Small product gripping structure

Abstract

The utility model belongs to the field of automation equipment technology especially for small product grabbing structure. Including grabbing assembly, grabbing assembly includes first linear module and sets up in the second linear module of first linear module drive end, and the drive end of second linear module is provided with mark structure, the suction nozzle of one side of mark structure and visual inspection module group of one side of suction nozzle. The utility model discloses through the cooperative work of top visual inspection module group and side visual inspection module group, realizes the full coverage accurate detection and positioning to product outer surface, utilizes the product of negative pressure adsorption mode to grab, and the action is soft and harmless, and the good product is directly removed to the good product area by suction nozzle after detection, and for the identified defective product, then by mark cylinder drive marker pen fast identification, and finally remove to the defective product area, and this structure integrates detection, mark and sorting function in one, and the degree of automation is high, and the sorting is accurate and reliable, and the work efficiency and quality control level of small product production line have been greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of automated equipment technology, specifically to a small product gripping structure. Background Technology

[0002] Appearance inspection and sorting of small products are crucial steps in precision manufacturing, particularly in the final quality control of electronic components, semiconductor packaging, and precision connectors. In traditional processes, after laser processing, products typically require manual visual inspection under a microscope, relying on experience to determine the presence of scratches, chips, contamination, or other defects before manual sorting. This method is not only labor-intensive and inefficient but also prone to omissions and misjudgments due to human eye fatigue and subjective biases, becoming a bottleneck for improving product quality and production efficiency.

[0003] The fixed inspection angle of existing automated inspection equipment results in blind spots, low functional integration, and the need for manual sorting after inspection. The separation of marking and sorting stations leads to low efficiency and unsatisfactory results.

[0004] Therefore, we proposed a small product crawling structure to solve the above problems. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this utility model provides a small product gripping structure, which solves the problems mentioned in the background art, such as blind spots caused by fixed detection angles in existing automated detection equipment, low functional integration, the need for manual sorting after detection, and low efficiency caused by the separation of marking and sorting stations.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0009] The small product gripping structure includes a gripping component. The gripping component includes a first linear module and a second linear module disposed at the driving end of the first linear module. The driving end of the second linear module is provided with a marking structure, a suction nozzle located on one side of the marking structure, and a vision inspection module located on one side of the suction nozzle.

[0010] Furthermore, the first linear module has a first module connecting plate at its driving end, the second linear module is disposed on one side of the first module connecting plate, the second linear module has a second module connecting plate at its driving end, the first linear module is disposed along the Y-axis direction, and the second linear module is disposed along the Z-axis direction.

[0011] Furthermore, a vision module fixing plate is fixedly installed on the top side of one side of the second module connecting plate, and the vision detection module is installed at the end of the vision module fixing plate away from the second module connecting plate.

[0012] Furthermore, a cylinder fixing seat is provided on one side of the bottom of the second module connecting plate, a marking cylinder is provided on one side of the cylinder fixing seat, a marking structure fixing seat is provided at the output end of the marking cylinder, and a marking pen is provided at one end of the marking structure fixing seat.

[0013] Furthermore, a suction cup mounting seat is provided on one side of the bottom of the second module connecting plate, located on the side of the cylinder mounting seat, and the suction nozzle is located inside the suction cup mounting seat.

[0014] Furthermore, a module fixing plate is fixedly provided on one side of the first linear module, and a first drag chain fixing seat is provided on the top of the module fixing plate, which is located above the first linear module.

[0015] Furthermore, a first cable chain is provided on the top of the first cable chain fixing seat, and a cable chain sheet metal is provided on the top of the side of the first module connecting plate away from the second linear module for connecting the first cable chain.

[0016] Furthermore, a second cable chain fixing seat is provided in the middle of one side of the second module connecting plate. The second cable chain fixing seat is L-shaped, and a second cable chain is provided on the side of the second cable chain fixing seat away from the second module connecting plate.

[0017] Furthermore, the visual inspection module is a top visual inspection module.

[0018] Furthermore, it also includes a side vision inspection module, which is used in conjunction with the top vision inspection module to perform defect detection on the sides and top of the product.

[0019] (III) Beneficial Effects

[0020] Compared with the prior art, this utility model provides a small product gripping structure, which has the following beneficial effects:

[0021] This invention achieves precise detection and positioning of the entire product's outer surface through the collaborative work of a top visual inspection module and a side visual inspection module. It uses negative pressure adsorption to grasp the product gently and without damage. Good products are directly transferred to the good product area by the suction nozzle after inspection, while defective products are quickly marked by a marking cylinder driven by a marking pen and finally transferred to the defective product area. This structure integrates detection, marking and sorting functions into one, with a high degree of automation and accurate and reliable sorting, which greatly improves the working efficiency and quality control level of small product production lines. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the gripping component structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the visual inspection module structure of this utility model;

[0024] Figure 3 This is an exploded view of the gripping component structure of this utility model;

[0025] Figure 4 This is a schematic diagram of the marker pen structure of this utility model.

