A full-size automatic sampling inspection robot for milling cutters

Abstract

The present invention relates to the field of milling cutter processing technology, and in particular to a full-size automatic sampling robot for milling cutters, comprising a main control module, an AGV intelligent mobile robot, a collaborative robot and a mobile detection workstation, wherein the AGV intelligent mobile robot is used to drive the collaborative robot and the mobile detection workstation to approach or move away from PCB milling cutter production equipment that needs to be sampled; the collaborative robot is used to convey the inspection disk carrying the PCB milling cutter to be inspected; and the mobile detection workstation is used to perform size detection on the PCB milling cutter. The present invention realizes the timed and quantitative automatic material taking of the PCB milling cutter produced by the PCB milling cutter production equipment and automatically puts it into the mobile detection workstation for automatic size detection of the PCB milling cutter. After the detection is completed, the main control module records the detection data of the PCB milling cutter size and puts the detected PCB milling cutter back to the inspection disk storage area of ​​the PCB milling cutter production equipment, thereby reducing the repetitive labor of workers, avoiding material mixing, reducing the error rate of workers, and improving the detection efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of milling cutter processing, and in particular to a full-size automatic sampling inspection robot for milling cutters. Background Art

[0002] After fine processing by the PCB milling cutter production equipment, the material is converted into a PCB milling cutter. In order to ensure that the quality of the PCB milling cutter is stable and meets the process requirements, the PCB milling cutter will be strictly inspected. Generally, the PCB milling cutter production equipment is equipped with an inspection tray and an inspection tray storage area. The inspection tray is used to carry the PCB milling cutter. The inspection tray carrying the PCB milling cutter to be inspected and the inspection tray carrying the PCB milling cutter that has been inspected are both placed in the inspection tray storage area. After the PCB milling cutter production equipment has processed the cumulative number of products, a completed PCB milling cutter is placed in the inspection tray to facilitate the inspection of the PCB milling cutter.

[0003] However, the mainstream sampling method in the current market still relies on manual sampling, which not only requires workers to take out the inspection tray carrying the PCB milling cutters to be inspected from the inspection tray storage area of ​​the PCB milling cutter production equipment, but also use manual testing instruments to test the PCB milling cutters on the inspection tray one by one. After the PCB milling cutters are sampled, workers are also required to put the inspection tray carrying the sampled PCB milling cutters back to the inspection tray storage area of ​​the PCB milling cutter production equipment.

[0004] This traditional manual sampling method is not only inefficient, but also increases the repetitive labor burden of employees, leading to manual fatigue and increased error rates. Therefore, it is necessary to improve it. Summary of the invention

[0005] The purpose of the present invention is to provide a full-size automatic sampling robot for milling cutters in view of the deficiencies of the prior art, so as to realize the timed and quantitative automatic material taking of PCB milling cutters produced by PCB milling cutter production equipment and automatically put them into a mobile detection workstation for automatic size detection of PCB milling cutters. After the detection is completed, the main control module records the detection data of the PCB milling cutter size and puts the detected PCB milling cutters back to the inspection tray storage area of ​​the PCB milling cutter production equipment, thereby reducing the repetitive labor of workers, avoiding material mixing, reducing the error rate of workers, and improving the detection efficiency.

[0006] To achieve the above-mentioned purpose, a full-size automatic sampling inspection robot for milling cutters of the present invention comprises a main control module, an AGV intelligent mobile robot, a collaborative robot and a mobile inspection workstation.

[0007] The AGV intelligent mobile robot, collaborative robot and mobile inspection workstation are all connected to the main control module;

[0008] The top of the AGV intelligent mobile robot is provided with a mounting structure, and the collaborative robot and the mobile detection workstation are both fixed to the mounting structure;

[0009] The AGV intelligent mobile robot is used to drive the collaborative robot and the mobile inspection workstation to approach or move away from the PCB milling cutter production equipment that needs to be inspected;

[0010] The collaborative robot is used to transfer the inspection tray carrying the PCB milling cutter to be inspected or the inspection tray carrying the PCB milling cutter that has been sampled between the PCB milling cutter production equipment and the mobile inspection workstation;

[0011] The mobile detection workstation is used to perform size detection on the PCB milling cutter;

[0012] The main control module sends a sampling inspection instruction to the AGV intelligent mobile robot according to the preset sampling inspection work order. The AGV intelligent mobile robot arrives at the material taking port of the PCB milling cutter production equipment that needs to be sampled at the specified time point according to the sampling inspection instruction and the preset route or trajectory; the collaborative robot transfers the inspection tray carrying the PCB milling cutter to be inspected placed on the inspection tray storage area of ​​the PCB milling cutter production equipment to the mobile inspection workstation, and the mobile inspection workstation inspects the PCB milling cutter to be inspected. After the inspection is completed, the collaborative robot transfers the inspection tray carrying the sampled PCB milling cutter to the inspection tray storage area of ​​the PCB milling cutter production equipment;

[0013] The full-size automatic sampling inspection robot for milling cutters also includes a processing data compensation method:

[0014] A. The PCB milling cutter production equipment is provided with a coordinate system for controlling the PCB milling cutter production equipment to process and produce PCB milling cutters. The processing parameters of the PCB milling cutters are stored in the coordinate system. Multiple PCB milling cutter production equipment are uniformly controlled by the central control system. The design parameters of the PCB milling cutters are preset in the central control system. The coordinate system and the main control module are both connected to the central control system in communication;

[0015] B. After the mobile inspection workstation completes the inspection of the PCB milling cutter, the main control module uploads the inspection data of the PCB milling cutter size to the central control system. The central control system compares the uploaded inspection data of the PCB milling cutter size with the preset PCB milling cutter design parameters, and calculates the deviation of the processing parameters. The central control system is connected to the coordinate system and compensates the processing parameters stored in the coordinate system according to the deviation of the processing parameters, and updates the processing parameters stored in the coordinate system. The coordinate system feeds back the update result to the central control system. If the update fails, execute step C;

[0016] C. The central control system sends a stop command to the coordinate system, which controls the PCB milling cutter production equipment to pause and issue an alarm. Then, human intervention adjusts the processing parameters of the PCB milling cutter production equipment and then starts it again.

