Automatic optical inspection equipment

Abstract

The utility model discloses an automatic optical inspection equipment, including machine table, mesopore backlight source, visual camera, clamping pneumatic claw, six-axis manipulator, feeding frock, reversing frock, the machine table is provided with mesopore backlight source, the center of mesopore backlight source is horizontally provided with visual camera, the visual camera is matched with clamping pneumatic claw in the visual field range, and the six-axis manipulator is provided with the reversing frock. The clamping pneumatic claw is installed on the six-axis mechanical arm, the feeding tool and the reversing tool are arranged in the operation range of the six-axis mechanical arm, and a first clamping space matched with the clamping pneumatic claw is reserved in the feeding tool in the X-axis direction. Through the mode, the automatic optical inspection equipment provided by the utility model realizes reversing of the clamping pneumatic claw in a mode of temporarily placing materials through the upright limiting seat, and performs position exchange on the front surface and the back surface of a product through the rotating cylinder, so that six-view acquisition and shooting can be automatically realized, and the optical inspection efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model relates to the field of appearance detection equipment for frequency converters, in particular to an automatic optical inspection equipment. Background Art

[0002] Before the frequency converter production line goes offline, optical inspection is required. The prior art usually adopts manual operation, sending the frequency converter product into the field of view of the vision camera and taking pictures for sampling. In order to enable the vision camera to take pictures and collect six views, it is necessary to continuously turn the frequency converter product over several times. During the collection process, problems such as product bumping and surface scratching are likely to occur. The shooting and collection process takes a long time and has a high labor intensity, which cannot meet the production needs. Content of the Utility Model

[0003] The main technical problem to be solved by the utility model is to provide an automatic optical inspection equipment, which realizes the commutation of the clamping air claw by temporarily placing the material on the upright limiting seat, and the rotating cylinder exchanges the positions of the front and back of the product, so that the collection and shooting of six views can be automatically realized, thereby significantly improving the optical inspection efficiency.

[0004] To solve the above technical problem, a technical solution adopted by the utility model is: providing an automatic optical inspection equipment, including a machine table, a middle-hole backlight source, a vision camera, a clamping air claw, a six-axis manipulator, a feeding tooling, and a commutation tooling. A middle-hole backlight source is arranged on the machine table, a vision camera is horizontally arranged at the center of the middle-hole backlight source, a clamping air claw is matched within the field of view of the vision camera, the clamping air claw is installed on the six-axis manipulator, a feeding tooling and a commutation tooling are arranged within the operating range of the six-axis manipulator, the feeding tooling reserves a first clamping space matching the clamping air claw in the X-axis direction, and the commutation tooling reserves a second clamping space matching the clamping air claw in the Z-axis direction.

[0005] In a preferred embodiment of the utility model, an auxiliary light source is arranged on the machine table, and the auxiliary light source and the middle-hole backlight source are distributed around the clamping air claw at an interval of 90°.

[0006] In a preferred embodiment of the utility model, the feeding tooling is composed of a pair of opposite-side shelves horizontally arranged on the machine table, a first clamping space is formed between the opposite-side shelves, and limiting blocks and avoidance openings are arranged on the opposite-side shelves.

[0007] In a preferred embodiment of the utility model, the commutation tooling is composed of a rotating cylinder horizontally arranged on the machine table and a pair of upright limiting seats carried on the rotating cylinder. An imitation slot is opened on the upright limiting seat, a C-shaped retaining wall is formed around the imitation slot on the upright limiting seat, and a second clamping space is formed between the upright limiting seats.

[0008] In a preferred embodiment of the present utility model, the upright limiting seat semi - surrounds to form a product vertical accommodation space, and first fiber optic sensors are respectively arranged at the upper and lower edges of the product vertical accommodation space.

[0009] In a preferred embodiment of the present utility model, the surface of the opposite - side shelf is semi - surrounded by the limiting block to form a product horizontal accommodation space, and second fiber optic sensors are respectively arranged on both sides of the product horizontal accommodation space in the X - axis direction.

