Robot feeding detection equipment and method

Abstract

The invention belongs to the field of feeding detection equipment, and particularly relates to robot feeding detection equipment and method.The robot feeding detection equipment is characterized in that the robot feeding detection equipment comprises a rack, and a feeding mechanical arm is arranged at the left rear end of the top of the rack. The defective rate can be effectively reduced, the overall qualified rate of products can be improved, a large number of raw materials and production resources can be saved and the production cost can be reduced compared with reproduction and repair of waste NG products, especially for high-cost products, the cost advantage is more obvious, the products can be rapidly returned to the production link to be continuously used through an empty tray and an empty jig, and the production efficiency is improved. Compared with the prior art, cost expenditure of frequently purchasing new trays and jigs is avoided, the use efficiency of the trays and the jigs is remarkably improved, in the production process, an orderly recycling mechanism can prevent empty trays and empty jigs from being stacked at will in a working area, and the situation that materials are disordered and occupy precious operation space is avoided.

Description

Technical Field

[0001] The invention belongs to the field of material feeding detection equipment, in particular to a robot material feeding detection equipment and method. Background Art

[0002] In modern manufacturing, high-precision products continue to emerge, such as chips for electronic devices, precision mechanical parts, and medical device components. Minor errors may affect the final performance and reliability. Under large-scale production, raw material batches, equipment fluctuations, and human errors will cause quality fluctuations. Through testing, we can avoid the waste of raw materials caused by unqualified products and ineffective investment in subsequent links, thereby reducing costs.

[0003] When using traditional testing equipment, if NG products are not sent to a special rework line for repair and re-testing, the defective rate of product quality will remain high, unqualified products may be mixed with qualified products, and the product quality stability will be poor; in terms of cost control, there will be serious waste of raw materials, high-cost raw materials and previous processing costs will be wasted, and it will also reduce production efficiency and increase costs, so qualified products need to be re-produced; in production process management, it is difficult to discover production process defects, and the frequent occurrence of a certain type of NG products cannot indicate problems in the process link, and quality traceability will also be difficult. Lack of rework and re-testing data makes it difficult to determine the root cause of quality problems.

[0004] To this end, the present invention provides a robot feeding detection device and method. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a robot feeding detection device and method described in the present invention is characterized in that the robot feeding detection device comprises a frame, a feeding manipulator is arranged at the left rear end of the top of the frame, a feeding part 1 is arranged on the left side of the feeding manipulator, a feeding part 2 is arranged on the right side of the feeding manipulator, a receiving manipulator is arranged at the right rear end of the top of the frame, a receiving part 2 is arranged on the left side of the receiving manipulator, a receiving part 1 is arranged on the right side of the receiving manipulator, and a receiving part 2 is arranged on the left side of the receiving manipulator. There is a feeding assembly line, an empty jig return line 1 is arranged on the right side of the feeding assembly line, a jig transfer mechanism 1 is arranged in the middle position above the feeding assembly line and the empty jig return line 1, a jig transfer mechanism 2 is arranged at the front end of the jig transfer mechanism 1, an empty jig transfer clamp is arranged at the rear end of the jig transfer mechanism 1, a CCD detection component is arranged between the jig transfer mechanism 1 and the jig transfer mechanism 2, the CCD detection component is placed between the feeding assembly line and the empty jig return line 1, and a CCD detection display screen is arranged on the right side of the CCD detection component;

[0007] An NG product transfer line is arranged on the right side of the front end of the empty jig return line one, and the NG product transfer line is located at the lower right of the jig transfer mechanism two. An intermediate transfer mechanism is arranged on the right side of the rear end of the NG product transfer line, and an NG product rework line is arranged at the rear end of the intermediate transfer mechanism. A post-rework return line is arranged at the rear end of the NG product rework line, and the post-rework return line is located at the lower right of the jig transfer mechanism one. An empty jig return line two is arranged at the rear end of the post-rework return line, and the empty jig return line two is located at the lower right of the empty jig transfer clamp. An empty material tray return line is arranged at the rear end of the empty jig return line two, and the empty material tray return line is located in the middle position of the top of the frame. An empty material tray placement area is arranged on the right side of the empty material tray return line.

[0008] Preferably, the feeding part 1 includes a profile body, which is arranged on the left side of the feeding robot, mounting seats are fixed on both sides of the profile body, a profile end cover is fixed to the rear end of the profile body, a protective sheet metal is fixed to the rear end of the top of the profile body, a safety guard is fixed to the front end of the profile body, a connecting plate is fixed to the front end of the bottom of the profile body, a feeding side baffle 1 is fixed to the left side of the top of the profile body, a feeding side baffle 2 is fixed to the right side of the top of the profile body, a feeding front baffle is fixed to the rear ends of the feeding side baffle 1 and the feeding side baffle 2, and a guide sheet metal is fixed at the top middle position between the feeding side baffle 1 and the feeding side baffle 2.

[0009] Preferably, a full-material jig disk is arranged between the front baffle plate and the guide sheet metal, a baffle sheet metal is arranged at the front end of the bottom of the full-material jig disk, a cylinder is arranged at the bottom of the baffle sheet metal, the cylinder is arranged at the bottom of the profile body, the output end of the top of the cylinder is fixedly connected to the baffle sheet metal, engineering chains are arranged on both sides inside the profile body, the engineering chain is located at the bottom of the full-material jig disk, rollers are arranged at the front and rear ends inside the profile body, engineering sprockets are arranged on both sides of the rollers, the engineering sprockets are connected to the engineering chains, a photoelectric sensor is arranged at the top of the front baffle plate, a stepper motor is arranged at the rear end of the left side of the bottom of the profile body, the stepper motor is used to drive the roller at the rear end of the profile body to rotate, and a material tray lifting mechanism is arranged at the rear end of the bottom of the profile body, and the material tray lifting mechanism is located below the full-material jig disk.