[0017] Beneficial effects of the present invention:

[0018] 1. By using the main control module, AGV intelligent mobile robot, collaborative robot and mobile inspection workstation to cooperate with each other to pick up and put materials for inspection without manual participation, a solid foundation has been laid for the establishment of intelligent unmanned factories;

[0019] 2. The entire inspection process is carried out by collaborative robots loading and unloading, and the mobile inspection workstation automatically completes the entire inspection process without manual participation, which improves the inspection efficiency and the accuracy of the inspection results. Compared with the data inspection of each project using the second dimension on the market, it greatly reduces the labor intensity of manual labor;

[0020] 3. After the inspection is completed, the main control module uploads the inspection data of the PCB milling cutter size to the central control system. The inspection data of the PCB milling cutter size is compared with the PCB milling cutter design parameters, the deviation is analyzed, and the compensation data is sent to the PCB milling cutter processing equipment through the central control system to update the processing parameters of the PCB milling cutter. The central control system automatically makes decisions based on the update results;

[0021] The milling cutter full-size automatic sampling robot of the present invention can realize fully automatic detection of PCB milling cutter size parameters and automatically compensate and correct the deviation of PCB milling cutter production equipment according to the size parameters, laying a solid software and hardware foundation for the creation of fully automated intelligent factories, and has the advantages of high efficiency, high accuracy, relatively low cost, and a wide range of adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 It is a schematic diagram of the structure of the AGV intelligent mobile robot of the present invention.

[0024] Figure 3 It is a schematic diagram of the structure of the collaborative robot of the present invention.

[0025] Figure 4 It is a structural schematic diagram of the mobile detection workstation of the present invention.

[0026] Figure 5 It is a schematic structural diagram of the cleaning device of the present invention.

[0027] Figure 6 It is a schematic structural diagram of the working head of the present invention.

[0028] Figure 7 It is a schematic structural diagram of the first clamping mechanism and the second clamping mechanism of the present invention.

[0029] Reference numerals include:

[0030] 1. AGV intelligent mobile robot; 11. Mounting structure; 2. Collaborative robot; 201. Mounting seat; 202. J1 rotating S axis; 203. Waist; 204. J2 rotating L axis; 205. Lower arm; 206. J3 rotating U axis; 207. Upper arm; 208. J4 rotating R axis; 209. Elbow; 210. J5 rotating B axis; 211. Wrist; 212. J6 rotating T axis; 213. Terminal first actuator; 214. Terminal second actuator; 215. Gripper; 216. Visual device; 3. Mobile inspection workstation; 31. Material placement table; 32. Transplanting manipulator; 33. Cleaning device; 331. Shell; 3311. Avoidance groove; 3312. Protective plate; 3313. Protective plate driver; 332. Rotating seat; 3321. Groove; 333. Spray head; 334, jet head; 34, radial visual inspection mechanism; 35, axial visual inspection mechanism; 36, working head; 361, fixed frame; 362, lifting frame; 3621, second perforation; 363, lifting drive; 364, rotation drive; 365, first clamping mechanism; 3651, fixed cylinder; 36511, through hole; 3652, clamping head; 36520, fixed cavity; 36521, clamping plate; 36522, elastic reset member; 36523, limit member; 36524, insertion hole; 36525, first perforation; 3653, ejector; 3654, ejector drive; 366, second clamping mechanism; 3661, fixed member; 36611, first fixed groove; 36612, rolling member; 3662, movable member; 3663, movable drive. DETAILED DESCRIPTION

[0031] The present invention is described in detail below with reference to the accompanying drawings.

[0032] like Figures 1 to 7 As shown, a full-size automatic sampling robot for milling cutters of the present invention includes a main control module, an AGV intelligent mobile robot 1, a collaborative robot 2 and a mobile detection workstation 3.

[0033] The AGV intelligent mobile robot 1, the collaborative robot 2 and the mobile detection workstation 3 are all connected to the main control module for communication, so that the main control module can control the AGV intelligent mobile robot 1, the collaborative robot 2 and the mobile detection workstation 3 to work together.

[0034] A mounting structure 11 is disposed on the top of the AGV intelligent mobile robot 1 , and the collaborative robot 2 and the mobile detection workstation 3 are both fixed to the mounting structure 11 .

[0035] The AGV intelligent mobile robot 1 is used to drive the collaborative robot 2 and the mobile inspection workstation 3 to approach or move away from the PCB milling cutter production equipment that needs to be inspected, so that the collaborative robot 2 can transfer the inspection disk between the PCB milling cutter production equipment and the mobile inspection workstation 3.

[0036] The collaborative robot 2 is used to transfer the inspection tray carrying the PCB milling cutter to be inspected or the inspection tray carrying the PCB milling cutter that has been sampled between the PCB milling cutter production equipment and the mobile inspection workstation 3;

[0037] The mobile inspection workstation 3 is used to inspect the size of the PCB milling cutter;

[0038] When in use, the main control module sends a sampling instruction to the AGV intelligent mobile robot 1 according to the preset sampling work order. Specifically, the sampling instruction includes the location information of the PCB milling cutter production equipment that needs to be sampled. The AGV intelligent mobile robot 1 arrives at the material intake port of the PCB milling cutter production equipment that needs to be sampled at the specified time point according to the location information of the PCB milling cutter production equipment that needs to be sampled in the sampling instruction and according to the preset route or trajectory. The collaborative robot 2 transfers the inspection tray carrying the PCB milling cutter to be inspected placed on the inspection tray storage area of ​​the PCB milling cutter production equipment to the mobile inspection workstation 3. The mobile inspection workstation 3 performs dimensional inspection on the PCB milling cutter to be inspected. After the inspection is completed, the collaborative robot 2 transfers the inspection tray carrying the inspected PCB milling cutter to the inspection tray storage area of ​​the PCB milling cutter production equipment.

