A capacitor appearance automatic inspection machine based on a dual-arm robot structure

Abstract

The present invention discloses an automatic capacitor appearance inspection machine based on a dual-arm robot structure, including a transport mechanism, the transport mechanism is provided with a hollow column, a loading arm and a unloading arm, the loading arm and the unloading arm are respectively installed on the left and right sides of the column, and also includes a rectangular inspection table, a detection mechanism, a display device, a finished product collection box, a waste recycling box and a controller, the electric loading arm, the unloading arm and the capacitor detection mechanism automatically complete the loading, detection and unloading of the capacitor. The dual arms of the present invention work in coordination, and the loading, detection and unloading can be completed in parallel, which can significantly improve the efficiency of capacitor appearance inspection.

Description

Technical Field

[0001] The invention relates to an automatic capacitor appearance detection machine based on a double-arm robot structure, belonging to the technical field of tooling for capacitor automatic taping systems. Background Art

[0002] In the production process of capacitors, most domestic capacitor manufacturers use human eyes under high-power microscopes to inspect capacitor surface defects, such as casing cracks, bubbles, scratches, marks, rubber plug exposure, etc. Long-term manual visual inspection is difficult to meet the requirements of accurate inspection of capacitor appearance during mass production. As capacitor manufacturers' demand for automatic capacitor appearance inspection devices becomes increasingly urgent, some automatic capacitor inspection devices have also appeared in China, but they all have complex system structures, are difficult to embed into existing production lines, and have poor inspection accuracy and low efficiency. Summary of the invention

[0003] The present invention proposes an automatic capacitor appearance inspection machine based on a dual-arm robot structure, which solves the technical problems of complex system structure, difficulty in embedding into existing production lines, poor inspection accuracy and low efficiency in the prior art automatic capacitor inspection devices.

[0004] In order to solve the above technical problems, the present invention adopts the following specific technical solutions:

[0005] A capacitor appearance automatic inspection machine based on a dual-arm robot structure, comprising a transport mechanism, a rectangular inspection table, an inspection mechanism, a display device, a finished product collection box, a waste collection box and a controller;

[0006] The transport mechanism includes a hollow column, a loading arm and a unloading arm, the loading arm and the unloading arm are respectively installed on the left and right sides of the hollow column, and the loading arm and the unloading arm each include a five-degree-of-freedom operating arm for coordinating the transport of the capacitor to the corresponding posture required for detection;

[0007] The rectangular detection platform is installed below the transport mechanism and is used to support the transport mechanism;

[0008] The detection mechanism and the display device are both installed on the transport mechanism, and are used to detect capacitor appearance defects and display capacitor detection results respectively;

[0009] The finished product collection box and the waste recycling box are placed on the right side and below the rectangular testing table respectively to collect the finished products and waste products of the capacitors;

[0010] The controller controls the loading arm, the unloading arm and the capacitance detection mechanism to complete the operations of loading, detecting and unloading the capacitor.

[0011] The controller controls the loading arm and the unloading arm to clamp the capacitor to be tested. The loading arm and the unloading arm each include a five-degree-of-freedom operating arm for coordinating the transport of the capacitor to the corresponding position required for testing. The controller controls the operating arm to swing, retract or / and flip, and uses the detection mechanism and display device to automatically detect the upper and lower surfaces and sides of the capacitor, display the detection results, and classify them according to the detection results. The automation degree is high, the detection efficiency is high, the multi-directional comprehensive detection is high, the detection accuracy is high, and the detection machine has a simple structure, which is very convenient to embed into the existing production line, reducing the production cost.

[0012] Further improvement, the five-degree-of-freedom operating arm includes a shoulder telescopic cylinder, a shoulder support shell, an L-shaped arm rod 1, a joint swing cylinder, a joint telescopic cylinder, an L-shaped arm rod 2, a wrist swing cylinder and a hand clamping cylinder; the telescopic cylinder, the joint swing cylinder, the joint telescopic cylinder, the wrist swing cylinder and the hand clamping cylinder are all electrically connected to the controller, the shoulder telescopic cylinder is installed on the inner wall of the hollow column, and the piston rod of the shoulder telescopic cylinder can telescopically pass through the side wall of the hollow column and is connected to one end of the L-shaped arm rod 1; the shoulder support The support shell is installed on the outer wall of the hollow column; the end of the L-shaped arm rod one connected to the piston rod of the shoulder telescopic cylinder can slide back and forth in the shoulder support shell, and the other end of the L-shaped arm rod one is connected to the joint swing cylinder shell; the joint swing cylinder piston rod is connected to the joint telescopic cylinder shell; the joint telescopic cylinder piston rod is connected to one end of the L-shaped arm rod two, and the other end of the L-shaped arm rod two is connected to the wrist swing cylinder shell; the wrist swing cylinder piston rod is connected to the hand clamping cylinder; the hand clamping cylinder is provided with two clamping fingers.

