An electric control module six-face appearance detection and feeding device

Abstract

The utility model relates to a kind of electric control module six appearance detection and feeding device, including machine table, control mechanism, power cabinet, ground rail robot, visual inspection mechanism and tool conveying mechanism, ground rail robot is equipped with universal mechanical arm, detachable assembly composite type clamping jaw in tail end, and integrated 2D, 3D detection camera, can carry out model identification, three-dimensional positioning, transfer workpiece, visual inspection mechanism is equipped with three-axis moving component, jacking rotary component, three-axis moving component is equipped with the horizontal turnover component of second 2D detection camera;By flipping mechanism, camera angle is adjusted, jacking rotary mechanism rotates workpiece, cooperates with the collaborative action of mechanical arm, single camera can complete product six imaging detection, the utility model effectively simplifies equipment overall structure, and the area is small, and single camera group is set to cooperate with mechanical arm, realize integrated transfer, shooting, effectively improve imaging detection quality and reduce use cost.The utility model is suitable for electronic equipment appearance detection technical field.

Description

Technical Field

[0001] This utility model relates to the field of electronic device appearance inspection technology, and in particular to a device for six-sided appearance inspection and feeding of an electronic control module. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the visual inspection of electronic control modules and devices before processing is crucial to ensuring product yield. Currently, six-sided visual inspection mainly employs two methods: 1. Multi-station flip-type inspection: This method sets up cameras at different stations and configures independent flipping mechanisms. The product is flipped to complete the shooting one side at a time. The stations also need to be connected by a conveyor device. The overall structure is huge, occupies a lot of space, and has high equipment costs. Moreover, each side needs to be flipped repeatedly for shooting, resulting in a long inspection cycle. II. Rotary Disc Inspection: This method uses a transparent rotating disc to carry the product in a circular motion, with cameras positioned above and below taking pictures of the top and bottom surfaces. The problems are: scratches, dents, and other damage on the transparent disc surface can interfere with the bottom surface imaging, causing misjudgments and affecting inspection accuracy; furthermore, after inspection, the product still needs to be transferred to the processing station by a robotic arm. The robotic arm only performs a transport function and does not participate in the inspection process, resulting in low equipment utilization and further increasing system complexity and operating costs.

[0003] This shows that the existing device has redundant structure, high operating cost, limited detection efficiency and accuracy, and fails to fully utilize the synergistic effect of the robotic arm's motion capabilities, indicating significant room for technological improvement. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a device for six-sided appearance inspection and feeding of an electronic control module.

[0005] The technical solution adopted by this utility model is as follows: This utility model includes a machine base, a control mechanism, a power cabinet, a ground rail robot, a vision inspection mechanism, and a tooling conveying mechanism, which are electrically connected to the machine base. Product storage areas and tooling storage areas are respectively provided on both sides of the ground rail robot. The tooling conveying mechanism is located next to the vision inspection mechanism. The ground rail robot includes a linear ground rail and a universal robotic arm slidably mounted on the linear ground rail. The end of the universal robotic arm is detachably equipped with a composite gripper for gripping and transferring products and tooling, and cooperating with the vision inspection mechanism to complete the bottom surface inspection of the product. The composite gripper is also equipped with a 2D inspection camera for identifying product and tooling models and a 3D inspection camera for acquiring three-dimensional positioning data. The vision inspection mechanism includes a three-axis moving component and a lifting and rotating component. The three-axis moving component is equipped with a second 2D inspection camera via a horizontal flipping component. The horizontal flipping component drives the second 2D inspection camera to complete bidirectional switching between horizontal and vertical shooting directions. The lifting and rotating component controls the four sides of the product to sequentially align with the second 2D inspection camera. The second 2D inspection camera is used for imaging and inspection of the six outer sides of the product.