[0039] The PCB milling cutters produced by the PCB milling cutter production equipment are automatically picked up in a timely and quantitative manner and automatically placed in the mobile inspection workstation 3 for automatic size inspection of the PCB milling cutters. After the inspection is completed, the main control module records the inspection data of the PCB milling cutter size and puts the inspected PCB milling cutters back into the inspection tray storage area of ​​the PCB milling cutter production equipment, thereby reducing the repetitive labor of workers, avoiding material mixing, reducing the error rate of workers, and improving inspection efficiency.

[0040] The milling cutter full-size automatic sampling inspection robot of the present application also includes a processing data compensation method:

[0041] A. The PCB milling cutter production equipment is provided with a coordinate system for controlling the PCB milling cutter production equipment to process and produce PCB milling cutters. The processing parameters of the PCB milling cutters are stored in the coordinate system. Multiple PCB milling cutter production equipment are uniformly controlled by the central control system. The design parameters of the PCB milling cutters are preset in the central control system. The coordinate system and the main control module are both connected to the central control system in communication;

[0042] B. After the mobile inspection workstation 3 completes the inspection of the PCB milling cutter, the main control module uploads the inspection data of the PCB milling cutter size to the central control system. The central control system compares the uploaded inspection data of the PCB milling cutter size with the preset PCB milling cutter design parameters, and calculates the deviation of the processing parameters. The central control system is connected to the coordinate system and compensates the processing parameters stored in the coordinate system according to the deviation of the processing parameters, and updates the processing parameters stored in the coordinate system. The coordinate system feeds back the update result to the central control system. If the update fails, execute step C;

[0043] C. The central control system sends a stop command to the coordinate system, which controls the PCB milling cutter production equipment to pause and issue an alarm. Then, human intervention adjusts the processing parameters of the PCB milling cutter production equipment and then starts it again.

[0044] By intelligently completing the detection data of PCB milling cutter size and uploading it to the central control system, the labor intensity of manual labor is greatly reduced, the efficiency and accuracy of detection and the feedback speed of responding to deviations are improved, making the production process of PCB milling cutters controllable, reliable and efficient, and the yield rate of production products is greatly improved. It avoids the situation where manual data input errors occur during data input, and solves the problem of difficult control of production quality.

[0045] like Figure 2 As shown, in actual use, the AGV intelligent mobile robot 1 includes a chassis and a body, the chassis is electrically connected to the main control module; the body is arranged on the chassis, and the mounting structure 11 is arranged on the body.

[0046] like Figure 3 As shown, the collaborative robot 2 of this embodiment includes a mounting base 201, a J1 rotating S-axis 202, a waist 203, a J2 rotating L-axis 204, a lower arm 205, a J3 rotating U-axis 206, an upper arm 207, a J4 rotating R-axis 208, an elbow 209, a J5 rotating B-axis 210, a wrist 211, a J6 rotating T-axis 212, a first end actuator 213, a second end actuator 214, a clamp 215 and a visual device 216.

[0047] The mounting seat 201 is fixed to the AGV intelligent mobile robot 1 , so that the collaborative robot 2 is fixed to the AGV intelligent mobile robot 1 .

[0048] The mounting base 201, J1 rotating S-axis 202, waist 203, J2 rotating L-axis 204, lower arm 205, J3 rotating U-axis 206, upper arm 207, J4 rotating R-axis 208, elbow 209, J5 rotating B-axis 210, wrist 211, J6 rotating T-axis 212, terminal first actuator 213 and terminal second actuator 214 are connected in sequence, so that the collaborative robot 2 can rotate in multiple dimensions.

[0049] The clamp 215 is arranged on the second actuator 214 at the end, so that the clamp 215 can clamp the inspection disk. The visual device 216 is fixed on the first actuator 213 at the end, so that the clamp 215 can clamp the inspection disk and the collaborative robot 2 can obtain the position information of the inspection disk.

[0050] The J1 rotating S axis 202, the J2 rotating L axis 204, the J3 rotating U axis 206, the J4 rotating R axis 208, the J5 rotating B axis 210, the J6 rotating T axis 212, the terminal first actuator 213, the terminal second actuator 214 and the visual device 216 are all electrically connected to the main control module to enable the main control module to control the collaborative robot 2.

[0051] The J1 rotary S axis 202, the J4 rotary R axis 208 and the J6 rotary T axis 212 are all used to drive the collaborative robot 2 to rotate circumferentially along the mounting seat 201. Specifically, the J1 rotary S axis 202, the J4 rotary R axis 208 and the J6 rotary T axis 212 are all conventional integrated joint motor modules.

[0052] J2 rotating L axis 204, J3 rotating U axis 206 and J5 rotating B axis 210 are all used to drive the collaborative robot 2 to pitch and swing along the axis of the mounting seat 201. Specifically, J2 rotating L axis 204, J3 rotating U axis 206 and J5 rotating B axis 210 are all conventional integrated joint motor modules.

[0053] The first actuator 213 at the end drives the second actuator 214 at the end to telescope. Specifically, the first actuator 213 at the end and the second actuator 214 at the end are both conventional cylinder modules.

[0054] The second actuator 214 at the end drives the clamping claw 215 to clamp or release the inspection disk.

[0055] The visual device 216 is a conventional industrial camera, and is used to obtain image information. The obtained image information is fed back to the main control module, and the main control module obtains the position information of the inspection disk through image information analysis.

[0056] like Figure 4 As shown, the mobile inspection workstation 3 of this embodiment includes a material placement table 31, a transplanting robot 32, a cleaning device 33, a radial visual inspection mechanism 34, an axial visual inspection mechanism 35 and a working head 36. The material placement table 31 is fixed to the mounting structure 11 and is used to place the inspection disc.

