CN100483066C - Detection device capable of automatically aligning detected object - Google Patents

Abstract

A detection device capable of automatically aligning detected objects, in particular to an automatic alignment detection device of a liquid crystal display module, which comprises a span frame and a guide rail which are parallel to each other, a base plate carrying a distance detector and a CCD image capturing device, and a driver driving the base plate to run on the guide rail, wherein the driver enables the base plate to slide on the guide rail in a path way, enables the distance detector to approach the detected objects, and transmits the detected distance, position or angle deviation values with the detected objects to a central control system, a computer of the central control system operates and drives a base plate adjusting mechanism to enable the base plate to automatically compensate and align the detected objects so as to facilitate the CCD image capturing device to capture correct detection pictures, the base plate adjusting mechanism comprises at least three groups of universal pivots, a first group of universal pivots arranged on one side of the base plate is a fulcrum without preset power, and a second group of universal pivots and a third group of universal pivots arranged on the opposite, the substrate is shifted or rotated toward the object to be detected until the CCD image capturing device can be completely aligned with the object to be detected.

Description

Detection device that can automatically align the detected object

technical field

The invention relates to a detection device that can automatically align the detected object, which is used to correct the distance, position or angle deviation between the detection device and the detected object, so that the detection device can completely align the detected object, and Carry out automatic detection work correctly.

Background technique

The early liquid crystal display module (LCM) imaging quality inspection was mainly carried out by human visual judgment. The liquid crystal display module was transported to the visual inspection machine through the conveyor belt, and the microscope equipped with the machine was used for visual inspection. Inspection to detect whether the display module has defects such as dead pixels (MURA) or bright spots (DOT/LINE) after lighting. After the inspection is completed, it is transported to the discharge device by a conveyor belt. This kind of visual quality control is not only slow, but also prone to misjudgments that affect the quality of shipments.

In order to improve the quality inspection efficiency of the above-mentioned products and meet the needs of automatic quality control, the inventor has recently filed a new patent application of China No. ZL03261407.1 with an "automatic detection device for image quality after lighting the liquid crystal display panel", and has passed the test. The examination announcement was approved; the patent has disclosed that "after moving to a fixed point by moving up and down or left and right through the cross-frame movement mechanism, the illuminated LCD panel positioned above the machine is sequentially moved in a static manner through an array of digital cameras. The displayed image is completely captured to provide computer software analysis and identify defects such as dead pixels and bright spots of the panel in a timely manner, so as to achieve the technology of automatic detection.

Although the above-mentioned automatic inspection device has greatly improved the efficiency of quality inspection and has been widely praised by users, the inventor is not complacent about it. It does not provide accurate positioning for the transported objects, so that when the digital camera unit captures the picture of the liquid crystal display module (LCM), it often causes distortion due to position and angle deviation and lack of alignment, which directly affects the computer software. The results of analysis and interpretation should be further improved.

Contents of the invention

The purpose of the present invention is to provide a detection device that can automatically align the detected object, which can solve the problem of errors caused by the liquid crystal display module (LCM) not being accurately positioned on the production line, resulting in quality inspection. In addition to passive In addition to requiring the on-line staff to pay attention, the inventor also added an automatic alignment function to the detection device disclosed above, so as to actively propose an improvement plan, so that the automatic detection device can automatically compensate and align the detected object (that is, LCM) to facilitate the CCD (Charge Coupled Device) imaging device to capture the correct detection picture.

In order to achieve the above-mentioned purpose, the present invention proposes a detection device that can automatically align the detected object, which includes a pair of cross-frame guide rails that are parallel to each other, a substrate that carries a distance detector and a CCD imaging device, And the driver used to drive the substrate to run on the guide rail, the driver will make the substrate slide on the path set by the guide rail, make the distance detector close to the detected object (LCM), and detect the distance between the detected object and the detected object The distance, position or angle deviation value is transmitted to a central control system, and the computer software calculation of the central control system drives a substrate adjustment mechanism, so that the substrate automatically compensates and aligns the detected object to facilitate correct detection by the CCD imaging device Picture; the adjustment mechanism of the base plate includes at least three sets of universal pivots, the three sets of universal pivots include a first universal pivot set on one side of the base plate and a second and third set on the opposite side of the base plate Universal pivots, wherein, the first group of universal pivots is a fulcrum without preset power, and the second and third sets of universal pivots respectively use a driver to drive the substrate, so that the substrate is deflected toward the direction of the detected object Move or rotate until the CCD imaging device can completely align with the detected object (LCM).

