Mobile detection material grabbing machine and material grabbing method

Abstract

The invention relates to a mobile detection material grabbing machine and a grabbing method. The mobile detection material grabbing machine comprises a row sheet storage mechanism, at least one mold supporting platform, a multi-axis machine arm located between the row sheet storage mechanism and the mold supporting platform, and a carrying visual detection device installed on the multi-axis machine arm. The carrying visual inspection device comprises an adapter frame, at least one camera module and at least one clamping carrying mechanism, wherein the camera module and the clamping carrying mechanism are installed on the adapter frame. The camera module comprises a camera, a laser radar detector and an auxiliary light source. The clamping carrying mechanism comprises a cross beam connected with the transfer frame, two connecting rods extending downwards from the cross beam, a bottom plate connected with the bottoms of the two connecting rods, at least one clamping air cylinder installed on the top face of the bottom plate and a clamping arm connected with the clamping air cylinder, and the bottom end of the clamping arm is lower than the bottom face of the bottom plate. The mobile detection material grabbing machine can effectively replace manual work to carry sheets and detect and judge by naked eyes, is not easy to leak, is high in detection quality, reduces the workload of workers, and is high in efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic component processing, and in particular to a mobile detection material grabber and a material grabbing method. Background Art

[0002] In the manufacturing of electronic components such as LEDs, MOS tubes, and chips, it is often necessary to first manufacture LED slices, MOS tube slices, and chip slices on a support frame and perform die-casting, and finally cut them to obtain the various electronic components. The quality of these slices placed in the mold for die-casting has a lot to do with whether the slices are placed in place accurately. If the slices are placed upside down or offset, the subsequent die-casting process will be greatly affected. However, the placement of slices on the mold is often done manually, which is inefficient. Whether the placement is in place is mainly judged by the naked eye. The human eye is easily tired and cannot be watched all the time, so it is easy to miss inspections and the quality of inspection cannot be guaranteed. Summary of the invention

[0003] Based on this, it is necessary to provide a mobile detection grabber and grabbing method that is efficient, not prone to missed detection, has high detection quality, and reduces the workload of workers in order to address the problems of sheet placement efficiency and position judgment on existing molds.

[0004] A mobile detection gripper is used in a film arrangement processing procedure, comprising: a film arrangement storage mechanism, at least one mold support platform, a multi-axis robot arm located between the film arrangement storage mechanism and the mold support platform, and a transport visual detection device installed on the multi-axis robot arm; the transport visual detection device comprises an adapter frame, at least one camera module installed on the adapter frame, and at least one clamping and transporting mechanism; the camera module comprises a camera, a laser radar detector and an auxiliary light source; the clamping and transporting mechanism comprises a beam connected to the adapter frame, two connecting rods extending downward from the beam, a base plate connected to the bottom of the two connecting rods, at least one clamping cylinder installed on the top surface of the base plate, and a clamping arm connected to the clamping cylinder, wherein the bottom end of the clamping arm is lower than the bottom surface of the base plate.

[0005] When the above-mentioned mobile detection grabber is in use, the multi-axis robot arm with the handling visual inspection device grabs the slices on the slice storage mechanism and places them on the mold support platform. The camera in the camera module can clearly capture images of the slices on the mold under the action of the auxiliary light source, and the captured images can be used by the judgment device to determine whether they are in place. The laser radar detector in the camera module can accurately calculate the position of the slices, which is convenient for the clamping and handling mechanism to place the slices on the mold efficiently and accurately, and can also remove the slices on the mold. The mobile detection grabber can effectively replace manual operation for slice handling and visual inspection and judgment, is not easy to miss inspections, has high inspection quality, reduces the workload of workers, and has high efficiency.

[0006] In one of the embodiments, the film arrangement storage mechanism includes a silo rack and a storage silo installed on the silo rack.

[0007] In one of the embodiments, the sheet storage mechanism further includes a sheet lifter mounted on the silo rack, and the sheet lifter is at least partially located in the storage silo.

[0008] In one embodiment, the mold support platform includes a platform frame, a support platen installed on the platform frame, and a plurality of molds installed on the support platen.

[0009] In one embodiment, the number of the mold supporting platforms is two.

[0010] In one of the embodiments, a support plate is installed on the top surface of the base plate, and the clamping cylinder is connected to the support plate.

