CN105396801B - A kind of metal strain meter detects, cuts, sorting automatically, packaging system - Google Patents
A kind of metal strain meter detects, cuts, sorting automatically, packaging system Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 41
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- Sorting Of Articles (AREA)
Abstract
本发明公开了一种金属应变计自动检测、裁切、分选、包装系统，属一种金属应变计检测、分选装置，所述的系统包括上料机构、拍照机构、分选机构与下料机构，所述上料机构、拍照机构、分选机构与下料机构分别安装在系统中对应的各个工位上，所述拍照机构与分选机构均接入控制系统；通过拍照机构拍摄当前料盘的照片而得到当前料盘中的金属应变计坐标及角度，再由分拣机构对每个应变计进行电阻值检测、抓取及分类放入分拣盒，整个过程均可由设备自动完成，仅在上料和下料时由人工参与，有效降低了劳动强度，分拣效率高，并且由检测分拣机构进行测阻也避免了人工误读阻值的情况，有效提升了产品质量。
The invention discloses a metal strain gauge automatic detection, cutting, sorting and packaging system, which belongs to a metal strain gauge detection and sorting device. The system includes a feeding mechanism, a photographing mechanism, a sorting mechanism and a lower The feeding mechanism, the camera mechanism, the sorting mechanism and the unloading mechanism are respectively installed on the corresponding stations in the system, and the camera mechanism and the sorting mechanism are all connected to the control system; The coordinates and angles of the metal strain gauges in the current tray are obtained from the photos of the trays, and then the sorting mechanism detects the resistance value of each strain gauge, grabs and sorts them into the sorting box. The whole process can be automatically completed by the equipment , Only manual participation in loading and unloading effectively reduces labor intensity and high sorting efficiency, and the resistance measurement by the detection and sorting mechanism also avoids the situation of manual misreading of resistance values, effectively improving product quality.
Description
技术领域technical field
本发明涉及一种金属应变计检测、分选装置，更具体的说，本发明主要涉及一种金属应变计自动检测、裁切、分选、包装系统。The invention relates to a metal strain gauge detection and sorting device, more specifically, the invention mainly relates to a metal strain gauge automatic detection, cutting, sorting and packaging system.
背景技术Background technique
电阻应变计(Resistance strain gage)是一种能将工程构件上的应变，即尺寸变化转换成为电阻变化的变换器(又称电阻应变片)，简称为应变计。一般由敏感栅、引线、粘结剂、基底和盖层组成。成品应变计为三明治结构，由基底材料、金属箔、覆层材料组成；应变计产品规格、形状不一，栅条排列有水平、竖直、45度斜线及圆形等,有单轴、双轴及三轴之分，应变计内部结构尺寸很小，一般栅条宽25～40μm，栅间距40～60μm。多数应变计产品尺寸较小，一般长宽均小于10mm，部分特殊产品栅条较长，可达到10mm；Resistance strain gage (Resistance strain gage) is a kind of transducer (also known as resistance strain gage), which can convert the strain on engineering components, that is, dimensional change into resistance change, and is referred to as strain gage for short. Generally, it is composed of sensitive grid, lead wire, adhesive, substrate and cover layer. The finished strain gauge is a sandwich structure, which is composed of base material, metal foil and cladding material; the specifications and shapes of the strain gauge products are different, and the grids are arranged horizontally, vertically, 45 degrees obliquely and circularly, etc. There are uniaxial, Divided into biaxial and triaxial, the internal structure of the strain gauge is very small. Generally, the grid width is 25-40 μm, and the grid spacing is 40-60 μm. Most strain gauge products are small in size, generally less than 10mm in length and width, and some special products have longer grids, which can reach 10mm;
目前应变计的测阻、分选、包装工作大都由人工完成，这种操作方式会导致以下几个方面的问题：一是误读阻值，或者测定的应变计放错位置，造成分选失误，影响产品的质量和品牌。二是包装数量容易有偏差。三是工作单调，人容易疲劳，难以持续正确高效工作。四是人工成本逐年上升，使产品成本上升；劳动效率较低，不能适应产量的提升；因而有必要设计一种金属应变计分选的专用设备。At present, the resistance measurement, sorting, and packaging of strain gauges are mostly done manually. This operation method will lead to the following problems: First, the resistance value is misread, or the measured strain gauge is placed in the wrong position, resulting in sorting errors , affecting the quality and brand of the product. Second, the quantity of packaging is prone to deviation. The third is that the work is monotonous, people are prone to fatigue, and it is difficult to continue to work correctly and efficiently. The fourth is that the labor cost increases year by year, which increases the product cost; the labor efficiency is low and cannot adapt to the increase in output; thus it is necessary to design a special equipment for sorting metal strain gauges.