The above-mentioned first driver: includes a first servo motor, a shaft coupling, a first drive screw and a guide block, one end of the guide block is connected to the base plate with a slide seat, and the base plate is connected to the cross-frame guide rail through the slide base The matching shape runs on the guide rail, and the other end of the guide block is screwed on the first driving screw; the first universal pivot includes a first pivot seat, a first swing arm, and is used to pivotally connect the first pivot seat and The first seat of the first swing arm and the first universal bearing; one end of the first pivot seat is connected to the slide seat, the other end is pivotally connected to the first swing arm, and the other end of the first swing arm is connected to on the aforementioned substrate.

The pivotal connection between the first pivot seat and the first swing arm is through the first sleeve and the first universal bearing. The first universal bearing is wrapped around the outer edge of one end of the first sleeve and embedded in the first sleeve. In a pivot seat, the first seat is inserted between the first pivot seat and the first swing arm, and two bolts pass through the first seat and the first universal bearing respectively to fix the first seat and the first universal bearing. The first swing arm, the first universal bearing and the first sleeve enable the swing arm to produce universal swing or rotation relative to the first pivot seat.

The above-mentioned second and third universal pivots respectively include second and third pivot seats, second and third universal bearings, second and third sets of seats, and the second and third pivot seats are formed by the second and the third universal bearing and the second and third sleeves are pivotally connected to different positions of the same second swing arm, so that the second and third pivot bases have a relationship of interlocking movement with the second swing arm, and the The second swing arm is also connected to the base plate, so that the base plate and the second and third pivot seats also have an interlocking relationship; the above-mentioned second and third universal bearings are respectively embedded in the second and third pivot seats. The second and third sleeves are respectively sleeved in the second and third universal bearings, and each is fixed with a bolt, and the other ends of the second and third sleeves are connected to the second swing with another bolt. arm connection.

A guide plate is provided between the second and third universal pivots and adjacent guide rails, and the guide plate is provided with a shape that is in a state of sliding fit with the guide rail, so that the guide plate can slide on the guide rail; one end of the guide plate faces the second The first sliding seat extends parallel to the three pivot seats, and a first sliding block is arranged between the first sliding seat and the third pivot seat, and the third pivot seat abuts against the first sliding block and the first sliding block. The seat is in a sliding fit relationship, so that the third pivot seat can slide in the first sliding seat.

The above-mentioned guide plate is provided with a chute on the side facing the base plate, and the chute is slidably connected to a slide plate, and one end of the slide plate extends a second slide seat in a direction parallel to the second pivot seat, and the second slide seat A second sliding block is also slidably connected with the second pivot seat, so that the second pivot seat can slide in the second sliding seat.

The above-mentioned second drive is connected to the top surface of the slide plate, and the second drive includes a second servo motor, a coupling, a second drive screw and a guide block, the guide block is connected with the slide plate, and the other end of the guide block is screwed to the On the second drive screw, that is, the rotation of the second drive screw drives the guide block to generate displacement; the second drive screw is connected to the shaft center of the second servo motor through a coupling, that is, the motor is running At the same time, its axis drives the second drive screw to rotate, and then pulls the slide plate linked by the guide block to produce a linear displacement.

The above-mentioned third driver is carried on the top surface of the first slider, and the third driver includes a third servo motor, a coupling, a third drive screw and a guide block, the guide block is connected with the first slide block, and the guide block The other end of the other end is screwed on the third drive screw, that is, the rotation of the third drive screw drives the guide block to generate displacement; the third drive screw is connected to the axis of the third servo motor through a coupling, that is When the third servo motor starts running, its axis drives the third driving screw to rotate, and then pulls the first sliding block linked by the guided block to generate a linear displacement.

On one side of the straddle and the guide rail adjacent to the second and third universal pivots, a fourth driver for interlocking the guide plate is provided.

