CN212370609U - Optical device high accuracy just has equipment finished product detection machine of sorting mechanism - Google Patents
Optical device high accuracy just has equipment finished product detection machine of sorting mechanism Download PDFInfo
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- CN212370609U CN212370609U CN202020961939.5U CN202020961939U CN212370609U CN 212370609 U CN212370609 U CN 212370609U CN 202020961939 U CN202020961939 U CN 202020961939U CN 212370609 U CN212370609 U CN 212370609U
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Abstract
The utility model discloses an optical device high accuracy just has sorting mechanism's equipment finished product detection machine, mainly used camera lens's picture frame and lens equipment back fastness detect, and the detection of assembly high offset carries out categorised automatic compensation to corresponding charging tray to the finished product of different situations appearing in the assembly, and the overall process is that each mechanical parts is automatic to be accomplished. The utility model discloses an equipment finished product detects machine has set up and has pushed away fastness detection mechanism in advance and has calculated the fastness of combination between them through the deflection that detects the lens after assembling lens and picture frame structure. In order to ensure the interchangeability of the specification and subsequent utilization of the assembled finished products, the automatic material throwing machine is further provided with a height deviation detection mechanism, in order to distinguish different conditions of firmness and height deviation detection, different types of automatic material throwing bins and material supplementing bins are arranged, and the manipulator has the functions of carrying material trays and carrying the single assembled finished products of sorted products to a specified material tray.
Description
Technical Field
The utility model relates to an automation equipment field, specific saying so relates to an optical device high accuracy just has sorting mechanism's equipment finished product detection machine.
Background
The optical device comprises a camera lens frame and lenses, and after the camera lens frame and the lenses are assembled, the firmness of the assembled finished products and the height deviation of the assembled finished products need to be detected. The traditional detection mode is that the detection is carried out on the detection machine one by one through manpower, and the detection efficiency is low.
After the detection is finished, the assembled finished products need to be sorted, for example, defective products are sorted, good products are sorted, and after the detection, the products are manually sorted, but the manual sorting error rate is high, the defective products are mixed into the good products, and the assembled finished products have the risk of defective product shipment.
Therefore, there is a strong need for an apparatus for an automatic inspection machine with a sorting mechanism to solve such problems.
SUMMERY OF THE UTILITY MODEL
To not enough among the prior art, the to-be-solved technical problem of the utility model lies in providing an optical device high accuracy and has sorting mechanism's equipment finished product detection machine, and the purpose of designing this detection machine is in order to realize the finished product fastness automated inspection that camera picture frame and lens assembled back formed and the automated inspection of this finished product high skew to during the finished product automatic classification charging tray after will detecting, the whole work of equipment realizes the automation mechanized operation.
In order to solve the technical problem, the utility model discloses a following scheme realizes: the utility model discloses an optical device high accuracy just has equipment finished product detection machine of sorting mechanism, which comprises a frame, the frame top is equipped with the platen, detect the machine still including install in on the platen:
the material tray carrying the assembled products is conveyed to the feeding end by the belt conveying line, the material tray carrying finished assembled products is conveyed to each detection station by the material tray conveying manipulator, and finally the detected OK products are conveyed into a blanking machine or a blanking bin by the discharging platform; sorting defective products generated in the detection by a sorting manipulator, and then carrying the defective products into a sorting bin;
the material tray carrying manipulator is arranged on the front side of the belt conveying line and comprises a guide rail frame and a first linear guide rail arranged at the top end of the guide rail frame, a plurality of interval manipulators which do interval motion are arranged on the first linear guide rail, and the interval manipulators are used for feeding material trays on the belt conveying line into corresponding detection stations;
push away fastness detection mechanism in advance, set up in first detection station department, include first base and install on first base: the device comprises a pre-pushing assembly product placing platform, a pre-pushing up-down pressing testing assembly and a lower push head cleaning assembly, wherein the pre-pushing assembly product placing platform is used for receiving a product on the interval manipulator at the opposite side and driving the product to move in the XYZ axial direction; the pre-pushing component control part is used for controlling the pre-pushing up and down pressing test component to run;
the height deviation detection mechanism is arranged at a second detection station, and is provided with a second base, an offset detection platform Y-axis mechanism arranged at a low-level platform of the second base, a material tray placing platform which is arranged at the upper end moving part of the offset detection platform Y-axis mechanism and is driven by the offset detection platform Y-axis mechanism to move in the Y-axis direction, a material tray placing automatic correction mechanism which is arranged at the corner part of the material tray placing platform and is used for correcting the material tray angle, an XY-axis driving mechanism arranged at a high-level platform of the second base, and a linear laser sensor which is laterally arranged on the XY-axis driving mechanism and is driven by the XY-axis driving mechanism to move in the XY-axis direction, wherein the linear laser sensor can move to the upper part of the material tray placing platform;
the multiple groups of transfer bin mechanisms are respectively arranged at the adjacent side of the first detection station, the sorting station and the adjacent side of the second detection station, and each transfer bin mechanism is provided with a transfer bin YZ shaft driving mechanism and a transfer bin which is arranged on the transfer bin YZ shaft driving mechanism and is driven by the transfer bin YZ shaft driving mechanism to move in a YZ shaft manner;
sorting and trade a set manipulator mechanism locates in advance push away fastness detection mechanism with between the high skew detection mechanism, be equipped with two sets of manipulator subassemblies on it, one of them manipulator subassembly will push away assembly cost after fastness detection mechanism detects according to the categorised transport of testing result to the transfer feed bin mechanism of letter sorting station department in advance, another manipulator subassembly will qualified equipment finished product in the transfer feed bin mechanism of letter sorting station department is carried extremely on the high skew detection mechanism.
Furthermore, the top of the guide rail frame is a U-shaped frame, the top ends of two sides of a U-shaped groove of the U-shaped frame are provided with the first linear guide rail, a power source of an interval manipulator is installed in the groove of the U-shaped frame, the power source is a first motor, the first motor drives a first lead screw to rotate, the first lead screw is connected with a sliding block and drives a manipulator assembly which is connected to the first linear guide rail in a sliding mode to move in the X axial direction, and the manipulator assembly is provided with a YZ-axis driving mechanism and a carrying manipulator which is installed on the YZ-axis driving mechanism and driven by the YZ-axis driving mechanism to move in the YZ axial direction.