[0011] In one of the embodiments, a positioning pin is installed on the bottom surface of the bottom plate.

[0012] In one of the embodiments, a threaded sleeve is installed on the crossbeam, and the outer wall of the connecting rod is threadably connected to the threaded sleeve.

[0013] In one embodiment, the camera module also includes a connecting plate connected to the adapter, an adjustment plate hinged to the connecting plate and connected to the camera, and an adjustment bolt installed on the connecting plate; an arc-shaped hole is provided on the adjustment plate, and the adjustment bolt passes through the arc-shaped hole.

[0014] The present invention also provides a material method, comprising the mobile detection grabber described in any one of the above items, comprising the following steps: the multi-axis robot arm moves with the transport visual inspection device and calculates the position of the slices on the slice storage mechanism and takes pictures; the multi-axis robot arm grabs the slices with the transport visual inspection device; the multi-axis robot arm carries the transport visual inspection device to calculate the position of the slices placed on the mold support platform; the multi-axis robot arm places the slices on the mold support platform with the transport visual inspection device; the transport visual inspection device determines whether the position of the slices on the mold support platform is accurate and takes pictures. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the mobile detection grabber of the present invention; Figure 2 for Figure 1 The schematic diagram of the film storage mechanism in the mobile detection grabber is shown; Figure 3for Figure 1 The schematic diagram of the mold support platform in the mobile detection grabber is shown; Figure 4 for Figure 1 The schematic diagram of the visual inspection device for handling in the mobile detection grabber is shown; Figure 5 for Figure 4 A schematic diagram of another viewing angle of the transport visual inspection device shown; Figure 6 for Figure 4 A schematic diagram of a camera module in a transport visual inspection device shown; Figure 7 for Figure 4 A schematic diagram of a clamping and transporting mechanism in a transport visual inspection device is shown; Figure 8 for Figure 5 An enlarged schematic diagram of the circle A in the transport visual inspection device shown; Fig. 9 It is a schematic diagram of the material grabbing method of the present invention. DETAILED DESCRIPTION

[0016] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0017] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an element in the middle. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an element in the middle at the same time. In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, such as "inside", "outside", "left", "right" and similar expressions are only for illustrative purposes and are not intended to limit the present invention.

[0019] Please refer to Figures 1 to 8, is a schematic diagram of a mobile detection gripper 1000 of the present invention, which is used in the film arrangement process. The mobile detection gripper 1000 includes a film arrangement storage mechanism 200, at least one set of mold support platforms 300, a multi-axis robot arm 400 located between the film arrangement storage mechanism 200 and the support platform, and a transport visual inspection device 500 installed on the multi-axis robot arm 400. In this embodiment, there are two sets of mold support platforms 300. The efficiency of the multi-axis robot arm 400 driving the transport visual inspection device 500 to transport and place films can be improved by using two sets of mold support platforms 300. The multi-axis robot arm 400 is composed of multiple rotating shafts and drivers, which can realize rotation and swinging at multiple angles and dimensions to adapt to different scenarios.

[0020] Furthermore, the row film storage mechanism 200 includes a silo frame 210 and a storage bin 220 mounted on the silo frame 210, wherein in order to facilitate the grabbing of the row films in the storage bin 220, a guide opening is provided at the upper end of the storage bin 220. When in use, the row films to be processed are neatly stacked in the storage bin 220 so that the multi-axis robot arm 400 drives the transport visual inspection device 500 to carry out the transport work. Furthermore, the row film storage mechanism 200 also includes a row film lifter (not shown) mounted on the silo frame 210, and the row film lifter is at least partially located in the storage bin 220. The lifter can be realized by a lift cylinder and a lift rod, the lower end of the lift rod is connected to the lift cylinder, the upper end of the lift rod is located in the storage bin 220 and abuts against the lowest row film in the storage bin 220, and as the number of rows in the storage bin 220 decreases, the lift rod rises continuously.

[0021] Furthermore, the mold support platform 300 includes a platform frame 310, a support platen 320 mounted on the platform frame 310, and a plurality of molds 330 mounted on the support platen 320. In this embodiment, there are two mold support platforms 300, and the molds 330 on the support platen 320 are regularly arranged in two rows and three columns.

