 links with the outer end of corresponding driven large arm 27 respectively, and the end of two driven forearms 28 links each other; On this, industrial CCD 29 is installed on link place of two driven forearms 28, on this industrial CCD 29 be positioned at lower industrial CCD 25 directly over, and this lower industrial CCD 25 and upper industrial CCD 29 lay respectively at below and the top of feeding track 30.
In the present embodiment, this motor is servomotor, and this reductor 22 is harmonic wave speed reducing machine.This two actives forearm 24 links the outer end of arm 23 greatly with corresponding active by crossed roller bearing (not shown) respectively, and the end of two active forearms 24 also links by crossed roller bearing each other.This two driven forearm 28 links with the outer end of corresponding driven large arm 27 by crossed roller bearing respectively, and the end of two driven forearms 28 also links by crossed roller bearing each other.
Further include connection platform 50, as shown in figure 10, this connection platform 50 includes frame 51, certified products pipeline 52 and defective products are collected line 53, in this frame 51, be provided with lifting platform 54, this lifting platform 54 is driven and is risen or decline by an elevating mechanism 55, this certified products pipeline 52 and defective products are collected line 53 and self are arranged on lifting platform 54 and with the synchronous rising of lifting platform 54 or decline, rise or decline with lifting platform 54, this certified products pipeline 52 and defective products are collected line 53 and are alternately docked with the output of feeding track 30, this certified products pipeline 52 and defective products are collected on line 53 and are provided with and carry motor 56, certified products pipeline 52 and defective products are collected in line 53 and are provided with transport tape (not shown), this conveying motor 56 drives corresponding transport tape running.
In the present embodiment, this defective products collect line 53 be positioned at certified products pipeline 52 directly over, particularly, this elevating mechanism 55 includes mounting bedplate 551, lifting installing plate 552, elevating screw 553, motor 554 and lifting guide pillar 555, this mounting bedplate 551 is fixed on the surface of frame 51, this lifting platform 54 be positioned at mounting bedplate 551 directly over, this lifting installing plate 552 be arranged in frame 51 and be positioned at mounting bedplate 551 under, this elevating screw 553 and mounting bedplate 551, lifting platform 54, lifting installing plate 552 is screwed together, this motor 554 is installed on lifting installing plate 552 and drives elevating screw 553 to rotate, the lower end of this lifting guide pillar 555 is fixedly connected with lifting installing plate 552, the upper end of lifting guide pillar 555 is fixedly connected with lifting platform 54 through mounting bedplate 551.
And, further including and control electronic box 60, this control electronic box 60 is drawer type electronic box, it can side direction pull out the leading flank that is arranged at support 10.
In addition, further include casing 70, this casing 70 is outer covers aforementioned detection robot 20 and feeding track 30, is provided with display 81 and alarm lamp 82 on this casing 70, and the front side of casing 70 and rear side are respectively arranged with Qianmen 71 and back door 72.
As an example of detection PCB product example, the course of work of the present utility model is sketched below:
When work, complete after AI plug-in unit at pcb board, pcb board is sent in feeding track 30, under the effect of feeding motor 42 and conveyer belt 41, pcb board is sent to detection zone, then, detecting robot 20 works, two reductors 22 are passed to two initiatively large arms 23 power respectively under the drive of two motors, two initiatively large arms 23 are passed to two power transmission shafts 26 power respectively, two power transmission shafts 26 drive respectively two driven large arms 27, thereby realize the motion that detects robot 20, in the process of motion, lower industrial CCD 25 and upper industrial CCD 29 are driven respectively and the lower surface to pcb board and the upper surface detection of taking pictures respectively, whether normal to detect all elements.
If all elements are normal, certified products pipeline 52 docks with the output of feeding track 30, by certified products pipeline 52, pcb board is sent into wave-soldering and produces; Note abnormalities if detect, drive lifting platform 54 to decline by elevating mechanism 55, make defective products collect line 53 and decline and dock with the output of feeding track 30, then defective products is admitted to defective products and collects and carry out defective products in line 53 and collect and export.