[0006] Furthermore, the composite gripper includes a connecting bracket, a lifting motor, an outer gripper, and an inner gripper. The outer gripper is fixedly mounted on the bottom of the connecting bracket and includes a mounting frame, four gripping cylinders disposed at the four corners of the upper end of the mounting frame, and a first clamping block connected to the gripping cylinders. The first clamping block is driven by the gripping cylinders to reciprocate along the edge of the mounting frame, and the inner wall of the bottom of the first clamping block is provided with an anti-scratch pad.

[0007] Furthermore, the upper end face of the mounting frame is fixedly connected to the connecting bracket by four arrayed connecting rods, and a buffer positioning post is provided at any diagonal position on the lower end face, the buffer positioning post being located inside the corresponding first gripper.

[0008] Furthermore, the inner gripper includes a double-layer connecting frame, a dual-axis gripping cylinder, two sets of grippers, and a guide post. The top of the double-layer connecting frame is provided with a connector, which is connected to the lifting motor. The dual-axis gripping cylinder is located in the middle partition of the double-layer connecting frame. The two sets of grippers are respectively driven and connected to both ends of the dual-axis gripping cylinder. The gripper includes a mounting plate and second clamping blocks located at both ends of the mounting plate. The bottom of the second clamping blocks has an inner hook structure. The guide post is centrally located at the bottom of the double-layer connecting frame.

[0009] Furthermore, several second buffer positioning posts are detachably provided at the bottom of the double-layer connecting frame, and photoelectric sensors are provided on both the mounting frame and the double-layer connecting frame.

[0010] Furthermore, the three-axis motion assembly includes a first support frame, an X-axis motor, a Y-axis motor, and a Z-axis motor. The X-axis motor is fixedly mounted on the top of the first support frame, and its axis is perpendicular to the ground-rail robot. The Y-axis motor is slidably connected to the X-axis motor via a first slider, and its axis is parallel to the ground-rail robot. The Z-axis motor is slidably connected to the Y-axis motor via a second slider, and the Z-axis motor is vertically downward. The horizontal flipping assembly is slidably connected to the Z-axis motor via a third slider. The horizontal flipping assembly includes a fixed frame, a flipping frame, and a flipping motor. The flipping motor is located on the side of the fixed frame and is drivenly connected to the flipping frame. The flipping frame is located inside the fixed frame, and its two sides are rotatably connected to the fixed frame. The second 2D detection camera is fixedly mounted on the flipping frame.

[0011] Finally, the lifting and rotating assembly includes a second support frame, a lifting motor, a lifting bracket, a rotating motor, and a rotating seat. The lifting bracket includes a fixed base plate and a movable top plate. The fixed base plate is fixedly mounted on the top of the second support frame. The movable top plate is slidably connected to the fixed base plate via four sets of piston rods. The lifting motor is located between the fixed base plate and the movable top plate and is driven by the movable top plate. The rotating motor is located at the top of the movable top plate. The rotating seat is driven by the rotating motor. Several positioning guide posts are detachably mounted on the rotating seat.

[0012] Compared with existing technologies, the advantages of this invention are as follows: This invention uses a single ground-rail robot to complete the entire process of material handling, tooling transfer, and finished product loading, eliminating the need for multiple sets of conveyor mechanisms, thus simplifying the overall structure and reducing the footprint. The equipment is equipped with only one vision inspection mechanism, utilizing the coordinated operation of the three-axis moving component, the horizontal flipping component, and the lifting and rotating component. Through the composite movements of the second 2D inspection camera's displacement and flipping, the product's lifting and rotating, and the displacement of the omnidirectional robotic arm, six-sided imaging inspection of the product is achieved. This eliminates the need for multiple cameras, significantly reducing hardware costs while ensuring inspection quality. The composite gripper and the omnidirectional robotic arm are detachably assembled, allowing for rapid replacement of the composite gripper according to different tooling and product requirements, further improving the equipment's adaptability. Therefore, this invention effectively simplifies the overall equipment structure, reduces the footprint, and uses a single camera group in conjunction with the robotic arm to achieve integrated transfer and imaging, effectively improving imaging inspection quality and reducing operating costs. Attached Figure Description