Further, the pre-push assembly product placement platform comprises:
the first mounting support frame is fixedly arranged on the first base;
the pre-pushing platform Y-axis mechanism is arranged at the top end of the first mounting support frame, the power source of the pre-pushing platform Y-axis mechanism is a second motor, and the driving end of the second motor is connected with a second screw rod and drives the second screw rod to rotate;
the mounting seat at the bottom of the X-axis mechanism of the pre-pushing platform is connected to the two second linear guide rails in a sliding manner and is screwed to the second lead screws, the second lead screws drive the X-axis mechanism of the pre-pushing platform to do Y-axis motion in a rotating manner, the power source of the X-axis mechanism of the pre-pushing platform is a third motor, and the driving end of the third motor is connected with the third lead screws and drives the third lead screws to rotate;
the pre-pushing platform Z-axis mechanism is characterized in that a lower base of the pre-pushing platform Z-axis mechanism is connected onto two third linear guide rails in a sliding mode and is connected to the third screw rods in a rotating mode, the third screw rods drive the pre-pushing platform Z-axis mechanism to move in the X-axis direction in a rotating mode, a power source of the pre-pushing platform Z-axis mechanism is a fourth motor, the fourth motor drives a first inclined block with the top being an upper inclined plane to move, four corners of the lower base are connected with a platform mounting plate through guide pillars, a second inclined block matched with the first inclined block is arranged on the lower end face of the platform mounting plate, a lower inclined plane matched with the upper inclined plane is arranged at the lower end of the second inclined block, and the lower inclined plane can drive the platform mounting plate to move up and down through the movement of the upper;
the pre-pushing platform is of a comb-shaped structure, the handle part of the pre-pushing platform is horizontally arranged on the platform mounting plate, and the comb-shaped part of the pre-pushing platform extends outwards to form a suspension structure.
Further, the pre-pushing up-down pressing test assembly comprises:
the second mounting support frame is provided with a bottom plate and vertical plates for mounting two opposite sides of the bottom plate, a transverse support plate is arranged between the two vertical plates, the bottom plate is fixed on the first base, and the top end of the second mounting support frame is provided with the pre-pushing assembly control part;
the pressure testing Y-axis mechanism is arranged on the bottom plate, the power source of the pressure testing Y-axis mechanism is a fifth motor, the fifth motor drives a fifth screw rod to drive a pressure testing Z-axis mechanism to do Y-axis motion, two Y-direction parallel fourth linear guide rails and four stand columns arranged on the outer sides of the two Y-direction parallel fourth linear guide rails are arranged on the top plate surface of the movable part of the pressure testing Y-axis mechanism, and Z-direction guide rails are arranged on the outer sides of the four stand columns;
the pressure test Z-axis mechanism comprises a driving part with a power source being a sixth motor, wherein the driving end of the sixth motor is connected with a sixth screw rod, a third inclined block is screwed on the sixth screw rod, the pressure test Z-axis mechanism also comprises a lifting connecting seat, two side parts of the lifting connecting seat are connected with four lifting side plates which are connected onto the Z-direction guide rail in a sliding manner, a fourth inclined block matched with the third inclined block is arranged on the lower bottom surface of the lifting connecting seat, the sixth motor drives the sixth screw rod to rotate to drive the third inclined block to move, and the third inclined block drives the fourth inclined block to lift so as to drive the lifting connecting seat to do lifting movement;
the pre-pushing head assembly comprises guide rail seats which are arranged on the left, the middle and the right and are perpendicular to the upper plate surface of the lifting connecting seat and a plurality of first air cylinders, wherein a plurality of opposite Z-axis guide rails are arranged on the opposite surfaces of the guide rail seats on the left, the right and the middle guide rail seats, the plurality of first air cylinders are arranged in a gap between the left, the middle and the right guide rail seats, the driving ends of the first air cylinders face upwards and are fixedly arranged on the upper plate surface of the lifting connecting seat, the driving ends of the first air cylinders are connected with pre-pushing heads, the upper ends of the pre-pushing heads are connected with force sensors, the pre-pushing heads are laterally connected onto the Z-axis guide rails, and;
the correcting plate is arranged above the pressing plate;
and the multiple groups of displacement sensors are arranged on the transverse supporting plate in a penetrating way through the sensing seat, and the lower ends of the displacement sensors are connected with the correcting plate.
Further, the lower push head cleaning assembly comprises:
the third mounting support frame is adjustably mounted on the upper plate surface of the first base;
the cleaning cylinder driving part comprises a cleaning cylinder and a first movable seat assembly, the first movable seat assembly is connected to the top end of the third mounting support frame in a sliding mode through two rails, and the first movable seat assembly is laterally connected with the driving end of the cleaning cylinder;
the cleaning machine is adjustably mounted on the first movable seat assembly, a cleaning head of the cleaning machine can move to a pre-pushing head on the pre-pushing up-down pressing testing assembly to be cleaned, and the cleaning machine is a plasma cleaning machine.
Furthermore, the second base is of a convex structure, the power source of the Y-axis mechanism of the offset detection platform is a seventh motor, the driving end of the seventh motor is connected with a seventh lead screw, the seventh lead screw is in threaded connection with a second movable seat assembly, two sides of the lower end of the second movable seat assembly are slidably connected to the two slide rails, and the tray placement platform is mounted on a top plate body of the second movable seat assembly;
the material tray placing platform is provided with double platforms, each platform adopts a vacuum adsorption device to adsorb the material tray, the platforms are provided with array type boss structures, and each boss is provided with an independent adsorption hole to adsorb a single product;
the automatic correcting mechanisms for placing the material trays are provided with two groups which are respectively fixed at two corners of the double platforms, telescopic devices which can move along the central line direction of an included angle are arranged on the automatic correcting mechanisms, a right-angle strip is arranged at the top of each telescopic device, and a plurality of rotatable shafts are arranged on the upper end face of each right-angle strip;
the XY axis driving mechanism comprises an X axis driving mechanism and a Y axis driving mechanism, the X axis driving mechanism and the Y axis driving mechanism drive the corresponding moving parts to move by adopting the rotation of the motor driving screw rod, wherein the Y axis driving mechanism is fixed on the high-position platform of the second base and drives the X axis driving mechanism to do Y axial movement, and the linear laser sensor is laterally fixed on the moving parts of the X axis driving mechanism.
