CN103920653A - Integrated automatic flatness-detecting, feeding and sorting apparatus and control method - Google Patents
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Abstract
本发明提供了一种全自动平面度检测送料分拣一体化装置，包括机械手，机械手与上位机连接，平面度检测仪通过数据采集卡与上位机连接；机械手从待检箱吸取物料并将物料送至平面度检测仪，平面度检测仪对物料进行平面度检测并将检测结果传送至上位机，上位机根据平面度检测仪的检测结果确定该物料为正品或次品并将该信号传送给机械手；若为正品，则机械手将该测试后物料送至正品箱；若为次品，则机械手将该测试后物料送至次品箱。本发明还提供了一种全自动平面度检测送料分拣一体化装置的控制方法。本发明提供的装置可以实现全自动平面度检测与分拣，实现循环的取料、检测、送料的操作，大大提高了工作效率，适用于实际检测应用中的批量化操作。
The invention provides a fully automatic flatness detection, feeding and sorting integrated device, which includes a manipulator, the manipulator is connected with the host computer, the flatness detector is connected with the host computer through a data acquisition card; Send it to the flatness detector. The flatness detector will detect the flatness of the material and send the test result to the host computer. The host computer will determine whether the material is genuine or defective according to the test result of the flatness detector and send the signal to Manipulator; if it is a genuine product, the manipulator sends the tested material to the genuine box; if it is a defective product, the manipulator sends the tested material to the defective box. The invention also provides a control method for the integrated device of automatic flatness detection, feeding and sorting. The device provided by the invention can realize full-automatic flatness detection and sorting, realize cyclic operations of material taking, detection, and material feeding, greatly improve work efficiency, and is suitable for batch operations in actual detection applications.
Description
技术领域technical field
本发明涉及一种全自动平面度检测送料分拣一体化装置及控制方法，属于测控技术领域。The invention relates to a fully automatic flatness detection, feeding and sorting integrated device and a control method, belonging to the technical field of measurement and control.
背景技术Background technique
平面的变形程度直接影响到产品的质量，平面度检测是高质量平面加工过程中的一个重要环节。如果经机加工后的零件表面其平面度有技术要求，必须经测量后判断其是否合格。测量产品平面度的方法有多种，如：(1)将工件放在平板上，用塞片塞插进行测量；(2)将平尺放在工件平面上，用塞片塞插测量；(3)将工件放在平板上，被测平面向上，用三个可调支承从下方顶住工件，在平面上调出三个等高点作为理想平面的零点，再用可移动指示表测量；(4)将工件放置于三坐标机上测量。上述这些方法均适合于在测量室内操作，但测量效率较低，且同时只能检测一个平面。传统的平面度检测及数据处理方式在使用中，上料及出料基本依靠手工方式，不但费时，而且不方便批量生产，尤其不适应规模生产的自动化检测过程。The degree of deformation of the plane directly affects the quality of the product, and flatness inspection is an important link in the process of high-quality plane processing. If there are technical requirements for the flatness of the surface of the machined part, it must be measured to determine whether it is qualified. There are many ways to measure the flatness of the product, such as: (1) place the workpiece on a flat plate and measure it with a plug; (2) place a flat ruler on the workpiece plane and measure it with a plug; ( 3) Put the workpiece on the flat plate, with the measured plane facing up, use three adjustable supports to withstand the workpiece from below, adjust three contour points on the plane as the zero point of the ideal plane, and then use the movable indicator to measure; (4) Place the workpiece on the three-coordinate machine for measurement. The above methods are all suitable for operation in the measurement room, but the measurement efficiency is low, and only one plane can be detected at the same time. In the use of traditional flatness detection and data processing methods, the loading and unloading of materials basically rely on manual methods, which is not only time-consuming, but also inconvenient for mass production, especially not suitable for the automatic detection process of mass production.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种自动化程度高、使用方便、效率高的平面度检测送料分拣一体化装置及控制方法。The technical problem to be solved by the present invention is to provide a flatness detection, feeding and sorting integrated device and control method with high degree of automation, convenient use and high efficiency.
