Mechanism compatible with visual guidance and detection

Abstract

The utility model discloses a mechanism compatible with visual guidance and detection, which comprises a rack, and a servo module, a mounting rack II and a cylinder which are arranged on the rack, and the servo module and the cylinder are respectively arranged at the upper end and the lower end of the mounting rack II; the servo module is connected with the lens and used for driving the lens to move up and down, the lens is vertically arranged, a camera is arranged at the upper end of the lens, a coaxial light source is arranged under the lens, and the coaxial light source is connected with the second mounting frame. The mechanism compatible with visual guidance and detection provided by the utility model has the beneficial effects that the mechanism compatible with visual guidance and detection can complete visual guidance pin positioning during pin insertion of an IGBT module product and location degree detection after pin insertion only by using one set of detection mechanism, so that the hardware equipment cost and the manual debugging cost are reduced, the debugging convenience is increased, the debugging time is shortened, and the debugging efficiency is improved. And the size is optimized and reduced, and the occupied space of a machine table is reduced.

Description

Technical Field

[0001] The utility model relates to the field of IGBT modules, and in particular to a mechanism compatible with visual guidance and detection. Background Art

[0002] Vision guidance is a positioning method based on image processing and analysis technology, which is mainly used in industrial automation, robot operation and navigation. Its core principles include image acquisition and transmission, feature extraction and matching, landmark recognition and positioning, coordinate calculation and control, and real-time feedback and adjustment.

[0003] Visual inspection is a process that uses computer vision technology to detect and identify target objects in images or videos. It uses computer vision algorithms and models to process and analyze images and videos to extract the features of target objects and perform operations such as classification and positioning. Visual inspection has a wide range of application value in many fields such as industrial automation, product quality inspection, autonomous driving, intelligent security, and intelligent medical care.

[0004] With the rapid development of automation equipment, customers have higher and higher requirements for equipment. They require equipment with multiple functions and small footprint. This is also true in the field of IGBT modules. When inserting pins of IGBT module products, visual guidance for positioning the pins and post-insertion position detection are involved. The existing technical solution is to have two sets of visual components corresponding to pin guidance and post-insertion detection respectively. These two sets of structures occupy a large amount of space in the machine space, and they also need to be debugged separately on the two sets of structures, which is troublesome, time-consuming and labor-intensive. Against this background, a new mechanism compatible with visual guidance and detection came into being. Utility Model Content

[0005] The main purpose of the utility model is to propose a mechanism compatible with visual guidance and detection, aiming to solve the problem that two sets of detection mechanisms need to be set up when inserting pins of current IGBT module products, which occupies a large machine space, is troublesome to debug, and is time-consuming and labor-intensive.

[0006] In order to solve the above problems, the utility model proposes a mechanism compatible with visual guidance and detection, including a frame and a servo module, a second mounting frame, and a cylinder arranged on the frame, wherein the servo module and the cylinder are respectively arranged at the upper and lower ends of the second mounting frame;

[0007] The servo module is connected to the lens and is used to drive the lens to move up and down. The lens is vertically arranged, and a camera is arranged on the upper end thereof. A coaxial light source is arranged directly below the lens, and the coaxial light source is connected to the second mounting frame;

[0008] The cylinder is connected to a pair of slit light sources and is used to drive the pair of slit light sources to move up and down. The pair of slit light sources are arranged horizontally and symmetrically distributed on both sides directly below the coaxial light source.

[0009] In one embodiment, a slide plate is vertically slidably mounted on the second mounting frame, the slide plate is fixedly connected to the first mounting plate, and the coaxial light source is fixedly connected to the first mounting plate;

[0010] An adjusting bolt is vertically arranged on the second mounting frame, and the adjusting bolt is screwed to the second mounting frame and is rotatably connected to the slide plate.

[0011] In one embodiment, a long through hole is provided on the second mounting frame, the slide plate passes through the long through hole and is vertically slidably connected to the long through hole, one end of the slide plate is connected to the first mounting plate, and the other end is connected to the adjusting bolt.

[0012] In one embodiment, a mounting frame 1 is mounted on the servo module, and the lens is mounted on the mounting frame 1.

[0013] In one embodiment, the cylinder is fixedly connected to the second mounting plate, and a pair of slit light sources are fixedly connected to the second mounting plate.

[0014] In one embodiment, a pair of slit light sources are disposed on the lower surface of the second mounting plate.

[0015] In one embodiment, the light planes emitted by the pair of slit light sources overlap horizontally.

[0016] In one embodiment, the cylinder drives the pair of slit light sources to descend so that the IGBT module is located between the pair of slit light sources.

[0017] In one embodiment, a through hole 1 coaxial with the lens is provided on the second mounting plate, and a pair of slit light sources are provided on both sides of the through hole 1.