[0010] Preferably, the material tray lifting mechanism includes a fixed mounting plate, which is fixed to the rear end of the bottom of the profile body, and the fixed mounting plate is located below the full material jig tray one. A load-bearing platform is arranged directly above the fixed mounting plate, and a full material jig tray two is arranged on the top of the load-bearing platform. Linear bearings are arranged at the four corners of the bottom of the load-bearing platform, and the bottom of the linear bearings is connected to the fixed mounting plate. A motor mounting plate is arranged directly below the fixed mounting plate, and a guide shaft one is fixed at the four corners of the top of the motor mounting plate, and the top of the guide shaft one is fixedly connected to the bottom end of the fixed mounting plate.

[0011] Preferably, a servo motor is arranged at the bottom end of the motor mounting plate, and guide shafts 2 are fixed around the top of the servo motor, and the servo motor is fixed to the bottom end of the motor mounting plate through the guide shafts 2, and a coupling is fixed to the rotating shaft at the top of the servo motor, and a sensor profile is arranged at the middle position of the front end of the fixed mounting plate, and the top of the sensor profile is fixed to the front end of the bearing platform, and a groove-type sensor is fixed to the front end of the sensor profile, and a screw rod body is longitudinally penetrated through the middle position inside the fixed mounting plate, and the top of the screw rod body is fixedly connected to the bearing platform, and the bottom end of the screw rod body protrudes from the bottom of the motor mounting plate and is connected to the coupling, and a screw rod fixing seat is arranged on the outside of the screw rod body, and the screw rod fixing seat is fixed to the top of the motor mounting plate.

[0012] Preferably, the jig transfer mechanism one and the jig transfer mechanism two include a synchronous belt module, which is arranged at the front end and the middle position above the feed assembly line, and mounting brackets are fixed on both sides of the bottom of the synchronous belt module, and the mounting brackets are fixed on the frame, and a drag chain sheet metal is fixed on the top of the synchronous belt module, and a drag chain body is arranged inside the drag chain sheet metal.

[0013] Preferably, a connection panel is provided at the front end of the synchronous belt module, an installation panel is provided at the front end of the connection panel, linear slide rails are provided on both sides of the rear end of the installation panel, the linear slide rails are fixed to the front end of the connection panel, a hydraulic buffer is provided on the right side of the installation panel, a cylinder mounting plate 2 is fixed to the bottom end of the installation panel, a rotary cylinder is installed at the bottom end of the cylinder mounting plate 2, a clamping cylinder is provided at the bottom end of the rotary cylinder, a fixture body is clamped at the bottom of the clamping cylinder, a cylinder mounting plate 1 is fixed to the top of the connection panel, a cylinder 2 is installed on the top of the cylinder mounting plate 1, a floating joint is fixed to the output end of the bottom of the cylinder 2, and the bottom end of the floating joint is fixedly connected to the top of the installation panel.

[0014] Preferably, the CCD detection component includes a guide shaft three, which is arranged in the middle position on the right side of the feeding assembly line, and is located between the feeding assembly line and the empty fixture return line one and the fixture transfer mechanism one and the fixture transfer mechanism two. A guide shaft support is fixed to the bottom of the guide shaft three, a mounting base plate is fixed to the bottom of the guide shaft support, a connecting member is fixed to the outside of the connecting member, a camera mounting plate is arranged above the connecting member, and the camera mounting plate is fixed to the top of the guide shaft three.

[0015] Preferably, a light source mounting plate is fixed on one side of the connecting piece, and light source bodies are fixed on both ends of one side of the light source mounting plate, and the light source bodies are located directly above the feeding assembly line. A camera body is fixed on the end of the camera mounting plate, and the camera body is located directly above the center line of the two groups of light source bodies, and the detection component at the bottom end of the camera body is opposite to the top of the feeding assembly line.

[0016] A robot feeding detection device and method, the robot feeding detection method comprises the following steps:

[0017] S1. Product preparation: put the product to be tested into the jig, put the jig with the product into the material tray, and put the material tray into the loading part 1 and the loading part 2;

[0018] S2, product loading, using the loading robot to clamp the jigs in the material trays in the loading part 1 and the loading part 2, and put the jigs into the feeding line. At the same time, the loading robot clamps the empty material tray to the empty material tray return line;

[0019] S3, empty tray recovery, using the empty tray return line to transport the empty tray to the position of the receiving robot, the receiving robot clamps the empty tray to the empty tray placement area for recovery and placement;

[0020] S4, product testing, using the feed line to transport the jig with the product placed on it, so that the jig is moved to the position of the CCD detection component for testing;

[0021] S5. Classification and processing of qualified products and NG products. When the feed line detects that the product on the jig is a qualified product, the jig transfer mechanism 2 separates the product and the jig, and transfers the empty jig to the empty jig return line 1 for recycling, while the qualified products are transported from the feed line to the next process. When the feed line detects that the product on the jig is a NG product, the jig transfer mechanism 2 transfers the jig containing the NG product to the NG product transfer line, the intermediate transfer mechanism and the NG product rework line for rework and transport;

[0022] S6, empty fixture processing, the empty fixture return line 1 transports the empty fixture to the empty fixture transfer clamp, and the empty fixture transfer clamp transfers the empty fixture to the empty fixture return line 2 for further transportation, and then the empty fixture is recovered by the receiving robot to the material tray in the receiving area;

[0023] S7, reflow inspection of the reworked products, place the reworked products on the reflow line after rework and transport them to the position of the jig transfer mechanism 1, use the jig transfer mechanism 1 to transfer the reworked products to the feed line, execute the operations of S4-S5 to classify qualified products and NG products, and repeat this cycle until the products are qualified.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. The robot feeding inspection device and method described in the present invention can effectively reduce the defective rate and improve the overall qualified rate of products by sending unqualified products to a special rework line for repair and re-inspection. Compared with discarding NG products and reproducing them, rework can save a lot of raw materials and production resources and reduce production costs. This cost advantage is more obvious especially for high-cost products.