The above-mentioned fourth driver includes a fourth servo motor, a shaft coupling, a fourth drive screw and a guide block, the guide block is connected with the guide plate, and the other end of the guide block is screwed on the fourth drive screw, through the fourth The rotation of the driving screw can drive the displacement of the guide block; the fourth driving screw is connected to the axis of the fourth servo motor through a coupling, so that the motor drives the fourth driving screw to rotate with its axis when the motor starts running. Then the guide plate linked by the guide block is pulled to generate displacement.

Description of drawings

Fig. 1 is an embodiment diagram of the conveying track where the automatic detection device of the present invention is arranged on the production line.

Fig. 2 is an overall appearance view of the automatic detection device of the present invention.

Fig. 3 is a structural diagram of the first universal pivot and the first swing arm of the present invention.

Fig. 4 is a sectional view of A-A' of Fig. 3, which shows the action state of the first universal pivot and the first swing arm.

Fig. 5 is a structural relationship diagram between the second and third universal pivots and the second swing arm of the present invention.

FIG. 6 is a view showing the structural relationship between the second and third universal pivots and the second swing arm of the present invention from another perspective.

Fig. 7 is a diagram of the connection relationship between the second universal pivot and the second swing arm of the present invention.

Fig. 8 is a diagram showing the connection relationship between the second and third universal pivots and the second and third drivers of the present invention.

FIG. 9 is a diagram of the linkage relationship between the corresponding second and third universal pivots and the second swing arm after the second driver is activated in the present invention.

Fig. 10 is a reference diagram when the positions or angles of the object to be detected and the detection device of the present invention are not aligned.

Fig. 11 is a reference diagram of the operating state of the detection device aligned with the object to be detected after the second driver of the present invention is activated.

FIG. 12 is another view showing the connection relationship between the second and third universal pivots and the second and third drivers of the present invention.

Fig. 13 is a diagram of the interlocking relationship between the corresponding components and the second swing arm after the third driver is started according to the present invention.

Fig. 14 is a reference diagram when the positions or angles of the object to be detected and the detection device of the present invention are not aligned.

Fig. 15 is a reference diagram of the operating state of the detection device aligned with the object to be detected after the third driver of the present invention is activated.

Fig. 16 is a reference diagram when the positions or angles of the detected object and the detection device of the present invention are not aligned; the figure particularly discloses the positional relationship of the fourth driver.

Fig. 17 is a reference diagram of the operating state of the detection device aligned with the object to be detected after the fourth driver of the present invention is activated.

Explanation of reference numbers:

1 Automatic alignment detection device 10 Base 11 Conveyor track

12 Carrier of the detected object 13 The detected object (LCM) 20 Span

201 guide rail 21 first driver 211 first servo motor

212 Coupling 213 First drive screw 210 Guide block

30 Substrate 301 Substrate sliding seat 31 Distance detector

32 CCD imaging device 311 Distance sensor bracket 4 Base plate adjustment mechanism

41 The first cardan pivot 411 The first pivot seat 412 The first swing arm

413 The first seat 414 The first universal bearing 415, 416 Bolts

42 Second cardan pivot 421 Second pivot seat 422 Second cardan bearing

423 The second seat 43 The third universal pivot 431 The third pivot

432 The third universal bearing 433 The third seat 44 The second swing arm

45 guide plate 451, 454 chute 452 slide seat

453 First Slider 46 Slider 461 Second Slider

462 Second slider 471, 472 Slide rail 5 Second driver

50 Second servo motor 51 Coupling 52 Second drive screw

53 guide block 6 3rd driver 60 3rd servo motor

61 Coupling 62 Third drive screw 63 Guide block

7 Fourth driver 70 Fourth servo motor 71 Coupling

72 Fourth drive screw 73 Guide block

Detailed ways

As shown in Figure 1, the liquid crystal display module (LCM) automatic alignment detection device 1 of the present invention is installed on the product delivery track 11 of the production line through a base 10, and the carrier 12 is carried on the track 11. As the liquid crystal display module 13 is finished, since the carrier 12 has no fixed placement position and precise positioning method, the distance, position or angle between the carried liquid crystal display module 13 and the detection device 1 when passing through the detection device 1 It is not fixed, so the detection device 1 of the present invention is designed to be able to actively align with the detected object (that is, the LCM) mode, so that the detection result will not be distorted.