Design focal point of the present utility model is: first-selection, by being arranged at by the side of feeding track detecting robot, coordinate and utilize the lower industrial CCD and the upper industrial CCD that detect robot respectively all elements of pcb board tow sides to be carried out to while detection automatically, to improve product yield, reduce production costs, replace the mode of artificial your detection of tradition, greatly improve detection efficiency, reduce labour intensity, and be conducive to ensure detection quality, the product that the utility model not only can apply to electron trade detects, can also apply to packaging industry simultaneously, dyeing, pharmaceutical industry, the detection of the product of food service industry.Secondly, by being provided with connection platform, if all elements are normal, certified products pipeline docks with the output of feeding track, by certified products pipeline, pcb board is sent into wave-soldering and produces; Note abnormalities if detect, drive lifting platform to decline by elevating mechanism, making defective products collect line declines and docks with the output of feeding track, then defective products is admitted to defective products and collects and carry out defective products in line and collect output, so realize the automatic classification of certified products and defective products, for testing product facilitates.
Wherein, of the present utility model two initiatively large arms, the two initiatively syndeton between forearm, two driven large arms, two driven forearms can adopt and Lian Siguan joint joint structure, and doublejointed control, except machine driving error, is eliminated the error between double-deck work; Also can adopt in addition double-deck arm configuration, improve double-deck arm and keep strokes, eliminate error.
Know-why of the present utility model has below been described in conjunction with specific embodiments.These are described is in order to explain principle of the present utility model, and can not be interpreted as by any way the restriction to the utility model protection domain.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, within these modes all will fall into protection domain of the present utility model.
Claims (10)
1. a detection robot, is characterized in that: include initiatively forearms, industrial CCD on industrial CCD, two power transmission shafts, two driven large arms, two driven forearms and once of a pedestal, two motors, two reductors, two initiatively large arms, two; This two motor and two reductors are all arranged at the bottom of pedestal, and this two motor drives respectively corresponding reductor running; This two initiatively large arm is installed on respectively the output of two reductors, and two initiatively large arms are by corresponding reductor drive activity; This two actives forearm links the outer end of arm greatly with corresponding active respectively, and the end of two active forearms links each other; This lower industrial CCD is installed on two initiatively links place of forearm; This two power transmission shaft left and right is arranged at intervals at by the side of pedestal, and two power transmission shafts all go up downward-extension, and the lower end of two power transmission shafts connects with the corresponding large arm of active, two initiatively greatly arms drive corresponding power transmission shaft rotation; This two driven large arm be installed on respectively correspondence power transmission shaft upper end and synchronously rotate with corresponding power transmission shaft; This two driven forearm links with the outer end of corresponding driven large arm respectively, and the end of two driven forearms links each other; On this, industrial CCD is installed on link place of two driven forearms, on this industrial CCD be positioned at lower industrial CCD directly over.
2. detection as claimed in claim 1 robot, is characterized in that: described motor is servomotor, and this reductor is harmonic wave speed reducing machine.
3. detection as claimed in claim 1 robot, is characterized in that: described two initiatively forearms link the outer end of arm greatly with corresponding active by crossed roller bearing respectively, the end of two active forearms also links by crossed roller bearing each other.
4. detection as claimed in claim 1 robot, is characterized in that: described two driven forearms link with the outer end of corresponding driven large arm by crossed roller bearing respectively, and the end of two driven forearms also links by crossed roller bearing each other.
5. a detection machine, is characterized in that: include support and the detection robot as described in claim 1 to 4 any one; On the surface of this support, be provided with feeding track, in this feeding track, be provided with conveyer belt, this conveyer belt is turned round by feeding driven by motor; This detection robot is arranged on the surface of support and is positioned at by the side of feeding track, and this lower industrial CCD and upper industrial CCD lay respectively at below and the top of feeding track.
6. detection machine as claimed in claim 5, it is characterized in that: further include connection platform, this connection platform includes frame, certified products pipeline and defective products are collected line, in this frame, be provided with lifting platform, this lifting platform is driven and is risen or decline by an elevating mechanism, this certified products pipeline and defective products are collected line and self are arranged on lifting platform and with the synchronous rising of lifting platform or decline, rise or decline with lifting platform, this certified products pipeline and defective products are collected line and are alternately docked with the output of feeding track, this certified products pipeline and defective products are collected on line and are provided with conveying motor.