为了解决上述技术问题，本发明的技术方案是提供一种全自动平面度检测送料分拣一体化装置，其特征在于：包括机械手，机械手通过PLC与上位机连接，平面度检测仪通过数据采集卡与上位机连接；机械手从待检箱吸取物料并将物料送至平面度检测仪，平面度检测仪对物料进行平面度检测并将检测结果传送至上位机，上位机根据平面度检测仪的检测结果确定该物料为正品或次品并将该信号传送给机械手；若为正品，则机械手将该测试后物料送至正品箱；若为次品，则机械手将该测试后物料送至次品箱；In order to solve the above technical problems, the technical solution of the present invention is to provide a fully automatic flatness detection, feeding and sorting integrated device, which is characterized in that: it includes a manipulator, the manipulator is connected to the host computer through PLC, and the flatness detector is connected through a data acquisition card. Connected with the upper computer; the manipulator sucks the material from the box to be inspected and sends the material to the flatness detector. The flatness detector detects the flatness of the material and transmits the detection result to the upper computer. The result determines whether the material is genuine or defective and sends the signal to the robot; if it is genuine, the robot sends the tested material to the genuine box; if it is a defective product, the robot sends the tested material to the defective box ;
平面度检测仪包括检测底座，载物台通过导轨设于检测底座上；导轨一侧设有水平伸缩气缸，水平伸缩气缸连接载物台；导轨另一侧设置检测工位，霍尔传感器设于检测工位处，顶面位移传感器通过升降气缸设于检测工位上方，侧面位移传感器设于检测工位远离导轨的一侧；检测工位两端均设有阻尼弹簧，当载物台位于检测工位时，阻尼弹簧在载物台两端的挤压下处于压缩状态；侧面位移传感器、顶面位移传感器、霍尔传感器、升降气缸、水平伸缩气缸均通过数据采集卡与上位机连接；The flatness detector includes a detection base, and the stage is set on the detection base through a guide rail; a horizontal telescopic cylinder is provided on one side of the guide rail, and the horizontal telescopic cylinder is connected to the stage; the detection station is provided on the other side of the guide rail, and the Hall sensor is located At the detection station, the top surface displacement sensor is set above the detection station through the lifting cylinder, and the side displacement sensor is installed on the side away from the guide rail of the detection station; both ends of the detection station are equipped with damping springs. When in the working position, the damping spring is in a compressed state under the extrusion of both ends of the stage; the side displacement sensor, the top surface displacement sensor, the Hall sensor, the lifting cylinder, and the horizontal telescopic cylinder are all connected to the host computer through the data acquisition card;
机械手包括机器人底座，连杆一端连接机器人底座，连杆另一端连接机械臂一端，机械臂另一端连接伸缩杆。The manipulator includes a robot base, one end of the connecting rod is connected to the robot base, the other end of the connecting rod is connected to one end of the mechanical arm, and the other end of the mechanical arm is connected to the telescopic rod.
优选地，所述霍尔传感器通过霍尔传感器固定装置设于所述检测工位处。Preferably, the Hall sensor is arranged at the detection station through a Hall sensor fixing device.
优选地，所述检测工位上方设有顶面传感器固定装置，所述顶面位移传感器通过所述升降气缸设于顶面传感器固定装置上。Preferably, a top surface sensor fixing device is provided above the detection station, and the top surface displacement sensor is arranged on the top surface sensor fixing device through the lifting cylinder.
优选地，所述侧面位移传感器通过侧面传感器固定装置设于所述检测工位远离导轨的一侧。Preferably, the side displacement sensor is arranged on the side of the detection station away from the guide rail through a side sensor fixing device.
优选地，所述阻尼弹簧通过阻尼弹簧固定装置设于所述检测工位两端。Preferably, the damping spring is arranged at both ends of the detection station through a damping spring fixing device.
优选地，所述载物台靠近所述水平伸缩气缸的一侧设有台阶。Preferably, a step is provided on a side of the loading platform close to the horizontal telescopic cylinder.
优选地，所述机械手的连杆、机械臂用于在平面内进行定位和定向，所述伸缩杆用于完成末端物料垂直于平面的运动。Preferably, the connecting rod and the mechanical arm of the manipulator are used for positioning and orientation in a plane, and the telescopic rod is used for completing the movement of the terminal material perpendicular to the plane.
优选地，所述机械手的伸缩杆末端设有吸盘，吸盘可在电磁阀的作用下吸住物料。Preferably, a suction cup is provided at the end of the telescopic rod of the manipulator, and the suction cup can suck the material under the action of the solenoid valve.