[0026] 2. The robot feeding and inspection equipment and method described in the present invention can achieve efficient recycling of resources through the recycling design of empty trays and empty jigs. The empty trays and empty jigs can be quickly returned to the production link for continued use, thereby avoiding the cost of frequent purchase of new trays and jigs and significantly improving their utilization efficiency. At the same time, this recycling design ensures that the feeding and inspection process will not be interrupted due to shortages of trays and jigs. During the production process, the orderly recycling mechanism can prevent empty trays and empty jigs from being randomly piled up in the work area, avoiding the occupation of valuable operating space due to cluttered materials, and eliminating safety hazards such as tripping and collision of operators due to material obstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] Figure 1 It is the overall structural diagram of the present invention;

[0029] Figure 2 It is a structural diagram of the feeding part in the present invention;

[0030] Figure 3 It is a structural diagram of the tray lifting mechanism in the present invention;

[0031] Figure 4 It is a structural diagram of the CCD detection component in the present invention;

[0032] Figure 5 It is a structural diagram of the fixture transfer mechanism in the present invention.

[0033] In the figure: 1. Loading robot; 2. Loading part 1; 3. Empty fixture transfer gripper; 4. Fixture transfer mechanism 1; 5. CCD detection component; 6. CCD detection display screen; 7. Feeding line; 8. Empty fixture return line 1; 9. Fixture transfer mechanism 2; 10. NG product transfer line; 11. Transfer mechanism; 12. Empty fixture return line 2; 13. Rack; 14. NG product rework line; 15. Rework return line; 16. Empty tray placement area; 17. Receiving part 1 ; 18. Material receiving manipulator; 19. Empty material tray return line; 20. Material receiving part 2; 21. Material feeding part 2; 25. Material tray lifting mechanism; 26. Stepper motor; 27. Profile body; 28. Mounting seat; 29. ​​Profile end cover; 30. Protective sheet metal; 31. Material feeding side baffle 1; 32. Material feeding front baffle; 33. Photoelectric sensor; 34. Guide sheet metal; 35. Full material fixture tray 1; 36. Material baffle sheet metal; 37. Material feeding side baffle 2; 38. Engineering chain; 39. Safety baffle Edge; 40, connecting plate; 41, engineering sprocket; 42, roller; 43, cylinder one; 44, motor mounting plate; 45, slot sensor; 46, sensor profile; 47, fixed mounting plate; 48, linear bearing; 49, full material fixture plate two; 50, bearing platform; 51, screw body; 52, guide shaft one; 53, screw fixing seat; 54, coupling; 55, guide shaft two; 56, servo motor; 76, mounting bracket; 77, synchronous belt module; 78, drag chain sheet metal; 79. Drag chain body; 80. Cylinder mounting plate 1; 81. Cylinder 2; 82. Connection panel; 83. Floating joint; 84. Linear guide rail; 85. Hydraulic buffer; 86. Mounting panel; 87. Cylinder mounting plate 2; 88. Rotary cylinder; 89. Gripper cylinder; 90. Fixture body; 91. Mounting base plate; 92. Guide shaft support; 93. Guide shaft 3; 94. Connector; 95. Camera mounting plate; 96. Camera body; 97. Light source mounting plate; 98. Light source body. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0035] like Figures 1 to 5As shown, a robot feeding detection device and method according to an embodiment of the present invention is characterized in that the robot feeding detection device comprises a frame 13, a feeding manipulator 1 is arranged at the left rear end of the top of the frame 13, a feeding part 1 2 is arranged on the left side of the feeding manipulator 1, a feeding part 21 is arranged on the right side of the feeding manipulator 1, a receiving manipulator 18 is arranged at the right rear end of the top of the frame 13, a receiving part 20 is arranged on the left side of the receiving manipulator 18, and a receiving part 21 is arranged on the right side of the receiving manipulator 18. A receiving part 17 is provided, a feeding assembly line 7 is provided on the left side of the top of the frame 13, an empty fixture return line 8 is provided on the right side of the feeding assembly line 7, a fixture transfer mechanism 4 is provided in the middle position above the feeding assembly line 7 and the empty fixture return line 8, a fixture transfer mechanism 2 9 is provided at the front end of the fixture transfer mechanism 4, an empty fixture transfer jaw 3 is provided at the rear end of the fixture transfer mechanism 4, and a CCD detection group is provided between the fixture transfer mechanism 4 and the fixture transfer mechanism 2 9. The CCD detection component 5 is placed between the feeding assembly line 7 and the empty fixture return line 8. A CCD detection display screen 6 is arranged on the right side of the CCD detection component 5. An NG product transfer line 10 is arranged on the right side of the front end of the empty fixture return line 8. The NG product transfer line 10 is located at the lower right side of the fixture transfer mechanism 9. An intermediate transfer mechanism 11 is arranged on the right side of the rear end of the NG product transfer line 10. An NG product rework line 14 is arranged on the rear end of the intermediate transfer mechanism 11. A post-rework return line 15 is provided at the rear end of the rework line 14, and the post-rework return line 15 is located at the lower right of the fixture transfer mechanism 4. An empty fixture return line 2 12 is provided at the rear end of the post-rework return line 15, and the empty fixture return line 2 12 is located at the lower right of the empty fixture transfer clamp 3. An empty material tray return line 19 is provided at the rear end of the empty fixture return line 2 12, and the empty material tray return line 19 is located in the middle position of the top of the frame 13. An empty material tray placement area 16 is provided on the right side of the empty material tray return line 19.