[0057] The transfer robot 32 transfers the PCB milling cutter to be inspected in the inspection tray between the cleaning device 33, the working head 36 and the inspection tray. Specifically, the transfer robot 32 is a conventional lifting claw robot.

[0058] The cleaning device 33 is used to clean the PCB milling cutter to be inspected.

[0059] The radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 are both used to collect the appearance picture of the PCB milling cutter to be inspected and feed it back to the main control module, and the main control module analyzes the appearance picture to obtain multiple size data of the PCB milling cutter. Specifically, the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 are both conventional industrial cameras.

[0060] The working head 36 is used to drive the PCB milling cutter to be inspected to move along a preset trajectory so that the PCB milling cutter completes the appearance picture collection.

[0061] The detection method of the mobile detection workstation 3 of this embodiment is as follows:

[0062] D1. The collaborative robot 2 places the inspection plate carrying the PCB milling cutter to be inspected on the material placement table 31.

[0063] D2. The transfer robot 32 transfers the PCB milling cutter to be inspected in the inspection tray to the cleaning device 33 for cleaning.

[0064] D3. The transfer robot 32 transfers the cleaned PCB milling cutter to be inspected to the working head 36.

[0065] D4. The working head 36 holds the PCB milling cutter to be inspected and moves up and down along the Z axis and rotates around the Z axis. The working head 36 is used to drive the PCB milling cutter to be inspected to move along a preset trajectory.

[0066] D5. The radial visual inspection mechanism 34 collects appearance pictures of the PCB milling cutter to be inspected in motion, specifically collecting appearance pictures of the PCB milling cutter such as diameter, diameter taper, concentricity, taper, full length, right helix angle, left helix angle, left-handed tooth width, groove bottom width, left-handed overlap, and fishtail angle.

[0067] D6. The axial visual inspection mechanism 35 collects appearance pictures of the PCB milling cutter to be inspected in motion, specifically collecting appearance pictures of the right-hand core thickness, left-hand core thickness, fishtail clearance, right-hand grinding wheel deformation, and fishtail appearance gap of the PCB milling cutter end teeth.

[0068] D7. After the appearance picture collection of the PCB milling cutter is completed, the working head 36 releases the PCB milling cutter, and the transfer robot 32 transfers the PCB milling cutter that has completed the inspection to the inspection tray of the material placement table 31. This process is repeated. After the appearance picture collection of all PCB milling cutters is completed, the transfer robot 32 puts the inspection tray carrying the PCB milling cutters that have completed the random inspection back to the inspection tray storage area of ​​the PCB milling cutter production equipment.

[0069] The specific actions of the working head 36 holding the PCB milling cutter to be tested and moving it up and down along the Z axis and rotating around the Z axis are as follows:

[0070] First, the working head 36 clamps the PCB milling cutter to be inspected and moves along the Z-axis direction to the intersection of the extension lines of the appearance picture collection range of the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35. Then, the working head 36 clamps the PCB milling cutter to be inspected and rotates 720° along the Z-axis, so that the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 can simultaneously collect the appearance pictures of the PCB milling cutter. Finally, after the appearance picture collection of the PCB milling cutter is completed, the working head 36 clamps the PCB milling cutter to be inspected and descends along the Z-axis direction, so that the PCB milling cutter that has completed the appearance picture collection is away from the intersection of the extension lines of the appearance picture collection range of the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35. On the one hand, the working head 36 drives the PCB milling cutter to be inspected to move along the preset trajectory, so that the PCB milling cutter to be inspected completes the appearance picture collection. On the other hand, it is convenient for the transplanting manipulator 32 to clamp the PCB milling cutter that has completed the appearance picture collection and transfer it to the inspection disk of the material placement table 31, even if the PCB milling cutter is transferred back to the inspection disk after the size detection is completed.

[0071] like Figure 5 As shown, the cleaning device 33 of this embodiment includes a housing 331 , a rotating seat 332 and a nozzle 333 .

[0072] The housing 331 is provided with an avoidance groove 3311, and the rotating seat 332 is rotatably arranged in the avoidance groove 3311 and is used to fix the PCB milling cutter to be detected. There are two nozzles 333, and the two nozzles 333 are both arranged in the housing 331 and face the rotating seat 332. The two nozzles 333 are connected to an external air source, and air is blown to the PCB milling cutter to be detected through the nozzles 333 to remove the machining debris and cutting fluid on the surface of the PCB milling cutter to be detected, thereby avoiding misjudgment caused by dirt during PCB milling cutter detection and improving the accuracy of detection.

[0073] The avoidance groove 3311 of this embodiment is provided with a protective plate 3312 slidably connected to the housing 331 and a protective plate driver 3313 for driving the protective plate 3312 to slide. The protective plate driver 3313 drives the protective plate 3312 to move along the avoidance groove 3311, so that the avoidance groove 3311 is opened or closed. When the avoidance groove 3311 is closed, the processing debris and cutting fluid blown by the nozzle 333 are prevented from being blown outside the housing 331. When the avoidance groove 3311 is opened, it is convenient for the transfer robot 32 to clamp the clean PCB milling cutter to be inspected and transfer it to the working head 36.

[0074] Grooves 3321 are provided on both sides of the rotating seat 332 , and a nozzle 334 for blowing air into the grooves 3321 to rotate the rotating seat 332 is also provided in the housing 331 .

[0075] The rotating seat 332 is provided with a brake device, which includes a brake driver and a brake pad, and the brake driver is a conventional cylinder module. When in use, the brake driver drives the brake pad to conflict with the rotating seat 332 so that the rotating seat 332 stops rotating.

[0076] The cleaning method of the cleaning device 33 of the present application:

[0077] E1. The PCB milling cutter to be inspected is fixed on the swivel seat 332.

[0078] E2. Control the guard plate driver 3313 to drive the guard plate 3312 to slide along the outer shell 331 to close the avoidance groove 3311.

