CN210589345U - Clamp, coplane detection device and coplane detection equipment - Google Patents
Clamp, coplane detection device and coplane detection equipment Download PDFInfo
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- CN210589345U CN210589345U CN201921177452.1U CN201921177452U CN210589345U CN 210589345 U CN210589345 U CN 210589345U CN 201921177452 U CN201921177452 U CN 201921177452U CN 210589345 U CN210589345 U CN 210589345U
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Abstract
The utility model discloses an anchor clamps, coplane detection device who has this anchor clamps and have this coplane detection device's coplane check out test set. The clamp comprises a glass flat plate, two fixed positioning blocks arranged oppositely, two movable positioning blocks arranged oppositely and a driving device A for driving the two movable positioning blocks to move oppositely; the two fixed positioning blocks and the two movable positioning blocks are arranged above the glass flat plate, and a rectangular placing space is defined by the two fixed positioning blocks and the two movable positioning blocks; the driving device A comprises a vertical plate vertical to the glass plate, a clamping jaw air cylinder A fixed on the vertical plate, linear guide rails respectively connected with the vertical plate and two clamping jaws of the clamping jaw air cylinder A, and two connecting rods respectively connected with the linear guide rails; and the two connecting rods are respectively and fixedly connected with the two movable positioning blocks.
Description
Technical Field
The utility model belongs to the technical field of the paster current transformer detects, concretely relates to anchor clamps, coplane detection device and coplane check out test set.
Background
Coplanarity of terminals on two side surfaces of the chip current transformer and coplanarity of terminals on the top surface of the chip current transformer both need 100% online detection so as to ensure that the chip current transformer and a PCB can be mutually matched. In order to reduce the number of transfer mechanisms (mechanisms for transferring special transformers between stations) and improve the detection reliability, a coplanarity detection device needs to be designed to detect the three coplanarity degrees at the same station. The technical problem to be solved primarily by designing the coplanar detection device is to design a clamp for positioning and clamping the surface mounted current transformer.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems in the prior art, the present invention provides a fixture, which, by arranging a glass plate, on one hand, limits three degrees of freedom of a surface mount current transformer, on the other hand, a camera module can be arranged below the glass plate to realize coplanarity detection of a top surface terminal of the surface mount current transformer, and then limits the other three degrees of freedom of the surface mount current transformer through a rectangular placement space surrounded by two fixed positioning blocks and two movable positioning blocks, thereby realizing positioning and clamping of the surface mount current transformer;
the present invention further provides a coplanar detection device with the aforementioned fixture, which enables a camera a and a lens a to be horizontally placed by arranging a light path turning prism, thereby facilitating the installation and debugging of the camera module a;
the utility model discloses further ground aim at provides a coplane check out test set with aforementioned coplane detection device, and this coplane check out test set realizes getting of product through setting up the manipulator, compares and gets the product with the manual work, has shortened the detection beat, and degree of automation is high.
The utility model discloses the technical scheme who adopts does:
a clamp comprises a glass flat plate, two fixed positioning blocks arranged oppositely, two movable positioning blocks arranged oppositely and a driving device A for driving the two movable positioning blocks to move oppositely; the two fixed positioning blocks and the two movable positioning blocks are arranged above the glass flat plate, and a rectangular placing space is defined by the two fixed positioning blocks and the two movable positioning blocks; the driving device A comprises a vertical plate vertical to the glass plate, a clamping jaw air cylinder A fixed on the vertical plate, linear guide rails respectively connected with the vertical plate and two clamping jaws of the clamping jaw air cylinder A, and two connecting rods respectively connected with the linear guide rails; and the two connecting rods are respectively and fixedly connected with the two movable positioning blocks.
As a further alternative of the clamp, the clamp further comprises a limiting structure A for limiting the opening and closing range of the two connecting rods.
As a further alternative of the clamp, the connecting rod is detachably connected with the movable positioning block.
As a further alternative of the clamp, a positioning structure is arranged between the connecting rod and the movable positioning block.
A coplane detection device comprises the clamp of any one of the above parts, a camera module A arranged below a glass plate, and two camera modules B oppositely arranged on two sides of the glass plate along the sliding direction of a movable positioning block; the camera module A comprises a light path steering prism arranged right below the glass flat plate, a light source A arranged between the light path steering prism and the glass flat plate, a lens A connected with the light path steering prism and a camera A connected with the lens A; the camera module B comprises a light source B fixed on the side of the glass flat plate, a lens B arranged on one side of the light source B, which is far away from the glass flat plate, and a camera B connected with the lens B; the lens B is disposed between the light source B and the camera B.