Please continue to refer to FIG. 2 , which is a main structural diagram of the automatic alignment detection device of the present invention. As shown in the figure, the device includes a pair of parallel and symmetrical straddle 20 guide rails 201, a substrate 30 carrying a distance detector 31 and a CCD imaging device 32 (charge-coupled device), and is used to drive the The first driver 21 that the substrate 30 runs on the guide rail 201, so that the first driver 21 makes the substrate 30 slide on the path set by the guide rail 201, so that the distance detector 31 is close to the detected object (LCM) 13, and the detector The distance, position or angle deviation value between the detected object is known and transmitted to a central control system (not shown in the figure), and the computer software of the central control system is used to drive a substrate 30 adjustment mechanism (described later), so that The substrate 30 is automatically compensated and aligned with the object being detected so that the CCD imaging device 32 captures a correct detection image.

In the above, the first driver 21 includes a first servo motor 211, a coupling 212, a first drive screw 213 and a guide block 210, wherein one end of the guide block 210 is connected with the aforementioned base plate 30 by a sliding seat 301, and the base plate 30 runs on the guide rail 201 through the shape of the sliding seat 301 that matches the guide rail 201 of the straddle 20, and the other end of the guide block 210 is screwed on the first driving screw 213, that is, through the rotation of the screw 213. Drive the guide block 210 to generate a displacement; and the first drive screw 213 is connected to the axis of the first servo motor 211 through a coupling 212, that is, the motor 211 drives the first drive screw 213 to rotate with its axis when starting to run , and then pull the substrate 30 linked by the guide block 210 to generate a linear displacement.

Since the aforementioned substrate 30 can automatically generate displacement, the distance detector 31 suspended on one side of the substrate 30 by the support 311 can be used to approach the object to be detected (the embodiment disclosed in the present invention is an LCD module), and through this Whether the distance, position or angle measured by the distance detector 31 is aligned with the detected object, and the data of the deviation is sent to the central control system (not shown in the figure), and the computer software of the central control system calculates Afterwards, the signal is sent to the substrate 30 adjustment mechanism (described later), and the substrate 30 is controlled to be offset and corrected in the direction aligned with the detected object.

After acquiring the position or angle deviation between the aforementioned distance sensor 31 and the detected object, the central control system will send an electronic signal to the adjustment mechanism of the substrate 30 to adjust the orientation of the substrate 30 so that it is in line with the object. The detected object (that is, the LCM) 13 is in an aligned state; the adjustment mechanism 4 of the substrate 30 mainly includes at least three sets of universal pivots 41, 42, 43, which are respectively assembled in a ratio of one to two near the bridge. The two sides 33, 34 of the base plate 30 of the guide rail 201 of the frame 20, wherein, the first set of universal pivots 41 is a fulcrum without preset power, and the second and third sets of universal pivots 42, 43 are driven by a driver respectively. The substrate 30 is driven so that the substrate 30 can be shifted or rotated in any designated direction until the CCD imaging device 32 can be completely aligned with the object to be detected (LCM) 13 .

Please refer to FIGS. 3 and 4 , which are main structural views of the aforementioned first group of universal pivots 41 . As shown in the figure, the first universal pivot 41 includes a first pivot base 411, a first swing arm 412, and a first sleeve 413 and a first sleeve 413 for pivotally connecting the first pivot base 411 and the first swing arm 412. A universal bearing 414, wherein one end of the first pivot seat 411 is connected to the aforementioned sliding seat 301, the other end is pivotally connected to the first swing arm 412, and the other end of the first swing arm 412 is connected to the aforementioned The base plate 30; the pivot connection between the first pivot seat 411 and the first swing arm 412 is through the first sleeve 413 and the first universal bearing 414, and the first universal bearing 414 is wrapped at one end of the first sleeve 413 The outer edge is buried in the first pivot seat 411, and the first sleeve seat 413 is inserted between the first pivot seat 411 and the first swing arm 412, and the two bolts 415, 416 pass through the first sleeve seat 413 respectively. and the first universal bearing 414 are respectively used to fix the first sleeve 413 and the first swing arm 412, and the first universal bearing 414 and the first sleeve 413, so that the swing arm 412 is relative to the first pivot base 411 Can produce universal swing or rotation action.

