Mobile detection material grabbing machine

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to electronic component processing technical field, especially a kind of mobile detection grab machine. BACKGROUND

[0002] In the production and manufacture of LED, MOS tube, chip and other electronic components, LED row piece, MOS tube row piece, chip row piece are often manufactured on support frame first and then subjected to compression molding treatment, and finally cut to obtain various electronic components. The quality of these row pieces placed in the mold for compression molding treatment is greatly related to whether the row pieces are placed accurately, and if the row pieces are placed upside down or offset, the subsequent compression molding treatment will be greatly affected. However, the row pieces are usually placed on the mold manually, which is low in efficiency, and whether the row pieces are placed accurately is mainly judged by the naked eye, which is easy to fatigue and cannot be observed at all times, so it is easy to miss detection and cannot guarantee the detection quality. SUMMARY

[0003] Therefore, it is necessary to provide a mobile detection grab machine with high efficiency, low miss detection rate, high detection quality and low worker workload to solve the problems of row piece placement efficiency and position judgment on the existing mold.

[0004] A mobile detection grab machine for row piece processing procedure, comprising a row piece storage mechanism, at least one mold support platform, a multi-axis robot arm located between the row piece storage mechanism and the mold support platform, and a carrying visual detection device mounted on the multi-axis robot arm; the carrying visual detection device comprises an adapter, at least one camera module mounted on the adapter, and at least one clamping and carrying mechanism; the camera module comprises a camera, a laser radar detector and an auxiliary light source; the clamping and carrying mechanism comprises a crossbeam connected with the adapter, two connecting rods extended downward from the crossbeam, a bottom plate connected with the bottom of the two connecting rods, at least one clamping cylinder mounted on the top surface of the bottom plate, and a clamping arm connected with the clamping cylinder, wherein the bottom end of the clamping arm is lower than the bottom surface of the bottom plate.

[0005] When the mobile detection grab machine is used, the multi-axis robot arm carries the carrying visual detection device to place the row pieces on the row piece storage mechanism on the mold support platform. The camera in the camera module can clearly collect images of the row pieces on the mold under the action of the auxiliary light source, and the collected images can be judged by the judgment device to determine whether the row pieces are in place. The laser radar detector in the camera module can accurately position the row piece position, facilitate the clamping and carrying mechanism to place the row pieces on the mold efficiently and accurately, and also can take down the row pieces on the mold. The mobile detection grab machine can effectively replace manual row piece carrying and naked eye detection and judgment, has low miss detection rate, high detection quality, low worker workload and high efficiency.

[0006] In one of the embodiments, the strip storage mechanism comprises a rack, and a storage bin mounted on the rack.

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

[0008] In one of the embodiments, the mold support platform comprises a platform, a support plate mounted on the platform, and a plurality of molds mounted on the support plate.

[0009] In one of the embodiments, the number of the mold support platforms is two.

[0010] In one of the embodiments, a support plate is mounted on the top surface of the bottom plate, and the clamping cylinder is connected with the support plate.

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

[0012] In one of the embodiments, a threaded sleeve is mounted on the cross beam, and the outer wall of the connecting rod is threadedly connected with the threaded sleeve.

[0013] In one of the embodiments, the camera module further comprises a connecting plate connected with the adapter rack, an adjusting plate hingedly connected with the connecting plate and connected with the camera, and an adjusting bolt mounted on the connecting plate; the adjusting plate is provided with an arc-shaped hole, and the adjusting bolt passes through the arc-shaped hole. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic view of the mobile detection grab machine.

[0015] Figure 2 It is a schematic view of the mobile detection grab machine. Figure 1

[0016] It is a schematic view of the mobile detection grab machine. Figure 3 Figure 1 It is a schematic view of the mobile detection grab machine.

[0017] Figure 4 Figure 1 It is a schematic view of the mobile detection grab machine.

[0018] Figure 5 It is a schematic view of the mobile detection grab machine. Figure 4

[0019] It is a schematic view of the mobile detection grab machine. Figure 6 Figure 4 ​​​A schematic view of a camera module in the carrying visual inspection device shown in the figure;

[0020] Figure 7 For Figure 4 A schematic view of a clamping carrying mechanism in the carrying visual inspection device shown in the figure;

[0021] Figure 8 For Figure 5 An enlarged schematic view of the circle A in the carrying visual inspection device shown in the figure;

[0022] Figure 9 A schematic view of the material grabbing method of the present application. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. In addition, the term "and / or" in this paper is only a description of the association between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B, and the existence of B alone.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments, for example, "inner", "outer", "left", "right" and similar expressions are only for the purpose of illustration and are not intended to limit the present application.