As a further alternative of the coplanarity detection device, the camera module B further comprises a sliding plate and a driving device B for driving the sliding plate to slide; the sliding direction of the sliding plate is parallel to the sliding direction of the movable positioning block; the camera B is fixed on the sliding plate.
A coplane detection device comprises the coplane detection device and a manipulator for picking and placing products in the rectangular placement space.
As a further alternative of the coplanarity detection apparatus, the robot comprises a robot body and a robot clamping jaw fixed to a distal end of the robot body; the manipulator clamping jaw comprises a connecting piece fixed at the tail end of a manipulator body, a vertical plate fixed below the connecting piece, a sliding plate vertically arranged on the vertical plate in a sliding mode, a suction block fixed on the sliding plate, a clamping jaw air cylinder B fixed on the sliding plate, two clamping blocks respectively fixed on the two clamping jaws of the clamping jaw air cylinder B, an elastic element driving the sliding plate to slide downwards, a limiting structure B arranged between the vertical plate and the sliding plate, a sensor fixed on the vertical plate and an induction sheet corresponding to the sensor and fixedly connected with the sliding plate; the suction block is arranged between the two clamping jaws of the clamping jaw air cylinder B, a suction port is formed in the suction block, and the suction port is communicated with a vacuum generating device.
As a further alternative to the coplanar detection apparatus, the coplanar detection apparatus further comprises a frame; the coplane detection device and the manipulator are both fixed on the frame; and a defective product box is fixed on the frame.
The utility model has the advantages that:
the fixture limits three degrees of freedom of the surface mounted current transformer through the glass flat plate, and can realize coplanarity detection of the top surface terminal of the surface mounted current transformer by arranging the camera module below the glass flat plate, and limits the other three degrees of freedom of the surface mounted current transformer through a rectangular placing space formed by the two fixed positioning blocks and the two movable positioning blocks, thereby realizing positioning and clamping of the surface mounted current transformer;
the coplane detection device of the utility model enables the camera A and the lens A to be horizontally placed by arranging the light path steering prism, thereby facilitating the installation and debugging of the camera module A;
the utility model discloses a coplane check out test set realizes getting of product and puts through setting up the manipulator, compares and gets the product with the manual work, has shortened the detection beat, and degree of automation is high.
Other advantageous effects of the present invention will be described with reference to the specific embodiments.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the clamp of the present invention;
FIG. 2 is a schematic view of an exploded configuration of the glass panel in the fixture of FIG. 1;
FIG. 3 is a schematic structural diagram of the coplanarity detecting device of the present invention;
FIG. 4 is a schematic structural diagram of a camera module B in the coplanarity inspection apparatus shown in FIG. 3;
FIG. 5 is a schematic structural view of the coplanar detection apparatus of the present invention;
FIG. 6 is a schematic view of the structure of the robot gripping jaws of the coplanar inspection apparatus shown in FIG. 5;
fig. 7 is an exploded view of the robot gripping jaw of the coplanar inspection apparatus shown in fig. 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the clamping apparatus 100 of the present embodiment includes a glass plate 102, two fixed positioning blocks 101 disposed oppositely, two movable positioning blocks 103 disposed oppositely, and a driving device a for driving the two movable positioning blocks 103 to move oppositely; the two fixed positioning blocks 101 and the two movable positioning blocks 103 are arranged above the glass plate 102, and a rectangular placing space 113 is enclosed by the two fixed positioning blocks 101 and the two movable positioning blocks 103; the driving device A comprises a vertical plate 110 vertical to the glass flat plate 102, a clamping jaw air cylinder A109 fixed on the vertical plate 110, a linear guide rail respectively connected with the vertical plate 110 and two clamping jaws of the clamping jaw air cylinder A109, and two connecting rods 104 connected with the linear guide rail; the two connecting rods 104 are respectively fixedly connected with the two movable positioning blocks 103.
If holes are made directly in the glass sheet 102, they may cause chipping in the glass sheet 102; secondly, the glass panel 102 is easily broken when the glass panel 102 is fastened. For this purpose, as shown in fig. 2, in the present embodiment, a horizontal plate 112 is fixed on the vertical plate 110, two pressing plates 111 are fixed on the horizontal plate 112, a groove for accommodating the side of the glass plate 102 is formed between each pressing plate 111 and the horizontal plate 112, and the width of the groove is adapted to the thickness of the glass plate 102, so as to prevent the glass plate 102 from being broken. The two fixed positioning blocks 101 are respectively fixed on the two pressing plates 111. The transverse plate 112 is provided with an avoiding hole which is positioned right below the glass plate 102, so that the coplanarity of the top terminals of the patch current transformer can be detected from the lower part of the glass plate 102.