Please continue to refer to FIGS. 5-7 , which are the main configuration diagrams of the second and third sets of universal pivots 42 , 43 and their internal structures. As shown in Figures 5 and 6 (please also refer to Figure 8), the second and third universal pivots 42, 43 respectively include second and third pivot seats 421, 431, second and third universal bearings 422,432, the second and the third seat 423,433, and the second and the third hub 421,431 pass through the second and the third universal bearing 422,432 and the second and the third seat 423,433 Pivoted to different positions of the same second swing arm 44, the second and third pivot seats 421, 431 have a relationship of interlocking movement with the second swing arm 44, wherein the second swing arm 44 is also connected to the aforementioned The base plate 30 (please also refer to FIG. 2 ) makes the base plate 30 and the second and third pivot seats 421 , 431 also have an interlocking relationship.

Please also refer to FIG. 7 , which is a structural diagram of the pivotal relationship between the second swing arm 44 and the second pivot base 421 . As shown in the figure (please refer to FIG. 8 at the same time), the second universal bearing 422 is buried in the second pivot seat 421, and the second sleeve seat 423 is sleeved in the bearing 422, and fixed with a bolt 425. The other end of the second sleeve 423 is connected with the second swing arm 44 by another bolt 424; since the second universal bearing 422 has a ball seat 4221 inside, the second sleeve 423 can swing in any direction, so the second sleeve 423 can swing in any direction. The two swing arms 44 can also swing or rotate in any direction when being driven. The connection relationship between the third pivot base 431 and the second swing arm 44 is exactly the same as that of the second pivot base 421 , and will not be repeated here.

In addition to the above, a guide plate 45 is provided between the second and third universal pivots 42, 43 and the adjacent guide rail 201, and the guide plate 45 is provided with a shape that is in a state of slipping with the guide rail 201, shown as a slide groove 451 , so that the guide plate 45 can slide on the guide rail 201; one end of the guide plate 45 extends toward a first slide seat 452 parallel to the third pivot seat 431, and a first slide seat 452 is provided between the first slide seat 452 and the third pivot seat 431. There is a first sliding block 453, and the third pivot seat 431 is connected with the first sliding block 453 by a slide rail 471. The third pivot seat 431 is against the first sliding block 453 and the first sliding seat 452 It is in a sliding connection, and can be moderately extended when the base plate 30 is operated; and the third pivot seat 431 can slide in the first sliding seat 452 through the first sliding block 453 . The guide plate 45 is provided with a chute 454 on the side facing the base plate 30, and the chute 454 is slidably connected to another slide plate 46. One end of the slide plate 46 extends a second slide seat in a direction parallel to the second pivot seat 421. 461, between this sliding seat 461 and the second pivot seat 421, a second sliding block 462 is used for sliding connection, and the second pivot seat 421 and the second sliding block 462 are also connected with a slide rail 472, so that the second The pivot seat 421 can also extend moderately when the base plate 30 moves, and the second pivot seat 421 can slide in the second slide seat 461 by the second slider 462 .

A second driver 5 is connected to the top surface of the above-mentioned slide plate 46, and the second driver 5 includes a second servo motor 50, a coupling 51, a second drive screw 52 and a guide block 53, wherein the guide block 53 and The slide plate 46 is connected, and the other end of the guide block 53 is screwed on the second drive screw 52, that is, the rotation of the screw 52 drives the guide block 53 to generate displacement; and the second drive screw 52 passes through a shaft coupling 51 It is connected with the axis of the second servo motor 50 , that is, the axis of the motor 50 drives the second drive screw 52 to rotate when it starts running, and then pulls the sliding plate 46 linked by the guided block 53 to produce a linear displacement.