7. detection machine as claimed in claim 6, is characterized in that: described defective products collect line be positioned at certified products pipeline directly over.
8. detection machine as claimed in claim 6, it is characterized in that: described elevating mechanism includes mounting bedplate, lifting installing plate, elevating screw, motor and lifting guide pillar, this mounting bedplate is fixed on the surface of frame, this lifting platform be positioned at mounting bedplate directly over, this lifting installing plate be arranged in frame and be positioned at mounting bedplate under, this elevating screw and mounting bedplate, lifting platform, lifting installing plate is screwed together, this motor is installed on lifting installing plate and drives elevating screw to rotate, the lower end of this lifting guide pillar is fixedly connected with lifting installing plate, the upper end of lifting guide pillar is fixedly connected with lifting platform through mounting bedplate.
9. detection machine as claimed in claim 5, is characterized in that: further include control electronic box, this control electronic box is drawer type electronic box, and it can side direction pull out the leading flank that is arranged at support.
10. detection machine as claimed in claim 5, it is characterized in that: further include casing, this outer cover of machine casing is lived aforementioned detection robot and feeding track, is provided with display and alarm lamp on this casing, and the front side of casing and rear side are respectively arranged with Qianmen and back door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420358061.0U CN203991331U (en) | 2014-06-30 | 2014-06-30 | Detection machine and detection robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420358061.0U CN203991331U (en) | 2014-06-30 | 2014-06-30 | Detection machine and detection robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203991331U true CN203991331U (en) | 2014-12-10 |
Family
ID=52031399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420358061.0U Expired - Fee Related CN203991331U (en) | 2014-06-30 | 2014-06-30 | Detection machine and detection robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203991331U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084380A (en) * | 2014-06-30 | 2014-10-08 | 东莞市顺如电子科技有限公司 | Detection machine and detection robot thereof |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN107442448A (en) * | 2017-08-11 | 2017-12-08 | 罗博特科智能科技股份有限公司 | A kind of drawer type test device |
| CN108405369A (en) * | 2018-04-19 | 2018-08-17 | 东莞市郝视智能科技有限公司 | A kind of vision-based detection three-proofing coating coating equipment and its control method |
| CN109261542A (en) * | 2018-09-30 | 2019-01-25 | 广州超音速自动化科技股份有限公司 | A kind of battery core detection method for sorting |
| CN111923065A (en) * | 2020-09-27 | 2020-11-13 | 国网瑞嘉(天津)智能机器人有限公司 | Live working device and control method thereof |
-
2014
- 2014-06-30 CN CN201420358061.0U patent/CN203991331U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084380A (en) * | 2014-06-30 | 2014-10-08 | 东莞市顺如电子科技有限公司 | Detection machine and detection robot thereof |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN107442448A (en) * | 2017-08-11 | 2017-12-08 | 罗博特科智能科技股份有限公司 | A kind of drawer type test device |
| CN108405369A (en) * | 2018-04-19 | 2018-08-17 | 东莞市郝视智能科技有限公司 | A kind of vision-based detection three-proofing coating coating equipment and its control method |
| CN109261542A (en) * | 2018-09-30 | 2019-01-25 | 广州超音速自动化科技股份有限公司 | A kind of battery core detection method for sorting |
| CN111923065A (en) * | 2020-09-27 | 2020-11-13 | 国网瑞嘉(天津)智能机器人有限公司 | Live working device and control method thereof |
| CN111923065B (en) * | 2020-09-27 | 2022-01-25 | 国网瑞嘉(天津)智能机器人有限公司 | Live working device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160603 Address after: 404500, Yunyang County Industrial Park, Chongqing, Huang Ling group Patentee after: Yunyang leaps Teng Intelligent Machinery Limited company Address before: 523000 Guangdong Province, Dongguan City Wanjiang total joint prosperity community building on the third floor Patentee before: DONGGUAN SHUNRU ELECTRONIC SCIENCE & TECHNOLOGY CO., LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20170630 |
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| CF01 | Termination of patent right due to non-payment of annual fee |