发明内容Contents of the invention
本发明的目的之一在于针对上述不足，提供一种金属应变计自动检测、裁切、分选、包装系统，以期望解决现有技术中人工误读应变计阻值或包装数量偏差，造成分选及包装失误，影响产品质量，以及人工劳动强度大，且效率低下等技术问题。One of the purposes of the present invention is to address the above-mentioned deficiencies and provide a system for automatic detection, cutting, sorting, and packaging of metal strain gauges, in order to solve the problems caused by manual misreading of strain gauge resistance values or packaging quantity deviations in the prior art, resulting in Selection and packaging errors, affecting product quality, and technical problems such as high manual labor intensity and low efficiency.
为解决上述的技术问题，本发明采用以下技术方案：In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:
本发明所提供的一种金属应变计自动检测、裁切、分选、包装系统，所述的系统包括上料机构、拍照机构、分选机构与下料机构，所述上料机构、拍照机构、分选机构与下料机构分别安装在系统中对应的各个工位上，所述拍照机构与分选机构均接入控制系统；所述上料机构中包括第一工位平台与静电激发器，所述静电激发器安装在工位平台附近，所述工位平台用于放置料盘，所述静电激发器用于给金属应变计激发静电，使其吸附在料盘上；所述拍照机构包括拍照镜头与第二工位平台，所述拍照镜头安装在第二工位平台上方，用于由拍照镜头拍摄当前第二工位平台上的料盘内的图片，并将图片传输至控制系统，由控制系统识别料盘内每个金属应变计的坐标及角度数据；所述分选机构中包括第三工位平台、二维伺服平台、分拣头、电阻检测仪与分拣盒盘，所述二维伺服平台安装在第三工位平台的上面，所述分拣头通过分拣动作机构安装在二维伺服平台上，且所述分拣头还接入电阻检测仪；所述分拣盒盘通过分拣盒盘动作机构安装在第三工位平台上；用于由二维伺服平台带动分拣头从第三工位平台上料盘的零位坐标开始，按照预定的轨迹运动到预定的坐标，分拣头在分拣动作机构的作用下与金属应变计相接触测量其电阻值，然后抓取该金属应变计，根据电阻值将当前的金属应变计放入分拣盒盘中对应的分拣盒中。A metal strain gauge automatic detection, cutting, sorting and packaging system provided by the present invention, the system includes a feeding mechanism, a photographing mechanism, a sorting mechanism and a blanking mechanism, the feeding mechanism, the photographing mechanism 1. The sorting mechanism and the unloading mechanism are respectively installed on corresponding stations in the system, and the photographing mechanism and the sorting mechanism are connected to the control system; the feeding mechanism includes a first station platform and an electrostatic actuator , the electrostatic exciter is installed near the station platform, the station platform is used to place the tray, and the electrostatic exciter is used to excite static electricity to the metal strain gauge to make it adsorb on the tray; the camera mechanism includes a photographing lens and a second station platform, the photographing lens is installed above the second station platform, and is used to take pictures in the material tray on the current second station platform by the photographing lens, and transmit the pictures to the control system, The control system identifies the coordinates and angle data of each metal strain gauge in the tray; the sorting mechanism includes a third station platform, a two-dimensional servo platform, a sorting head, a resistance detector and a sorting box. The two-dimensional servo platform is installed on the third station platform, the sorting head is installed on the two-dimensional servo platform through a sorting action mechanism, and the sorting head is also connected to a resistance detector; The box tray is installed on the third station platform through the action mechanism of the sorting box tray; it is used to drive the sorting head from the zero coordinate of the tray on the third station platform by the two-dimensional servo platform, and move to Predetermined coordinates, the sorting head contacts the metal strain gauge under the action of the sorting action mechanism to measure its resistance value, then grabs the metal strain gauge, and puts the current metal strain gauge into the sorting box tray according to the resistance value in the corresponding sorting box.
作为优选，进一步的技术方案是：所述的金属应变计自动检测、裁切、分选、包装系统还包括传送机构，所述传送机构贯穿于安装于系统中的各个工位平台下方；所述传送机构中至少设有传送带与步进电机，所述步进电机也接入控制系统，用于由控制系统控制步进电机的启停与正反转，进而带动传送带将料盘输送至系统中的各个工位上。As a preference, a further technical solution is: the metal strain gauge automatic detection, cutting, sorting, and packaging system also includes a transmission mechanism, and the transmission mechanism runs through the bottom of each station platform installed in the system; The transmission mechanism is equipped with at least a conveyor belt and a stepping motor, and the stepping motor is also connected to the control system, which is used to control the start and stop, forward and reverse rotation of the stepping motor by the control system, and then drive the conveyor belt to transport the tray to the system at each station.