[0013] Figure 1 This is a top view of the overall structure of this utility model; Figure 2 This is a schematic diagram of the structure of the ground-rail robot; Figure 3 This is a schematic diagram of the structure of the composite gripper; Figure 4 This is a schematic diagram of the structure of the outer gripper; Figure 5 This is a schematic diagram of the assembly of the inner gripper and the lifting motor; Figure 6 This is a schematic diagram of the structure of the expansion mechanism; Figure 7 This is a schematic diagram of the structure of the visual inspection mechanism; Figure 8 This is a schematic diagram of the structure of the horizontal flipping component; Figure 9 This is a schematic diagram of the lifting and rotating assembly. Detailed Implementation

[0014] like Figures 1 to 9 As shown, this utility model includes a machine base 1, a control mechanism 2, a power cabinet 3, a ground-rail robot 4, a vision inspection mechanism 5, and a tooling conveying mechanism 6, all electrically connected to the machine base 1. Product storage areas 7 and tooling storage areas 8 are respectively located on both sides of the ground-rail robot 4. The tooling conveying mechanism 6 is located next to the vision inspection mechanism 5. The ground-rail robot 4 includes a linear ground rail 40 and a universal robotic arm 41 slidably mounted on the linear ground rail 40. The end of the universal robotic arm 41 is detachably equipped with a composite gripper 42 for gripping and transferring products and tooling, and for cooperating with the vision inspection mechanism 5 to complete the bottom surface inspection of the products. The composite gripper 42 is also equipped with a 2D inspection camera 43 for distinguishing product and tooling models and a 3D inspection camera 44 for acquiring three-dimensional positioning data; the visual inspection mechanism 5 includes a three-axis moving component 50 and a lifting and rotating component 51. The three-axis moving component 50 is equipped with a second 2D inspection camera 53 through a horizontal flip component 52. The horizontal flip component 52 drives the second 2D inspection camera 53 to complete bidirectional switching between horizontal and vertical shooting directions. The lifting and rotating component 51 controls the four sides of the product to be aligned with the second 2D inspection camera 53 in sequence. The second 2D inspection camera 53 is used for imaging inspection of the six outer sides of the product. This invention utilizes the ground-rail robot 4 to complete all material transfer operations, replacing the complex conveying structure in existing visual inspection equipment, effectively simplifying the equipment and reducing floor space. The omnidirectional robotic arm 41 is detachably equipped with the composite gripper 42 and integrates the 2D inspection camera 43 and the 3D inspection camera 44. The 2D inspection camera 43 can identify in advance whether the product and tooling models are consistent, while the 3D inspection camera 44 can collect complex three-dimensional spatial data to guide the omnidirectional robotic arm 41 to accurately complete product gripping and transfer. This integrates material positioning, model verification, and material grasping functions into one unit, eliminating the need for a separate pre-positioning station, shortening the material loading and unloading cycle time, and improving the overall automation efficiency of the machine.