[0036] First, the product to be tested is placed in the jig, and the jig with the product placed on it is placed in the material tray, and the material tray is placed in the loading part 1 2 and the loading part 2 21 to complete the product preparation work; then, the loading robot 1 is used to clamp the jig in the material tray in the loading part 1 2 and the loading part 2 21, and the jig is placed on the feeding assembly line 7. At the same time, the loading robot 1 is used to clamp the empty material tray to the empty material tray return line 19, and the empty material tray return line 19 is used to transport the empty material tray to the position of the receiving robot 18, and the receiving robot 18 clamps the empty material tray to the empty material tray placement area 16 for recycling and placement;

[0037] Afterwards, the feed line 7 is used to transport the jig on which the product is placed, so that the jig is moved to the position of the CCD detection component 5 for detection:

[0038] When the feed line 7 detects that the product on the jig is a qualified product, the jig transfer mechanism 2 9 separates the product and the jig, and transfers the empty jig to the empty jig return line 1 8 for recycling. The empty jig return line 1 8 transports the empty jig to the empty jig transfer clamp 3, and the empty jig transfer clamp 3 transfers the empty jig to the empty jig return line 2 12 for further transportation, and then the empty jig is recycled to the material tray in the receiving area by the receiving manipulator 18. After the empty jigs placed in a material tray are full, the empty jig transfer clamp 3 clamps the empty material tray recycled in the empty material tray placement area 16 and places it in the receiving part 1 17 or the receiving part 2 20 for empty jig placement, and the qualified products are transported to the next process by the feed line 7;

[0039] When the feeding line 7 detects that the product on the jig is a NG product, the jig transfer mechanism 2 9 transfers the jig containing the NG product to the NG product transfer line 10, and the NG product transfer line 10 sends the NG product to the position of the intermediate transfer mechanism 11, and then the intermediate transfer mechanism 11 moves the NG product to the NG product rework line 14, and the NG product rework line 14 sends the NG product to the rework area for rework;

[0040] Finally, the jig containing the reworked product is placed on the post-rework return line 15, and is transported to the position of the jig transfer mechanism 4 by the post-rework return line 15. The jig containing the reworked product is transferred to the feed line 7 by the jig transfer mechanism 4, and is again transported from the feed line 7 to the position of the CCD detection component 5 for detection to detect whether the reworked product is qualified. If the rework is qualified, the above-mentioned operation steps for qualified products are executed. If the rework is unqualified, the above-mentioned operation steps for NG products are executed, and this cycle is repeated until the product is qualified.

[0041] The recycling design of empty trays and empty jigs can achieve efficient recycling of resources. The empty trays and empty jigs can be quickly returned to the production process for continued use, avoiding the cost of frequent purchase of new trays and jigs and significantly improving their use efficiency. At the same time, this recycling design ensures that the loading and testing processes will not be interrupted due to the shortage of trays and jigs. During the production process, the orderly recycling mechanism can prevent the empty trays and empty jigs from randomly piling up in the work area, avoiding the occupation of valuable operating space due to the clutter of materials, and eliminating the safety hazards of operators tripping and colliding due to material obstruction.

[0042] By sending defective products to a special rework line for repair and re-testing, the defective rate can be effectively reduced and the overall product qualification rate can be improved. Compared with discarding NG products and reproducing them, rework can save a lot of raw materials and production resources and reduce production costs. This cost advantage is even more obvious for high-cost products.

[0043] like Figures 1 to 5As shown, the feeding part 2 includes a profile body 27, which is arranged on the left side of the feeding manipulator 1, and mounting seats 28 are fixed on both sides of the profile body 27, a profile end cover 29 is fixed to the rear end of the profile body 27, a protective sheet metal 30 is fixed to the rear end of the top of the profile body 27, a safety retaining edge 39 is fixed to the front end of the profile body 27, a connecting plate 40 is fixed to the front end of the bottom of the profile body 27, a feeding side baffle 1 31 is fixed to the left side of the top of the profile body 27, a feeding side baffle 2 37 is fixed to the right side of the top of the profile body 27, a feeding front baffle 32 is fixed to the rear ends of the feeding side baffle 1 31 and the feeding side baffle 2 37, a guide sheet metal 34 is fixed at the top middle position between the feeding side baffle 1 31 and the feeding side baffle 2 37, a full material fixture plate 1 35 is arranged between the feeding front baffle 32 and the guide sheet metal 34, and a full material fixture plate 1 35 has a bottom A material-blocking sheet metal 36 is provided at the front end of the part, a cylinder 43 is provided at the bottom of the material-blocking sheet metal 36, and the cylinder 43 is arranged at the bottom of the profile body 27. The output end at the top of the cylinder 43 is fixedly connected to the material-blocking sheet metal 36, and engineering chains 38 are provided on both sides of the profile body 27. The engineering chain 38 is located at the bottom of the full-material fixture plate 35, and rollers 42 are provided at the front and rear ends of the profile body 27. Engineering sprockets 41 are provided on both sides of the roller 42, and the engineering sprockets 41 are linked to the engineering chains 38. A photoelectric sensor 33 is provided at the top of the front baffle 32 before feeding, and a stepper motor 26 is provided at the rear end of the left side of the bottom of the profile body 27. The stepper motor 26 is used to drive the roller 42 at the rear end of the profile body 27 to rotate. A material tray lifting mechanism 25 is provided at the rear end of the bottom of the profile body 27, and the material tray lifting mechanism 25 is located below the full-material fixture plate 35.