The linear laser sensor adopts two sets of laser sensors to simultaneously detect and calculate the deviation value of four points of the assembled finished spectacle frame and spectacle lens.
Further, the transfer bin mechanism comprises a third base, two parallel fifth linear guide rails are arranged on the third base, a bin seat is connected onto the two fifth linear guide rails in a sliding manner, 2 groups of transfer bins consisting of a plurality of vertical rods are arranged on the left side and the right side of the bin seat, and the transfer bins are used for loading material trays;
transfer feed bin YZ axle actuating mechanism includes transfer feed bin Y axle actuating mechanism and transfer feed bin Z axle actuating mechanism, transfer feed bin Y axle actuating mechanism's power supply is the second cylinder, second cylinder drive end is connected feed bin seat and drive Y axial displacement is done to the feed bin seat, install on the feed bin seat transfer feed bin Z axle actuating mechanism, transfer feed bin Z axle actuating mechanism drive elevating movement is done to the charging tray.
Further, letter sorting and trade a set manipulator mechanism includes:
a manipulator support frame;
the two groups of manipulator X-axis driving mechanisms are arranged on the manipulator support frame cross beam and are arranged in a staggered mode in opposite directions;
the two groups of mechanical arm components are respectively arranged on the two groups of mechanical arm X-axis driving mechanisms, a mechanical arm Y-axis driving mechanism which is arranged on the mechanical arm X-axis driving mechanism and is driven by the mechanical arm X-axis driving mechanism to do X-axis axial movement, a mechanical arm Z-axis driving mechanism which is arranged on the mechanical arm Y-axis driving mechanism and is driven by the mechanical arm Y-axis driving mechanism to do Y-axis axial movement are arranged on the mechanical arm X-axis driving mechanism, and a mechanical claw component and a correction camera arranged on the adjacent side of the mechanical claw component are arranged at the lower end of the mechanical arm Z-axis driving mechanism.
Furthermore, the mechanical claw assembly comprises a product sorting vacuum suction nozzle and a material tray carrying vacuum suction nozzle, and the product sorting vacuum suction nozzle and the material tray carrying vacuum suction nozzle are both connected with a vacuum device through vacuum pipelines.
Furthermore, a good product discharging platform assembly is further arranged at a discharging station of the material tray carrying manipulator.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses an optical device high accuracy equipment detects and sorter, mainly used camera lens's picture frame and lens equipment back fastness detect, and the detection of assembly high offset, the finished product of different situations appears in the assembly carries out categorised automatic compensation to corresponding charging tray, and the overall process is that each mechanical parts is automatic to be accomplished. The utility model discloses an equipment finished product detects machine has set up and has pushed away fastness detection mechanism in advance and has calculated the fastness of combination between them through the deflection that detects the lens after assembling lens and picture frame structure. In order to ensure the interchangeability of the specification and subsequent utilization of the assembled finished products, the automatic material throwing machine is further provided with a height deviation detection mechanism, in order to distinguish different conditions of firmness and height deviation detection, different types of automatic material throwing bins and material supplementing bins are arranged, and the manipulator has the functions of carrying material trays and carrying the single assembled finished products of sorted products to a specified material tray.
Drawings
Fig. 1 is the general assembly diagram of the assembled finished product detecting machine of the present invention.
Fig. 2 is the enlarged view of the tray carrying manipulator of the utility model.
Fig. 3 is the assembly diagram of the pre-pushing firmness detection mechanism of the present invention.
Fig. 4 is the utility model discloses push away component product place the platform's schematic structure diagram in advance.
Fig. 5 is a schematic structural view of the pre-pushing up and down pressing test assembly of the present invention.
Fig. 6 is a schematic structural view of the lower pushing head cleaning assembly of the present invention.
Fig. 7 is a schematic structural diagram of the height deviation detecting mechanism of the present invention.
Fig. 8 is a schematic structural view of the transfer bin mechanism of the present invention.
Fig. 9 is a schematic structural view of the sorting and disc-changing manipulator mechanism of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention. It is obvious that the described embodiments of the invention are only some of the embodiments of the invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Example 1: the utility model discloses a concrete structure as follows:
referring to fig. 1-9, the present invention provides an assembled finished product inspection machine with high precision for optical devices and a sorting mechanism, including a frame 100, a platen is disposed on the top of the frame 100, the inspection machine further includes:
the belt conveyor line 700 is used for conveying the material trays loaded with the assembled products to a feeding end, the material tray conveying manipulator conveys the material trays loaded with the assembled finished products to each detection station, and finally the detected OK products are conveyed into a blanking machine or a blanking bin by the discharging platform; sorting defective products generated in the detection by a sorting manipulator, and then carrying the defective products into a sorting bin;
the tray carrying manipulator 600 is arranged on the front side of the belt conveyor line 700 and comprises a guide rail frame 601 and a first linear guide rail arranged at the top end of the guide rail frame 601, a plurality of interval manipulators which move in intervals are arranged on the first linear guide rail, and the interval manipulators are used for feeding trays on the belt conveyor line 700 into corresponding detection stations;
push away fastness detection mechanism 200 in advance, set up in first detection station department, include first base 1 and install on first base 1: the device comprises a pre-pushing assembly product placing platform 2, a pre-pushing up-down pressing testing assembly 3 and a lower push head cleaning assembly 4, wherein the pre-pushing assembly product placing platform 2 is used for receiving products on the interval manipulator at the opposite side and can drive the products to move in the XYZ axial direction; the device also comprises a pre-pushing component control part 5 for controlling the operation of the pre-pushing up and down pressing test component 3;
the height deviation detection mechanism 500 is arranged at a second detection station, and is provided with a second base 6, an offset detection platform Y-axis mechanism 7 arranged at a low-level platform of the second base 6, a material tray placing platform 8 which is arranged at a moving part at the upper end of the offset detection platform Y-axis mechanism 7 and is driven by the offset detection platform Y-axis mechanism 7 to move in the Y-axis direction, a material tray placing automatic correction mechanism 9 which is arranged at the corner of the material tray placing platform 8 and is used for correcting the material tray angle, an XY-axis driving mechanism 10 arranged at a high-level platform of the second base 6, and a linear laser sensor 11 which is arranged on the XY-axis driving mechanism 10 in a side mode and is driven by the XY-axis driving mechanism 10 to move in the XY-axis direction, wherein the linear laser sensor 11 can move to the upper part of the material tray placing platform 8;
a plurality of groups of transfer bin mechanisms 300 respectively arranged at the adjacent side of the first detection station, the sorting station and the adjacent side of the second detection station, wherein each transfer bin mechanism 300 is provided with a transfer bin YZ shaft driving mechanism and a transfer bin 14 which is arranged on the transfer bin YZ shaft driving mechanism and is driven by the transfer bin YZ shaft driving mechanism to move in a YZ shaft manner;
sorting and trade a set manipulator mechanism 400 locates in advance push away fastness detection mechanism 200 with between the high skew detection mechanism 500, be equipped with two sets of manipulator subassemblies on it, one of them manipulator subassembly will push away in advance that the assembly cost after fastness detection mechanism 200 detects the completion is according to categorised transport to the transfer feed bin mechanism 300 of letter sorting station department of testing result, another manipulator subassembly will qualified equipment finished product in the transfer feed bin mechanism 300 of letter sorting station department is transported to on the high skew detection mechanism 500.