[0013] As a further improvement, there is a height difference between the upper and lower arms and the hollow column at their joints, and this height difference satisfies that when the upper and lower arms interchangeably clamp the capacitor, the lower arm's clamping fingers can clamp the capacitor from the upper arm's clamping fingers.

[0014] Further improvement, the detection mechanism includes an intelligent camera, a light source, a light source bracket, and a shading plate; the intelligent camera and the light source are electrically connected to the controller, and the intelligent camera is installed on the front wall of the hollow column; the light source is coaxial with the intelligent camera and is fixed to the front wall of the hollow column through the light source bracket; the shading plate is opposite to the intelligent camera and is installed on the rectangular detection table.

[0015] As a further improvement, a blanking through hole is provided on the panel of the rectangular inspection table, and the blanking through hole is located between the smart camera and the shading plate, and above the waste recycling box.

[0016] As a further improvement, the smart camera of the detection mechanism is electrically connected to the display device.

[0017] The detection mechanism is electrically connected to the display device.

[0018] The present invention has the following effects:

[0019] 1. The controller controls the loading arm and the unloading arm to clamp the capacitor to be tested. The loading arm and the unloading arm each include a five-degree-of-freedom operating arm for coordinating the transport of the capacitor to the corresponding position required for testing. The controller controls the operating arm to swing, retract or / and flip, and uses the detection mechanism and display device to automatically detect the upper and lower surfaces and sides of the capacitor, display the test results, and classify them according to the test results. The high degree of automation and high detection efficiency enable the appearance of the capacitor to be fully tested with high detection accuracy.

[0020] 2. Since the loading arm and the unloading arm can adjust the position of the capacitor within a certain range, the present invention only uses one visual method to complete the capacitor appearance inspection, with high inspection efficiency, simple system composition structure, and is easy to embed into the existing production line, thereby reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of a capacitive appearance automatic inspection machine based on a dual-arm robot structure according to the present invention.

[0022] Figure 2 It is a schematic diagram of the assembly of the capacitor transport mechanism and the capacitor detection mechanism of the present invention.

[0023] Figure 3 It is a schematic diagram of the loading arm of the present invention clamping the capacitor from the previous process.

[0024] Figure 4 It is a schematic diagram of the clamping capacitor detection pin of the loading arm of the present invention.

[0025] Figure 5 It is a schematic diagram of the bottom surface of the clamping capacitor detection of the loading arm of the present invention.

[0026] Figure 6 It is a schematic diagram of the top surface of the clamping capacitor detection of the loading arm of the present invention.

[0027] Figure 7 It is a schematic diagram of the moment when the upper material arm and the lower material arm of the present invention change clamps.

[0028] Figure 8 It is a schematic diagram of the side half of the clamping capacitance detection of the unloading arm of the present invention.

[0029] Fig. 9 It is the other half schematic diagram of the clamping capacitance detection side of the unloading arm of the present invention. DETAILED DESCRIPTION

[0030] The following is a detailed description of the capacitive appearance automatic inspection machine based on the dual-arm robot structure in conjunction with the accompanying drawings and specific implementation examples.

[0031] Figure 1 The invention discloses a capacitive appearance automatic inspection machine based on a dual-arm robot structure, comprising a transport mechanism 1, the transport mechanism 1 is provided with a hollow column 11, a loading arm and a unloading arm, the loading arm and the unloading arm are respectively installed on the left and right sides of the hollow column 11, and further comprises a rectangular inspection table 2, an inspection mechanism 3, a display device 6, a finished product collection box 5, a waste collection box 4 and a controller;

[0032] Among them, the loading arm and the unloading arm each include a five-degree-of-freedom operating arm 12, which is used to coordinately transport the capacitor to the corresponding detection position; the rectangular detection table 2 is installed under the transport mechanism 1 to support the transport mechanism 1; the detection mechanism 3 and the display device 6 are both installed on the capacitor transport mechanism 1, which are used to detect capacitor appearance defects and display capacitor detection results respectively; the finished product collection box 5 and the waste recycling box 4 are respectively placed on the right side and below the rectangular detection table 2 to collect the finished products and waste of the capacitor; the controller controls the loading arm, the unloading arm and the capacitor detection mechanism to complete the loading, detection and unloading of the capacitor.