[0015] Furthermore, the composite gripper 42 includes a connecting bracket 420, a lifting motor 421, an outer gripper 422 and an inner gripper 423. The outer gripper 422 is fixedly disposed at the bottom of the connecting bracket 420 and includes a mounting frame 4220, four sets of gripping cylinders 4221 disposed at the four corners of the upper end of the mounting frame 4220, and a first clamping block 4222 connected to the gripping cylinders 4221. The first clamping block 4222 is driven by the gripping cylinders 4221 to reciprocate along the edge direction of the mounting frame 4220. The inner wall of the bottom of the first clamping block 4222 is provided with a scratch-resistant soft pad 4223. In this utility model, the outer gripper 422 is used to grip the tooling. After the 2D inspection camera 43 completes the tooling model identification and the 3D inspection camera 44 completes the three-dimensional signal determination such as the tooling position and gripping position, the gripping cylinder 4221 adjusts the specific position of each of the first gripping blocks 4222 to adapt to the gripping requirements of the tooling. The anti-scratch soft pad 4223 avoids scratching the outer shell of the tooling during the gripping process. In this utility model, the left and right ends of the mounting frame 4220 are also provided with expansion mechanisms 424 to meet the clamping requirements of larger materials such as material trays. The expansion mechanism 424 includes a second lifting motor 4240, a lifting bracket 4241, an expansion cylinder 4242, and an outer expansion connecting rod 4243. The second lifting motor 4240 is fixedly mounted on the mounting frame 4220. The lifting bracket 4241 is driven and connected to the second lifting motor 4240 for vertical position adjustment. The expansion cylinder 4242 is fixedly mounted on the outer end face of the lifting bracket 4241. Both ends of the outer expansion connecting rod 4243 are hinged to the output end of the expansion cylinder 4242. The two hinge points are located at different heights on the same vertical line. As the output end of the expansion cylinder 4242 moves upward, the outer expansion connecting rod 4243 expands outward. A pneumatic suction head 4244 is also provided on the outer expansion connecting rod 4243.

[0016] Furthermore, the upper end face of the mounting frame 4220 is fixedly connected to the connecting bracket 420 via four arrayed connecting rods 4224, and a buffer positioning post 4225 is provided at any diagonal position on the lower end face, the buffer positioning post 4225 being located inside the corresponding first clamping block 4222. The buffer positioning post 4225 has a built-in buffer spring to prevent hard contact from damaging the surface of the tooling.

[0017] Furthermore, the inner gripper 423 includes a double-layer connecting frame 4230, a dual-axis gripping cylinder 4231, two sets of grippers, and a guide post 4232. The top of the double-layer connecting frame 4230 is provided with a connector 4233, which is connected to the lifting motor 421. The dual-axis gripping cylinder 4231 is located in the middle partition of the double-layer connecting frame 4230. The two sets of grippers are respectively driven and connected to both ends of the dual-axis gripping cylinder 4231. The gripper includes a mounting plate 4234 and second gripping blocks 4235 respectively located at both ends of the mounting plate 4234. The bottom of the second gripping block 4235 has an inner hook structure. The guide post 4232 is centrally located at the bottom of the double-layer connecting frame 4230. In this utility model, the inner gripper 423 is equipped with the dual-axis gripping cylinder 4231 and the second gripping block 4235 with an inner hook structure at the bottom. It can grip a single electronic control module independently. With the guide column 4232, it can achieve clamping and limiting. It can be compatible with both single piece and whole tray material forms, and the equipment has strong versatility. At the same time, the lifting motor 421 can drive the inner gripper 423 to lift independently through the mounting frame 4220. The inner and outer clamping actions do not interfere with each other, and the clamping adaptation range is wider.

[0018] Furthermore, a plurality of second buffer positioning posts 4236 are detachably provided at the bottom of the double-layer connecting frame 4230, and photoelectric sensors 9 are provided on both the mounting frame 4220 and the double-layer connecting frame 4230. The photoelectric sensors 9 further improve the accuracy of material clamping and placement by the equipment.