Example 2:
as shown in fig. 2, the following is a structure of the tray handling robot 600:
the top of the guide rail frame 601 is a U-shaped frame, the top ends of two sides of a U-shaped groove of the U-shaped frame are provided with the first linear guide rails, a power source of an interval manipulator is installed in the groove, the power source is a first motor, the first motor drives the first lead screw 603 to rotate, the first lead screw 603 is connected with a slider and drives a manipulator assembly 604 which is connected to the first linear guide rails in a sliding mode to move in the X axial direction, and the manipulator assembly 604 is provided with a YZ-axis driving mechanism and a carrying manipulator which is installed on the YZ-axis driving mechanism and driven by the YZ-axis driving mechanism to move in the YZ axial direction.
Example 3:
as shown in fig. 4, the following is the structure of the pre-push assembly product placement platform 2:
the pre-push assembly product placement platform 2 includes:
the first mounting support frame 201 is fixedly arranged on the first base 1;
the pre-pushing platform Y-axis mechanism 202 is arranged at the top end of the first mounting support frame 201, the power source of the pre-pushing platform Y-axis mechanism is a second motor, and the driving end of the second motor is connected with a second screw rod and drives the second screw rod to rotate;
a mounting seat at the bottom of the pre-pushing platform X-axis mechanism 203 is connected to two second linear guide rails in a sliding manner and is connected to the second lead screws in a screwing manner, the second lead screws rotationally drive the pre-pushing platform X-axis mechanism 203 to move in the Y-axis direction, a power source of the pre-pushing platform X-axis mechanism 203 is a third motor, and a driving end of the third motor is connected to the third lead screws and drives the third lead screws to rotate;
the pre-pushing platform Z-axis mechanism 204 is characterized in that a lower base of the pre-pushing platform Z-axis mechanism 204 is connected onto two third linear guide rails in a sliding mode and is connected to the third screw rods in a rotating mode, the third screw rods drive the pre-pushing platform Z-axis mechanism 204 to move in the X axial direction in a rotating mode, a power source of the pre-pushing platform Z-axis mechanism 204 is a fourth motor, the fourth motor drives a first inclined block with the top being an upper inclined plane to move, four corners of the lower base are connected with a platform mounting plate through guide pillars, a second inclined block matched with the first inclined block is arranged on the lower end face of the platform mounting plate, a lower inclined plane matched with the upper inclined plane is arranged at the lower end of the second inclined block, and the lower inclined plane can be driven to drive the platform mounting plate to move up and down through the;
the pre-pushing platform 205 is a comb-shaped structure, a handle portion of the pre-pushing platform is horizontally installed on the platform installation plate, and a comb-shaped portion of the pre-pushing platform extends outwards to form a suspension structure.
Example 4:
as shown in fig. 5, the structure of the pre-push up-down pressure test assembly 3 is as follows:
the pre-push up-down pressing test assembly 3 comprises:
the second mounting support frame 209 is provided with a bottom plate and vertical plates for mounting opposite two sides of the bottom plate, a transverse support plate is arranged between the two vertical plates, the bottom plate is fixed on the first base 1, and the top end of the second mounting support frame 209 is provided with the pre-pushing assembly control part 5;
the pressure test Y-axis mechanism 214 is arranged on the bottom plate, the power source of the pressure test Y-axis mechanism is a fifth motor, the fifth motor drives a fifth screw rod to drive the pressure test Z-axis mechanism 210 to do Y-axis motion, two Y-direction parallel fourth linear guide rails and four upright posts arranged on the outer sides of the two Y-direction parallel fourth linear guide rails are arranged on the top plate surface of the movable part of the pressure test Y-axis mechanism, and Z-direction guide rails are arranged on the outer sides of the four upright posts;
the pressure test Z-axis mechanism 210 comprises a driving part with a power source being a sixth motor, a driving end of the sixth motor is connected with a sixth lead screw, a third inclined block is screwed on the sixth lead screw, the pressure test Z-axis mechanism 210 further comprises a lifting connecting seat, two side parts of the lifting connecting seat are connected with four lifting side plates which are connected onto the Z-direction guide rail in a sliding manner, a fourth inclined block matched with the third inclined block is arranged on the lower bottom surface of the lifting connecting seat, the sixth motor drives the sixth lead screw to rotate to drive the third inclined block to move, and the third inclined block drives the fourth inclined block to lift so as to drive the lifting connecting seat to do lifting movement;
the pre-pushing head assembly 206 comprises guide rail seats which are arranged on the left, middle and right and are perpendicular to the upper plate surface of the lifting connecting seat and a plurality of first air cylinders, wherein a plurality of opposite Z-axis guide rails are arranged on the opposite surfaces of the guide rail seats on the left, right and middle guide rail seats, the plurality of first air cylinders are arranged in a gap between the left, middle and right guide rail seats, the driving ends of the first air cylinders face upwards and are fixedly arranged on the upper plate surface of the lifting connecting seat, the driving end of each first air cylinder is connected with a pre-pushing head, the upper end of the pre-pushing head is connected with a force sensor, the pre-pushing head is laterally connected onto the Z-axis guide rail, and a pressing plate seat;
a correction plate 207 disposed above the pressing plate;
and the multiple groups of displacement sensors 208 are arranged on the transverse supporting plate in a penetrating way through the sensing seats, and the lower ends of the displacement sensors are connected with the correction plate 207.
