Automatic machinery people loading and unloading testing agency and the paw for this mechanism
This utility model relates to small-sized image pickup head and manufactures field, particularly to a kind of automatic machinery people's feeding, discharge
Function detection mechanism and apply to the paw structure of this mechanism.
At present, mobile lens, mobile phone module, part demand amount are increasing, and its quality requirements is increasingly stricter,
Prior art, generally uses the mode of manual detection, but its work efficiency is low, and quality and instability thereof are existing
There is enterprise, in order to meet market demands, product is carried out mass production, need to increase artificial quantity, but the most skilled work
People's shortage, and cost of labor is higher, is difficult to meet technology on market and requires the demand of higher parts.
Therefore need a kind of new technical scheme to solve the problems referred to above.
Utility model content
The problem and shortage existed for above-mentioned prior art, the purpose of this utility model is to provide a kind of automatization
Feeding, discharge Function detection mechanism of robot and apply to the paw structure of this mechanism, same with realize in low cost
Time meet stabilization of equipment performance.
For realizing above-mentioned utility model purpose, the technical solution adopted in the utility model is a kind of automatic machinery people
Loading and unloading testing agency, it is characterised in that: include feed mechanism, cutting agency, tray conveyor structure, machine
Robot mechanism and Product checking mechanism；
Described feed mechanism includes the loading bin for placing product charging tray to be detected and for placing sky charging tray
Feeding recovery bin；
Described cutting agency includes that institute is treated in the blanking feed bin for placing the charging tray having detected rear product and placement
State the blanking blank panel storehouse of the blank panel of robot mechanism pickup；
Described Product checking mechanism is arranged on the side of feed mechanism and cutting agency；
Arranging before and after feed mechanism and cutting agency level, this tray conveyor structure is arranged on feed mechanism and blanking
The lower section of mechanism, and described loading bin position is corresponding with blanking blank panel position and is close to described Product checking
Mechanism, described feeding recovery bin position is corresponding with blanking feed bin position.
As further optimization of the present utility model, it is provided with in driving below loading bin described in the utility model
Expect charging tray one charging tray of the release inductive switch to tray conveyor structure of feed bin.
As further optimization of the present utility model, Product checking mechanism described in the utility model includes for surveying
The test board of each performance of trial product.
As further optimization of the present utility model, robot mechanism described in the utility model is six axle machines
As further optimization of the present utility model, this utility model also includes for obtaining positional information and transmitting
To the CCD image mechanism of described Product checking mechanism, this CCD image mechanism be arranged on described feed mechanism and under
Below material mechanism.
As further optimization of the present utility model, cutting agency described in the utility model also includes that defective products returns
Receiving mechanism, this defective products recovering mechanism is arranged at described blanking blank panel storehouse near the side of Product checking mechanism.
As further optimization of the present utility model, robot mechanism described in the utility model includes base, machine
Device human body and paw, this robot body is arranged on base, and paw is arranged on robot by 6 shaft flanges
On body, this paw is upper and lower stretching structure.
As further optimization of the present utility model, Product checking mechanism described in the utility model is arranged in pairs in
Feed mechanism and the side of cutting agency, the base of this robot mechanism is positioned at the Product checking mechanism being arranged in pairs
As further optimization of the present utility model, paw described in the utility model includes for gripping product
Jaw and for controlling the cylinder that jaw moves up and down, described jaw includes some folders in vertical Z-shaped
Referring to, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
The invention also discloses a kind of paw for automatic machinery people loading and unloading testing agency, including using
In the jaw of gripping product with for controlling the cylinder that jaw moves up and down, described jaw includes some in perpendicular
The gripping finger of straight Z-shaped, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
Compared to existing technology, its advantage is this utility model: this utility model is integrated with high precision 16 axle robot
System, CCD image system, automatic loading and unloading system and automatic function detecting system, and then realize omnidistance unmanned
Change automatization, by mechanism, module is taken, put material, it is ensured that homogeneity of product, be greatly improved production effect
Rate, reduces defective products rate and production cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is feed mechanism of the present utility model, cutting agency structure, tray conveyor structure, robot mechanism
Fig. 3 is charging tray schematic diagram of the present utility model；
Fig. 4 is the paw structural representation of robot mechanism of the present utility model；
Fig. 5 is paw enlarged drawing of the present utility model.
Detailed description of the invention
As it is shown in figure 1, a kind of automatic machinery people feeding, discharge Function detection mechanism of this enforcement includes feeder
Structure 1-1, cutting agency 1-2, tray conveyor structure 5, robot mechanism 2 and Product checking mechanism 3；Feeding
Mechanism 1-1 includes the loading bin 11 for placing product charging tray to be detected and for placing the feeding of sky charging tray
Recovery bin 12；Cutting agency 1-2 includes blanking feed bin 13 He for placing the charging tray having detected rear product
Place the blanking blank panel storehouse 14 of the blank panel treating that described robot mechanism 2 picks up；Product checking mechanism 3 is arranged on
Feed mechanism 1-1 and the side of cutting agency 1-2.