[0033] like Figure 2 As shown, the five-DOF operating arm 12 includes a shoulder telescopic cylinder 121, a shoulder support shell 122, an L-shaped arm rod 123, a joint swing cylinder 124, a joint telescopic cylinder 125, an L-shaped arm rod 126, a wrist swing cylinder 127 and a hand clamping cylinder 128; the shoulder telescopic cylinder 121 is installed on the inner wall of the hollow column 11, and the piston rod of the shoulder telescopic cylinder 121 can telescopically pass through the side wall of the hollow column 11 and is connected to one end of the L-shaped arm rod 123; the shoulder support shell 122 is installed on the outer wall of the hollow column 11; the L-shaped arm rod 124 is installed on the outer wall of the hollow column 11; the L-shaped arm rod 125 is installed on the inner wall of the hollow column 11; the L-shaped arm rod 126 is installed on the outer ... One end of the L-shaped arm 123 connected to the piston rod of the shoulder telescopic cylinder 121 can slide back and forth in the shoulder support shell 122, and the other end of the L-shaped arm 123 is connected to the shell of the joint swing cylinder 124; the piston rod of the joint swing cylinder 124 is connected to the shell of the joint telescopic cylinder 125; the piston rod of the joint telescopic cylinder 125 is connected to one end of the L-shaped arm 126, and the other end of the L-shaped arm 126 is connected to the shell of the wrist swing cylinder 127; the piston rod of the wrist swing cylinder 127 is connected to the hand clamping cylinder 128; the hand clamping cylinder 128 is provided with two clamping fingers.

[0034] There is a height difference between the upper and lower arms and the hollow column 11, and the height difference must be sufficient to ensure that the lower arm's clamping fingers can clamp the capacitor from the upper arm's clamping fingers when the upper and lower arms interchangeably clamp the capacitor.

[0035] The detection mechanism 3 includes an intelligent camera 31, a light source 32, a light source bracket 33 and a shading plate 34; the intelligent camera 31 is installed on the front wall of the hollow column 11; the light source 32 is coaxial with the intelligent camera 31 and is fixed on the front wall of the hollow column 11 through the light source bracket 33; the shading plate 34 is opposite to the intelligent camera 31 and is installed on the rectangular detection platform 2.

[0036] A blanking through hole is provided on the panel of the rectangular inspection table 2 , and the blanking through hole is located between the smart camera 31 and the shading plate 34 , and is located above the waste recycling box 4 .

[0037] The detection mechanism 3 is electrically connected to the display device 6 .

[0038] The working principle of the capacitance appearance automatic detection machine based on the dual-arm robot structure involved in the present invention is as follows:

[0039] A) The loading arm holds the capacitor 7 from the previous process and performs appearance inspection on the pins, bottom surface and top surface of the capacitor 7, such as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the specific steps include:

[0040] a) First, the piston rod of the joint telescopic cylinder 125 of the loading arm extends outward, passes through the L-shaped arm rod 126, the wrist swing cylinder 127 and the hand clamping cylinder 128, and drives the two clamping fingers on the hand clamping cylinder 128 to be adjusted to be on the same line as the capacitor from the previous process; then, the joint swing cylinder 124 is started to swing outward, driving the L-shaped arm rod 126, the wrist swing cylinder 127, and the hand clamping cylinder 128 to swing outward together; finally, the piston rod of the shoulder telescopic cylinder 121 is started to extend, driving the hand clamping cylinder 128 to clamp the capacitor 7 from the previous process;

[0041] b) Start the shoulder telescopic cylinder 121 to retract the piston rod, driving the hand clamping cylinder 128 to clamp the capacitor 7 and retract it together; start the joint swing cylinder 124 to swing inward, through the L-shaped arm rod 126, the wrist swing cylinder 127, and the hand clamping cylinder 128, drive the capacitor 7 to stand upright in front of the smart camera 31, and perform a pin test on the capacitor 7. If the pin of the capacitor 7 is unqualified, release the hand clamping cylinder 128 and put the capacitor 7 into the waste recycling box 4, otherwise proceed to the next step;

[0042] c) Start the wrist swing cylinder 127, rotate it through 90° and 270° in sequence, and detect the bottom and top of the capacitor 7 respectively. Figure 5 and Figure 6 As shown, if the pin of capacitor 7 is unqualified, release the hand clamping cylinder 128 and put the capacitor 7 into the waste recycling box 4, otherwise proceed to the next step.