[0026] Please refer to Figures 1 to 8It is the schematic view of mobile detection grab machine 1000 of the utility model, for piece row processing procedure, this mobile detection grab machine 1000 includes piece row storage mechanism 200, at least one group of mould support platform 300, multi-axis robot arm 400 between piece row storage mechanism 200 and support platform, carrying visual detection device 500 installed on multi-axis robot arm 400. Wherein in this embodiment, mould support platform 300 is two groups, and the carrying efficiency of carrying visual detection device 500 driven by multi-axis robot arm 400 can be improved by two groups of mould support platform 300, and multi-axis robot arm 400 is composed of multiple shafts and drivers, can realize multiple angle multiple dimension rotation and swing, adapts to different scenes.

[0027] Further, the piece row storage mechanism 200 includes a stock bin frame 210, a storage bin 220 mounted on the stock bin frame 210, wherein in order to facilitate the piece row in the storage bin 220 to be grabbed, the upper end of the storage bin 220 is provided with a guide opening. In use, the piece row to be processed is neatly stacked in the storage bin 220, so that the multi-axis robot arm 400 drives the carrying visual detection device 500 to carry out carrying work. Further, the piece row storage mechanism 200 further includes a piece row jacking device (not shown) mounted on the stock bin frame 210, and the piece row jacking device is at least partially located in the storage bin 220. Wherein the jacking device can be realized by a jacking cylinder cooperating with a jacking rod, the lower end of the jacking rod is connected with the jacking cylinder, and the upper end of the jacking rod is located in the storage bin 220 and abuts against the lowest piece row in the storage bin 220, and as the piece row in the storage bin 220 becomes less and less, the jacking rod continuously rises.

[0028] Further, the mould support platform 300 includes a platform frame 310, a support table plate 320 mounted on the platform frame 310, and a plurality of moulds 330 mounted on the support table plate 320. In this embodiment, the number of mould support platforms 300 is two, and the moulds 330 on the support table plate 320 are regularly arranged in two rows and three columns.

[0029] Further, the carrying visual detection device 500 comprises an adapter frame 520, at least one set of camera modules 530 and at least one set of clamping carrying mechanisms 540 mounted on the adapter frame 520. The camera module 530 comprises a camera 531, a laser radar detector (not shown) and an auxiliary light source 532. The auxiliary light source 532 can improve the light environment of image acquisition, thereby improving the clarity of image acquisition. The clamping carrying mechanism 540 comprises a crossbeam 541 connected with the adapter frame 520, two connecting rods 542 extending downward from the crossbeam 541, a bottom plate 543 connected with the bottom of the two connecting rods 542, at least one clamping cylinder 544 mounted on the top surface of the bottom plate 543, a clamping arm 545 connected with the clamping cylinder 544, and the bottom end of the clamping arm 545 is lower than the bottom surface of the bottom plate 543. One clamping cylinder 544 is symmetrically provided with two clamping arms 545, so as to complete the clamping action. The laser radar detector is integrated in the camera module 530. The pulsed laser beam emitted by the laser radar detector reaches the detected sheet and is reflected and received. The distance is determined by the time difference between emission and reception. The laser radar (Lidar) is actually an optical radar, which is derived from the English "Light Detection and Ranging". It is an optical remote sensing technology that measures the distance and other parameters of the target by emitting a beam of light, usually a pulsed laser beam, to the target. Distance = (laser speed * time from emission to reception) / 2.

[0030] Further, in the embodiment, the number of camera modules 530 and clamping carrying mechanisms 540 is two. Two sets of camera modules 530 and clamping carrying mechanisms 540 can improve the efficiency of grabbing and carrying.

[0031] Further, the auxiliary light source 532 is a plurality of auxiliary light sources 532 arranged around the camera 531, so that a clear visible light environment can be formed around the camera 531, ensuring the clarity of image acquisition. The collected image can be used to determine whether it is in place. The determination device can be a display or a portable tablet product, which is convenient for manual auxiliary determination and confirmation. The collected image can be transmitted to the determination device through wired or wireless mode.

[0032] Further, the camera module 530 further comprises a connecting plate 533 connected with the adapter frame 520, an adjusting plate 534 hinged with the connecting plate 533 and connected with the camera 531, and an adjusting bolt (not shown) mounted on the connecting plate 533. The adjusting plate 534 is provided with an arc-shaped hole 535, and the adjusting bolt passes through the arc-shaped hole 535. In use, the camera 531 can rotate with the adjusting plate 534 by a preset angle, and then be locked by the adjusting bolt. The collection angle can be adjusted according to actual needs, which is very practical.

[0033] Further, the top surface of the bottom plate 543 is provided with a support plate 546, and the clamping cylinder 544 is connected with the support plate 546. Two support plates 546 are arranged on the bottom plate 543, and two clamping cylinders 544 are arranged on the bottom plate 543. In order to better position the film, the bottom surface of the bottom plate 543 is provided with a positioning needle 547.