本发明还提供了上述全自动平面度检测送料分拣一体化装置的控制方法，其特征在于：该方法由以下7个步骤组成：The present invention also provides a control method for the above-mentioned fully automatic flatness detection, feeding and sorting integrated device, which is characterized in that the method consists of the following seven steps:
步骤1：机械手回归到初始位置，即待检箱正上方；平面度检测装置的载物台回归初始位置，即水平伸缩气缸处于未伸出状态；平面度检测装置的顶面位移传感器回归到初始位置，即升降气缸处于未伸出状态；Step 1: The manipulator returns to the initial position, which is directly above the box to be inspected; the stage of the flatness detection device returns to the initial position, that is, the horizontal telescopic cylinder is in the unextended state; the top surface displacement sensor of the flatness detection device returns to the initial position position, that is, the lifting cylinder is in the unextended state;
步骤2：启动测量，机械手下降去吸取当前待测工件，然后逆时针旋转将待测工件送至平面度检测装置的载物台上；Step 2: Start the measurement, the manipulator descends to pick up the current workpiece to be measured, and then rotates counterclockwise to send the workpiece to be measured to the stage of the flatness detection device;
步骤3：平面度检测装置开始测量，载物台在水平伸缩气缸的驱动下进入检测工位，并通过阻尼弹簧进行平衡减速；升降气缸下压，使得顶面位移传感器的探头处于自由状态并接触待测工件，数据采集卡获取顶面位移传感器和侧面位移传感器的数据并传给上位机，上位机根据获得的数据分析计算并确定该工件为正品或次品，并将该测定结果传送给机械手；Step 3: The flatness detection device starts to measure, and the stage enters the detection station driven by the horizontal telescopic cylinder, and is balanced and decelerated by the damping spring; the lifting cylinder is pressed down, so that the probe of the top surface displacement sensor is in a free state and contacts For the workpiece to be tested, the data acquisition card obtains the data of the top surface displacement sensor and the side displacement sensor and transmits it to the host computer. The host computer analyzes and calculates and determines whether the workpiece is genuine or defective according to the obtained data, and transmits the measurement result to the manipulator. ;
步骤4：升降气缸上拉，顶面位移传感器脱离工件顶面，水平伸缩气缸将载物台拉回到初始位置；Step 4: Pull up the lifting cylinder, the top surface displacement sensor is separated from the top surface of the workpiece, and the horizontal telescopic cylinder pulls the stage back to the initial position;
步骤5：机械手根据测定结果分拣测试后工件，机械手将测试后工件吸住，若为正品，则逆时针旋转至正品箱上方将测试后工件送至正品箱内；若为次品，则逆时针旋转至次品箱上方将测试后工件送至次品箱内；Step 5: The manipulator sorts the tested workpieces according to the measurement results, and the manipulator sucks the tested workpieces. If it is a genuine product, it rotates counterclockwise to the top of the genuine product box and sends the tested workpieces to the genuine product box; The hour hand rotates to the top of the defective product box to send the tested workpiece to the defective product box;
步骤6：机械手返回至待检箱上方：Step 6: The manipulator returns to the top of the box to be inspected:
步骤7：如全部检测过程未结束，则跳转到步骤2继续执行，否则检测结束。Step 7: If all the detection processes are not over, then jump to step 2 to continue execution, otherwise the detection ends.
本发明提供的装置克服了现有技术的不足，可以实现全自动平面度检测与分拣，在运行的过程中可随时通过上位机界面进行急停复位，保证操作者的安全；并且可进行全自动化控制，实现循环的取料、检测、送料的操作，大大提高了工作效率，适用于实际检测应用中的批量化操作。The device provided by the invention overcomes the deficiencies of the prior art, can realize automatic flatness detection and sorting, and can perform emergency stop and reset through the host computer interface at any time during operation to ensure the safety of the operator; and can perform full-automatic flatness detection and sorting Automatic control realizes the operation of retrieving, testing and feeding in a cycle, which greatly improves the work efficiency and is suitable for batch operation in actual testing applications.
附图说明Description of drawings
图1为本发明提供的全自动平面度检测送料分拣一体化装置俯视图；Fig. 1 is a top view of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention;
图2为本发明提供的全自动平面度检测送料分拣一体化装置左视图；Fig. 2 is a left view of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention;
图3为本发明提供的全自动平面度检测送料分拣一体化装置轴测图；Fig. 3 is an axonometric view of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention;
图4为平面度检测仪俯视图；Fig. 4 is a top view of the flatness detector;
图5为平面度检测仪左视图；Fig. 5 is a left view of the flatness detector;
图6为机械手示意图；Fig. 6 is a schematic diagram of the manipulator;
图7为本发明提供的全自动平面度检测送料分拣一体化装置系统框图；Fig. 7 is a system block diagram of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention;
图8为本发明提供的全自动平面度检测送料分拣一体化装置控制方法的流程图。Fig. 8 is a flow chart of the control method of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention.