[0019] Further, the three-axis motion assembly 50 includes a first support frame 500, an X-axis motor 501, a Y-axis motor 502, and a Z-axis motor 503. The X-axis motor 501 is fixedly mounted on the top of the first support frame 500, and its axis is perpendicular to the ground-rail robot 4. The Y-axis motor 502 is slidably connected to the X-axis motor 501 via a first slider 504, and its axis is parallel to the ground-rail robot 4. The Z-axis motor 503 is slidably connected to the Y-axis motor 502 via a second slider 505. The machine 503 is set vertically downward. The horizontal flipping component 52 is slidably connected to the Z-axis motor 503 via a third slider 506. The horizontal flipping component 52 includes a fixed frame 520, a flipping frame 521, and a flipping motor 522. The flipping motor 522 is located on the side of the fixed frame 520 and is drivenly connected to the flipping frame 521. The flipping frame 521 is located inside the fixed frame 520 and its two sides are rotatably connected to the fixed frame 520. The second 2D detection camera 53 is fixedly mounted on the flipping frame 521. In this invention, the three-axis moving assembly 50 is equipped with the horizontal flipping assembly 52, and the second 2D inspection camera 53 is mounted on the flipping frame 521. Together with the lifting and rotating assembly 51 configured on the machine, it completes the imaging inspection of the six sides of the product. Relying on a single second 2D inspection camera 53, through the compound motion of three-axis displacement, camera flipping, product lifting and rotating, and robotic arm clamping, the bottom, four sides, and top are imaged and inspected in sequence. This eliminates the need for multiple cameras to be deployed in different areas, effectively reducing the equipment hardware procurement cost, while also eliminating blind spots in visual shooting and ensuring the integrity of the six-sided appearance inspection.

[0020] Finally, the lifting and rotating assembly 51 includes a second support frame 510, a lifting motor 511, a lifting bracket 512, a rotating motor 513, and a rotating seat 514. The lifting bracket 512 includes a fixed base plate 5120 and a movable top plate 5121. The fixed base plate 5120 is fixedly mounted on the top of the second support frame 510. The movable top plate 5121 is slidably connected to the fixed base plate 5120 via four sets of piston rods 5122. The lifting motor 511 is located between the fixed base plate 5120 and the movable top plate 5121 and is drivenly connected to the movable top plate 5121. The rotating motor 513 is located at the top of the movable top plate 5121. The rotating seat 514 is drivenly connected to the rotating motor 513. Several positioning guide posts 515 are detachably mounted on the rotating seat 514. The positioning guide post 515 is selected and installed according to the position and number of positioning holes on the product itself. After the product is placed on the rotating seat 514 by the universal robotic arm 41, the lifting motor 511 drives the movable top plate 5121 to lift, so that the height of the product matches the shooting field of view of the second 2D detection camera 53. Then, the rotary motor 513 drives the rotating seat 514 to rotate intermittently, and sequentially completes the appearance image acquisition and detection of the four sides of the product.

[0021] Finally, it should be emphasized that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A device for six-sided appearance inspection and loading of an electronic control module, characterized in that: The system includes a machine base (1), a control mechanism (2), a power cabinet (3), a ground-rail robot (4), a vision inspection mechanism (5), and a tooling transfer mechanism (6) that are electrically connected to the machine base (1). A product storage area (7) and a tooling storage area (8) are respectively provided on both sides of the ground-rail robot (4). The tooling transfer mechanism (6) is located next to the vision inspection mechanism (5). The ground-rail robot (4) includes a straight ground rail (40) and a universal mechanical arm (41) that slides on the straight ground rail (40). The end of the universal mechanical arm (41) is detachably provided with a composite gripper (42) for gripping and transferring products and tooling, and cooperating with the vision inspection mechanism (5) to complete the bottom surface inspection of the product. The composite gripper (42) is also equipped with a 2D inspection camera (43) for distinguishing product and tooling models and a 3D inspection camera (44) for collecting three-dimensional positioning data; the visual inspection mechanism (5) includes a three-axis moving component (50) and a lifting and rotating component (51). The three-axis moving component (50) is equipped with a second 2D inspection camera (53) through a horizontal flip component (52). The horizontal flip component (52) drives the second 2D inspection camera (53) to complete the bidirectional switching of horizontal and vertical shooting directions. The lifting and rotating component (51) controls the four sides of the product to be aligned with the second 2D inspection camera (53) in sequence. The second 2D inspection camera (53) is used for imaging inspection of the six outer sides of the product.