Example 5:
as shown in fig. 6, the following is the structure of the lower ram cleaning assembly 4:
lower push head washs subassembly 4 includes:
a third mounting support frame 213 adjustably mounted on the upper plate surface of the first base 1;
the cleaning cylinder driving part 211 comprises a cleaning cylinder and a first movable seat assembly, wherein the first movable seat assembly is connected to the top end of the third mounting support frame 213 in a sliding manner through two rails, and the first movable seat assembly is laterally connected with the driving end of the cleaning cylinder;
and the cleaning machine 212 is adjustably installed on the first movable seat assembly, a cleaning head of the cleaning machine can move to a pre-pushing head on the pre-pushing up and down pressing test assembly 3 for cleaning, and the cleaning machine 212 is a plasma cleaning machine.
Example 6:
as shown in fig. 7, the following is the structure of the height deviation detecting mechanism 500:
the second base 6 is of a convex structure, the power source of the offset detection platform Y-axis mechanism 7 is a seventh motor, the driving end of the seventh motor is connected with a seventh lead screw, the seventh lead screw is in threaded connection with a second movable seat assembly, two sides of the lower end of the second movable seat assembly are in sliding connection with two sliding rails, and the material tray placing platform 8 is installed on a top plate body of the second movable seat assembly;
the material tray placing platform 8 is provided with double platforms, each platform adopts a vacuum adsorption device to adsorb the material tray, the platforms are provided with array type boss structures, and each boss is provided with an independent adsorption hole to adsorb a single product;
the automatic correcting mechanisms 9 for placing the charging trays are provided with two groups, the two groups are respectively fixed at two corners of the double platforms, telescopic devices capable of moving along the central line direction of an included angle are arranged on the two groups, a right-angle strip is arranged at the top of each telescopic device, and a plurality of rotatable shafts are arranged on the upper end face of each right-angle strip;
the XY-axis driving mechanism 10 comprises an X-axis driving mechanism and a Y-axis driving mechanism, the X-axis driving mechanism and the Y-axis driving mechanism drive corresponding moving parts to move by adopting the rotation of a motor driving screw rod, wherein the Y-axis driving mechanism is fixed on a high-position platform of the second base 6 and drives the X-axis driving mechanism to do Y-axis movement, and the linear laser sensor 11 side is fixed on the moving parts of the X-axis driving mechanism.
The linear laser sensor 11 adopts two sets of laser sensors to simultaneously detect and calculate the deviation value of four points of the assembled finished spectacle frame and spectacle lens.
Example 7:
as shown in fig. 8, the following is the structure of the multiple-unit transfer bin mechanism 300:
the transfer bin mechanism 300 comprises a third base, two parallel fifth linear guide rails are arranged on the third base, bin seats are connected onto the two fifth linear guide rails in a sliding manner, 2 groups of transfer bins 14 consisting of a plurality of upright rods are arranged on the left side and the right side of each bin seat, and the transfer bins 14 are used for loading material trays;
transfer feed bin YZ axle actuating mechanism includes transfer feed bin Y axle actuating mechanism and transfer feed bin Z axle actuating mechanism, transfer feed bin Y axle actuating mechanism's power supply is the second cylinder, second cylinder drive end is connected feed bin seat and drive Y axial displacement is done to the feed bin seat, install on the feed bin seat transfer feed bin Z axle actuating mechanism, transfer feed bin Z axle actuating mechanism drive elevating movement is done to the charging tray.
Example 8:
as shown in fig. 9, the following is a specific structure of the sorting and disc-changing robot mechanism 400:
the sorting and disc-changing robot mechanism 400 includes:
a manipulator support frame 15;
two groups of manipulator X-axis driving mechanisms 16 which are arranged on the cross beam of the manipulator support frame 15 and are arranged in a staggered manner in opposite directions;
the two groups of manipulator components are respectively arranged on the two groups of manipulator X-axis driving mechanisms 16, a manipulator Y-axis driving mechanism 17 which is arranged on the manipulator X-axis driving mechanism 16 and is driven by the manipulator X-axis driving mechanism 16 to move in the X axial direction, a manipulator Z-axis driving mechanism 18 which is arranged on the manipulator Y-axis driving mechanism 17 and is driven by the manipulator Y-axis driving mechanism 17 to move in the Y axial direction are arranged on the manipulator Y-axis driving mechanism, and a mechanical claw component and a correction camera 19 which is arranged on the adjacent side of the mechanical claw component are arranged at the lower end of the manipulator Z-axis driving mechanism 18.
A preferred technical solution of this embodiment: the mechanical claw assembly comprises a product sorting vacuum suction nozzle 20 and a material tray carrying vacuum suction nozzle 21, and the product sorting vacuum suction nozzle 20 and the material tray carrying vacuum suction nozzle 21 are both connected with a vacuum device through vacuum pipelines.
And a good product discharging platform assembly 800 is further arranged at the discharging station of the tray conveying manipulator 600.
Example 9:
as shown in fig. 1-9, the following is the operation principle of the assembled finished product inspection machine of the present invention:
the finished product (the finished product after camera picture frame and the lens equipment) belt conveyor line 700 that transport charging tray manipulator 600 will assembled is carried extremely push away fastness detection mechanism 200 in advance, push away fastness detection mechanism 200 in advance and detect the assembly fastness, detect the back, push away subassembly product place platform 2 in advance and release, transport charging tray manipulator 600 will push away the product charging tray that detects in advance and carry to transfer platform.
The two sets of manipulator assemblies are a first manipulator assembly and a second manipulator assembly on the left side respectively, the first manipulator assembly is used for transferring the pre-push detection OK product to the transfer platform, and the second manipulator assembly is used for transferring the pre-push detection OK product and the material tray on the transfer platform to the height deviation detection mechanism 500.
The transfer platform comprises a fixed transfer platform and a movable transfer platform, the fixed transfer platform is used for storing the material trays, and the detected finished products are classified and automatically compensated through the sorting manipulator. The movable transfer platform is movable through the sorting manipulator.