Please refer to Figures 8 and 9, when the second driver 5 is activated, the linked slide plate 46 will pull the second swing arm 44 to rotate in a specific direction; since the second universal pivot 42 and the third universal pivot The shaft 43 is connected to the second swing arm 44 at a single point, so the second cardan pivot 42 adjacent to the second driver 5 travels a longer distance than the third cardan pivot 43 (see FIG. 9 ). For the embodiment disclosed in FIG. 2, the activation of the second driver 5 will prompt the second swing arm 44 to link the base plate 30, take the first universal pivot 41 as the fulcrum, and link the first swing arm 412 to make The substrate 30 rotates toward the Z axis in the three-dimensional space and rotates toward the Y axis. In other words, after the distance sensor 31 disclosed above senses the position or angle deviation with the object to be detected, the central control system will send an electronic signal to the The adjustment mechanism of the substrate 30 (referred to as the second driver 5 at this point) makes the substrate 30 deviate toward the angle or position where the detected object (i.e. the LCM) 13 is inclined, so that the CCD mounted on the substrate 30 can take an image The device 32 can be completely aligned with the detected object 13, that is, the distance between each CCD imaging device 32 and the detected object 13 tends to be parallel and aligned, so as to avoid the state of distortion caused by inconsistency in imaging; the above-mentioned adjustment Please also refer to Figures 10 and 11 for the action. When the position of the detected object 13 placed on the production line deviates from the original setting of the CCD imaging device 32 (see the angle α in the diagram of Figure 10), that is By the action of the second driver 5, the substrate 30 is adjusted toward the direction of the deviation angle with the detected object 13 (see Fig. 11), that is to say, the detection device of the present invention can be automatically compensated and corrected in advance, so that the CCD imaging device 32 The ingested content is the most realistic state.

Please return to shown in Figures 5 and 6, a third driver 6 is carried on the top surface of the first sliding seat 452, and the driver 6 has a third servo motor 60, a shaft coupling 61, a third driver 6 and the former second driver 5. Drive screw 62 and a guide block 63, wherein, the guide block 63 is connected with the first slide block 453, and the other end of the guide block 453 is screwed on the third drive screw 62, that is, driven by the rotation of the screw rod 62 The guide block 63 produces a displacement; and the third drive screw 62 is connected to the axis of the third servo motor 60 through a coupling 61, that is, the motor 60 drives the third drive screw 62 to rotate with its axis when the motor 60 starts running. And further, the first sliding block 453 which is linked with the guided block 63 is pulled to produce a linear displacement (please refer to FIGS. 12 and 13 for the position and connection relationship of related components).

Referring again to FIGS. 12 and 13 , when the third driver 6 is activated, the linked first slider 453 will pull the second swing arm 44 to move in a specific direction (see FIG. 13 ). For the embodiment disclosed in FIG. 2, the activation of the third driver 6 will prompt the second swing arm 44 to link the base plate 30, take the first universal pivot 41 as the fulcrum, and link the first swing arm 412 so that The substrate 30 rotates toward the X-axis in the direction of the Z-axis in the three-dimensional space. In other words, after the previously exposed distance sensor 31 senses the position or angle deviation with the detected object, the central control system will send an electronic signal to the The adjustment mechanism of the substrate 30 (referred to as the third driver 6 at this point) makes the substrate 30 deviate towards the angle or position where the detected object (i.e. the LCM) 13 is inclined, so that the CCD mounted on the substrate 30 takes an image The device 32 can be completely aligned with the detected object 13, that is, the distance between each CCD imaging device 32 and the detected object 13 tends to be parallel and aligned, so as to avoid the state of distortion caused by inconsistency in imaging; the above-mentioned adjustment Please also refer to the actions shown in Figures 14 and 15 at the same time. When the position of the detected object 13 placed on the production line deviates from the setting of the original CCD imaging device 32 (see the β angle in the illustration of Figure 14), That is, the action of the third driver 6 causes the substrate 30 to be adjusted in the direction of the deviation angle from the detected object 13 (see FIG. 15 ), that is to say, the detection device of the present invention can be automatically compensated and corrected in advance, so that the CCD can take an image The content ingested by the device 32 is the most realistic.

In addition, it is worth mentioning that a fourth driver 7 can be added on the side of the straddle guide rail 201 adjacent to the second and third universal pivots 42, 43, and please refer to FIGS. 2, 16 and 17 at the same time. , the fourth driver 7 has a fourth servo motor 70, a coupling 71, a fourth drive screw 72 and a guide block 73 like any driver of the front disclosure, wherein the guide block 73 and the guide plate 45 of the front disclosure connected, and the other end of the guide block 73 is screwed on the fourth drive screw 72, that is, the rotation of the screw 72 drives the guide block 73 to generate displacement; The axis of the fourth servo motor 70 is connected, that is, the axis of the motor 70 drives the fourth driving screw 72 to rotate when the motor 70 starts running, and then pulls the guide plate 45 linked by the guide block 73 to generate displacement.