具体实施方式Detailed ways
为使本发明更明显易懂，兹以一优选实施例，并配合附图作详细说明如下。In order to make the present invention more comprehensible, a preferred embodiment is described in detail below with accompanying drawings.
图1～图3分别为本发明提供的全自动平面度检测送料分拣一体化装置俯视图、左视图和轴测图，所述的全自动平面度检测送料分拣一体化装置包括平面度检测仪1、待检箱2、机械手3、次品箱4和正品箱5，平面度检测仪1和机械手3均与上位机连接。Figures 1 to 3 are respectively the top view, left view and axonometric view of the fully automatic flatness detection, feeding and sorting integrated device provided by the present invention. The fully automatic flatness detection, feeding and sorting integrated device includes a flatness detector 1. The box to be inspected 2, the manipulator 3, the defective product box 4 and the genuine product box 5, the flatness detector 1 and the manipulator 3 are all connected to the host computer.
本发明提供的全自动平面度检测送料分拣一体化装置通过上位机及PLC控制平面度检测仪1和机械手3实现全自动一体化操作，包括机械手3从待检箱2吸取物料、机械手3将物料送至平面度检测仪1的检测台、平面度检测仪1对物料进行检测、机械手3将检测后物料送至正／次品箱、机械手3返回原位等操作。全自动平面度检测送料分拣一体化装置，在运行的过程中可随时通过上位机界面进行急停复位，保证操作者的安全。并且，本装置可进行全自动化控制，当启动装置后，即可实现循环的取料、检测、送料的操作，提高了工作效率。The fully automatic flatness detection, feeding and sorting integrated device provided by the present invention realizes fully automatic integrated operation through the upper computer and the PLC to control the flatness detector 1 and the manipulator 3, including the manipulator 3 sucking materials from the box 2 to be inspected, and the manipulator 3 The material is sent to the detection table of the flatness detector 1, the flatness detector 1 detects the material, the manipulator 3 sends the tested material to the positive/defective box, and the manipulator 3 returns to the original position, etc. The fully automatic flatness detection, feeding and sorting integrated device can perform emergency stop and reset through the host computer interface at any time during operation to ensure the safety of the operator. Moreover, the device can be fully automated, and when the device is started, the operations of retrieving, detecting and feeding materials can be realized in a cycle, which improves the work efficiency.
结合图4和图5，平面度检测仪1包括检测底座6，载物台12通过导轨15装在检测底座6上，载物台12可沿导轨15滑动。导轨15一侧装有水平伸缩气缸13，水平伸缩气缸13连接载物台12。导轨15另一侧设置检测工位，霍尔传感器10通过霍尔传感器固定装置16设于检测工位处。顶面传感器固定装置17设于检测工位上方，顶面位移传感器9通过升降气缸11设于顶面传感器固定装置17上；侧面位移传感器8通过侧面传感器固定装置18设于检测工位远离导轨15的一侧。阻尼弹簧7通过阻尼弹簧固定装置19设于检测工位两端，且分别与载物台12的两端同轴设置，在载物台12接近检测工位时，通过阻尼弹簧7进行减速。侧面位移传感器8、顶面位移传感器9、霍尔传感器10、升降气缸11、水平伸缩气缸13均通过数据采集卡与上位机相连接。Referring to FIG. 4 and FIG. 5 , the flatness detector 1 includes a detection base 6 , on which the object stage 12 is mounted on the detection base 6 through a guide rail 15 , and the object stage 12 can slide along the guide rail 15 . One side of the guide rail 15 is equipped with a horizontal telescopic cylinder 13, and the horizontal telescopic cylinder 13 is connected to the loading platform 12. The other side of the guide rail 15 is provided with a detection station, and the Hall sensor 10 is arranged at the detection station through the Hall sensor fixing device 16 . The top surface sensor fixing device 17 is arranged above the detection station, the top surface displacement sensor 9 is arranged on the top surface sensor fixing device 17 through the lifting cylinder 11; the side displacement sensor 8 is arranged on the detection station through the side sensor fixing device 18 away from the guide rail 15 side. The damping spring 7 is arranged at both ends of the detection station through the damping spring fixing device 19, and is coaxially arranged with the two ends of the stage 12 respectively. When the stage 12 approaches the detection station, it is decelerated by the damping spring 7. The side displacement sensor 8, the top surface displacement sensor 9, the Hall sensor 10, the lifting cylinder 11, and the horizontal telescopic cylinder 13 are all connected with the host computer through the data acquisition card.