[0022] Furthermore, the transport visual inspection device 500 includes an adapter frame 520, at least one camera module 530 installed on the adapter frame 520, and at least one clamping and transporting mechanism 540. The camera module 530 includes a camera 531, a laser radar detector (not shown) and an auxiliary light source 532, and the auxiliary light source 532 can improve the light environment of image acquisition, thereby improving the clarity of image acquisition. The clamping and transporting mechanism 540 includes a beam 541 connected to the adapter frame 520, two connecting rods 542 extending downward from the beam 541, a bottom plate 543 connected to the bottom of the two connecting rods 542, at least one clamping cylinder 544 installed on the top surface of the bottom plate 543, and a clamping arm 545 connected to the clamping cylinder 544, the bottom end of the clamping arm 545 is lower than the bottom surface of the bottom plate 543, and two clamping arms 545 are symmetrically installed on one clamping cylinder 544, so that the clamping action can be completed. The laser radar detector is integrated in the camera module 530. The pulsed laser beam emitted by the laser radar detector reaches the detected film and is received after reflection. The distance is determined by the time difference between emission and reception. The laser radar (Lidar) is actually "optical radar", which is abbreviated from its English "Light Detection and Ranging". It is an optical remote sensing technology that measures the distance and other parameters of the target by irradiating a beam of light, usually a pulsed laser, to the target. Distance = (laser light speed * time from emission to reception) / 2.

[0023] Furthermore, in the present embodiment, the number of camera modules 530 and the number of clamping and transporting mechanisms 540 are both two. The two groups of camera modules 530 and the two groups of clamping and transporting mechanisms 540 can improve the grabbing and transporting efficiency.

[0024] Furthermore, there are multiple auxiliary light sources 532, and the multiple auxiliary light sources 532 are arranged around the camera 531, so that a clear visible lighting environment can be formed around the camera 531 to ensure the clarity of image acquisition. The collected image can be used to determine whether it is in place by the judgment device, which can be a display or a portable tablet product to facilitate manual auxiliary judgment and confirmation. The collected image can be transmitted to the judgment device by wire or wirelessly.

[0025] Furthermore, the camera module 530 further includes a connecting plate 533 connected to the adapter 520, an adjusting plate 534 hinged to the connecting plate 533 and connected to the camera 531, and an adjusting bolt (not shown) installed on the connecting plate 533. The adjusting plate 534 is provided with an arc hole 535, and the adjusting bolt passes through the arc hole 535. When in use, the camera 531 can rotate to a preset angle with the adjusting plate 534, and then lock it by the adjusting bolt. The acquisition angle can be adjusted according to actual needs, which is very practical.

[0026] Furthermore, a support plate 546 is installed on the top surface of the bottom plate 543, and the clamping cylinder 544 is connected to the support plate 546. Two support plates 546 are installed on the bottom plate 543, and two clamping cylinders 544 are installed on one bottom plate 543. In order to better position the film arrangement and to better align with the mold 330, a positioning pin 547 is installed on the bottom surface of the bottom plate 543.

[0027] Furthermore, a threaded sleeve 548 is installed on the crossbeam 541, and the outer wall of the connecting rod 542 is threadedly connected to the threaded sleeve 548, so that when in use, the bottom plate 543 can be driven to rise and fall to adjust the height by rotating the connecting rod 542, thereby driving the clamping cylinder 544 to adjust the height. In order to ensure the adjustment and limiting effect of the connecting rod 542, a limiting ring 549 is installed on the top of the connecting rod 542. In this embodiment, the clamping arm 545 is set in an L shape, so that the row of sheets can be lifted and clamped under the drive of the clamping cylinder 544, and the bottom of the row of sheets is supported.

[0028] When the mobile detection gripper 1000 is used, the multi-axis robot arm 400 carries the transport visual inspection device 500 to grab the slices on the slice storage mechanism 200 and place them on the mold support platform 300. The camera 531 in the camera module 530 can clearly capture images of the slices on the mold 330 under the action of the auxiliary light source 532, and the captured images can be used to determine whether the judgment device is in place. The laser radar detector in the camera module 530 can accurately calculate the position of the slices, which is convenient for the clamping and transporting mechanism 540 to efficiently and accurately place the slices on the mold 330, and can also remove the slices on the mold 330. The mobile detection gripper 1000 can effectively replace manual operation for slice transport and naked eye inspection and judgment, is not easy to miss inspections, has high inspection quality, reduces the workload of workers, and has high efficiency.