The sorting and tray changing manipulator mechanism 400 runs the sorting manipulator in the Y direction to output, and the sorting manipulator on the sorting manipulator carries the tray to the fixed transfer platform, so that the products are classified and automatically compensated. And the sorting manipulator conveys the material tray of the pre-push detection OK product to the mobile transfer platform after compensation.
The moving transfer platform moves the full-tray pre-pushing detected OK products to a tray carrying mechanical arm (namely a second mechanical arm assembly), the tray carrying mechanical arm carries the pre-pushing OK products to a height deviation detection platform (namely a tray placing platform 8) on the height deviation detection mechanism 500, the height deviation detection moves in the Y direction of the tray pre-pushing OK products, the height deviation detection is carried out on assembled finished products, after the detection is finished, the height deviation detection platform (namely the tray placing platform 8) moves in the Y direction again, the height deviation detection platform moves to the position below a sorting mechanical arm, and the tray is carried to the fixed sorting platform.
After the sorting mechanical arm sorts and automatically compensates the height deviation detection OK and NG, the sorting mechanical arm conveys the material tray of the full tray height deviation detection OK product to the moving transfer platform, and the moving transfer platform carries the OK product to run to the discharging mechanical arm.
The discharging manipulator conveys the material tray loaded with the OK products to the discharging platform, and the discharging platform cleans and discharges materials when the OK products are detected and moves to a plasma cleaning position.
The high-precision assembling, detecting and classifying machine for the optical devices is mainly used for detecting the firmness of an assembled lens frame and a lens of a camera lens and detecting the offset of the assembling height, classifying and automatically compensating finished products with different assembling conditions into corresponding material trays, and automatically completing the whole process of all mechanical parts; according to the requirement, the optical device high-precision assembling, detecting and classifying machine is provided with a pre-pushing assembly structure for measuring and calculating the firmness of combination of the lens and the frame structure by detecting the deformation of the lens after the lens and the frame structure are assembled; in order to ensure the specification of the assembled finished product and the interchangeability of subsequent utilization, a height displacement deviation detection structure is also arranged; in order to distinguish different conditions of firmness and height deviation inspection, different types of automatic material throwing bins and material supplementing bins are arranged, and the manipulator has the functions of carrying the material tray and carrying the single assembled finished products of the sorted products to an appointed material tray.
By using the mechanism of the utility model, the pre-pushing firmness detection component and the height displacement deviation detection component both adopt marble as the mounting bottom plate, so that the whole detection process is stable; push away fastness detection subassembly in advance and be equipped with the washing function of pushing away the head in advance, ensure the cleanliness that detects product fastness and detect. The push head is driven to move up and down by adopting a low-friction cylinder and a guide rail sliding block, so that the stable balance of the product pushed into the correction plate by the push head is ensured, the thrust of the cylinder is detected by a force sensor at any time, the contact lens of the ball head type displacement sensor is lowered to detect the displacement deformation under the condition of certain thrust, and the detection precision reaches +/-3 mu m. The detection platform for assembling the finished spectacle frame and the lens assembling offset adopts a double-material-disc placing structure, and the vacuum structure for adsorbing products and the material discs is independently arranged and is provided with a mechanism for automatically correcting the material discs. The detection mechanism adopts two sets of linear laser sensors to respectively detect the height of any four points of the mirror frame and the lens of each finished product and then transmit the data to the system to quickly calculate the offset. The scanning head of the linear sensor moves and detects at the same time, and the detection precision reaches +/-2.5 mu m; the optical device high-precision assembling and detecting deviation calculating mechanism can quickly, stably and accurately detect the assembling height deviation calculation of the assembled finished spectacle frame and spectacle lens. The manipulator has the functions of correcting, sorting products and carrying trays; the multi-group storage bin is arranged to sort the products with different assembly effects into the formulated material trays. This utility model discloses the mechanism detects multiple functional, and the precision is high, carries out the interior charging tray of packing into the institute to different products, has improved production efficiency greatly, has embodied the utilization of equipment finished product epilogue interchangeability, and full-process automated inspection calculates, has reduced the production finished product, has replaced the artifical detection that can't accomplish.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the same way in the protection scope of the present invention.
Claims (10)
1. An optical device high accuracy just has equipment finished product detection machine of sorting mechanism, includes frame (100), frame (100) top is equipped with the platen, characterized by, the detection machine still including install in on the platen:
the belt conveyor line (700) conveys the material trays loaded with the assembled products to a feeding end, the material tray conveying manipulator conveys the material trays loaded with the assembled finished products to each detection station, and finally the material tray conveying manipulator conveys the detected OK products to a blanking machine or a blanking bin by a discharging platform; sorting defective products generated in the detection by a sorting manipulator, and then carrying the defective products into a sorting bin;
the tray carrying manipulator (600) is arranged on the front side of the belt conveying line (700), and comprises a guide rail frame (601) and a first linear guide rail arranged at the top end of the guide rail frame (601), a plurality of interval manipulators which move in intervals are arranged on the first linear guide rail, and the interval manipulators are used for feeding trays on the belt conveying line (700) into corresponding detection stations;
push away fastness detection mechanism (200) in advance, set up in first detection station department, include first base (1) and install on first base (1): the device comprises a pre-pushing assembly product placing platform (2) which is used for receiving products on the interval manipulator at the opposite side and can drive the products to move in the XYZ axial direction, a pre-pushing up-down pressing testing assembly (3) which is arranged at the adjacent side of the pre-pushing assembly product placing platform (2) and used for performing pressure testing on the products on the pre-pushing assembly product placing platform (2), and a lower pushing head cleaning assembly (4) used for cleaning a pre-pushing head; the device also comprises a pre-pushing component control part (5) for controlling the pre-pushing up and down pressing test component (3) to operate;
a height deviation detection mechanism (500) which is arranged at a second detection station and is provided with a second base (6), an offset detection platform Y-axis mechanism (7) arranged at a low-level platform of the second base (6), a tray placing platform (8) which is arranged at the upper end moving part of the offset detection platform Y-axis mechanism (7) and is driven by the offset detection platform Y-axis mechanism (7) to move in the Y-axis direction, a tray placing automatic correction mechanism (9) which is arranged at the corner part of the tray placing platform (8) and is used for correcting the tray angle, an XY-axis driving mechanism (10) arranged at the high-level platform of the second base (6) and a linear laser sensor (11) which is arranged on the XY-axis driving mechanism (10) in a side manner and is driven by the XY-axis driving mechanism (10) to move in the XY-axis direction, the linear laser sensor (11) can run above the tray placing platform (8);
the multiple groups of transfer bin mechanisms (300) are respectively arranged at the adjacent side of the first detection station, the sorting station and the adjacent side of the second detection station, and each transfer bin mechanism (300) is provided with a transfer bin YZ shaft driving mechanism and a transfer bin (14) which is arranged on the transfer bin YZ shaft driving mechanism and is driven by the transfer bin YZ shaft driving mechanism to move along a YZ shaft;
sorting and trade a set manipulator mechanism (400), locate push away in advance fastness detection mechanism (200) with between high skew detection mechanism (500), be equipped with two sets of manipulator subassemblies on it, one of them manipulator subassembly will push away in advance that fastness detection mechanism (200) detect the assembly cost after accomplishing according to categorised transport to the transfer feed bin mechanism (300) of letter sorting station department of testing result, another manipulator subassembly will qualified equipment finished product in the transfer feed bin mechanism (300) of letter sorting station department is carried extremely on high skew detection mechanism (500).