[0079] E3. Control the two nozzles 333 to blow air to the rotating seat 332 at the same time and time it so that the machining debris and cutting fluid on the surface of the PCB milling cutter to be tested are removed.

[0080] E4. After the two nozzles 333 simultaneously blow air toward the rotating seat 332 for a first preset time, any one of the nozzles 333 is closed, and the air jet 334 is started to blow air toward the groove 3321 and time it. The rotating seat 332 rotates so that the PCB milling cutter to be tested rotates with the rotating seat 332, so that the processing debris and cutting fluid are thrown away.

[0081] E4. After the nozzle 334 blows air toward the groove 3321 for a second preset time, the nozzle 333 and the nozzle 334 are closed.

[0082] E5. Start the brake driver to drive the brake pad to contact the rotating seat 332, so that the rotating seat 332 stops rotating, so that the surface of the PCB milling cutter to be inspected is clean.

[0083] E6. Control the guard plate driver 3313 to drive the guard plate 3312 to slide along the shell 331 to open the avoidance groove 3311, so as to facilitate the transfer robot 32 to clamp the clean PCB milling cutter to be inspected and transfer it to the working head 36.

[0084] like Figure 6 As shown, the working head 36 of this embodiment includes a fixed frame 361, a lifting frame 362, a lifting drive 363, a rotating drive 364, a first clamping mechanism 365 and a second clamping mechanism 366, wherein the lifting drive 363 is a conventional lifting cylinder and the rotating drive 364 is a conventional reduction motor.

[0085] The fixing frame 361 is fixed to the mounting structure 11 , so that the working head 36 is fixed to the top of the AGV intelligent mobile robot 1 .

[0086] The lifting driver 363 is fixed to the fixing frame 361 and drives the lifting frame 362 to move up and down. The second clamping mechanism 366 is fixed to the lifting frame 362 so that the second clamping mechanism 366 moves up and down along with the lifting frame 362 .

[0087] The rotation driver 364 is fixed to the lifting frame 362 and drives the first clamping mechanism 365 to rotate. The first clamping mechanism 365 rotates to be located directly below the second clamping mechanism 366 .

[0088] The first clamping mechanism 365 is used to clamp and fix the PCB milling cutter to be tested, so that the PCB milling cutter to be tested can be lifted and lowered along with the lifting and lowering frame 362 .

[0089] The second clamping mechanism 366 is used to resist the PCB milling cutter to be inspected and the PCB milling cutter to be inspected rotates along the second clamping mechanism 366, so that when the rotation driver 364 drives the first clamping mechanism 365 to rotate, the PCB milling cutter to be inspected rotates along the second clamping mechanism 366, so that the PCB milling cutter is more stable when being inspected and is not easy to deviate, which is beneficial for the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 to simultaneously collect appearance pictures of the PCB milling cutter.

[0090] The radial visual inspection mechanism 34 is arranged on one side of the first clamping mechanism 365, so as to collect appearance pictures of the PCB milling cutter, such as the diameter, diameter taper, concentricity, taper, total length, right helix angle, left helix angle, left-handed tooth width, groove bottom width, left-handed overlap, and fishtail angle. Specifically, the radial visual inspection mechanism 34 includes a radial backlight source, which is fixed on the other side of the first clamping mechanism 365 and arranged opposite to the radial visual inspection mechanism 34. The radial backlight source is used to increase the brightness of the inspection part of the PCB milling cutter to be inspected, thereby improving the clarity of the image of the PCB milling cutter taken by the radial visual inspection mechanism 34.

[0091] The axial visual inspection mechanism 35 is arranged directly above the second clamping mechanism 366, so as to collect appearance pictures of the right-hand core thickness, left-hand core thickness, fishtail clearance, right-hand grinding wheel deformation and the like of the end teeth of the PCB milling cutter, and to collect appearance pictures of the fishtail appearance gap. Specifically, the axial visual inspection mechanism 35 includes a surface light source, and the surface light source is arranged at one end of the axial visual inspection mechanism 35 facing the second clamping mechanism 366. The surface light source increases the brightness of the inspection part of the PCB milling cutter to be inspected, thereby improving the clarity of the image of the PCB milling cutter taken by the axial visual inspection mechanism 35.

[0092] The method of clamping the PCB milling cutter to be tested by the working head 36 in this embodiment to move up and down along the Z axis and rotate around the Z axis:

[0093] F1. The PCB milling cutter to be tested passes through the second clamping mechanism 366 and is clamped in the first clamping mechanism 365;

[0094] F2. The lifting drive 363 drives the lifting frame 362 to rise close to the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35, so that the PCB milling cutter to be inspected is located within the detection range of the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35;

[0095] F3. The rotary driver 364 drives the first clamping mechanism 365 to rotate, and the PCB cutter to be detected clamped in the first clamping mechanism 365 rotates along the rotation of the second clamping mechanism 366, so that the working head 36 clamps the PCB cutter to be detected and rotates around the Z axis;

[0096] F4. After the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 complete the inspection, the lifting driver 363 drives the lifting frame 362 to descend and move away from the radial visual inspection mechanism 34 and the axial visual inspection mechanism 35 .

[0097] like Figure 7 As shown, the first clamping mechanism 365 of this embodiment includes a fixing cylinder 3651, a clamping head 3652, an ejector pin 3653 and an ejector pin driver 3654, wherein the ejector pin driver 3654 is a conventional cylinder.

[0098] The fixed cylinder 3651 is fixedly sleeved on the rotating driver 364, so that the fixed cylinder 3651 is fixed to one end of the rotating driver 364. The clamping head 3652 is rotatably arranged on the fixed cylinder 3651, and the rotating driver 364 drives the clamping head 3652 to rotate, so that the rotating driver 364 drives the first clamping mechanism 365 to rotate.