更进一步的技术方案是：所述的第二工位平台与第三工位平台上均设有料盘固定装置。A further technical solution is: both the second station platform and the third station platform are provided with tray fixing devices.
更进一步的技术方案是：所述分选机构中还包括分拣头清洗机构，所述分拣头清洗机构安装在第三工位平台上，所述分拣头清洗机构至少包括检测探针短路装置与探针清洗池，所述探针短路装置与电阻检测仪相连，用于检测分拣头的接触电阻，根据接触电阻检测结果，控制系统控制二维伺服平台及分拣动作机构使分拣头进入探针清洗池内进行清洗。A further technical solution is: the sorting mechanism also includes a sorting head cleaning mechanism, the sorting head cleaning mechanism is installed on the third station platform, and the sorting head cleaning mechanism at least includes a detection probe short circuit The device is connected to the probe cleaning pool, and the probe short-circuit device is connected with a resistance detector to detect the contact resistance of the sorting head. According to the contact resistance detection result, the control system controls the two-dimensional servo platform and the sorting action mechanism to make the sorting The head enters the probe cleaning pool for cleaning.
更进一步的技术方案是：所述下料机构中至少包括第四工位平台，用于由传送带将分选金属应变计后的料盘输送至第四工位平台。A further technical solution is: the unloading mechanism includes at least a fourth station platform, which is used to transport the trays after sorting the metal strain gauges to the fourth station platform by a conveyor belt.
更进一步的技术方案是：所述的控制系统至少包括工控机，所述工控机分别接入静电激发器、拍照镜头、料盘固定装置；所述工控机还通过运动控制卡分别接入二维伺服平台、分拣动作机构与分拣盒盘动作机构；用于由工控机控制静电激发器及料盘固定装置的开启与关闭，并控制拍照镜头启动采集当前料盘内的图片，进而根据当前图片识别出料盘内每个金属应变计相对于料盘原点的坐标值，以及每个金属应变计焊盘相对于料盘X轴的角度数据；并通过运动控制卡控制二维伺服平台、分拣动作机构与分拣盒盘动作机构的动作，使分拣头完成每个金属应变计电阻检测及抓取分拣的操作。A further technical solution is: the control system at least includes an industrial computer, and the industrial computer is respectively connected to the electrostatic exciter, the camera lens, and the tray fixing device; the industrial computer is also connected to the two-dimensional Servo platform, sorting action mechanism and sorting box tray action mechanism; used to control the opening and closing of the electrostatic actuator and tray fixing device by the industrial computer, and control the camera lens to start collecting pictures in the current tray, and then according to the current The picture identifies the coordinate value of each metal strain gauge in the discharge tray relative to the origin of the tray, and the angle data of each metal strain gauge pad relative to the X-axis of the tray; and the two-dimensional servo platform is controlled by the motion control card. The action of the sorting action mechanism and the sorting box tray action mechanism enables the sorting head to complete the resistance detection of each metal strain gauge and the operation of grasping and sorting.
更进一步的技术方案是：所述分拣头上安装有真空吸附装置，用于由真空吸附装置吸附抓取当前金属应变计。A further technical solution is: a vacuum adsorption device is installed on the sorting head, which is used to absorb and grasp the current metal strain gauge by the vacuum adsorption device.
与现有技术相比，本发明的有益效果之一是：通过拍照机构拍摄当前料盘的照片而得到当前料盘中的金属应变计坐标及角度，再由分拣机构对每个应变计进行测阻、抓取及分类放入分拣盒，整个过程均可由设备自动完成，仅在上料和下料时由人工参与，有效降低了劳动强度，分拣效率高，并且由检测分拣机构进行测阻也避免了人工误读阻值的情况，有效提升了产品质量，同时本发明所提供的一种金属应变计自动检测、裁切、分选、包装系统结构简单，可用于各类规格的应变计检测、分选及包装，应用范围广阔。Compared with the prior art, one of the beneficial effects of the present invention is: the coordinates and angles of the metal strain gauges in the current tray are obtained by taking a photo of the current tray through the camera mechanism, and then the sorting mechanism performs a check on each strain gauge. The whole process of resistance measurement, grabbing and sorting into the sorting box can be completed automatically by the equipment, and only manual participation is required during loading and unloading, which effectively reduces labor intensity and high sorting efficiency, and is controlled by the detection and sorting mechanism Measuring the resistance also avoids the situation of manual misreading of the resistance value, which effectively improves the product quality. At the same time, the automatic detection, cutting, sorting and packaging system of a metal strain gauge provided by the present invention has a simple structure and can be used in various specifications. Strain gauge detection, sorting and packaging, with a wide range of applications.