2. The finished product inspection machine with high precision optics and sorting mechanism according to claim 1, wherein the top of the rail frame (601) is a U-shaped frame, the top of the U-shaped groove of the U-shaped frame is provided with the first linear guide rail, the groove is provided with a power source of the interval manipulator, the power source is a first motor, the first motor drives a first lead screw (603) to rotate, the first lead screw (603) is connected with a slide block and drives a manipulator assembly (604) which is slidably connected with the first linear guide rail to move in the X-axis direction, and the manipulator assembly (604) is provided with a YZ-axis driving mechanism and a carrying manipulator which is arranged on the YZ-axis driving mechanism and is driven by the YZ-axis driving mechanism to move in the YZ-axis direction.
3. An optical device high precision assembled finished product inspection machine with sorting mechanism according to claim 1, characterized by that, the pre-push assembly product placing platform (2) comprises:
the first mounting support frame (201) is fixedly arranged on the first base (1);
the pre-pushing platform Y-axis mechanism (202) is arranged at the top end of the first mounting support frame (201), the power source of the pre-pushing platform Y-axis mechanism is a second motor, and the driving end of the second motor is connected with a second screw rod and drives the second screw rod to rotate;
the mounting seat at the bottom of the X-axis mechanism (203) of the pre-pushing platform is connected to the two second linear guide rails in a sliding mode and is connected to the second lead screws in a screwing mode, the second lead screws drive the X-axis mechanism (203) of the pre-pushing platform to move in the Y-axis direction in a rotating mode, the power source of the X-axis mechanism (203) of the pre-pushing platform is a third motor, and the driving end of the third motor is connected with the third lead screws and drives the third lead screws to rotate;
the pre-pushing platform Z-axis mechanism (204) is characterized in that a lower base of the pre-pushing platform Z-axis mechanism (204) is connected onto two third linear guide rails in a sliding mode and is connected to the third screw rods in a rotating mode, the third screw rods drive the pre-pushing platform Z-axis mechanism (204) to move in the X axial direction in a rotating mode, a power source of the pre-pushing platform Z-axis mechanism (204) is a fourth motor, the fourth motor drives a first inclined block with the top being an upper inclined plane to move, four corners of the lower base are connected with a platform mounting plate through guide pillars, a second inclined block matched with the first inclined block is arranged on the lower end face of the platform mounting plate, a lower inclined plane matched with the upper inclined plane is arranged at the lower end of the second inclined block, and the lower inclined plane can drive the platform mounting plate to move up and down by the movement;
the pre-pushing platform (205) is of a comb-shaped structure, the handle part of the pre-pushing platform is horizontally arranged on the platform mounting plate, and the comb-shaped part of the pre-pushing platform extends outwards to form a suspension structure.
4. The assembled finished product inspection machine with high precision of optical devices and sorting mechanism as claimed in claim 1, characterized in that said pre-push up and down press test assembly (3) comprises:
the second mounting support frame (209) is provided with a bottom plate and vertical plates for mounting two opposite sides of the bottom plate, a transverse support plate is arranged between the two vertical plates, the bottom plate is fixed on the first base (1), and the top end of the second mounting support frame (209) is provided with the pre-pushing assembly control part (5);
the pressure test Y-axis mechanism (214) is arranged on the bottom plate, the power source of the pressure test Y-axis mechanism is a fifth motor, the fifth motor drives a fifth screw rod to drive a pressure test Z-axis mechanism (210) to do Y-axis motion, two fourth linear guide rails which are parallel in the Y direction and four upright posts which are arranged on the outer sides of the two fourth linear guide rails which are parallel in the Y direction are arranged on the top plate surface of the movable part of the pressure test Y-axis mechanism, and Z-direction guide rails are arranged on the outer sides of the four upright posts;
the pressure test Z-axis mechanism (210) comprises a driving part with a power source being a sixth motor, the driving end of the sixth motor is connected with a sixth screw rod, a third inclined block is screwed on the sixth screw rod, the pressure test Z-axis mechanism (210) further comprises a lifting connecting seat, two side parts of the lifting connecting seat are connected with four lifting side plates which are connected onto the Z-direction guide rail in a sliding mode, a fourth inclined block matched with the third inclined block is arranged on the lower bottom surface of the lifting connecting seat, the sixth motor drives the sixth screw rod to rotate to drive the third inclined block to move, and the third inclined block drives the fourth inclined block to lift so as to drive the lifting connecting seat to do lifting movement;
the pre-pushing head assembly (206) comprises a guide rail seat and a plurality of first cylinders, wherein the guide rail seat is arranged on the left, middle and right sides and is perpendicular to the upper plate surface of the lifting connecting seat, a plurality of opposite Z-axis guide rails are arranged on the opposite surfaces of the guide rail seat on the left, right side and the guide rail seat in the middle, the plurality of first cylinders are arranged in the gap between the left, middle and right guide rail seats, the driving ends of the first cylinders face upwards and are fixedly arranged on the upper plate surface of the lifting connecting seat, the driving ends of the first cylinders are connected with pre-pushing heads, the upper ends of the pre-pushing heads are connected with force sensors, the pre-pushing heads are laterally connected onto the Z-axis guide rails;
a correction plate (207) disposed above the platen;
and the multiple groups of displacement sensors (208) are arranged on the transverse supporting plate in a penetrating way through the sensing seats, and the lower ends of the displacement sensors are connected with the correction plate (207).