[0018] Beneficial effect: The utility model is a mechanism compatible with visual guidance and detection. It can complete the visual guidance positioning of the IGBT module product pins and the position detection after the pins are inserted using only one set of detection mechanism, which not only reduces the hardware equipment cost and manual debugging cost, increases the convenience of debugging, shortens the debugging time, but also optimizes and reduces the volume and reduces the space occupied by the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the structure of a mechanism compatible with visual guidance and detection in the utility model. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the structure of a mechanism compatible with visual guidance and detection in the utility model. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the structure of a mechanism compatible with visual guidance and detection in the utility model. Figure 3 ;

[0023] Figure 4 It is a structural diagram of IGBT module products.

[0024] The following are the descriptions of the reference numerals:

[0025] 1. Rack; 2. Servo module; 3. Mounting frame 1; 4. Lens; 5. Camera; 6. Mounting frame 2; 7. Long through hole; 8. Slide plate; 9. Mounting plate 1; 10. Coaxial light source; 11. Adjusting bolt; 12. Cylinder; 13. Mounting plate 2; 14. Slit light source; 15. IGBT module; 16. Through hole 1. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0030] The utility model proposes a mechanism that is compatible with visual guidance and detection. The mechanism that is compatible with visual guidance and detection can complete the visual guidance positioning of the IGBT module 15 product pins during pin insertion and the position detection after the pins are inserted by using only one set of visual detection mechanism, which not only reduces the hardware equipment cost and the manual debugging cost, increases the convenience of debugging, shortens the debugging time, but also optimizes and reduces the volume, thereby reducing the space occupied by the machine.

[0031] Specifically, in an embodiment of the utility model, as Figure 1-Figure 3 As shown, the mechanism compatible with visual guidance and detection includes a frame 1 and a servo module 2 fixed on the frame 1, a mounting frame 6, and a cylinder 12. The servo module 2 and the cylinder 12 are respectively arranged at the upper and lower ends of the mounting frame 6, and the servo module 2 and the cylinder 12 are both arranged vertically.

[0032] In this embodiment, if Figure 1-Figure 3 As shown, the servo module 2 is connected to the lens 4 to drive the lens 4 to move up and down, adjust the height of the visual inspection, and enable the position inspection of the IGBT module 15 to proceed smoothly.

[0033] Preferably, in order to facilitate the connection between the servo module 2 and the lens 4, a mounting frame 3 is fixedly installed on the servo module 2, and the lens 4 is fixedly installed on the mounting frame 3. The lens 4 is vertically arranged, and a camera 5 is arranged on the upper end thereof. A coaxial light source 10 is arranged directly below the lens 4, and the coaxial light source 10 is used to provide lighting conditions for the camera 5 to take pictures, thereby ensuring that the camera 5 takes pictures smoothly.

[0034] In this embodiment, if Figure 1-Figure 3As shown, a slide plate 8 is vertically slidably installed on the mounting frame 2 6, and the slide plate 8 is fixedly connected to the mounting plate 1 9, and the coaxial light source 10 is fixedly connected to the mounting plate 1 9; an adjusting bolt 11 is vertically arranged on the mounting frame 2 6, and the adjusting bolt 11 is screwed to the mounting frame 2 6 and is rotatably connected to the slide plate 8. With this design, the slide plate 8 can be driven to slide vertically on the mounting frame 2 6 to fine-tune the height of the coaxial light source 10 by rotating the adjusting bolt 11, so that after the lens 4 is moved up and down to adjust the height position, the height of the coaxial light source 10 can also be adaptively adjusted.

[0035] Preferably, Figure 2 As shown, a long through hole 7 is provided on the mounting frame 2 6, and the slide plate 8 passes through the long through hole 7 and is vertically slidably connected to the long through hole 7. One end of the slide plate 8 is connected to the mounting plate 1 9, and the other end is connected to the adjusting bolt 11. This design is conducive to the smooth up and down sliding of the slide plate 8.

[0036] In this embodiment, if Figure 1-Figure 3 As shown, the cylinder 12 is fixedly connected to the second mounting plate 13, and a pair of slit light sources 14 are fixedly mounted on the lower surface of the second mounting plate 13. The second mounting plate 13 is provided with a through hole 16 coaxial with the lens 4, and the pair of slit light sources 14 are arranged on both sides of the through hole 16, and the pair of slit light sources 14 are arranged horizontally and symmetrically distributed on both sides directly below the coaxial light source 10. With this design, the light surfaces emitted by the pair of slit light sources 14 can overlap horizontally, thereby detecting the position of the IGBT module 15 after the pin is inserted.

[0037] In this embodiment, the IGBT module 15 is as follows: Figure 4 As shown, the cylinder 12 drives the second mounting plate 13 and the pair of slit light sources 14 to descend so that the IGBT module 15 is located between the pair of slit light sources 14, thereby detecting the position of the IGBT module 15 after the pin is inserted.