[0099] The clamping head 3652 is provided with a fixed cavity 36520, and a clamping plate 36521 is provided in the fixed cavity 36520. The clamping plate 36521 is hinged to the fixed cavity 36520, and an elastic reset member 36522 is provided between the clamping plate 36521 and the fixed cavity 36520. The elastic reset member 36522 abuts between the clamping plate 36521 and the fixed cavity 36520, and a limit member 36523 for limiting the depth of the PCB milling cutter inserted into the fixed cavity 36520 is provided above the elastic reset member 36522.

[0100] An insertion hole 36524 is penetrated at the upper end of the fixed cavity 36520, a first through hole 36525 is penetrated at one side of the fixed cavity 36520, the fixed cylinder 3651 is provided with a through hole 36511 penetrating the fixed cylinder 3651, the lifting frame 362 is provided with a second through hole 3621, and the ejector driver 3654 is fixed to the fixed frame 361 and drives the ejector 3653 to move.

[0101] Specifically, when the first through hole 36525, the through hole 36511 and the second through hole 3621 are coaxial, the ejector driver 3654 drives the ejector 3653 to sequentially pass through the second through hole 3621, the through hole 36511 and the first through hole 36525 to extend into the fixed cavity 36520 and clash with the clamping plate 36521. The clamping plate 36521 compresses the elastic reset member 36522 to make the end of the clamping plate 36521 away from the elastic reset member 36522 swing in the opposite direction of the ejector 3653 extending into the fixed cavity 36520, and the PCB milling cutter to be tested is inserted into the fixed cavity 36520 from the insertion hole 36524 and clashes with the limit member 36523, thereby realizing the insertion of the PCB milling cutter to be tested into the fixed cavity 36520.

[0102] The ejector driver 3654 drives the ejector 3653 to move away from the clamping plate 36521 and exit the fixed cavity 36520 along the first through hole 36525, the through hole 36511 and the second through hole 3621. The elastic reset member 36522 stretches and resets to force the clamping plate 36521 to move away from one end of the elastic reset member 36522 to contact the PCB milling cutter to be tested, so that the PCB milling cutter to be tested is clamped between the clamping plate 36521 and the fixed cavity 36520, and the PCB milling cutter to be tested is clamped and fixed to the first clamping mechanism 365.

[0103] like Figure 7 As shown, the second clamping mechanism 366 of this embodiment includes a fixed member 3661, a movable member 3662 and a movable driver 3663, wherein the movable driver 3663 is a conventional cylinder.

[0104] The fixed member 3661 is fixed to the lifting frame 362 , the movable member 3662 is hinged to the fixed member 3661 , and the movable driver 3663 drives the movable member 3662 to approach or move away from the fixed member 3661 .

[0105] A first fixed groove 36611 is provided at one end of the fixed member 3661 facing the movable member 3662 , and a rolling member 36612 is provided in the first fixed groove 36611 and at one end of the movable member 3662 facing the first fixed groove 36611 .

[0106] When in use, when the movable driver 3663 drives the movable part 3662 to approach the fixed part 3661, the rolling part 36612 contacts the PCB milling cutter, the rotating driver 364 drives the first clamping mechanism 365 to rotate, and the PCB milling cutter is rollingly connected to the rolling part 36612, so that the PCB milling cutter rotates along the second clamping mechanism 366.

[0107] When the movable driver 3663 drives the movable part 3662 away from the fixed part 3661 , the PCB milling cutter can be easily removed from the second clamping mechanism 366 .

[0108] like Figure 1 As shown, specifically, the mobile inspection workstation 3 also includes an outer cover, which is arranged on the material placement table 31, the transplanting robot 32, the cleaning device 33, the radial visual inspection mechanism 34, the axial visual inspection mechanism 35 and the working head 36. The material placement table 31, the transplanting robot 32, the cleaning device 33, the radial visual inspection mechanism 34, the axial visual inspection mechanism 35 and the working head 36 are protected by the outer cover.