[0043] B) The lower arm holds the capacitor 7 on the upper arm and performs an appearance inspection on the side of the capacitor 7, such as Figure 7 , Figure 8 and Fig. 9 As shown, the specific steps include:

[0044] a) Start the piston rod of the joint telescopic cylinder 125 of the unloading arm to extend outward, pass through the L-shaped arm rod 126, the wrist swing cylinder 127 and the hand clamping cylinder 128, and drive the two clamping fingers on the hand clamping cylinder 128 to be adjusted to be on the same line as the capacitor clamped on the loading arm; start the joint swing cylinder 124 to swing inward, drive the L-shaped arm rod 126, the wrist swing cylinder 127, and the hand clamping cylinder 128 to swing inward together; start the piston rod of the shoulder telescopic cylinder 121 to retract, drive the hand clamping cylinder 128 to clamp the capacitor 7 pins from the loading arm, and at the same time, the hand clamping cylinder 128 of the loading arm releases the capacitor 7;

[0045] b) Start the smart camera 31 to detect half of the outer side of the capacitor 7. If the capacitor 7 is defective, put the capacitor 7 into the waste recycling box 4, otherwise proceed to the next step;

[0046] c) Start the wrist swing cylinder 127 to rotate 180° to inspect the other half of the outer side of the capacitor 7. If the capacitor 7 is defective, the unqualified capacitor is sent to the waste collection box 4. Otherwise, the unloading arm sends the qualified capacitor to the finished product collection box 5. At this point, the automatic inspection of the appearance of a capacitor is completed.

[0047] The above description is only a preferred implementation case of a capacitive appearance automatic inspection machine based on a dual-arm robot structure involved in the present invention, but the implementation scope of the present invention is not limited to this example.