Can be as follows: two linear guide rails are arranged, each linear guide rail is provided with a sliding block, two clamping jaws of the clamping jaw air cylinder A109 are fixedly connected with the two sliding blocks respectively, the two guide rails are fixedly connected with the vertical plate 110, and the two connecting rods 104 are fixedly connected with the two sliding blocks respectively; it can also be: two linear guide rails are arranged, each linear guide rail is provided with a sliding block, two clamping jaws of a clamping jaw air cylinder A109 are fixedly connected with the two guide rails respectively, the two sliding blocks are fixedly connected with a vertical plate 110, and two connecting rods 104 are fixedly connected with the two guide rails respectively; the method can also be as follows: a linear guide rail is provided, two sliding blocks are provided on the linear guide rail, the two sliding blocks are respectively fixedly connected with the two clamping jaws of the clamping jaw air cylinder a109, and the two connecting rods 104 are respectively fixedly connected with the two sliding blocks, namely the embodiment of the embodiment. The linear guide is realized by the prior art, for example, by an LM linear rolling guide sold by THK corporation.
By arranging the linear guide rail, the clamping jaw of the clamping jaw air cylinder A109 is perpendicular to the connecting rod 104, so that the force arm is reduced, the moment of the clamping force acting on the clamping jaw of the clamping jaw air cylinder A109 is reduced, and the clamping jaw of the clamping jaw air cylinder A109 is prevented from being broken; on the other hand, the connecting rod 104 is slidably guided by the linear guide rail, so that the repeated positioning precision of the surface mount current transformer (not shown in the figure) is ensured, and the detection consistency is ensured.
As shown in fig. 1, the clamp in this embodiment further includes a limiting structure a for limiting the opening and closing range of the two connecting rods 104. Therefore, the repeated positioning precision of the patch current transformer (not shown in the figure) is further improved, and the consistency of detection is ensured. The limiting structure A in the embodiment comprises a limiting block A108, a limiting block B107 and two limiting blocks C106; the two limiting blocks C106 are fixed on the vertical plate 110, and the two limiting blocks C106 are arranged on the outer sides of the two clamping jaws of the clamping jaw air cylinder A109; and the limiting block A108 and the limiting block B107 are respectively fixed on the two sliding blocks of the linear guide rail, and the limiting block A108 and the limiting block B107 are both arranged on the inner sides of the two clamping jaws of the clamping jaw air cylinder A109.
As shown in fig. 1 and 2, in this embodiment, the connecting rod 104 is detachably connected to the movable positioning block 103, so as to facilitate replacement of the movable positioning block 103, and the patch current transformers of different specifications can be clamped by replacing different movable positioning blocks 103.
As shown in fig. 1 and 2, in the present embodiment, a positioning structure is disposed between the connecting rod 104 and the movable positioning block 103, so that the clamp can be used immediately without adjustment after the movable positioning block 103 is replaced each time, and efficiency is improved. The positioning structure can be realized by positioning pins and the like in the prior art. In this embodiment, the opposite surfaces of the connecting rod 104 and the movable positioning block 103 are both provided with a clamping groove, and the opening direction of the clamping groove of the connecting rod 104 is perpendicular to the opening direction of the clamping groove of the movable positioning block 103, so that the connecting rod 104 and the movable positioning block 103 are positioned and connected.
As shown in fig. 3, the coplanarity inspection apparatus 200 in the present embodiment includes the aforementioned fixture 100, a camera module a disposed under the glass plate 102, and two camera modules B disposed on two sides of the glass plate 102 along the sliding direction of the movable positioning block 103; as shown in fig. 4, the camera module a includes an optical path steering prism 208 disposed right below the glass plate 102, a light source a209 disposed between the optical path steering prism 208 and the glass plate 102, a lens a207 connected to the optical path steering prism 208, and a camera a206 connected to the lens a 207; the camera module B comprises a light source B203 fixed on the side of the glass plate 102, a lens B202 arranged on one side of the light source B203, which is far away from the glass plate 102, and a camera B201 connected with the lens B202; the lens B202 is disposed between the light source B203 and the camera B201. By arranging the light path turning prism 208, the lens a207 and the camera a206 can be horizontally arranged, and compared with the direct vertical arrangement of the lens a207 and the camera a206, the focal length of the lens a207 can be conveniently adjusted; secondly, the camera A206 and the camera A207 are conveniently maintained; and the vertical dimension of the coplane detection device 200 can be reduced, so that when the coplane detection device 200 is installed on the coplane detection equipment, an avoiding opening does not need to be formed on a rack.