待测工件14在送上载物台12后，可在水平伸缩气缸13的驱动下到达检测工位，并同时接受顶面和侧面的平面度检测，通过上位机软件控制可实现平面度快速检测，之后将检测后的工件送回至原工位。载物台12靠近水平伸缩气缸13一侧带有台阶，目的是挡住待检工件。在载物台12接近检测工位时，通过阻尼弹簧7进行减速(阻尼弹簧呈对称分布正好抵消驱动力以保障待检物品能和载物台保持同一平行)，在水平伸缩气缸13停止驱动后，并且霍尔传感器10检测到信号时，升降气缸11下降使得顶面位移传感器9与待测工件接触，即可开始读取传感器数据。After the workpiece 14 to be tested is sent to the stage 12, it can reach the detection station driven by the horizontal telescopic cylinder 13, and accept the flatness detection of the top surface and the side surface at the same time. The flatness can be quickly detected through the software control of the host computer. Afterwards, the detected workpiece is sent back to the original station. The stage 12 has a step near the side of the horizontal telescopic cylinder 13, the purpose is to block the workpiece to be inspected. When the stage 12 is close to the detection station, it is decelerated by the damping spring 7 (the damping spring is symmetrically distributed to just offset the driving force to ensure that the item to be inspected can remain in the same parallel with the stage), after the horizontal telescopic cylinder 13 stops driving , and when the Hall sensor 10 detects a signal, the lifting cylinder 11 descends so that the top surface displacement sensor 9 contacts the workpiece to be measured, and the sensor data can be read.
PC机上的检测软件控制检测装置，执行送料到检测工位、执行检测、检测完返回原工位。检测过程中，数据采集卡读取传感器数据并进行转换，然后检测软件进一步进行数据处理，分别得出待测工件两个相邻垂直面的平面度。The detection software on the PC controls the detection device, executes feeding to the detection station, performs detection, and returns to the original station after the detection. During the detection process, the data acquisition card reads and converts the sensor data, and then the detection software further processes the data to obtain the flatness of two adjacent vertical surfaces of the workpiece to be measured.
结合图6，机械手3采用SCARA型工业机器人，由机器人底座20、连杆21、机械臂22和伸缩杆23组成。连杆21一端连接机器人底座20，另一端连接机械臂22一端，机械臂22另一端连接伸缩杆23。机械手有3个旋转关节，分别为机器人底座20与连杆21连接处、连杆21与机械臂22连接处、机械臂22与伸缩杆23连接处，其轴线相互平行，在平面内进行定位和定向。伸缩杆23是移动关节，用于完成末端件在垂直于平面的运动，同时伸缩杆23末端为吸盘，可在电磁阀的作用下吸住物料。Referring to FIG. 6 , the manipulator 3 is a SCARA type industrial robot, which is composed of a robot base 20 , a connecting rod 21 , a mechanical arm 22 and a telescopic rod 23 . One end of the connecting rod 21 is connected to the robot base 20 , the other end is connected to one end of the mechanical arm 22 , and the other end of the mechanical arm 22 is connected to the telescopic rod 23 . The manipulator has three revolving joints, which are respectively the joints of the robot base 20 and the connecting rod 21, the joints of the connecting rod 21 and the mechanical arm 22, and the joints of the mechanical arm 22 and the telescopic rod 23. Their axes are parallel to each other, and positioning and orientation. The telescopic rod 23 is a movable joint, which is used to complete the movement of the end piece perpendicular to the plane, and the end of the telescopic rod 23 is a sucker, which can hold the material under the action of the solenoid valve.
正品箱、次品箱和待检箱均为统一规格。The original box, the defective box and the waiting box are all of uniform specifications.