[0044] The tray lifting mechanism 25 includes a fixed mounting plate 47, which is fixed to the rear end of the bottom of the profile body 27. The fixed mounting plate 47 is located below the full material fixture tray 35. A load-bearing platform 50 is arranged directly above the fixed mounting plate 47. A full material fixture tray 49 is arranged on the top of the load-bearing platform 50. Linear bearings 48 are arranged at the four corners of the bottom of the load-bearing platform 50. The bottom of the linear bearing 48 is connected to the fixed mounting plate 47. A motor mounting plate 44 is arranged directly below the fixed mounting plate 47. A guide shaft 52 is fixed at the four corners of the top of the motor mounting plate 44. The top of the guide shaft 52 is fixedly connected to the bottom end of the fixed mounting plate 47. A servo motor 56 is arranged at the bottom of the motor mounting plate 44. The servo motor 56 is arranged around the top of the servo motor 56. A guide shaft 2 55 is fixed, and a servo motor 56 is fixed to the bottom end of the motor mounting plate 44 through the guide shaft 2 55. A coupling 54 is fixed to the rotating shaft at the top of the servo motor 56. A sensor profile 46 is arranged in the middle position at the front end of the fixed mounting plate 47. The top of the sensor profile 46 is fixed to the front end of the bearing platform 50. A groove-type sensor 45 is fixed to the front end of the sensor profile 46. A screw body 51 is longitudinally penetrated through the middle position inside the fixed mounting plate 47. The top of the screw body 51 is fixedly connected to the bearing platform 50. The bottom end of the screw body 51 protrudes from the bottom of the motor mounting plate 44 and is connected to the coupling 54. A screw fixing seat 53 is arranged on the outside of the screw body 51. The screw fixing seat 53 is fixed to the top of the motor mounting plate 44.

[0045] A group of full jig trays 35 are stacked to the front end of the guide sheet metal 34, and the stepper motor 26 is started to drive the roller shaft 42 and the engineering sprocket 41 to rotate, providing the driving force required by the engineering chain 38, and the engineering chain 38 is used to send the stacked full jig trays 35 from the bottom of the guide sheet metal 34 into the clamping area at the rear end of the guide sheet metal 34. After the stacked full jig trays 35 enter the clamping area at the rear end of the guide sheet metal 34, the cylinder 43 is started to push the material block sheet metal 36 to block the stacked full jig trays 35. At this time, the next group of stacked full jig trays 35 can be placed at the front end of the guide sheet metal 34. When the first group of stacked full jig trays 35 are completely taken out by the feeding robot 1, the second group of full jig trays 35 are transported by the engineering chain 38 into the clamping area at the rear end of the guide sheet metal 34, and the above operation is repeated to load the full jig trays 35.

[0046] It should be noted here that, firstly, a material blocking sheet metal 36 is arranged between the first group and the second group of full material fixture trays 35, and the material blocking sheet metal 36 is used to block the two groups of full material fixture trays 35. When the first group of full material fixture trays 35 are completely taken away by the feeding robot 1, the material blocking sheet metal 36 is driven downward by the cylinder 43 to stop blocking the second group of full material fixture trays 35, and the second group of full material fixture trays 35 can be sent in with the engineering chain 38; secondly, the height of the stacked full material fixture trays 35 needs to be lower than the bottom end of the guide sheet metal 34 to ensure that the engineering chain 38 will not be blocked by the guide sheet metal 34 when conveying the full material fixture trays 35;

[0047] After the stacked full jig tray 1 35 is fed into the clamping area at the rear end of the guide sheet metal 34, the stacked full jig tray 1 35 is located on the top of the carrying platform 50, and the full jig tray 1 35 in direct contact with the carrying platform 50 is named full jig tray 2 49, and the full jig tray 2 49 is located at the bottom end of the multiple stacked full jig trays 1 35;

[0048] After the full jig tray 35 moves into the clamping area at the rear end of the guide sheet metal 34, the full jig tray 35 at the top blocks the signal of the photoelectric sensor 33. At this time, the photoelectric sensor 33 detects the position of the full jig tray 35. When the full jig tray 35 at the top is taken away by the loading robot 1, the full jig tray 35 at the top does not block the signal of the photoelectric sensor 33. The photoelectric sensor 33 cooperates with the servo motor 56 to start, and the servo motor 56 drives the screw rod body 51 to push the supporting platform 50 upward. The supporting platform 50 pushes up the stacked full jig trays 2 49 to make the stacked full jig trays 35 move upward until the full jig tray 35 at the top blocks the signal of the photoelectric sensor 33 and stops moving upward. In this way, it can be ensured that the clamping position of the loading robot 1 is the same each time, thereby ensuring the clamping efficiency.

[0049] like Figures 1 to 5 As shown, the jig transfer mechanism 1 4 and the jig transfer mechanism 2 9 include a synchronous belt module 77, which is arranged at the front end and the middle position above the feed assembly line 7, and mounting brackets 76 are fixed on both sides of the bottom of the synchronous belt module 77, and the mounting brackets 76 are fixed on the frame 13, and a drag chain sheet metal 78 is fixed to the top of the synchronous belt module 77, and a drag chain body 79 is arranged in the drag chain sheet metal 78.