As shown in fig. 3, in the present embodiment, the camera module B further includes a sliding plate 204 and a driving device B205 for driving the sliding plate 204 to slide; the sliding direction of the sliding plate 204 is parallel to the sliding direction of the movable positioning block 103; the camera B201 is fixed on the slide board. The reference of the side surface of the chip current transformer and the feature to be measured have a distance difference in the sliding direction of the sliding plate 204, and if the camera B201 and the lens B202 are not moved, the distance difference can reduce the capturing precision of the camera B201; by providing the driving device B205 and the sled 204, the camera B201 can capture the reference and the feature to be measured, respectively, improving the capturing precision of the camera B201, thereby improving the detection precision.
As shown in fig. 5, the coplanar detecting apparatus in this embodiment includes the coplanar detecting device 200 and a robot 300 for picking and placing the product into and out of the rectangular placing space 113.
As shown in fig. 5, the robot 300 in the present embodiment includes a robot body 301 and a robot gripper fixed to an end of the robot body; the manipulator clamping jaw comprises a connecting piece 302 fixed at the tail end of a manipulator body 301, a vertical plate 303 fixed below the connecting piece 302, a sliding plate 308 vertically and slidably arranged on the vertical plate 303, a suction block 312 fixed on the sliding plate 308, a clamping jaw air cylinder B306 fixed on the sliding plate 308, two clamping blocks 309 respectively fixed on two clamping jaws of the clamping jaw air cylinder B306, an elastic element 305 driving the sliding plate 308 to slide downwards, a limiting structure B arranged between the vertical plate 303 and the sliding plate 308, a sensor 304 fixed on the vertical plate 303 and a sensing sheet 307 corresponding to the sensor 304 and fixedly connected with the sliding plate 308; the suction block 312 is arranged between the two clamping jaws of the clamping jaw air cylinder B306, and a suction port is formed in the suction block 312 and communicated with a vacuum generating device.
In this embodiment, as shown in fig. 7, a sliding guide structure 311 is disposed between the sliding plate 308 and the vertical plate 303, and the sliding guide structure 311 may be implemented by using an existing linear guide.
As shown in fig. 7, the limiting structure B in this embodiment is a limiting block D310 fixed at the bottom of the vertical plate 303 for preventing the sliding plate 308 from falling.
The suction block 312 is used for sucking the patch current transformer by using vacuum generated by the vacuum generating device on one hand, and is used for limiting two clamping jaws of the clamping jaw cylinder B306 on the other hand, so that the clamping block 309 is prevented from damaging the patch current transformer. On one hand, the clamping jaw cylinder B306 can guide the surface mount current transformer to avoid the position offset of the surface mount current transformer in the transfer process; on the other hand, when some paster current transformers can not use vacuum adsorption, the paster current transformers can be directly used for clamping the paster current transformers. The vacuum generating device can be realized by adopting the prior art such as a vacuum generator.
If the surface mount current transformer does not fall from the manipulator clamping jaw due to a certain reason, or when the surface mount current transformer is clamped, other obstacles exist between the surface mount current transformer and the manipulator clamping jaw, and the manipulator directly clamps the surface mount current transformer to be clamped, and even damages the manipulator body 301. This embodiment is solved by the sensor 304 provided on the vertical plate 303 and the sensing piece 307 provided on the sliding plate 308; the sensor 304 is electrically connected to the controller of the robot body 301, or electrically connected to the controller of the robot body 301 through another controller such as a PLC, a single chip microcomputer, or the like. The manipulator body 301 moves to the paster current transformer to be grabbed, the sliding plate 308, the clamping block 309 or the suction block 312 firstly contact with the obstacle, the manipulator body 301 continues to move, the sliding plate 308 and the induction sheet 307 slide upwards, when the induction sheet 307 is induced by the sensor 304, the sensor 304 transmits a signal to a controller of the manipulator body 301, the manipulator body 301 stops moving, and therefore the paster current transformer and the manipulator body 301 are protected. The sensor 304 may be implemented by using an existing proximity sensor, and in this embodiment, the sensor 304 is implemented by using a photoelectric sensor sold by the ohron corporation and having a model number of EE-SX672, and the manipulator body 301 is implemented by using a four-axis manipulator sold by the EPSON corporation.