[0034] Further, the cross beam 541 is provided with a threaded sleeve 548, and the outer wall of the connecting rod 542 is screwed with the threaded sleeve 548, so that the connecting rod 542 can drive the bottom plate 543 to adjust the height during use, and then drive the clamping cylinder 544 to adjust the height. In order to ensure the limiting effect of the connecting rod 542, a limiting ring 549 is arranged at the top of the connecting rod 542. In this embodiment, the clamping arm 545 is arranged in an L shape, so that the clamping arm 545 can be lifted to clamp the film under the drive of the clamping cylinder 544, and the bottom of the film is supported.

[0035] The above-mentioned mobile detection grabbing machine 1000 is used, and the multi-axis robot arm 400 carries the film storage mechanism 200 to place the film on the mold support platform 300. The camera 531 in the camera module 530 can clearly collect the image of the film on the mold 330 under the action of the auxiliary light source 532, and the collected image can be used for judgment by the judgment device. The laser radar detector in the camera module 530 can accurately position the film position, facilitate the clamping and carrying mechanism 540 to place the film on the mold 330 accurately and efficiently, and also can take down the film on the mold 330. The mobile detection grabbing machine 1000 can effectively replace manual film carrying and naked eye detection and judgment, is not easy to miss detection, has high detection quality, reduces the workload of workers, and has high efficiency.

[0036] Please refer to Figure 9 The utility model also provides a kind of grabbing method, it includes the above-mentioned mobile detection grabbing machine 1000, including the following steps:

[0037] S1: multi-axis robot arm carries the film storage mechanism and is moved and is positioned and photographed to the film on the film storage mechanism by vision detection device;

[0038] S2: multi-axis robot arm carries the film and is grabbed by vision detection device;

[0039] S3: multi-axis robot arm carries the film and is positioned by vision detection device to the position of the film on the mold support platform;

[0040] S4: multi-axis robot arm carries the film and is placed on the mold support platform by vision detection device.

[0041] S5: The carrying visual detection device judges whether the position of the row of sheets on the mold support platform is accurate and takes a picture.

[0042] In order to ensure the accuracy of detection, in steps S1, S3 and S5, the photographed image is transmitted to a display or a portable tablet product for display, so as to manually assist in judging and confirming whether the position is accurate. The image transmission can be wired transmission or wireless transmission, depending on the application scenario. The position calculation in steps S1, S3 and S5 is realized by the laser radar detector in the camera module, and the photographing in steps S1, S3 and S5 is completed by the camera in the camera module with the assistance of the auxiliary light source.

[0043] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present disclosure.

[0044] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that, for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A mobile detection gripper for a sheeting processing operation, comprising: The application relates to a kind of plate conveying systems, comprising: A row piece storage mechanism, at least one mold support platform, a multi-axis robot between the row piece storage mechanism and the mold support platform, a carrying visual detection device mounted on the multi-axis robot; The carrying visual detection device comprises an adapter frame, at least one camera module mounted on the adapter frame and at least one clamping handling mechanism; The camera module comprises a camera, a laser radar detector and an auxiliary light source; The clamping handling mechanism comprises a crossbeam connected with the adapter frame, two connecting rods extended downward from the crossbeam, a bottom plate connected with the bottom of the two connecting rods, at least one clamping cylinder mounted on the top surface of the bottom plate, and a clamping arm connected with the clamping cylinder, wherein the bottom end of the clamping arm is lower than the bottom surface of the bottom plate.

2. The mobile detection gripper of claim 1, wherein, The row piece storage mechanism comprises a stock rack, and a storage bin mounted on the stock rack.

3. The mobile detection gripper of claim 2, wherein, The row piece storage mechanism further comprises a row piece jacking device mounted on the stock rack, and the row piece jacking device is at least partially located in the storage bin.

4. The mobile detection gripper of claim 1, wherein, The mold support platform comprises a platform frame, a support plate mounted on the platform frame, and a plurality of molds mounted on the support plate.

5. The mobile detection gripper of claim 1, wherein, The number of the mold support platforms is two.

6. The mobile detection gripper of claim 1, wherein, A support plate is mounted on the top surface of the bottom plate, and the clamping cylinder is connected with the support plate.

7. The mobile detection gripper of claim 1, wherein, A positioning needle is mounted on the bottom surface of the bottom plate.

8. The mobile detection gripper of claim 1, wherein, A threaded sleeve is mounted on the crossbeam, and the outer wall of the connecting rod is threadedly connected with the threaded sleeve.

9. The mobile detection gripper of claim 1, wherein, The camera module further comprises a connecting plate connected with the adapter frame, an adjusting plate hinged with the connecting plate and connected with the camera, and an adjusting bolt mounted on the connecting plate; The adjusting plate is provided with an arc-shaped hole, and the adjusting bolt passes through the arc-shaped hole.

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