附图说明Description of drawings
图1为用于说明本发明一个实施例的结构示意图；Fig. 1 is a schematic structural diagram for illustrating an embodiment of the present invention;
图2为用于说明本发明一个实施例中的检测分拣机构结构示意图；Fig. 2 is a schematic structural diagram for illustrating the detection and sorting mechanism in one embodiment of the present invention;
图3为用于说明本发明另一个实施例的控制系统结构框图；Fig. 3 is a structural block diagram of a control system for illustrating another embodiment of the present invention;
图4为用于说明本发明另一个实施例的系统流程图；Fig. 4 is a system flowchart for illustrating another embodiment of the present invention;
图中，1为拍照机构、2为分选机构、21为第三工位平台、22为二维伺服平台、23为分拣头、24为分拣盒盘、25为料盘固定装置、26为分拣头清洗机构、27分拣动作机构、3为静电激发器、4为料盘。In the figure, 1 is the camera mechanism, 2 is the sorting mechanism, 21 is the third station platform, 22 is the two-dimensional servo platform, 23 is the sorting head, 24 is the sorting box tray, 25 is the tray fixing device, 26 27 is a sorting action mechanism, 3 is an electrostatic exciter, and 4 is a material tray.
具体实施方式Detailed ways
下面结合附图对本发明作进一步阐述。The present invention will be further elaborated below in conjunction with the accompanying drawings.
参考图1所示，本发明的一个实施例是一种金属应变计自动检测、裁切、分选、包装系统，该系统包括上料机构、拍照机构1、分选机构2与下料机构，将上料机构、拍照机构1、分选机构2与下料机构分别安装在系统中对应的各个工位上，并将拍照机构1与分选机构2中的部件分别接入控制系统；其中更为具体的是：With reference to shown in Fig. 1, one embodiment of the present invention is a kind of metal strain gauge automatic detection, cutting, sorting, packing system, and this system comprises feeding mechanism, photographing mechanism 1, sorting mechanism 2 and unloading mechanism, Install the feeding mechanism, photographing mechanism 1, sorting mechanism 2 and unloading mechanism on corresponding stations in the system respectively, and connect the components in the photographing mechanism 1 and sorting mechanism 2 to the control system respectively; To be specific is:
上述上料机构中包括第一工位平台与静电激发器3，将静电激发器3安装在工位平台附近，而工位平台用于放置料盘，静电激发器3用于给金属应变计激发静电，使其吸附在料盘上；The above-mentioned feeding mechanism includes a first station platform and an electrostatic exciter 3, and the electrostatic exciter 3 is installed near the station platform, and the station platform is used to place the tray, and the electrostatic exciter 3 is used to excite the metal strain gauge. Static electricity makes it adsorb on the tray;
上述拍照机构1包括拍照镜头与第二工位平台，拍照镜头安装在第二工位平台上方，用于由拍照镜头拍摄当前第二工位平台上的料盘内的图片，并将图片传输至控制系统，由控制系统识别料盘内每个金属应变计的坐标及角度数据；前述的拍照镜头最好采用CCD拍照系统，从而使得控制系统能根据照片精确分析出料盘中每个金属应变计的坐标及角度；The above-mentioned camera mechanism 1 includes a camera lens and a second station platform, and the camera lens is installed above the second station platform, and is used to take pictures in the material tray on the current second station platform by the camera lens, and transmit the pictures to Control system, the control system identifies the coordinates and angle data of each metal strain gauge in the tray; the aforementioned camera lens is preferably a CCD camera system, so that the control system can accurately analyze each metal strain gauge in the tray according to the photo coordinates and angles;
结合图2所示，更为重要的是，上述的分选机构2中包括第三工位平台21、二维伺服平台22、分拣头23、分拣盒盘24，二维伺服平台22安装在第三工位平台21的上方，分拣头23通过分拣动作机构27安装在二维伺服平台22上，且所述分拣头23还接入电阻检测仪；所述分拣盒盘24通过分拣盒盘动作机构安装在第三工位平台21上；用于由二维伺服平台22带动分拣头23从第三工位平台21上料盘的零位坐标开始，按照预定的轨迹运动到预定的坐标，分拣头23在分拣动作机构27的作用下与金属应变计的焊盘位置相接触测量其电阻值，然后抓取该金属应变计，根据电阻值将当前的金属应变计放入分拣盒盘24中对应的分拣盒中；前述第三工位平台21最好采用平置的传送带，即通过传送带将料盘4传送至分拣头23的下方，并由料盘固定装置25固定。As shown in FIG. 2, more importantly, the above-mentioned sorting mechanism 2 includes a third station platform 21, a two-dimensional servo platform 22, a sorting head 23, a sorting box tray 24, and the two-dimensional servo platform 22 is installed Above the third station platform 21, the sorting head 23 is installed on the two-dimensional servo platform 22 through the sorting action mechanism 27, and the sorting head 23 is also connected to a resistance detector; the sorting box tray 24 It is installed on the third station platform 21 through the action mechanism of the sorting box; it is used to drive the sorting head 23 by the two-dimensional servo platform 22 to start from the zero coordinate of the loading tray on the third station platform 21 and follow the predetermined track Move to the predetermined coordinates, the sorting head 23 is in contact with the pad position of the metal strain gauge under the action of the sorting action mechanism 27 to measure its resistance value, then grab the metal strain gauge, and calculate the current metal strain gauge according to the resistance value Put it into the corresponding sorting box in the sorting box tray 24; the aforementioned third station platform 21 preferably adopts a horizontal conveyor belt, that is, the material tray 4 is delivered to the bottom of the sorting head 23 by the conveyor belt, and the material tray 4 is transported to the bottom of the sorting head 23 by the conveyor belt, and the material tray 4 The disk fixing device 25 is fixed.