[0010] The beneficial effects of the present utility model are as follows: An automatic optical inspection device provided by the present utility model realizes the commutation of the clamping air claw by the way of temporarily placing materials on the upright limiting seat, and the rotary cylinder exchanges the positions of the front and back of the product. Therefore, it can automatically realize the acquisition and shooting of six - view images, thus significantly improving the optical inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following - described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where:

[0012] Figure 1 is the overall structure diagram of an automatic optical inspection device of the present utility model;

[0013] Figure 2 is the first clamping space structure diagram of an automatic optical inspection device of the present utility model;

[0014] Figure 3 is the second clamping space structure diagram of an automatic optical inspection device of the present utility model;

[0015] Figure 4 is the product vertical accommodation space structure diagram of an automatic optical inspection device of the present utility model;

[0016] Figure 5 is the product horizontal accommodation space structure diagram of an automatic optical inspection device of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only some of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0018] Such asFigures 1-5 As shown in the figure, the embodiments of the present utility model include:

[0019] An automatic optical inspection device, including a machine platform 1, a through-hole backlight 2, a vision camera 3, a clamping air claw 4, a six-axis manipulator 5, a loading tooling 6, and a commutation tooling 7. A through-hole backlight 2 is arranged on the machine platform 1, a vision camera 3 is horizontally arranged at the center of the through-hole backlight 2, a clamping air claw 4 is matched within the field of view of the vision camera 3, the clamping air claw 4 is installed on the six-axis manipulator 5, a loading tooling 6 and a commutation tooling 7 are arranged within the operating range of the six-axis manipulator 5, a first clamping space 8 for matching the clamping air claw 4 is reserved in the X-axis direction on the loading tooling 6, and a second clamping space 9 for matching the clamping air claw 4 is reserved in the Z-axis direction on the commutation tooling 7.

[0020] Wherein, an auxiliary light source 10 is arranged on the machine platform 1, and the auxiliary light source 10 and the through-hole backlight 2 are distributed around the clamping air claw 4 at an interval of 90°.

[0021] Furthermore, the loading tooling 6 is composed of a pair of opposite-side shelves 11 horizontally erected on the machine platform 1. A first clamping space 8 is formed between the opposite-side shelves 11, and a limiting block 12 and an avoidance opening 13 are arranged on the opposite-side shelves 11.

[0022] Furthermore, the commutation tooling 7 is composed of a rotary cylinder 14 horizontally arranged on the machine platform 1 and a pair of upright limiting seats 15 carried on the rotary cylinder 14. A profiling slot 16 is opened on the upright limiting seats 15, a C-shaped retaining wall 17 is formed around the profiling slot 16 on the upright limiting seats 15, and a second clamping space 9 is formed between the upright limiting seats 15.

[0023] Furthermore, the upright limiting seats 15 semi-surround to form a product vertical accommodation space 18, and first fiber optic sensors 19 are respectively arranged at the upper and lower edges of the product vertical accommodation space 18.

[0024] Furthermore, the surface of the opposite-side shelf 11 is semi-surrounded by the limiting block 12 to form a product horizontal accommodation space 20, and second fiber optic sensors 21 are respectively arranged on both sides in the X-axis direction of the product horizontal accommodation space 20.

[0025] This device uses a six-axis manipulator 5 to grab the frequency converter for optical inspection. The main body shape of the frequency converter is close to a flat cuboid. During the loading process, one side of the frequency converter must be placed on the upper surface of one of the opposite-side shelves 11, and at the same time, it is aligned and tightly abutted against the surrounded area of the limiting block 12, and the other side is placed on the upper surface of the other opposite-side shelf 11, thereby realizing positioning and calibration, which is convenient for the manipulator to accurately grab the material.