[0029] Please refer to Fig. 9 The present invention also provides a material grabbing method, which includes the above-mentioned mobile detection material grabber 1000, including the following steps: S1: The multi-axis robot arm moves with the transport visual inspection device and calculates the position of the slices on the slice storage mechanism and takes photos; S2: The multi-axis robot arm with the handling visual inspection device grabs the rows of films; S3: The multi-axis robot arm with the handling visual inspection device calculates the position of the slices placed on the mold support platform; S4: The multi-axis robot arm with the handling visual inspection device places the row of slices on the mold support platform; S5: The transport visual inspection device determines whether the position of the slices on the mold support platform is accurate and takes photos.

[0030] In order to ensure the accuracy of detection, steps S1, S3, and S5 all include transmitting the photographed image to a display or a portable tablet product for display, so as to manually assist in determining whether the position is accurate, wherein the image transmission can be wired transmission or wireless transmission, depending on the specific application scenario. The position estimation in steps S1, S3, and S5 is achieved by the laser radar detector in the camera module, and the photography in steps S1, S3, and S5 is completed by the camera in the camera module with the assistance of an auxiliary light source.

[0031] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0032] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A mobile detection grabber, used in the film arrangement process, characterized in that: include: A sheet storage mechanism, at least one mold support platform, a multi-axis robot arm located between the sheet storage mechanism and the mold support platform, and a transport visual inspection device installed on the multi-axis robot arm; the transport visual inspection device includes an adapter frame, at least one camera module installed on the adapter frame, and at least one clamping and transporting mechanism; the camera module includes a camera, a laser radar detector and an auxiliary light source; the clamping and transporting mechanism includes a beam connected to the adapter frame, two connecting rods extending downward from the beam, a bottom plate connected to the bottoms of the two connecting rods, at least one clamping cylinder installed on the top surface of the bottom plate, and a clamping arm connected to the clamping cylinder, and the bottom end of the clamping arm is lower than the bottom surface of the bottom plate.

2. The mobile detection grabber according to claim 1, characterized in that: The film arrangement and storage mechanism comprises a silo frame and a storage silo installed on the silo frame.

3. The mobile detection grabber according to claim 2, characterized in that: The sheet row storage mechanism also includes a sheet row lifter installed on the silo frame, and the sheet row lifter is at least partially located in the storage silo.

4. The mobile detection grabber according to claim 1, characterized in that: The mold supporting platform comprises a platform frame, a supporting table plate installed on the platform frame, and a plurality of molds installed on the supporting table plate.

5. The mobile detection grabber according to claim 1, characterized in that: The number of the mold supporting platforms is two.

6. The mobile detection grabber according to claim 1, characterized in that: A support plate is installed on the top surface of the bottom plate, and the clamping cylinder is connected to the support plate.

7. The mobile detection grabber according to claim 1, characterized in that: A positioning pin is installed on the bottom surface of the bottom plate.

8. The mobile detection grabber according to claim 1, characterized in that: A threaded sleeve is installed on the crossbeam, and the outer wall of the connecting rod is threadedly connected to the threaded sleeve.

9. The mobile detection grabber according to claim 1, characterized in that: The camera module also includes a connecting plate connected to the adapter, an adjusting plate hinged to the connecting plate and connected to the camera, and an adjusting bolt installed on the connecting plate; an arc-shaped hole is provided on the adjusting plate, and the adjusting bolt passes through the arc-shaped hole.

10. A material grabbing method, comprising the mobile detection material grabbing machine according to any one of claims 1 to 9, characterized in that: The steps include: The multi-axis robot arm moves with the transport visual inspection device and calculates the position of the slices on the slice storage mechanism and takes photos; The multi-axis robot arm carries the transport visual inspection device to grab the row of slices; The multi-axis robot arm carries the transport visual inspection device to calculate the position of the row of sheets placed on the mold support platform; The multi-axis robot arm carries the transport visual inspection device to place the row of slices on the mold support platform; The transport visual inspection device determines whether the position of the slices on the mold support platform is accurate and takes photos.

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