Claims

1. A detection method for a capacitance appearance automatic detection machine based on a dual-arm robot structure, characterized in that: The automatic capacitor appearance inspection machine comprises a transport mechanism (1), a rectangular inspection table (2), an inspection mechanism (3), a display device (6), a finished product collection box (5), a waste collection box (4) and a controller; The transport mechanism (1) comprises a hollow column (11), a loading arm and a unloading arm, wherein the loading arm and the unloading arm are respectively mounted on the left and right sides of the hollow column (11), and each of the loading arm and the unloading arm comprises a five-degree-of-freedom operating arm (12) for cooperatively transporting the capacitor to a corresponding posture required for detection; The rectangular detection platform (2) is installed below the transport mechanism (1) and is used to support the transport mechanism (1); The detection mechanism (3) and the display device (6) are both installed on the transport mechanism (1), and are used to detect capacitor appearance defects and display capacitor detection results respectively; The finished product collection box (5) and the waste collection box (4) are respectively placed on the right side and below the rectangular testing table (2) to collect the finished products and waste products of the capacitors; The controller controls the loading arm, unloading arm and capacitance detection mechanism to complete the capacitor loading, detection and unloading operations; The five-degree-of-freedom operating arm (12) comprises a shoulder telescopic cylinder (121), a shoulder supporting shell (122), an L-shaped arm rod 1 (123), a joint swing cylinder (124), a joint telescopic cylinder (125), an L-shaped arm rod 2 (126), a wrist swing cylinder (127) and a hand clamping cylinder (128); the shoulder telescopic cylinder (121), the joint swing cylinder (124), the joint telescopic cylinder (125), the wrist swing cylinder (127) and the hand clamping cylinder (128) are all electrically connected to a controller; the shoulder telescopic cylinder (121) is mounted on the inner side wall of the hollow column (11); a piston rod of the shoulder telescopic cylinder (121) can telescopically pass through the side wall of the hollow column (11) and is connected to one end of the L-shaped arm rod 1 (123); The shoulder support shell (122) is mounted on the outer wall of the hollow column (11); one end of the L-shaped arm rod (123) connected to the piston rod of the shoulder telescopic cylinder (121) can slide back and forth in the shoulder support shell (122), and the other end of the L-shaped arm rod (123) is connected to the shell of the joint swing cylinder (124); the piston rod of the joint swing cylinder (124) is connected to the shell of the joint telescopic cylinder (125); the piston rod of the joint telescopic cylinder (125) is connected to one end of the L-shaped arm rod (126), and the other end of the L-shaped arm rod (126) is connected to the shell of the wrist swing cylinder (127); the piston rod of the wrist swing cylinder (127) is connected to the hand clamping cylinder (128); the hand clamping cylinder (128) is provided with two clamping fingers; There is a height difference between the upper and lower arms and the hollow column (11) at the joints, and this height difference satisfies that when the upper and lower arms exchange the capacitors, the lower arm clamping fingers can clamp the capacitor from the upper arm clamping fingers; The detection mechanism (3) comprises an intelligent camera (31), a light source (32), a light source bracket (33), and a shading plate (34); the intelligent camera (31) and the light source are electrically connected to the controller, and the intelligent camera (31) is mounted on the front wall of the hollow column (11); the light source (32) is coaxial with the intelligent camera (31) and is fixed to the front wall of the hollow column (11) via the light source bracket (33); the shading plate (34) is opposite to the intelligent camera (31) and is mounted on the rectangular detection table (2); Here’s how: The loading arm clamps the capacitor from the previous process: the piston rod of the joint telescopic cylinder (125) of the loading arm extends outward, passes through the second L-shaped arm rod (126), the wrist swing cylinder (127) and the hand clamping cylinder (128), and drives the two clamping fingers on the hand clamping cylinder (128) to be adjusted to be on the same line as the capacitor from the previous process; then, the joint swing cylinder (124) is started to swing outward, driving the second L-shaped arm rod (126), the wrist swing cylinder (127) and the hand clamping cylinder (128) to swing outward together; the piston rod of the shoulder telescopic cylinder (121) is started to extend, driving the hand clamping cylinder (128) to clamp the capacitor from the previous process; The shoulder telescopic cylinder (121) is started to retract the piston rod, driving the hand clamping cylinder (128) to retract the clamped capacitor together; the joint swing cylinder (124) is started to swing inward, passing through the second L-shaped arm rod (126), the wrist swing cylinder (127), and the hand clamping cylinder (128), driving the capacitor to stand upright in front of the smart camera (31), and perform capacitor pin detection. If the capacitor pin is unqualified, release the hand clamping cylinder (128) and put the capacitor into the waste recycling box (4), otherwise proceed to the next step; start the wrist swing cylinder (127), rotate 90° and 270° in sequence, and respectively perform capacitor bottom and top detection. If the capacitor pin is unqualified, Release the hand clamping cylinder (128) and put the capacitor into the waste recycling box (4), otherwise proceed to the next step; the lower arm clamps the capacitor on the upper arm and performs a visual inspection on the side of the capacitor: start the joint telescopic cylinder (125) of the lower arm to extend the piston rod outward, pass through the L-shaped arm rod 2 (126), the wrist swing cylinder (127) and the hand clamping cylinder (128), and drive the two clamping fingers on the hand clamping cylinder (128) to be adjusted to be on the same line as the capacitor clamped on the upper arm; start the joint swing cylinder (124) to swing inward, drive the L-shaped arm rod 2 (126), the wrist swing cylinder (127) and the hand clamping cylinder (128) to move inward together. Swing; start the shoulder telescopic cylinder (121) to retract the piston rod, drive the hand clamping cylinder (128) to clamp the capacitor pin from the loading arm, and at the same time, the hand clamping cylinder (128) of the loading arm releases the capacitor; start the smart camera (31) to detect half of the outer side of the capacitor. If the capacitor is defective, the capacitor is put into the waste recycling box (4), otherwise, proceed to the next step; start the wrist swing cylinder (127) to rotate 180 degrees, and detect the other half of the outer side of the capacitor. If the capacitor is defective, the unqualified capacitor is sent to the waste recycling box (4), otherwise, the unloading arm sends the qualified capacitor to the finished product collection box (5). At this point, the automatic detection of the appearance of a capacitor is completed.

2. The detection method of the capacitance appearance automatic detection machine based on the dual-arm robot structure according to claim 1 is characterized in that: A blanking through hole is provided on the table top of the rectangular inspection table (2), and the blanking through hole is located between the smart camera (31) and the shading plate (34), and is located above the waste recycling box (4).

3. The detection method of the capacitance appearance automatic detection machine based on the dual-arm robot structure according to claim 2 is characterized in that: The smart camera (31) of the detection mechanism (3) is electrically connected to the display device (6).

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