[0109] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A full-size automatic sampling robot for milling cutters, characterized in that: It includes a main control module, an AGV intelligent mobile robot (1), a collaborative robot (2) and a mobile detection workstation (3). The AGV intelligent mobile robot (1), the collaborative robot (2) and the mobile detection workstation (3) are all connected to the main control module for communication; The top of the AGV intelligent mobile robot (1) is provided with a mounting structure (11), and the collaborative robot (2) and the mobile detection workstation (3) are both fixed to the mounting structure (11); The AGV intelligent mobile robot (1) is used to drive the collaborative robot (2) and the mobile inspection workstation (3) to approach or move away from the PCB milling cutter production equipment that needs to be inspected; The collaborative robot (2) is used to transfer the inspection tray carrying the PCB milling cutter to be inspected or the inspection tray carrying the PCB milling cutter that has been sampled between the PCB milling cutter production equipment and the mobile inspection workstation (3); The mobile detection workstation (3) is used to perform size detection on the PCB milling cutter; The main control module sends a sampling inspection instruction to the AGV intelligent mobile robot (1) according to a preset sampling inspection work order. The AGV intelligent mobile robot (1) arrives at the material taking port of the PCB milling cutter production equipment that needs to be sampled at a specified time point according to the sampling inspection instruction and along a preset route or trajectory; the collaborative robot (2) transfers the inspection tray carrying the PCB milling cutter to be inspected placed on the inspection tray storage area of ​​the PCB milling cutter production equipment to the mobile inspection workstation (3). The mobile inspection workstation (3) inspects the PCB milling cutter to be inspected. After the inspection is completed, the collaborative robot (2) transfers the inspection tray carrying the sampled PCB milling cutter to the inspection tray storage area of ​​the PCB milling cutter production equipment. The full-size automatic sampling inspection robot for milling cutters also includes a processing data compensation method: A. The PCB milling cutter production equipment is provided with a coordinate system for controlling the PCB milling cutter production equipment to process and produce PCB milling cutters. The processing parameters of the PCB milling cutters are stored in the coordinate system. Multiple PCB milling cutter production equipment are uniformly controlled by the central control system. The design parameters of the PCB milling cutters are preset in the central control system. The coordinate system and the main control module are both connected to the central control system in communication; B. After the mobile inspection workstation (3) completes the inspection of the PCB milling cutter, the main control module uploads the inspection data of the PCB milling cutter size to the central control system. The central control system compares the uploaded inspection data of the PCB milling cutter size with the preset PCB milling cutter design parameters and calculates the deviation of the processing parameters. The central control system is connected to the coordinate system and compensates the processing parameters stored in the coordinate system according to the deviation of the processing parameters. The processing parameters stored in the coordinate system are updated. The coordinate system feeds back the update result to the central control system. If the update fails, step C is executed. C. The central control system sends a stop command to the coordinate system, which controls the PCB milling cutter production equipment to pause and issue an alarm, and then manually intervenes to adjust the processing parameters of the PCB milling cutter production equipment and restarts it; The mobile inspection workstation (3) comprises a material placement table (31), a transplanting robot (32), a cleaning device (33), a radial visual inspection mechanism (34), an axial visual inspection mechanism (35), and a working head (36); The material placement table (31) is fixed to the mounting structure (11) and is used to place the inspection plate; The transfer robot (32) transfers the PCB milling cutter to be inspected in the inspection tray between the cleaning device (33), the working head (36) and the inspection tray; The cleaning device (33) is used to clean the PCB milling cutter to be inspected; The radial visual inspection mechanism (34) and the axial visual inspection mechanism (35) are both used to collect appearance pictures of the PCB milling cutter to be inspected and feed them back to the main control module. The main control module analyzes the appearance pictures to obtain multiple dimension data of the PCB milling cutter, thereby completing the dimension inspection of the PCB milling cutter. The working head (36) is used to drive the PCB milling cutter to be inspected to move along a preset trajectory so that the PCB milling cutter completes the appearance image collection; The working head (36) comprises a fixed frame (361), a lifting frame (362), a lifting drive (363), a rotating drive (364), a first clamping mechanism (365), and a second clamping mechanism (366); The fixing frame (361) is fixed to the mounting structure (11); The lifting driver (363) is fixed to the fixing frame (361) and drives the lifting frame (362) to move up and down, and the second clamping mechanism (366) is fixed to the lifting frame (362); The rotation driver (364) is fixed to the lifting frame (362) and drives the first clamping mechanism (365) to rotate, and the first clamping mechanism (365) rotates to be located directly below the second clamping mechanism (366); The first clamping mechanism (365) is used to clamp and fix the PCB milling cutter to be tested; The second clamping mechanism (366) is used to abut against the PCB milling cutter to be detected, and the PCB milling cutter to be detected rotates along the second clamping mechanism (366); The radial visual detection mechanism (34) is arranged on one side of the first clamping mechanism (365); The axial visual detection mechanism (35) is arranged directly above the second clamping mechanism (366); The first clamping mechanism (365) comprises a fixing cylinder (3651), a clamping head (3652), an ejector pin (3653) and an ejector pin driver (3654). The fixed cylinder (3651) is fixedly sleeved on the rotating driver (364), the clamping head (3652) is rotatably disposed on the fixed cylinder (3651), and the rotating driver (364) drives the clamping head (3652) to rotate; The clamping head (3652) is provided with a fixed cavity (36520), a clamping plate (36521) is provided in the fixed cavity (36520), the clamping plate (36521) is hinged to the fixed cavity (36520), an elastic reset member (36522) is provided between the clamping plate (36521) and the fixed cavity (36520), the elastic reset member (36522 abuts between the clamping plate (36521) and the fixed cavity (36520), and a limit member (36523) for limiting the depth of the PCB milling cutter inserted into the fixed cavity (36520) is provided above the elastic reset member (36522); An insertion hole (36524) is provided at the upper end of the fixed cavity (36520), a first through hole (36525) is provided at one side of the fixed cavity (36520), the fixed cylinder (3651) is provided with a through hole (36511) that penetrates the fixed cylinder (3651), the lifting frame (362) is provided with a second through hole (3621), and the ejector pin driver (3654) is fixed to the fixed frame (361) and drives the ejector pin (3653) to move.

2. The full-size automatic sampling robot for milling cutters according to claim 1, characterized in that: The collaborative robot (2) comprises a mounting seat (201), a J1 rotating S axis (202), a waist (203), a J2 rotating L axis (204), a lower arm (205), a J3 rotating U axis (206), an upper arm (207), a J4 rotating R axis (208), an elbow (209), a J5 rotating B axis (210), a wrist (211), a J6 rotating T axis (212), a first end actuator (213), a second end actuator (214), a gripper (215), and a visual device (216); The mounting seat (201) is fixed to the AGV intelligent mobile robot (1); the mounting seat (201), the J1 rotating S axis (202), the waist (203), the J2 rotating L axis (204), the lower arm (205), the J3 rotating U axis (206), the upper arm (207), the J4 rotating R axis (208), the elbow (209), the J5 rotating B axis (210), the wrist (211), the J6 rotating T axis (212), the terminal first actuator (213) and the terminal second actuator (214) are connected in sequence; the clamp (215) is arranged on the terminal first actuator (213); and the visual device (216) is fixed to the terminal first actuator (213); The J1 rotating S axis (202), the J2 rotating L axis (204), the J3 rotating U axis (206), the J4 rotating R axis (208), the J5 rotating B axis (210), the J6 rotating T axis (212), the terminal first actuator (213), the terminal second actuator (214), and the visual device (216) are all electrically connected to a main control module; The J1 rotary S axis (202), the J4 rotary R axis (208), and the J6 rotary T axis (212) are all used to drive the collaborative robot (2) to rotate circumferentially along the mounting seat (201); The J2 rotating L axis (204), the J3 rotating U axis (206), and the J5 rotating B axis (210) are all used to drive the collaborative robot (2) to pitch and swing along the axis of the mounting seat (201); The first actuator (213) at the end drives the second actuator (214) at the end to perform telescopic movement; The second actuator (214) at the end drives the clamping claw (215) to clamp or release the inspection disk; The visual device (216) is used to obtain image information.