具体来说，上述的分拣头是一个电阻检测及金属应变计抓取功能二合一的复合装置，分拣头按照系统规划好的运行轨迹及坐标运行到待分拣电阻应变计上方，在分拣头动作机构的带动下自动旋转预定角度，使检测探针对准电阻应变计焊盘位置后下降并接触电阻应变计焊盘，稍作停顿完成电阻值检测后，分拣头吸取(气吸原理)电阻应变计向上提升，完成电阻应变计抓取工作。Specifically, the above-mentioned sorting head is a composite device that combines the functions of resistance detection and metal strain gauge grasping. Driven by the action mechanism of the sorting head, it automatically rotates at a predetermined angle, so that the detection probe is aligned with the pad of the resistance strain gauge and then descends to touch the pad of the resistance strain gauge. Suction principle) the resistance strain gauge is lifted upwards to complete the grasping work of the resistance strain gauge.
正如上述所提到的，为使分拣头23能抓取金属应变计，上述分拣头23上安装有真空吸附装置，用于由真空吸附装置吸附抓取当前金属应变计。As mentioned above, in order to enable the sorting head 23 to grasp the metal strain gauge, a vacuum suction device is installed on the sorting head 23, which is used to absorb and grasp the current metal strain gauge by the vacuum suction device.
更为具体的是，在使用过程中第三工位平台用于固定料盘；二维伺服平台用于带动分拣头从料盘零位开始按照系统预定的轨迹运动到预定的坐标；分拣动作机构3用于带动分拣头完成上下、旋转动作；分拣头用于测量金属应变计电阻值、抓紧金属应变计并将已抓取的金属应变计放入对应的分选盒中；本实施例中分选盒盘用于安放16个分选盒，分选盒动作机构用于带动分选盒盘完成旋转/移动动作，与二维伺服平台、分拣头动作机构相配合，将对应规格的分选盒送到分拣头的下方；More specifically, the third station platform is used to fix the material tray during use; the two-dimensional servo platform is used to drive the sorting head to move from the zero position of the material tray to the predetermined coordinates according to the trajectory predetermined by the system; the sorting The action mechanism 3 is used to drive the sorting head to complete the up and down and rotation movements; the sorting head is used to measure the resistance value of the metal strain gauge, grasp the metal strain gauge and put the grasped metal strain gauge into the corresponding sorting box; In the embodiment, the sorting box tray is used to place 16 sorting boxes, and the sorting box action mechanism is used to drive the sorting box tray to complete the rotation/moving action, and cooperates with the two-dimensional servo platform and the sorting head action mechanism, and the corresponding The standard sorting box is sent to the bottom of the sorting head;
优选的是，上述下料机构中至少包括第四工位平台，用于由传送带将分选金属应变计后的料盘输送至第四工位平台。Preferably, the above-mentioned unloading mechanism includes at least a fourth station platform, which is used to transport the trays after sorting the metal strain gauges to the fourth station platform by a conveyor belt.
在实施例中，通过拍照机构拍摄当前料盘的照片而得到当前料盘中的金属应变计坐标及角度，再由分拣机构对每个应变计进行测阻、抓取及分类放入分拣盒，整个过程均可由设备自动完成，仅在上料和下料时由人工参与，有效降低了劳动强度，分拣效率高，并且由检测分拣机构进行测阻也避免了人工误读阻值的情况，有效提升了产品质量。In the embodiment, the coordinates and angles of the metal strain gauges in the current tray are obtained by taking a photo of the current tray through the camera mechanism, and then the sorting mechanism measures resistance, grabs and sorts each strain gauge into sorting The whole process can be automatically completed by the equipment, and only manual participation is required when loading and unloading, which effectively reduces labor intensity and high sorting efficiency, and the resistance measurement by the detection and sorting mechanism also avoids manual misreading of the resistance value In this case, the product quality has been effectively improved.