结合图7，上位机(PC机)上的检测软件通过可编程逻辑控制器(PLC)控制机械手3进行吸取物料、转移物料等操作。PC机上的检测软件通过数据采集卡控制平面度检测仪1并收集平面度检测数据。7, the detection software on the upper computer (PC) controls the manipulator 3 through the programmable logic controller (PLC) to perform operations such as absorbing and transferring materials. The detection software on the PC controls the flatness detector 1 through the data acquisition card and collects the flatness detection data.
全自动平面度检测送料分拣一体化装置的流程图如图8所示，包括如下步骤：The flow chart of the fully automatic flatness detection, feeding and sorting integrated device is shown in Figure 8, including the following steps:
步骤1：开机后，首先进行复位自检并设置参数。机械手3通过旋转回归到初始位置(即待检箱2正上方)，平面度检测装置1的载物台回归初始位置(即水平伸缩气缸13未伸出状态)，顶面位移传感器9回归到初始位置(即升降气缸11未伸出状态)。并根据需要设定参数。Step 1: After starting up, first perform reset self-test and set parameters. The manipulator 3 returns to the initial position by rotation (that is, directly above the box to be inspected 2), the stage of the flatness detection device 1 returns to the initial position (that is, the horizontal telescopic cylinder 13 is not extended), and the top surface displacement sensor 9 returns to the initial position. position (that is, the lifting cylinder 11 is not stretched out). And set parameters as required.
步骤2：批量测量启动。等待检测软件启动命令信号，启动测量。Step 2: Batch measurement starts. Wait for the detection software start command signal to start the measurement.
步骤3：机械手3下降去吸取当前待测工件，然后逆时针旋转将待测工件送至平面度检测装置1的载物台12上。Step 3: The manipulator 3 descends to pick up the current workpiece to be measured, and then rotates counterclockwise to send the workpiece to be measured to the stage 12 of the flatness detection device 1 .
步骤4：平面度检测装置1开始测量。载物台12在水平伸缩气缸13的驱动下进入检测工位，在载物台12接近检测工位时，通过阻尼弹簧7进行平衡减速，升降气缸11下压，使得顶面位移传感器9探头处于自由状态并接触待测工件，数据采集卡获取顶面位移传感器和侧面位移传感器的数据并传给测试软件，上位机软件分析计算平面度值，并记录相关数据。Step 4: The flatness detection device 1 starts to measure. The stage 12 enters the detection station driven by the horizontal telescopic cylinder 13. When the stage 12 is close to the detection station, the damping spring 7 is used to balance the deceleration, and the lifting cylinder 11 is pressed down, so that the probe of the top surface displacement sensor 9 is in the position of In the free state and in contact with the workpiece to be tested, the data acquisition card acquires the data of the top surface displacement sensor and the side displacement sensor and transmits it to the test software. The upper computer software analyzes and calculates the flatness value and records the relevant data.
步骤5：检测完后退回工件。升降气缸11上拉，顶面位移传感器9脱离工件顶面，水平伸缩气缸13将载物台12拉回到初始位置。Step 5: Return the workpiece after detection. The lifting cylinder 11 is pulled up, the top surface displacement sensor 9 is separated from the top surface of the workpiece, and the horizontal telescopic cylinder 13 pulls the loading platform 12 back to the initial position.
步骤6：机械手3根据测定结果分拣测试后工件。根据正品和次品的结果进行不同的方案。机械手3将测试后工件通过吸盘吸住，若为正品，则逆时针旋转至正品箱5上方将测试后工件送至正品箱5；若为次品，机械手逆时针旋转至次品箱4上方将测试后工件送至次品箱4。Step 6: The manipulator 3 sorts the tested workpieces according to the measurement results. Different programs are carried out according to the results of genuine and defective products. The manipulator 3 sucks the tested workpiece through the suction cup. If it is a genuine product, it rotates counterclockwise to the top of the genuine product box 5 and sends the tested workpiece to the genuine product box 5; After the test, the workpiece is sent to the defective product box 4.
步骤7：机械手3返回至待检箱2上方。Step 7: The manipulator 3 returns to the top of the box 2 to be inspected.
步骤8：如全部检测过程未结束则跳转到步骤3继续执行，否则检测结束。Step 8: If all the detection process is not over, then jump to step 3 to continue execution, otherwise the detection ends.
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| CN118046568B (en) * | 2024-04-16 | 2024-06-25 | 苏州任我行自动化有限公司 | Full-automatic plastic check out test set |
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Application publication date: 20140716 |