As shown in FIGS. 16 and 17 , when the fourth driver 7 is activated, the linked guide plate 45 will pull the second swing arm 44 to move in a specific direction. With the embodiment disclosed in FIG. 2, if only the fourth driver 7 is activated (the first driver 21 is not activated), the second swing arm 44 will be prompted to link the base plate 30, and the first universal pivot 41 will also be activated. as a fulcrum, and linked with the first swing arm 412 to rotate the substrate 30 towards the Y-axis direction of the three-dimensional space, in other words, the distance sensor 31 disclosed above senses the position or angle deviation between the detected object (that is, the After the θ angle shown), the central control system will send an electronic signal to the adjustment mechanism of the substrate 30 (in this case, the fourth driver 7), so that the substrate 30 is tilted toward the detected object (that is, the LCM) 13. Or the direction of the position is shifted, so that the CCD imaging device 32 carried on the substrate 30 can be completely aligned with the detected object 13, that is, the distance between each CCD imaging device 32 and the detected object 13 tends to be parallel and Alignment, so as not to cause distorted state caused by inconsistency in imaging; The action of the four drivers 7 makes the substrate 30 adjust toward the direction of the deviation angle (ie, the angle θ shown in the figure) with the detected object 13 (see Figure 17), that is to say, the detection device of the present invention can be automatically compensated and corrected in advance , so that the content picked up by the CCD imaging device 32 is most likely to be true.

To sum up, the detection device of the present invention does have the substantial effect of automatically pre-compensating and correcting the position or angle deviation with the detected object, and the corrected angle and orientation are considered comprehensively, and there is no dead angle as much as possible more importantly, when correcting the position of the CCD imaging device 32, the base plate 30 that carries this complex number of imaging devices 32 adopts coplanar displacement or rotation, so the individuality of each CCD imaging device 32 and The alignment distance between the detected objects will not deviate, making the detection results more accurate and reliable.

However, the above description and the display of the drawings are only a single preferred embodiment presented by the technical means of the present invention, and cannot be used to limit the scope of rights of the present invention. Those who have ordinary knowledge in the technical field quote The equivalent modification or change design made by the spirit of the present invention shall be covered by the narration of the scope of the patent application, and shall be stated first.

Claims (10)

1, a kind of pick-up unit of detected material capable of automatic aligning, comprise a pair of parallel and symmetrical each other frame and the guide rail of striding, one is loaded with the substrate apart from detector and image-taking device, and be used for driving first driver of described substrate in the guide rail operation, make substrate in path slippage that guide rail sets by described first driver, make apart from detector near detected material, and will detect and detected material between distance, position or angular deviation numerical value are sent to a central control system, computer software computing with described central control system drives a substrate adjusting mechanism, makes substrate obtain compensation automatically, and align detected material in order to the correct detection picture of image-taking device picked-up; It is characterized in that: the adjusting mechanism of described substrate comprises the universal pivot of at least three groups, these three groups of universal pivots comprise first universal pivot that is mounted on substrate one side and second, third the universal pivot that is mounted on the substrate opposite side, wherein, the first universal pivot is the fulcrum of default power, second and third universal pivot is then respectively with second, third driver drives substrate, make described substrate towards detected material direction skew or rotation, can align detected material fully to image-taking device till.

2, pick-up unit as claimed in claim 1 is characterized in that,

Above-mentioned first driver: comprise first servo motor, shaft coupling, first drive screw and guide block, link to each other with a slide between one end of described guide block and the substrate, substrate is by moving on guide rail with striding the shape that the frame guide rail is complementary on this slide, and the other end of guide block then is bolted on first drive screw;

The first universal pivot comprises the first pivot seat, first swing arm and is used for articulating first block set and first universal bearing of the first pivot seat and first swing arm; One end of the described first pivot seat is connected in slide, and the other end then articulates with first swing arm, and the other end of first swing arm then is connected in aforesaid substrate.