根据本发明的另一实施例，为便于料盘能自动的依次经过各个工位，上述实施例中的金属应变计自动检测、裁切、分选、包装系统还包括传送机构，并将传动机构贯穿于安装于系统中的各个工位平台下方；传送机构中至少设有传送带与步进电机，所述步进电机也接入控制系统，用于由控制系统控制步进电机的启停与正反转，进而带动传送带将料盘输送至系统中的各个工位上。According to another embodiment of the present invention, in order to facilitate the trays to automatically pass through each station in sequence, the metal strain gauge automatic detection, cutting, sorting and packaging system in the above embodiment also includes a transmission mechanism, and the transmission mechanism It runs through the bottom of each station platform installed in the system; the transmission mechanism is provided with at least a conveyor belt and a stepping motor, and the stepping motor is also connected to the control system, which is used to control the start and stop and normalization of the stepping motor by the control system. Reverse, and then drive the conveyor belt to transport the tray to each station in the system.
进一步的，为保证料盘4安装的稳定性，保证系统中的金属应变计拍照和分拣操作顺利进行，还可在上述的第二工位平台与第三工位平台21上均设置料盘固定装置，通过料盘固定装置对料盘进行固定，保持其稳定性，并且该料盘固定装置可通过控制系统进行自动控制。Further, in order to ensure the stability of the installation of the tray 4 and to ensure the smooth progress of the metal strain gauge photography and sorting operations in the system, trays can also be set on the above-mentioned second station platform and the third station platform 21 The fixing device fixes the tray through the tray fixing device to maintain its stability, and the tray fixing device can be automatically controlled by the control system.
另一方面，发明人在具体的试验中还发现，在长期使用中，分拣头检测探针会因为灰尘等污染而导致接触电阻增大，进而导致金属应变计电阻值检测偏差，因此还在上述分选机构2中增设了分拣头清洗机构，所述分拣头清洗机构安装在第三工位平台上，所述分拣头清洗机构至少包括检测探针短路装置与探针清洗池，所述探针短路装置与电阻检测仪相连，用于检测分拣头的接触电阻，根据接触电阻检测结果，控制系统控制二维伺服平台22及分拣动作机构23使分拣头进入探针清洗池内进行清洗。即当检测接触电阻电阻为零时，则继续运行，反之，则控制清洗分拣头，清洗完毕后再次进行检测，直至检测结果为零时再继续运行。On the other hand, the inventor also found in specific experiments that in long-term use, the detection probe of the sorting head will increase the contact resistance due to pollution such as dust, which will lead to deviations in the detection of the resistance value of the metal strain gauge. A sorting head cleaning mechanism is added to the above sorting mechanism 2, the sorting head cleaning mechanism is installed on the third station platform, and the sorting head cleaning mechanism at least includes a detection probe short circuit device and a probe cleaning pool, The probe short-circuit device is connected with a resistance detector for detecting the contact resistance of the sorting head. According to the contact resistance detection result, the control system controls the two-dimensional servo platform 22 and the sorting action mechanism 23 to make the sorting head enter the probe for cleaning. Cleaning in the pool. That is, when the detected contact resistance is zero, it will continue to run, otherwise, it will control the cleaning of the sorting head, and then test again after cleaning, and continue to run until the test result is zero.
结合图3所示，为保证系统的自动化运行，在本实施例中控制系统将成为其一个重要的组成部分，该控制系统中至少应该设置工控机，并将该工控机分别接入静电激发器3、拍照镜头、料盘固定装置；此外，该工控机还通过运动控制卡分别接入二维伺服平台22、分拣动作机构27与分拣盒盘动作机构；用于由工控机控制静电激发器3及料盘固定装置的开启与关闭，并控制拍照镜头启动采集当前料盘内的图片，进而根据当前图片识别出料盘内每个金属应变计相对于料盘原点的坐标值，以及每个金属应变计焊盘相对于料盘X轴的角度数据；并通过运动控制卡控制二维伺服平台22与分拣动作机构的动作，使分拣头23完成每个金属应变计电阻检测，在工控机获取到当前金属应变计的电阻值后，根据当前电阻值的大小，再次通过运动控制卡控制二维伺服平台22、分拣动作机构与分拣盒盘动作机构，将当前的金属应变计放入对应的分拣盒中。As shown in Figure 3, in order to ensure the automatic operation of the system, the control system will become an important part of it in this embodiment. At least an industrial computer should be installed in the control system, and the industrial computer should be connected to the electrostatic actuator respectively. 3. The camera lens and tray fixing device; in addition, the industrial computer is connected to the two-dimensional servo platform 22, the sorting action mechanism 27 and the sorting box tray action mechanism respectively through the motion control card; it is used to control the electrostatic excitation by the industrial computer 3 and the opening and closing of the tray fixing device, and control the camera lens to start collecting pictures in the current tray, and then identify the coordinate value of each metal strain gauge in the tray relative to the origin of the tray according to the current picture, and each The angle data of each metal strain gauge pad relative to the X-axis of the material tray; and control the action of the two-dimensional servo platform 22 and the sorting action mechanism through the motion control card, so that the sorting head 23 completes the resistance detection of each metal strain gauge. After the industrial computer obtains the resistance value of the current metal strain gauge, according to the size of the current resistance value, the two-dimensional servo platform 22, the sorting action mechanism and the sorting box tray action mechanism are controlled by the motion control card again, and the current metal strain gauge Put into the corresponding sorting box.