5. The machine for inspecting assembled finished products of optical devices with high precision and sorting mechanism as claimed in claim 1, wherein said lower push head cleaning assembly (4) comprises:
the third mounting support frame (213) is adjustably mounted on the upper plate surface of the first base (1);
the cleaning air cylinder driving part (211) comprises a cleaning air cylinder and a first movable seat assembly, the first movable seat assembly is connected to the top end of the third mounting support frame (213) in a sliding mode through two rails, and the first movable seat assembly is laterally connected with the driving end of the cleaning air cylinder;
and the cleaning machine (212) is adjustably mounted on the first movable seat assembly, a cleaning head of the cleaning machine can move to a pre-pushing head on the pre-pushing up-down pressing testing assembly (3) for cleaning, and the cleaning machine (212) is a plasma cleaning machine.
6. The assembled finished product detecting machine with high precision of optical devices and sorting mechanism as claimed in claim 1, wherein the second base (6) is of a convex structure, the power source of the offset detecting platform Y-axis mechanism (7) is a seventh motor, the driving end of the seventh motor is connected with a seventh lead screw, the seventh lead screw is connected with a second movable seat assembly in a threaded manner, two sides of the lower end of the second movable seat assembly are slidably connected to two slide rails, and the tray placing platform (8) is mounted on the top plate body of the second movable seat assembly;
the material tray placing platform (8) is provided with double platforms, each platform adopts a vacuum adsorption device to adsorb the material tray, the platforms are provided with array type boss structures, and each boss is provided with an independent adsorption hole to adsorb a single product;
the automatic correcting mechanisms (9) for placing the charging trays are provided with two groups, the two groups are respectively fixed at two corners of the double platforms, telescopic devices capable of moving along the central line direction of an included angle are arranged on the two groups, a right-angle strip is arranged at the top of each telescopic device, and a plurality of rotatable shafts are arranged on the upper end face of the right-angle strip;
the XY-axis driving mechanism (10) comprises an X-axis driving mechanism and a Y-axis driving mechanism, the X-axis driving mechanism and the Y-axis driving mechanism drive corresponding moving parts to move by adopting the rotation of a motor driving screw rod, wherein the Y-axis driving mechanism is fixed on a high-position platform of the second base (6) and drives the X-axis driving mechanism to do Y-axis movement, and the linear laser sensor (11) side is fixed on the moving parts of the X-axis driving mechanism;
the linear laser sensor (11) adopts two sets of laser sensors to simultaneously detect and calculate the deviation value of four points of the assembled finished spectacle frame and spectacle lens.
7. The assembled finished product detecting machine with the high precision of the optical device and the sorting mechanism according to claim 1, wherein the transferring bin mechanism (300) comprises a third base, two parallel fifth linear guide rails are arranged on the third base, a bin seat is connected on the two fifth linear guide rails in a sliding manner, 2 transferring bins (14) composed of a plurality of vertical rods are arranged on the left side and the right side of the bin seat, and the transferring bins (14) are used for loading trays;
transfer feed bin YZ axle actuating mechanism includes transfer feed bin Y axle actuating mechanism and transfer feed bin Z axle actuating mechanism, transfer feed bin Y axle actuating mechanism's power supply is the second cylinder, second cylinder drive end is connected feed bin seat and drive Y axial displacement is done to the feed bin seat, install on the feed bin seat transfer feed bin Z axle actuating mechanism, transfer feed bin Z axle actuating mechanism drive elevating movement is done to the charging tray.
8. The machine for inspecting assembled finished products with high precision of optical devices and sorting mechanism as claimed in claim 1, wherein said sorting and disc-changing robot mechanism (400) comprises:
a manipulator support frame (15);
two groups of manipulator X-axis driving mechanisms (16) which are arranged on the cross beam of the manipulator support frame (15) and are arranged in a staggered manner in opposite directions;
the two sets of manipulator components are respectively installed on the two sets of manipulator X-axis driving mechanisms (16), a manipulator Y-axis driving mechanism (17) which is installed on the manipulator X-axis driving mechanism (16) and driven by the manipulator X-axis driving mechanism (16) to move in the X axial direction, and a manipulator Z-axis driving mechanism (18) which is installed on the manipulator Y-axis driving mechanism (17) and driven by the manipulator Y-axis driving mechanism (17) to move in the Y axial direction are arranged on the upper end of the manipulator Z-axis driving mechanism (18), and a mechanical claw component and a correction camera (19) installed on the adjacent side of the mechanical claw component are arranged at the lower end of the manipulator Z-axis driving mechanism (18).
9. The assembled finished product detecting machine with high precision of optical devices and sorting mechanism as claimed in claim 8, wherein said mechanical claw assembly comprises a product sorting vacuum nozzle (20) and a tray carrying vacuum nozzle (21), said product sorting vacuum nozzle (20) and said tray carrying vacuum nozzle (21) are connected to a vacuum device through vacuum pipes.
10. The assembled finished product detecting machine with high precision and sorting mechanism for optical devices as claimed in claim 1, wherein a good product discharging platform assembly (800) is further disposed at the discharging station of the tray carrying manipulator (600).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113819843A (en) * | 2021-09-10 | 2021-12-21 | 苏州领裕电子科技有限公司 | Laser scanning automatic bin dividing machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113819843A (en) * | 2021-09-10 | 2021-12-21 | 苏州领裕电子科技有限公司 | Laser scanning automatic bin dividing machine |
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Inventor after: Li Xiaogen Inventor after: Hu Zhengguang Inventor after: Shi Liquan Inventor after: Luo Dong Inventor after: He Tianwen Inventor after: Zhang Wei Inventor after: Liu Qiang Inventor before: Li Xiaogen Inventor before: Hu Zhengguang Inventor before: Shi Liquan Inventor before: Luo Dong Inventor before: He Tianwen Inventor before: Zhang Wei Inventor before: Zhang Qiang |