[0026] In the diagram: 1. Gripping component; 11. First linear module; 111. First module connecting plate; 112. Cable chain sheet metal; 12. Second linear module; 121. Second module connecting plate; 13. Suction nozzle; 131. Suction cup mounting base; 14. Vision inspection module; 141. Vision module mounting plate; 15. Cylinder mounting base; 151. Marking cylinder; 152. Marking structure mounting base; 153. Marking pen; 16. Module mounting plate; 161. First cable chain mounting base; 17. First cable chain; 18. Second cable chain mounting base; 19. Second cable chain; 2. Side vision inspection module. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Example

[0029] like Figure 1-4 As shown, a small product gripping structure proposed in one embodiment of the present invention includes a gripping component 1. The gripping component 1 includes a first linear module 11 and a second linear module 12 disposed at the driving end of the first linear module 11. The driving end of the second linear module 12 is provided with a marking structure, a suction nozzle 13 located on one side of the marking structure, and a visual inspection module 14 located on one side of the suction nozzle 13.

[0030] like Figure 1-4 As shown, in some embodiments, the driving end of the first linear module 11 is provided with a first module connecting plate 111, the second linear module 12 is provided on one side of the first module connecting plate 111, the driving end of the second linear module 12 is provided with a second module connecting plate 121, the first linear module 11 is provided along the Y-axis direction, and the second linear module 12 is provided along the Z-axis direction.

[0031] Through the transitional connection of the first module connecting plate 111 and the second module connecting plate 121, the stable integration and power transmission of the first linear module 11 and the second linear module 12 are realized. The first linear module 11 and the second linear module 12 are both commonly available servo motor and ball screw nut transmission pairs. The first linear module 11 provides horizontal precision positioning in the Y-axis direction, and the second linear module 12 provides vertical lifting motion in the Z-axis direction. Together, they form a complete two-dimensional precision motion system, providing accurate spatial positioning capability for grasping and marking operations.

[0032] like Figure 1-4 As shown, in some embodiments, a vision module fixing plate 141 is fixedly disposed on the top side of the second module connecting plate 121, and the vision detection module 14 is disposed at the end of the vision module fixing plate 141 away from the second module connecting plate 121.

[0033] The vision module mounting plate 141 provides an independent mounting base and stable support for the vision inspection module 14. Its front-mounted arrangement ensures an unobstructed field of view for inspection, enabling priority visual positioning and identification of the product before performing grasping or marking actions, and providing accurate position data for subsequent operations.

[0034] like Figure 1-4 As shown, in some embodiments, a cylinder fixing seat 15 is provided on the bottom side of one side of the second module connecting plate 121, a marking cylinder 151 is provided on one side of the cylinder fixing seat 15, a marking structure fixing seat 152 is provided at the output end of the marking cylinder 151, a marking pen 153 is provided at one end of the marking structure fixing seat 152, and a knob for adjusting the position of the marking pen 153 is threaded onto one end of the marking structure fixing seat 152.

[0035] The marking cylinder 151 extends and retracts to drive the marking pen 153 to perform a jog marking action. The structure is simple, the response is fast, and the marking force is stable and reliable. The marking structure fixing seat 152 ensures that the marking pen 153 is firmly installed, realizing the rapid and clear marking of defective products.

[0036] like Figure 1-4 As shown, in some embodiments, a suction cup fixing seat 131 located on one side of the bottom of the second module connecting plate 121 is also provided, and the suction nozzle 13 is disposed inside the suction cup fixing seat 131.

[0037] The suction cup holder 131 securely integrates the vacuum nozzle 13 to the end of the motion module, using negative pressure adsorption to grasp the product. It has the advantages of compact structure, no damage to the product surface, and fast grasping and releasing speed, and is especially suitable for handling small, thin and fragile products.

[0038] like Figure 1-4 As shown, in some embodiments, a module fixing plate 16 is fixedly provided on one side of the first linear module 11, and a first drag chain fixing seat 161 located above the first linear module 11 is provided on the top of the module fixing plate 16.

[0039] The module fixing plate 16 serves as the mounting base for the entire gripping assembly 1, ensuring its reliable connection with the laser machine equipment. The first drag chain fixing seat 161 is used to organize and protect the first drag chain 17 that connects the moving parts.

[0040] like Figure 1-4 As shown, in some embodiments, a first cable chain 17 is provided on the top of the first cable chain fixing seat 161, and a cable chain sheet metal 112 is provided on the top of the side of the first module connecting plate 111 away from the second linear module 12 for connecting the first cable chain 17.

[0041] The first cable chain 17 is linked with the first module connecting plate 111 of the Y-axis movement through the cable chain sheet metal 112. It is specifically used to manage the energy and signal lines connected to the Y-axis module, ensuring that the lines move smoothly and orderly, and avoiding motion interference and malfunctions caused by messy cables.