进一步来说，在控制系统中选用工控机作为控制核心载体，进行有序控制；工控机通过运动控制卡，控制传送机构、二维伺服平台、包装盒盘动作机构及分拣动作机构的动作，实现料盘传送、电阻检测及电阻应变计分选功能；通过串口连接电阻检测仪实现阻值检测；通过数字I/O卡控制相机拍照及拍照光源。Furthermore, in the control system, the industrial computer is selected as the control core carrier to carry out orderly control; the industrial computer controls the movement of the transmission mechanism, the two-dimensional servo platform, the packing box and the tray action mechanism and the sorting action mechanism through the motion control card. Realize the functions of material tray transmission, resistance detection and resistance strain gauge sorting; realize resistance detection by connecting resistance detector through serial port; control camera and photo light source through digital I/O card.
如图4所示，本发明上述优选的一个实施例在实际使用中，由人工事先将电阻应变计正面朝上，散乱放置在平板料盘上，电阻应变计之间互相不交叠，并保持特定的距离。料盘为一A4规格的酚醛布胶板，厚10mm；人工上料包含两个小步骤：1)将待检应变计排列在料盘上，2)将料盘置入设备上料工位。As shown in Figure 4, in the actual use of the above-mentioned preferred embodiment of the present invention, the resistance strain gauges are placed on the flat plate in advance manually, and the resistance strain gauges do not overlap each other, and keep specific distance. The material tray is an A4 size phenolic cloth rubber sheet with a thickness of 10mm; manual loading includes two small steps: 1) arrange the strain gauges to be tested on the material tray, and 2) place the material tray into the equipment loading station.
由于电阻应变计散乱摆放，系统无法正确定位电阻应变计的坐标及准确的焊盘位置，所以方案采用机器视觉技术，对电阻应变计料盘拍照，由工控机内部的软件系统自动计算出电阻应变计的下列数据并予以保存：Because the resistance strain gauges are placed randomly, the system cannot correctly locate the coordinates of the resistance strain gauges and the exact position of the welding pad. Therefore, the solution uses machine vision technology to take pictures of the resistance strain gauge material trays, and the software system inside the industrial computer automatically calculates the resistance. The following data of the strain gauge shall be saved:
每个电阻应变计相对于料盘原点的位置坐标数据；The position coordinate data of each resistance strain gauge relative to the origin of the tray;
每个电阻应变计与料盘的X方向之间的夹角数据；Angle data between each resistance strain gauge and the X direction of the tray;
每个电阻应变计焊盘的方位数据；Orientation data of each resistance strain gauge pad;
软件系统自动规划分拣头行走路径及在每一个检测点(金属应变计上方)分拣头需要旋转的角度数据。The software system automatically plans the walking path of the sorting head and the angle data that the sorting head needs to rotate at each detection point (above the metal strain gauge).
传送机构将上料工位上的料盘自动传送到拍照工位，拍照系统启动，对整个料盘进行拍照，自动分析规划检测分选机构动作路径。The transmission mechanism automatically transfers the material tray on the loading station to the photographing station, and the camera system starts to take pictures of the entire material tray, and automatically analyzes, plans, and detects the action path of the sorting mechanism.