As shown in fig. 5, in the present embodiment, the coplanarity inspection apparatus further includes a chassis 400; the coplanarity detection device 200 and the manipulator 300 are both fixed on the frame 400; the rack 400 is fixed with a defective product box 500 to collect defective products in a concentrated manner, thereby facilitating analysis.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (9)
1. A clamp, characterized by: the glass plate fixing device comprises a glass plate, two fixed positioning blocks arranged oppositely, two movable positioning blocks arranged oppositely and a driving device A for driving the two movable positioning blocks to move oppositely; the two fixed positioning blocks and the two movable positioning blocks are arranged above the glass flat plate, and a rectangular placing space is defined by the two fixed positioning blocks and the two movable positioning blocks; the driving device A comprises a vertical plate vertical to the glass plate, a clamping jaw air cylinder A fixed on the vertical plate, linear guide rails respectively connected with the vertical plate and two clamping jaws of the clamping jaw air cylinder A, and two connecting rods respectively connected with the linear guide rails; and the two connecting rods are respectively and fixedly connected with the two movable positioning blocks.
2. The clamp of claim 1, wherein: the connecting rod opening and closing mechanism further comprises a limiting structure A for limiting the opening and closing range of the two connecting rods.
3. The clamp of claim 2, wherein: the connecting rod is detachably connected with the movable positioning block.
4. The clamp of claim 3, wherein: and a positioning structure is arranged between the connecting rod and the movable positioning block.
5. A coplanarity detection device characterized by: the glass plate positioning fixture comprises the fixture as claimed in any one of claims 1 to 4, a camera module A arranged below the glass plate, and two camera modules B oppositely arranged on two sides of the glass plate along the sliding direction of the movable positioning block; the camera module A comprises a light path steering prism arranged right below the glass flat plate, a light source A arranged between the light path steering prism and the glass flat plate, a lens A connected with the light path steering prism and a camera A connected with the lens A; the camera module B comprises a light source B fixed on the side of the glass flat plate, a lens B arranged on one side of the light source B, which is far away from the glass flat plate, and a camera B connected with the lens B; the lens B is disposed between the light source B and the camera B.
6. Coplanarity detecting device according to claim 5, characterized in that: the camera module B also comprises a sliding plate and a driving device B for driving the sliding plate to slide; the sliding direction of the sliding plate is parallel to the sliding direction of the movable positioning block; the camera B is fixed on the sliding plate.
7. A coplanar detection device, characterized by: the coplanarity detection device comprises the coplanarity detection device as claimed in claim 6 and a manipulator for taking and placing products into and from the rectangular placement space.
8. Coplanar detection apparatus as claimed in claim 7, characterized in that: the manipulator comprises a manipulator body and a manipulator clamping jaw fixed at the tail end of the manipulator body; the manipulator clamping jaw comprises a connecting piece fixed at the tail end of a manipulator body, a vertical plate fixed below the connecting piece, a sliding plate vertically arranged on the vertical plate in a sliding mode, a suction block fixed on the sliding plate, a clamping jaw air cylinder B fixed on the sliding plate, two clamping blocks respectively fixed on the two clamping jaws of the clamping jaw air cylinder B, an elastic element driving the sliding plate to slide downwards, a limiting structure B arranged between the vertical plate and the sliding plate, a sensor fixed on the vertical plate and an induction sheet corresponding to the sensor and fixedly connected with the sliding plate; the suction block is arranged between the two clamping jaws of the clamping jaw air cylinder B, a suction port is formed in the suction block, and the suction port is communicated with a vacuum generating device.
9. Coplanar detection apparatus as claimed in claim 7, characterized in that: the coplanar detection device further comprises a frame; the coplane detection device and the manipulator are both fixed on the frame; and a defective product box is fixed on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921177452.1U CN210589345U (en) | 2019-07-24 | 2019-07-24 | Clamp, coplane detection device and coplane detection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921177452.1U CN210589345U (en) | 2019-07-24 | 2019-07-24 | Clamp, coplane detection device and coplane detection equipment |
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| Publication Number | Publication Date |
|---|---|
| CN210589345U true CN210589345U (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921177452.1U Active CN210589345U (en) | 2019-07-24 | 2019-07-24 | Clamp, coplane detection device and coplane detection equipment |
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| CN (1) | CN210589345U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115200988A (en) * | 2022-09-16 | 2022-10-18 | 武汉誉城九方建筑有限公司 | Steel bar welding strength detector |
-
2019
- 2019-07-24 CN CN201921177452.1U patent/CN210589345U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115200988A (en) * | 2022-09-16 | 2022-10-18 | 武汉誉城九方建筑有限公司 | Steel bar welding strength detector |
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