[0038] Specifically, when the mechanism compatible with visual guidance and detection of the present embodiment is working, the IGBT module 15 to be inserted is firstly conveyed to the bottom of the through hole 16 by the external conveying line, and then the camera 5, the lens 4 and the coaxial light source 10 cooperate with each other, and the light passes through the through hole 16 from top to bottom and irradiates the IGBT module 15, and the needle seat hole position on the IGBT module 15 product is photographed, and then the machine vision system is used for analysis and processing to obtain the position of the needle seat hole, and then the external pin insertion mechanism is guided to smoothly insert the pin into the needle seat hole of the IGBT module 15. It should be noted that after the needle seat hole position on the IGBT module 15 product is photographed, the external conveying line removes the IGBT module 15 to be inserted from the bottom of the through hole 16 and sends it to the pin insertion station, and the mechanism compatible with visual guidance and detection of the present embodiment is used to visually guide the pin insertion mechanism to complete the pin insertion action;

[0039] After the pin insertion is completed, the external conveyor line transfers the IGBT module 15 to the bottom of the through hole 16 again, and the servo module 2 drives the camera 5 and the lens 4 to descend to the detection position. The cylinder 12 drives the mounting plate 2 13 and the pair of slit light sources 14 to descend to the position where the light surface emitted by the pair of slit light sources 14 is flush with the needle tip of the qualified pin needle of the IGBT module 15. Then the camera 5, the lens 4 and the coaxial light source 10 cooperate with each other to take pictures, and visually detect the position of the pin needle. The light emitted by the slit light source 14 irradiates the top of the pin needle tip to form a circular light spot. The camera 5 takes a picture of the light spot and sends the picture to the machine vision system for analysis and processing, which is compared with the IGBT picture taken during the previous visual guidance. The pin seat hole position on the IGBT module 15 product is compared, and the deviation between the center of the light spot and the center of the pin seat hole is calculated. If the deviation between the two centers is less than 0.25mm, the pin position is qualified. Otherwise, if the deviation between the two centers is greater than 0.25mm, the pin position is unqualified. The pin with unqualified position is identified based on this, and the visual guidance positioning of the pin during the IGBT module 15 product pin insertion and the position detection after the pin insertion are completed. The whole process only uses a set of visual detection mechanisms including a camera 5, a lens 4, and a coaxial light source 10, and is supplemented by a slit light source 14 to complete the visual guidance positioning of the pin during the IGBT module 15 product pin insertion and the position detection after the pin insertion, which not only reduces the hardware equipment cost and the manual debugging cost, increases the convenience of debugging, shortens the debugging time, but also optimizes and reduces the volume and reduces the space occupied by the machine.

[0040] After the position detection is completed, the control cylinder 12 drives the second mounting plate 13 and a pair of slit light sources 14 to rise and reset, and the control servo module 2 drives the camera 5 and the lens 4 to rise and reset, and detects the pin seat hole position of the next IGBT module 15 to be inserted.

[0041] Preferably, the servo module 2 is a linear motor.

[0042] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A mechanism compatible with visual guidance and detection, characterized in that: It includes a frame and a servo module, a second mounting frame and a cylinder arranged on the frame, wherein the servo module and the cylinder are arranged at the upper and lower ends of the second mounting frame; The servo module is connected to the lens and is used to drive the lens to move up and down. The lens is vertically arranged, and a camera is arranged on the upper end thereof. A coaxial light source is arranged directly below the lens, and the coaxial light source is connected to the second mounting frame; The cylinder is connected to a pair of slit light sources and is used to drive the pair of slit light sources to move up and down. The pair of slit light sources are arranged horizontally and symmetrically distributed on both sides directly below the coaxial light source.

2. A mechanism compatible with visual guidance and detection as claimed in claim 1, characterized in that: A slide plate is vertically slidably mounted on the second mounting frame, the slide plate is fixedly connected to the first mounting plate, and the coaxial light source is fixedly connected to the first mounting plate; An adjusting bolt is vertically arranged on the second mounting frame, and the adjusting bolt is screwed to the second mounting frame and is rotatably connected to the slide plate.

3. A mechanism compatible with visual guidance and detection as claimed in claim 2, characterized in that: The second mounting frame is provided with a long through hole, the slide plate passes through the long through hole and is vertically slidably connected with the long through hole, one end of the slide plate is connected with the first mounting plate, and the other end is connected with the adjusting bolt.

4. A mechanism compatible with visual guidance and detection as claimed in claim 1, characterized in that: A mounting frame 1 is installed on the servo module, and the lens is installed on the mounting frame 1.

5. The mechanism compatible with visual guidance and detection as claimed in claim 1, characterized in that: The cylinder is fixedly connected to the second mounting plate, and a pair of slit light sources is fixedly connected to the second mounting plate.

6. A mechanism compatible with visual guidance and detection as claimed in claim 5, characterized in that: A pair of slit light sources are arranged on the lower surface of the second mounting plate.

7. A mechanism compatible with visual guidance and detection as claimed in claim 6, characterized in that: The light planes emitted by a pair of slit light sources overlap horizontally.

8. A mechanism compatible with visual guidance and detection as claimed in claim 7, characterized in that: The cylinder drives a pair of slit light sources to descend so that the IGBT module is located between the pair of slit light sources.

9. The mechanism compatible with visual guidance and detection as claimed in claim 6, characterized in that: The second mounting plate is provided with a through hole one coaxial with the lens, and a pair of slit light sources are respectively arranged on both sides of the through hole one.

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