完成视觉拍照后，传送机构将料盘送到分拣工位，料盘固定装置自动伸出，卡紧料盘，二维伺服平台带动分拣头，从料盘零位开始，按照系统规划的路径移动依次检测金属应变计电阻值、判断所属的规格分类，并自动抓取金属应变计自动放入对应的分选料盒。16个分选料盒(含一个废品料)呈圆周方式排列在料盒盘上，随分拣头同步移动，使分拣头动作行程最短。After the visual photography is completed, the transmission mechanism will send the tray to the sorting station, the tray fixing device will automatically extend, clamp the tray, and the two-dimensional servo platform will drive the sorting head, starting from the zero position of the tray, according to the system planning The path movement detects the resistance value of the metal strain gauge in turn, judges the specification category it belongs to, and automatically grabs the metal strain gauge and puts it into the corresponding sorting box. 16 sorting material boxes (including one waste material) are arranged on the material box plate in a circular manner, and move synchronously with the sorting head, so that the action stroke of the sorting head is the shortest.
所有应变计抓取完成后，系统自动退出空料盘，退出的空料盘自动堆叠，由人工取走料盘。After all the strain gauges are captured, the system automatically exits the empty trays, and the exited empty trays are automatically stacked, and the trays are removed manually.
另外，需要说明的是，本设备中提到的静电激发器3、电阻检测及抓取功能二合一的分拣头、拍照镜头、电阻检测仪等部件均可采用现有技术中具有同样功能的部件，本发明的目的也不在于前述部件的机构本身，故对于前述机构的结构及功能实现的原理不再详述，本领域技术人员在本发明思想及整体技术方案的教导下，适当参考现有技术实现。In addition, it should be noted that the static exciter 3 mentioned in this device, the sorting head with two-in-one resistance detection and grasping functions, the camera lens, the resistance detector and other components can all use the same functions in the prior art. components, the object of the present invention is not the mechanism itself of the foregoing components, so the structure and function realization principles of the foregoing mechanisms will not be described in detail, and those skilled in the art shall properly refer to Existing technology implementation.
还需要说明的是，在本说明书中所谈到的“一个实施例”、“另一个实施例”、“实施例”等，指的是结合该实施例描述的具体特征、结构或者特点包括在本申请概括性描述的至少一个实施例中。在说明书中多个地方出现同种表述不是一定指的是同一个实施例。进一步来说，结合任一实施例描述一个具体特征、结构或者特点时，所要主张的是结合其他实施例来实现这种特征、结构或者特点也落在本发明的范围内。It should also be noted that "one embodiment", "another embodiment", "embodiment" and the like mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in the In at least one embodiment broadly described herein. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure or characteristic is described in combination with any embodiment, it is claimed that implementing such feature, structure or characteristic in combination with other embodiments also falls within the scope of the present invention.
尽管这里参照本发明的多个解释性实施例对本发明进行了描述，但是，应该理解，本领域技术人员可以设计出很多其他的修改和实施方式，这些修改和实施方式将落在本申请公开的原则范围和精神之内。更具体地说，在本申请公开、附图和权利要求的范围内，可以对主题组合布局的组成部件和/或布局进行多种变型和改进。除了对组成部件和/或布局进行的变型和改进外，对于本领域技术人员来说，其他的用途也将是明显的。Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it is to be understood that numerous other modifications and implementations can be devised by those skilled in the art which will fall within the scope of the disclosure disclosed in this application. within the scope and spirit of the principles. More specifically, within the scope of the disclosure, drawings and claims of the present application, various modifications and improvements can be made to the components and/or layout of the subject combination layout. In addition to modifications and improvements in component parts and/or layout, other uses will be apparent to those skilled in the art.
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| CN108237588A (en) * | 2016-12-27 | 2018-07-03 | 张家港康得新光电材料有限公司 | Diaphragm process equipment |
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| DE19549015C1 (en) * | 1995-12-28 | 1997-04-03 | Siemens Ag | Method of monitoring precise location at which fluid stream breaks up into droplets |
| CN201757776U (en) * | 2010-06-25 | 2011-03-09 | 深圳市创益科技发展有限公司 | Automatic tester for solar cells |
| CN203170601U (en) * | 2013-03-14 | 2013-09-04 | 上海科致电气自动化有限公司 | Automatic sorting system for multi-specification product |
| CN103252320B (en) * | 2013-05-06 | 2014-08-13 | 佛山市多谱光电科技有限公司 | Automatic chip on board (COB) optical assembly testing and sorting machine |
| CN103357592B (en) * | 2013-06-28 | 2015-05-20 | 东莞市凯昶德电子科技股份有限公司 | Electrical connector automatic detection equipment |
| CN203356078U (en) * | 2013-07-29 | 2013-12-25 | 东莞市联友自动化科技有限公司 | A strain gauge automatic sorting machine |
| CN204448619U (en) * | 2014-12-23 | 2015-07-08 | 中国农业大学 | A kind of seed Real-time online sorting device |
| CN205341323U (en) * | 2015-12-11 | 2016-06-29 | 南京神源生智能科技有限公司 | Metal strainometer automated inspection , cut, sorting, package system |
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