[0026] The clamping gripper 4 on the six-axis manipulator 5 is equipped with a clamping plate 41, and a urethane rubber is installed on the clamping plate 41. The surface of the urethane rubber is designed with 45° oblique lines. The clamping plate 41 will be loaded by the six-axis manipulator 5 to the first clamping space 8 to grab the frequency converter. The clamping plate 41 acts on the first pair of sides 42 of the frequency converter and is sent to the field of view of the vision camera 3 for photographing. The surface where the first pair of sides 42 clamped by the clamping gripper 4 is located and the surface facing the clamping gripper 4 will both be blocked. Therefore, the six-axis manipulator 5 also has to transfer the frequency converter to the commutation tooling 7, place the frequency converter vertically on the upright limit seat 15, and the C-shaped retaining wall 17 provides lateral balance support. During the transfer process, the rotary cylinder 14 flips the surface originally facing the clamping gripper 4 by 180 degrees. At the same time, the six-axis manipulator 5 rotates the clamping gripper 4 by 90 degrees to match the position of the clamping plate 41 to the second clamping space 9, and then clamps the second pair of sides 44 to expose the first pair of sides 42 in the field of view of the vision camera 3. Thus, the six surfaces of the frequency converter can be correctly collected. To solve the abnormality caused by the skew and misalignment of the frequency converter, the device also adds a first fiber optic sensor 19 and a second fiber optic sensor 21 on both sides of the first clamping space 8 and the second clamping space 9. Through the first fiber optic sensor 19 and the second fiber optic sensor 21, it can automatically judge whether the position of the material is accurate. In order to avoid the upright limit seat 15 blocking the detection of the first fiber optic sensor 19, a pair of avoidance openings are opened on the C-shaped retaining wall 17 so that the optical path passes through the upright limit seat 15 to realize automatic skew determination.

[0027] In summary, the present utility model provides an automatic optical inspection device. By means of temporarily placing the material on the upright limit seat 15 to realize the commutation of the clamping gripper 4, and the rotary cylinder 14 exchanges the positions of the front and back of the product, it can automatically realize the acquisition and shooting of six views, thus significantly improving the optical inspection efficiency.

[0028] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present utility model, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. An automatic optical inspection device, characterized in that: It includes a machine platform, a center-hole backlight source, a visual camera, a clamping air claw, a six-axis manipulator, a loading tooling, and a reversing tooling. The machine platform is provided with a center-hole backlight source, a visual camera is horizontally arranged at the center of the center-hole backlight source, a clamping air claw is matched within the field of view of the visual camera, the clamping air claw is installed on the six-axis manipulator, a loading tooling and a reversing tooling are arranged within the operating range of the six-axis manipulator, the loading tooling has a first clamping space matched with the clamping air claw reserved in the X-axis direction, and the reversing tooling has a second clamping space matched with the clamping air claw reserved in the Z-axis direction.

2. The automatic optical inspection device according to claim 1, characterized in that: An auxiliary light source is arranged on the machine platform, and the auxiliary light source and the center hole backlight source are distributed around the clamping air claw at an interval of 90°.

3. The automatic optical inspection device according to claim 1, characterized in that: The loading tooling is composed of a pair of opposite side shelves horizontally mounted on the machine platform, a first clamping space is formed between the opposite side shelves, and a limiting block and a avoiding opening are arranged on the opposite side shelves.

4. The automatic optical inspection device according to claim 1, characterized in that: The reversing tooling consists of a rotating cylinder horizontally arranged on the machine table and a pair of upright limit seats supported on the rotating cylinder. The upright limit seats are provided with contoured slots, and the upright limit seats form C-shaped retaining walls around the contoured slots. A second clamping space is formed between the upright limit seats.

5. The automatic optical inspection device according to claim 4, characterized in that: The upright limiting seat semi-encloses a product upright accommodating space, and the upper and lower edges of the product upright accommodating space are respectively provided with first optical fiber sensors.

6. The automatic optical inspection device according to claim 3, characterized in that: The surfaces of the opposite side shelves are half-surrounded by the limiting blocks to form a product flat-placing accommodating space, and second optical fiber sensors are respectively arranged on both sides of the X-axis of the product flat-placing accommodating space.

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