Concrete, as in figure 2 it is shown, set before and after the feed mechanism 1-1 of the present embodiment and cutting agency 1-2 level
Putting, this tray conveyor structure 5 is arranged on feed mechanism 1-1 and the lower section of cutting agency 1-2, and loading bin
11 positions are corresponding with position, blanking blank panel storehouse 14 and are close to described Product checking mechanism 3, feeding recovery bin
12 positions are corresponding with blanking feed bin 13 position, are provided with the material driving loading bin 11 below loading bin 11
Dish discharges charging tray to the inductive switch of tray conveyor structure.
The Product checking mechanism 3 of the present embodiment includes the test board for testing each performance of product.
For guaranteeing high accuracy, the robot mechanism 2 that the present embodiment uses is six-joint robot, this robot mechanism
2 include base 21, robot body 22 and paw 23, and this robot body 22 is arranged on base 21,
Paw 23 is arranged on robot body 22 by 6 shaft flanges, and this paw 23 is upper and lower stretching structure.
As shown in Figure 4 and Figure 5, the paw 23 of the present embodiment includes the jaw 231 for gripping product and uses
In controlling the cylinder 232 that jaw 231 moves up and down, the paw 23 of the present embodiment uses 6 jaws 231,
This jaw 231 includes the gripping finger in vertical Z-shaped, and the gripping finger that one or more pairs of opening directions are relative constitutes a folder
Pawl 231, runs to above feeding position after robot mechanism 2 receives feeding instruction, and cylinder 232 drives
Corresponding jaw 231 stretches out, and PLC controls after gripping finger opens and be depressed into and reach feeding position, and gripping finger clamps, cylinder
232 drive jaw 231 to rise back in situ, it is achieved product grips.
For guaranteeing that robot mechanism 2 can be good with Product checking mechanism 3 cooperating, the present embodiment also includes
For obtaining positional information and passing to the CCD image mechanism 4 of described Product checking mechanism 3, this CCD image
Mechanism 4 is arranged on below described feed mechanism 1-1 and cutting agency 1-2.
The cutting agency 1-2 of the present embodiment also includes defective products recovering mechanism, and this defective products recovering mechanism is arranged at
Described blanking blank panel storehouse 14 is near the side of Product checking mechanism 3.
Product checking mechanism 3 is arranged in pairs in feed mechanism 1-1 and the side of cutting agency 1-2, this machine
The base 21 of robot mechanism 2 is positioned at the centre position of the Product checking mechanism 3 being arranged in pairs.
Charging tray to be measured is put into loading bin 11 by operator, as it is shown on figure 3, be placed with mould to be measured in this charging tray
Group, the inductive switch below loading bin 11 discharges a charging tray to tray conveyor structure after having sensed charging tray
5, charging tray to be measured is sent to CCD image mechanism 4 and takes pictures by tray conveyor structure 5, CCD image mechanism 4
After taking pictures, charging tray location information data being sent the data processing terminal to product test mechanism 3, the present embodiment is adopted
With PC, PC notifies that robot mechanism 2 carries out feeding, 3 in the present embodiment feeding dish after receiving data
Material, move to product test mechanism 3 after robot mechanism 2 feeding and product put into product test mechanism 3
Test board in test, in test process, robot mechanism 2 runs in situ to carry out next round
Product picks up, and robot mechanism 2 returns to original position notice CCD image mechanism 4 to take pictures, after end of taking pictures,
Robot mechanism 2 picks up the transmission of 3 material again and tests, after last round of product test terminates, and robot mechanism
Last round of product is taken out from test board and the next round product to be detected just picked up is put into test board by 2
In, now robot mechanism 2 is put into surveying product in corresponding charging tray according to test result, and above-mentioned charging tray can
Including defective products charging tray and certified products charging tray, the certified products charging tray of the present embodiment is and is positioned at blanking blank panel storehouse
The charging tray of 14, this charging tray is placed on the discharge position of robot mechanism 2 by tray conveyor structure, the most instead
Multiple until all Product checking in a charging tray complete, after current charging tray has detected, feed mechanism automatically will
Empty charging tray is sent to loading plate recovery bin 12 and reclaims, and after having reclaimed, feed mechanism goes a dish to be measured again
Charging tray carries out, to CCD image mechanism 4, entrance subsequent cycle of taking pictures, and repeats above-mentioned action, until all products are surveyed