3, pick-up unit as claimed in claim 2, it is characterized in that, the pivot joint mode of the above-mentioned first pivot seat and first swing arm articulates by first block set and first universal bearing, described first universal shaft is contracted the outer rim of being located at first block set, one end and is embedded in the first pivot seat, first block set then is set between the first pivot seat and first swing arm, pass first block set and first universal bearing respectively by two bolts, be used for fixing first block set and first swing arm, and first universal bearing and first block set, make described swing arm can produce universal swinging or spinning movement with respect to the first pivot seat.

4, pick-up unit as claimed in claim 1, it is characterized in that, above-mentioned second and third universal pivot comprises second and third pivot seat, second and third universal bearing, second and third block set respectively, and described second and third pivot seat is articulated in the diverse location of same second swing arm by second and third universal bearing and second and third block set, make described second and third pivot seat have relation with the second swing arm interlock, described second swing arm also is connected in substrate, makes substrate and this second and third pivot seat have continuous action relation equally; Above-mentioned second and third universal bearing is to be embedded in respectively in second and third pivot seat, second and third block set of difference socket in described second and third universal bearing, and respectively fixed with a bolt, then each is connected with second swing arm with another bolt the other end of above-mentioned second and third block set.

5, pick-up unit as claimed in claim 4 is characterized in that, is provided with a guide plate between second and third universal pivot and contiguous guide rail, is provided with guide rail to be sliding shape of joining state on guide plate, makes the described guide plate can slippage on guide rail; One end of guide plate is towards being extended with first slide with the 3rd pivot seat parallel direction, between first slide and the 3rd pivot seat, be provided with one first slide block, described the 3rd pivot seat is resisted against on this first slide block and is sliding with first slide and joins relation, and the 3rd pivot seat can be slided in described first slide.

6, pick-up unit as claimed in claim 5, it is characterized in that, above-mentioned guide plate is provided with a chute in addition in the side in the face of substrate, described chute slips a slide plate, one end of this slide plate extends one second slide towards the direction parallel with the second pivot seat, slip with one second slide block in addition between this second slide and the second pivot seat, the described second pivot seat can be slided in second slide.

7, pick-up unit as claimed in claim 6, it is characterized in that, above-mentioned second driver is connected in the end face of slide plate, this second driver comprises one second servo motor, shaft coupling, second drive screw and a guide block, this guide block links to each other with slide plate, the other end of guide block is bolted on second drive screw, that is drives guide block generation displacement by the spinning movement of this second drive screw; This second drive screw is connected with the axle center of second servo motor by a shaft coupling, and promptly this motor drives the rotation of second drive screw with its axle center when starting running, and and then the displacement of drawing the slide plate generation straight line that is subjected to the guide block interlock.

8, pick-up unit as claimed in claim 6, it is characterized in that, above-mentioned the 3rd driver is stated from the end face of first slide, the 3rd driver includes the 3rd servo motor, shaft coupling, the 3rd drive screw and a guide block, this guide block links to each other with first slide block, the other end of guide block is bolted on the 3rd drive screw, that is drives guide block generation displacement by the spinning movement of the 3rd drive screw; The 3rd drive screw is connected by the axle center of shaft coupling with the 3rd servo motor, and promptly the 3rd servo motor drives the rotation of the 3rd drive screw with its axle center when starting running, and and then the traction displacement that is subjected to first slide block of guide block interlock to produce straight line.

9, pick-up unit as claimed in claim 6 is characterized in that, in the side of striding frame and guide rail adjacent to second and third universal pivot, is provided with the 4th driver of an interlock guide plate.

10, pick-up unit as claimed in claim 9, it is characterized in that, above-mentioned the 4th driver comprises one the 4th servo motor, shaft coupling, the moving screw rod of 4 wheel driven and a guide block, this guide block links to each other with guide plate, and the other end of guide block is bolted on the moving screw rod of 4 wheel driven, and the spinning movement of moving screw rod by this 4 wheel driven can drive guide block generation displacement; The moving screw rod of this 4 wheel driven is connected with the axle center of the 4th servo motor by a shaft coupling, make this motor drive the moving screw rod rotation of 4 wheel driven with its axle center when starting running, and then traction is subjected to the guide plate of guide block interlock to produce displacement.

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