3. The full-size automatic sampling robot for milling cutters according to claim 1 is characterized in that: The detection method of the mobile detection workstation (3): D1. The collaborative robot (2) places the inspection plate carrying the PCB milling cutter to be inspected on the material placement table (31); D2. The transplanting robot (32) transfers the PCB milling cutter to be inspected in the inspection tray to the cleaning device (33) for cleaning; D3. The transplanting robot (32) transfers the cleaned PCB milling cutter to be inspected to the working head (36); D4. The working head (36) holds the PCB milling cutter to be tested and moves up and down along the Z axis and rotates around the Z axis; D5. The radial visual inspection mechanism (34) collects appearance pictures of the PCB milling cutter to be inspected in motion, specifically collecting the diameter, diameter taper, concentricity, taper, total length, right helix angle, left helix angle, left-handed tooth width, groove bottom width, left-handed overlap, and fishtail angle appearance pictures of the PCB milling cutter; D6. The axial visual inspection mechanism (35) collects appearance pictures of the PCB milling cutter to be inspected in motion, specifically collecting the appearance pictures of the right-hand core thickness, left-hand core thickness, fishtail clearance, right-hand grinding wheel deformation and fishtail appearance gap of the end teeth of the PCB milling cutter; D7. After the appearance picture of the PCB milling cutter is collected, the working head (36) releases the PCB milling cutter, and the transfer robot (32) transfers the PCB milling cutter that has completed the inspection to the inspection tray of the material placement table (31). This process is repeated. After the appearance pictures of all PCB milling cutters are collected, the transfer robot (32) places the inspection tray carrying the inspected PCB milling cutters back into the inspection tray storage area of ​​the PCB milling cutter production equipment.

4. The full-size automatic sampling robot for milling cutters according to claim 1 is characterized in that: The cleaning device (33) comprises a housing (331), a rotating seat (332) and a nozzle (333). The housing (331) is provided with an avoidance groove (3311), the rotating seat (332) is rotatably arranged in the avoidance groove (3311) and is used to fix the PCB milling cutter to be detected, and the number of the nozzles (333) is two, and the two nozzles (333) are both arranged in the housing (331) and facing the rotating seat (332).

5. The full-size automatic sampling robot for milling cutters according to claim 4, characterized in that: The avoidance groove (3311) is provided with a protective plate (3312) slidably connected to the housing (331) and a protective plate driver (3313) for driving the protective plate (3312) to slide; grooves (3321) are provided on both sides of the rotating seat (332); and a nozzle (334) for blowing air into the grooves (3321) to rotate the rotating seat (332) is also provided in the housing (331); The rotating seat (332) is provided with a brake device, the brake device comprises a brake driver and a brake pad, the brake driver drives the brake pad to come into contact with the rotating seat (332); The cleaning method of the cleaning device (33): E1. The PCB milling cutter to be tested is fixed on the swivel seat (332); E2. Controlling the guard plate driver (3313) to drive the guard plate (3312) to slide along the housing (331) to close the avoidance groove (3311); E3. Control the two nozzles (333) to blow air to the rotating seat (332) at the same time and time it so that the machining debris and cutting fluid on the surface of the PCB milling cutter to be detected; E4. After the two nozzles (333) simultaneously blow air toward the rotating seat (332) for a first preset time, any one of the nozzles (333) is closed, and the nozzle (334) is started to blow air toward the groove (3321) and the timing is set, and the rotating seat (332) rotates so that the PCB milling cutter to be tested rotates with the rotating seat (332), so that the processing debris and cutting fluid are thrown away; E4. After the nozzle (334) blows air toward the groove (3321) for a second preset time, the nozzle (333) and the nozzle (334) are closed; E5. Start the brake driver to drive the brake pad to contact the swivel seat (332), so that the swivel seat (332) stops rotating, so that the surface of the PCB milling cutter to be tested is clean; E6. Control the guard plate driver (3313) to drive the guard plate (3312) to slide along the housing (331) to open the avoidance groove (3311), so as to facilitate the transfer robot (32) to clamp the clean PCB milling cutter to be inspected and transfer it to the working head (36).

6. The full-size automatic sampling robot for milling cutters according to claim 1, characterized in that: The method in which the working head (36) clamps the PCB milling cutter to be inspected and moves it up and down along the Z axis and rotates around the Z axis: F1. The PCB milling cutter to be tested passes through the second clamping mechanism (366) and is clamped in the first clamping mechanism (365); F2. The lifting drive (363) drives the lifting frame (362) to rise and approach the radial visual detection mechanism (34) and the axial visual detection mechanism (35), so that the PCB milling cutter to be detected is located within the detection range of the radial visual detection mechanism (34) and the axial visual detection mechanism (35); F3. The rotation driver (364) drives the first clamping mechanism (365) to rotate, and the PCB milling cutter to be detected clamped by the first clamping mechanism (365) rotates along the rotation of the second clamping mechanism (366), so that the working head (36) clamps the PCB milling cutter to be detected and rotates around the Z axis; F4. After the radial visual detection mechanism (34) and the axial visual detection mechanism (35) complete the detection, the lifting drive (363) drives the lifting frame (362) to descend and move away from the radial visual detection mechanism (34) and the axial visual detection mechanism (35).

7. The full-size automatic sampling inspection robot for milling cutters according to claim 1 is characterized in that: The second clamping mechanism (366) comprises a fixed part (3661), a movable part (3662) and a movable driver (3663). The fixed part (3661) is fixed to the lifting frame (362), the movable part (3662) is hinged to the fixed part (3661), and the movable driver (3663) drives the movable part (3662) to approach or move away from the fixed part (3661); A first fixed groove (36611) is provided at one end of the fixed member (3661) facing the movable member (3662), and a rolling member (36612) is provided in the first fixed groove (36611) and at one end of the movable member (3662) facing the first fixed groove (36611).

Images