2. The six-sided appearance inspection and feeding device for an electronic control module according to claim 1, characterized in that: The composite gripper (42) includes a connecting bracket (420), a lifting motor (421), an outer gripper (422) and an inner gripper (423). The outer gripper (422) is fixedly mounted on the bottom of the connecting bracket (420). It includes a mounting frame (4220), four sets of gripping cylinders (4221) disposed at the four corners of the upper end of the mounting frame (4220), and a first clamping block (4222) connected to the gripping cylinders (4221). The first clamping block (4222) is driven by the gripping cylinders (4221) to reciprocate along the edge of the mounting frame (4220). The inner wall of the bottom of the first clamping block (4222) is provided with a scratch-resistant soft pad (4223).

3. The six-sided appearance inspection and feeding device for an electronic control module according to claim 2, characterized in that: The upper end face of the mounting frame (4220) is fixedly connected to the connecting bracket (420) by four arrayed connecting rods (4224), and a buffer positioning post (4225) is provided at any diagonal position on the lower end face. The buffer positioning post (4225) is located inside the corresponding first clamping block (4222).

4. The six-sided appearance inspection and feeding device for an electronic control module according to claim 3, characterized in that: The inner gripper (423) includes a double-layer connecting frame (4230), a double-axis gripping cylinder (4231), two sets of grippers, and a guide post (4232). The top of the double-layer connecting frame (4230) is provided with a connector (4233), which is connected to the lifting motor (421). The double-axis gripping cylinder (4231) is located in the middle partition of the double-layer connecting frame (4230). The two sets of grippers are respectively driven and connected to both ends of the double-axis gripping cylinder (4231). The gripper includes a mounting plate (4234) and second clamping blocks (4235) located at both ends of the mounting plate (4234). The bottom of the second clamping block (4235) is an inner hook structure. The guide post (4232) is centrally located at the bottom of the double-layer connecting frame (4230).

5. The six-sided appearance inspection and feeding device for an electronic control module according to claim 4, characterized in that: Several second buffer positioning posts (4236) are detachably provided at the bottom of the double-layer connecting frame (4230), and photoelectric sensors (9) are provided on both the mounting frame (4220) and the double-layer connecting frame (4230).

6. The six-sided appearance inspection and feeding device for an electronic control module according to claim 1, characterized in that: The three-axis motion assembly (50) includes a first support frame (500), an X-axis motor (501), a Y-axis motor (502), and a Z-axis motor (503). The X-axis motor (501) is fixedly mounted on the top of the first support frame (500), and its axis is perpendicular to the ground-rail robot (4). The Y-axis motor (502) is slidably connected to the X-axis motor (501) via a first slider (504), and its axis is parallel to the ground-rail robot (4). The Z-axis motor (503) is slidably connected to the Y-axis motor (502) via a second slider (505). 3) Vertically downward setting, the horizontal flipping component (52) is slidably connected to the Z-axis motor (503) via the third slider (506). The horizontal flipping component (52) includes a fixed frame (520), a flipping frame (521) and a flipping motor (522). The flipping motor (522) is located on the side of the fixed frame (520) and is drivenly connected to the flipping frame (521). The flipping frame (521) is located inside the fixed frame (520) and its two sides are rotatably connected to the fixed frame (520). The second 2D detection camera (53) is fixedly mounted on the flipping frame (521).

7. The six-sided appearance inspection and feeding device for an electronic control module according to claim 6, characterized in that: The lifting and rotating assembly (51) includes a second support frame (510), a lifting motor (511), a lifting bracket (512), a rotating motor (513), and a rotating seat (514). The lifting bracket (512) includes a fixed base plate (5120) and a movable top plate (5121). The fixed base plate (5120) is fixedly mounted on the top of the second support frame (510). The movable top plate (5121) is connected to the second support frame (510) via four sets of piston rods (5122). A fixed base plate (5120) is slidably connected. The lifting motor (511) is located between the fixed base plate (5120) and the movable top plate (5121) and is drivenly connected to the movable top plate (5121). The rotary motor (513) is located at the top of the movable top plate (5121). The rotating seat (514) is drivenly connected to the rotary motor (513). Several positioning guide posts (515) are detachably provided on the rotating seat (514).

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