[0050] A connecting panel 82 is provided at the front end of the synchronous belt module 77, and a mounting panel 86 is provided at the front end of the connecting panel 82. Linear slide rails 84 are provided on both sides of the rear end of the mounting panel 86, and the linear slide rails 84 are fixed to the front end of the connecting panel 82. A hydraulic buffer 85 is provided on the right side of the mounting panel 86. A cylinder mounting plate 87 is fixed to the bottom end of the mounting panel 86, and a rotary cylinder 88 is installed at the bottom end of the cylinder mounting plate 87. A clamping cylinder 89 is provided at the bottom end of the rotary cylinder 88, and a fixture body 90 is clamped at the bottom of the clamping cylinder 89. A cylinder mounting plate 80 is fixed to the top of the connecting panel 82, and a cylinder 81 is installed on the top of the cylinder mounting plate 80. A floating joint 83 is fixed to the output end of the bottom of the cylinder 81, and the bottom end of the floating joint 83 is fixedly connected to the top of the mounting panel 86.

[0051] When the jig transfer mechanism 1 4 and the jig transfer mechanism 2 9 transfer the jig, the slider on the synchronous belt module 77 is used to drive the connection panel 82 to move, so that the clamping cylinder 89 moves horizontally to the required position, and the rotary cylinder 88 is used to drive the clamping cylinder 89 to rotate and change the angle of the clamping cylinder 89, so that it can match the clamping position of the jig body 90 or the clamped jig body 90 can match the next placement station, ensuring that the clamping and placement of the jig body 90 by the clamping cylinder 89 is accurate, so that it is adapted to the position of the jig body 90 to ensure clamping, and the cylinder 2 81 is used to drive the installation panel 86 to move up or down, so that the clamping cylinder 89 moves to the position of the jig body 90 for clamping or placement, thereby completing the transfer of the jig body 90.

[0052] like Figures 1 to 5 As shown, the CCD detection component 5 includes a guide shaft three 93, and the guide shaft three 93 is arranged in the middle position on the right side of the feeding assembly line 7, and the guide shaft three 93 is located between the feeding assembly line 7 and the empty fixture return line one 8 and the fixture transfer mechanism one 4 and the fixture transfer mechanism two 9, and a guide shaft support 92 is fixed to the bottom of the guide shaft three 93, and a mounting base plate 91 is fixed to the bottom of the guide shaft support 92, and a connecting member 94 is fixed to the outside of the connecting member 94, and a camera mounting plate 95 is arranged above the connecting member 94, and the camera mounting plate 95 is fixed to the top of the guide shaft three 93.

[0053] A light source mounting plate 97 is fixed to one side of the connecting piece 94, and light source main bodies 98 are fixed to both ends of one side of the light source mounting plate 97. The light source main body 98 is located directly above the feeding assembly line 7. A camera main body 96 is fixed to the end of the camera mounting plate 95. The camera main body 96 is located directly above the center line of the two groups of light source main bodies 98, and the detection component at the bottom end of the camera main body 96 is opposite to the top of the feeding assembly line 7.

[0054] The CCD detection head at the bottom of the camera body 96 is directly opposite to the top of the feeding assembly line 7. When the jig carrying the product moves to the bottom of the camera body 96, the camera body 96 detects the product to determine whether the product is a qualified product or an NG product, so as to proceed to the next step. At the same time, the light source body 98 can perform fill light operation on the camera body 96 to improve the detection effect of the camera body 96. The dark surrounding environment affects the detection effect.

[0055] A robot feeding detection device and method, the robot feeding detection method comprises the following steps:

[0056] S1, product preparation, put the product to be tested into the jig, put the jig with the product into the material tray, and put the material tray into the loading part 1 2 and the loading part 21;

[0057] S2, product loading, using the loading robot 1 to clamp the jigs in the material trays in the loading part 1 2 and the loading part 2 21, and put the jigs on the feeding line 7, and at the same time, use the loading robot 1 to clamp the empty material tray to the empty material tray return line 19;

[0058] S3, empty tray recovery, using the empty tray return line 19 to transport the empty tray to the position of the receiving manipulator 18, the receiving manipulator 18 clamps the empty tray to the empty tray placement area 16 for recovery and placement;

[0059] S4, product testing, using the feed line 7 to transport the jig with the product placed on it, so that the jig is moved to the position of the CCD detection component 5 for testing;

[0060] S5, classification and processing of qualified products and NG products. When the feed line 7 detects that the product on the jig is a qualified product, the jig transfer mechanism 2 9 separates the product and the jig, and transfers the empty jig to the empty jig return line 1 8 for recycling, while the qualified product is transported to the next process by the feed line 7. When the feed line 7 detects that the product on the jig is an NG product, the jig transfer mechanism 2 9 transfers the jig containing the NG product to the NG product transfer line 10, the intermediate transfer mechanism 11 and the NG product repair line 14 for repair and transportation;

[0061] S6, empty fixture processing, the empty fixture return line 1 8 transports the empty fixture to the empty fixture transfer clamp 3, and the empty fixture transfer clamp 3 transfers the empty fixture to the empty fixture return line 2 12 for further transportation, and then the empty fixture is recovered by the receiving manipulator 18 to the material tray in the receiving area;

[0062] S7, reflow inspection of the reworked products, place the reworked products on the post-rework reflow line 15 and transport them to the position of the jig transfer mechanism 4, use the jig transfer mechanism 4 to transfer the reworked products to the feed line 7, execute the operations of S4-S5 to classify qualified products and NG products, and repeat this cycle until the products are qualified.