[0042] like Figure 1-4 As shown, in some embodiments, a second drag chain fixing seat 18 is provided in the middle of one side of the second module connecting plate 121. The second drag chain fixing seat 18 is L-shaped, and a second drag chain 19 is provided on the side of the second drag chain fixing seat 18 away from the second module connecting plate 121.

[0043] The L-shaped second drag chain mounting base 18 has a second drag chain 19 set on the Z-axis motion module. This is used to separately manage the pipelines connected to the end effectors such as the suction nozzle 13, vision inspection module 14, and marking cylinder 151. The layout is clearer and more reasonable, which greatly reduces the risk of cable interference caused by multi-degree-of-freedom motion.

[0044] like Figure 1-4 As shown, in some embodiments, the visual inspection module 14 is a top visual inspection module 14.

[0045] The top visual inspection module 14 takes pictures of the product from above, mainly to identify the position, orientation and surface defects (such as scratches and stains) of the product surface, providing the motion module with accurate grasping coordinates and preliminary quality judgment basis.

[0046] like Figure 1-4 As shown, in some embodiments, a side vision inspection module 2 is also included. The side vision inspection module 2 is used in conjunction with the top vision inspection module 14 to perform defect detection on the sides and top of the product. The side vision inspection module 2 and the top vision inspection module 14 can be industrial CCD camera vision modules.

[0047] The side vision inspection module 2 images the product from a side view and forms a stereo vision system with the top vision inspection module 14. It can realize comprehensive inspection of defects in the blind spots of the top camera, such as product edges and side walls, and finally achieve full coverage quality inspection of all outer surfaces of the product, ensuring that there are no blind spots in the inspection. In use, the side vision inspection module 2 and the top vision inspection module 14 are installed in the laser machine.

[0048] In summary, by working together with the top visual inspection module 14 and the side visual inspection module 2, the system achieves accurate detection and positioning of the product's outer surface, covering the entire area. It uses negative pressure adsorption to gently and without damage pick up the product. Good products are directly transferred to the good product area via the suction nozzle 13 after inspection. Defective products are quickly marked by the marking cylinder 151 driving the marking pen 153, and then finally transferred to the defective product area. This structure integrates detection, marking, and sorting functions, offering a high degree of automation and accurate, reliable sorting, significantly improving the efficiency and quality control of small product production lines.

[0049] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A small product gripping structure, including a gripping component (1), characterized in that: The grasping component (1) includes a first linear module (11) and a second linear module (12) disposed at the driving end of the first linear module (11). The driving end of the second linear module (12) is provided with a marking structure, a suction nozzle (13) located on one side of the marking structure, and a visual detection module (14) located on one side of the suction nozzle (13).

2. The small product gripping structure according to claim 1, characterized in that: The first linear module (11) has a first module connecting plate (111) at its driving end, the second linear module (12) is located on one side of the first module connecting plate (111), and the second linear module (12) has a second module connecting plate (121) at its driving end. The first linear module (11) is located along the Y-axis, and the second linear module (12) is located along the Z-axis.

3. The small product gripping structure according to claim 2, characterized in that: A vision module fixing plate (141) is fixedly installed on the top of one side of the second module connecting plate (121), and the vision detection module (14) is located at the end of the vision module fixing plate (141) away from the second module connecting plate (121).

4. The small product gripping structure according to claim 2, characterized in that: A cylinder mounting base (15) is provided on one side of the bottom of the second module connecting plate (121). A marking cylinder (151) is provided on one side of the cylinder mounting base (15). A marking structure mounting base (152) is provided at the output end of the marking cylinder (151). A marking pen (153) is provided at one end of the marking structure mounting base (152).

5. The small product gripping structure according to claim 2, characterized in that: The bottom side of the second module connecting plate (121) is also provided with a suction cup fixing seat (131) located on the side of the cylinder fixing seat (15), and the suction nozzle (13) is located inside the suction cup fixing seat (131).

6. The small product gripping structure according to claim 2, characterized in that: A module fixing plate (16) is fixedly provided on one side of the first linear module (11), and a first drag chain fixing seat (161) is provided on the top of the module fixing plate (16) above the first linear module (11).

7. The small product gripping structure according to claim 6, characterized in that: The first drag chain (17) is provided on the top of the first drag chain fixing base (161), and the drag chain sheet metal (112) is provided on the top of the side of the first module connecting plate (111) away from the second linear module (12) for connecting the first drag chain (17).

8. The small product gripping structure according to claim 2, characterized in that: A second drag chain fixing seat (18) is provided in the middle of one side of the second module connecting plate (121). The second drag chain fixing seat (18) is L-shaped, and a second drag chain (19) is provided on the side of the second drag chain fixing seat (18) away from the second module connecting plate (121).

9. The small product gripping structure according to claim 1, characterized in that: The visual inspection module (14) is the top visual inspection module (14).

10. The small product gripping structure according to claim 1, characterized in that: It also includes a side visual inspection module (2), which is used in conjunction with the top visual inspection module (14) to perform defect detection on the sides and top of the product.

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