[0063] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot feeding detection device and method, characterized in that: The robot feeding detection device comprises a frame (13), a feeding manipulator (1) is arranged at the left rear end of the top of the frame (13), a feeding part 1 (2) is arranged on the left side of the feeding manipulator (1), a feeding part 2 (21) is arranged on the right side of the feeding manipulator (1), a receiving manipulator (18) is arranged at the right rear end of the top of the frame (13), a receiving part 2 (20) is arranged on the left side of the receiving manipulator (18), a receiving part 1 (17) is arranged on the right side of the receiving manipulator (18), a feeding assembly line (7) is arranged on the left side of the top of the frame (13), and an air supply assembly line (7) is arranged on the right side of the feeding assembly line (7). A jig return line (8), a jig transfer mechanism (4) is arranged in the middle position above the feed line (7) and the empty jig return line (8), a jig transfer mechanism (9) is arranged at the front end of the jig transfer mechanism (4), an empty jig transfer jaw (3) is arranged at the rear end of the jig transfer mechanism (4), a CCD detection component (5) is arranged between the jig transfer mechanism (4) and the jig transfer mechanism (9), the CCD detection component (5) is placed between the feed line (7) and the empty jig return line (8), and a CCD detection display screen (6) is arranged on the right side of the CCD detection component (5); An NG product transfer line (10) is arranged on the right side of the front end of the empty jig return line (8), and the NG product transfer line (10) is located at the lower right of the jig transfer mechanism (9). An intermediate material transfer mechanism (11) is arranged on the right side of the rear end of the NG product transfer line (10), and an NG product rework line (14) is arranged at the rear end of the intermediate material transfer mechanism (11). A post-rework return line (15) is arranged at the rear end of the NG product rework line (14). Located at the lower right of the jig transfer mechanism 1 (4), an empty jig return line 2 (12) is arranged at the rear end of the reworked return line (15), the empty jig return line 2 (12) is located at the lower right of the empty jig transfer clamp (3), an empty material tray return line (19) is arranged at the rear end of the empty jig return line 2 (12), the empty material tray return line (19) is located at the middle position of the top of the frame (13), and an empty material tray placement area (16) is arranged on the right side of the empty material tray return line (19).

2. A robot feeding detection device and method according to claim 1, characterized in that: The feeding part (2) comprises a profile body (27), the profile body (27) is arranged on the left side of the feeding manipulator (1), mounting seats (28) are fixed on both sides of the profile body (27), a profile end cover (29) is fixed at the rear end of the profile body (27), a protective sheet metal (30) is fixed at the rear end of the top of the profile body (27), a safety retaining edge (39) is fixed at the front end of the profile body (27), and a bottom of the profile body (27) is fixed with a protective sheet metal (30). A connecting plate (40) is fixed at the front end, a first feeding side baffle (31) is fixed at the left side of the top of the profile body (27), a second feeding side baffle (37) is fixed at the right side of the top of the profile body (27), a front feeding baffle (32) is fixed at the rear ends of the first feeding side baffle (31) and the second feeding side baffle (37), and a guide sheet metal (34) is fixed at the middle position of the top between the first feeding side baffle (31) and the second feeding side baffle (37).

3. A robot feeding detection device and method according to claim 2, characterized in that: A full material jig plate (35) is arranged between the front baffle plate (32) for loading and the guide sheet metal (34); a material blocking sheet metal (36) is arranged at the front end of the bottom of the full material jig plate (35); a cylinder (43) is arranged at the bottom of the material blocking sheet metal (36); the cylinder (43) is arranged at the bottom of the profile body (27); the output end of the top of the cylinder (43) is fixedly connected to the material blocking sheet metal (36); engineering chains (38) are arranged on both sides of the profile body (27); the engineering chains (38) are located at the bottom of the full material jig plate (35); the front and rear ends of the profile body (27) are arranged at the bottom of the full material jig plate (35); A roller shaft (42) is arranged at the end, engineering sprockets (41) are arranged on both sides of the roller shaft (42), and the engineering sprockets (41) are linked to the engineering chain (38). A photoelectric sensor (33) is arranged at the top of the front baffle plate (32) for loading materials. A stepper motor (26) is arranged at the rear end of the left bottom of the profile body (27), and the stepper motor (26) is used to drive the roller shaft (42) at the rear end of the profile body (27) to rotate. A material tray lifting mechanism (25) is arranged at the rear end of the bottom of the profile body (27), and the material tray lifting mechanism (25) is located below the full material fixture tray (35).

4. A robot feeding detection device and method according to claim 3, characterized in that: The material tray lifting mechanism (25) comprises a fixed mounting plate (47), the fixed mounting plate (47) is fixed to the rear end of the bottom of the profile body (27), the fixed mounting plate (47) is located below the full material fixture tray (35), a bearing platform (50) is arranged directly above the fixed mounting plate (47), a full material fixture tray (49) is arranged on the top of the bearing platform (50), linear bearings (48) are arranged at the four corners of the bottom of the bearing platform (50), the bottom of the linear bearing (48) is connected to the fixed mounting plate (47), a motor mounting plate (44) is arranged directly below the fixed mounting plate (47), a guide shaft (52) is fixed at the four corners of the top of the motor mounting plate (44), and the top of the guide shaft (52) is fixedly connected to the bottom of the fixed mounting plate (47).

5. A robot feeding detection device and method according to claim 4, characterized in that: A servo motor (56) is arranged at the bottom end of the motor mounting plate (44), a guide shaft (55) is fixed around the top of the servo motor (56), the servo motor (56) is fixed to the bottom end of the motor mounting plate (44) through the guide shaft (55), a coupling (54) is fixed to the rotating shaft at the top of the servo motor (56), a sensor profile (46) is arranged at the middle position of the front end of the fixed mounting plate (47), the top of the sensor profile (46) is fixed to the front end of the bearing platform (50), and the sensor A groove sensor (45) is fixed to the front end of the profile (46); a screw rod body (51) is longitudinally passed through the middle position inside the fixed mounting plate (47); the top of the screw rod body (51) is fixedly connected to the bearing platform (50); the bottom end of the screw rod body (51) protrudes from the top of the motor mounting plate (44) and is connected to the coupling (54); a screw rod fixing seat (53) is arranged outside the screw rod body (51); and the screw rod fixing seat (53) is fixed to the top of the motor mounting plate (44).

6. A robot feeding detection device and method according to claim 5, characterized in that: The jig transfer mechanism 1 (4) and the jig transfer mechanism 2 (9) include a synchronous belt module (77), the synchronous belt module (77) is arranged at the front end and the middle position above the feed assembly line (7), the two sides of the bottom of the synchronous belt module (77) are fixed with mounting brackets (76), the mounting brackets (76) are fixed on the frame (13), the top of the synchronous belt module (77) is fixed with a drag chain sheet metal (78), and a drag chain body (79) is arranged in the drag chain sheet metal (78).

7. A robot feeding detection device and method according to claim 6, characterized in that: The front end of the synchronous belt module (77) is provided with a connection panel (82), the front end of the connection panel (82) is provided with a mounting panel (86), both sides of the rear end of the mounting panel (86) are provided with linear guide rails (84), the linear guide rails (84) are fixed to the front end of the connection panel (82), the right side of the mounting panel (86) is provided with an oil pressure buffer (85), the bottom end of the mounting panel (86) is fixed with a cylinder mounting plate 2 (87), and the bottom end of the cylinder mounting plate 2 (87) is provided with a A rotary cylinder (88) is provided, a clamping cylinder (89) is provided at the bottom end of the rotary cylinder (88), a fixture body (90) is clamped at the bottom of the clamping cylinder (89), a cylinder mounting plate 1 (80) is fixed at the top end of the connecting panel (82), a cylinder 2 (81) is installed at the top of the cylinder mounting plate 1 (80), a floating joint (83) is fixed at the output end of the bottom of the cylinder 2 (81), and the bottom end of the floating joint (83) is fixedly connected to the top end of the mounting panel (86).

8. A robot feeding detection device and method according to claim 7, characterized in that: The CCD detection assembly (5) comprises a guide shaft three (93), the guide shaft three (93) is arranged at the middle position on the right side of the feeding assembly line (7), the guide shaft three (93) is located between the feeding assembly line (7) and the empty fixture return line one (8) and the fixture transfer mechanism one (4) and the fixture transfer mechanism two (9), the bottom of the guide shaft three (93) is fixed with a guide shaft support (92), the bottom of the guide shaft support (92) is fixed with a mounting base plate (91), the outside of the connecting member (94) is fixed with a connecting member (94), a camera mounting plate (95) is arranged above the connecting member (94), and the camera mounting plate (95) is fixed to the top of the guide shaft three (93).

9. A robot feeding detection device and method according to claim 8, characterized in that: A light source mounting plate (97) is fixed to one side of the connecting member (94), and light source bodies (98) are fixed to both ends of one side of the light source mounting plate (97), and the light source bodies (98) are located directly above the feeding assembly line (7). A camera body (96) is fixed to the end of the camera mounting plate (95), and the camera body (96) is located directly above the center line of the two groups of light source bodies (98), and the detection component at the bottom end of the camera body (96) is directly opposite to the top of the feeding assembly line (7).

10. A robot feeding detection device and method according to claims 1-9, characterized in that: The robot feeding detection method comprises the following steps: S1. Product preparation: Place the product to be tested into the jig, and place the jig with the product into the material tray, and place the material tray into the loading part 1 (2) and the loading part 2 (21); S2, product loading, using the loading robot (1) to clamp the jigs in the material trays in the loading part 1 (2) and the loading part 2 (21), and put the jigs on the feeding line (7), and at the same time, using the loading robot (1) to clamp the empty material tray to the empty material tray return line (19); S3, recycling the empty trays, using the empty tray return line (19) to transport the empty trays to the position of the receiving manipulator (18), and the receiving manipulator (18) clamps the empty trays to the empty tray placement area (16) for recycling and placement; S4, product testing, using the feed line (7) to transport the jig with the product placed on it, so that the jig is moved to the position of the CCD detection component (5) for testing; S5, classification and processing of qualified products and NG products. When the feed line (7) detects that the product on the jig is a qualified product, the jig transfer mechanism 2 (9) separates the product and the jig, and transfers the empty jig to the empty jig return line 1 (8) for recycling, while the qualified product is transported from the feed line (7) to the next process. When the feed line (7) detects that the product on the jig is a NG product, the jig transfer mechanism 2 (9) transfers the jig containing the NG product to the NG product transfer line (10), the intermediate transfer mechanism (11) and the NG product repair line (14) for repair and transportation; S6, empty jig processing, the empty jig return line 1 (8) transports the empty jig to the empty jig transfer clamp (3), the empty jig transfer clamp (3) transfers the empty jig to the empty jig return line 2 (12) for further transport, and then the empty jig is recovered by the receiving robot (18) to the material tray in the receiving area; S7, the reflow inspection of the reworked products is carried out, the reworked products are placed on the reflow line (15) after rework and transported to the position of the jig transfer mechanism (4), the jig transfer mechanism (4) is used to transfer the reworked products to the feed line (7), and the operations of S4-S5 are performed to classify qualified products and NG products, and this cycle is repeated until the products are qualified.

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