Automatic cooling fin putting method applied to crystal assembly locking

Abstract

The invention relates to an automatic cooling fin putting method applied to crystal assembly locking. The automatic cooling fin putting method comprises the following steps that cooling fins are conveyed to a material taking station through a belt conveying mechanism; the position of the locking face of the cooling fin is recognized through an upper visual camera arranged over the belt conveying mechanism, and the suction position of a mechanical arm is positioned; according to the recognition result of the upper visual camera, a mechanical arm is driven to move to a positioned suction position, and the cooling fins are grabbed through a suction nozzle; the grabbed cooling fins are photographed and recognized through a lower visual camera arranged on the side of the mechanical arm so as to determine the placement direction of the cooling fins; and according to the recognition result of the lower vision camera, the mechanical arm is driven to accurately place the cooling fin into the automatic locking mold according to the preset direction. The full-process automation of feeding, identifying, grabbing and putting of the cooling fins is achieved, a low-efficiency manual putting mode is replaced, and the overall production efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fin automatic feeding, and particularly relates to a fin automatic feeding method applied to crystal component locking. BACKGROUND

[0002] In the existing automatic locking of crystal components, there are two ways of fin feeding: one is manual feeding, in which an operator takes fins from a fin box and places them into an automatic locking mold of a machine table, and then presses a start button to proceed to the subsequent automatic oiling, automatic locking and automatic product collection, etc. The proficiency of the operator affects the overall efficiency, and long-time fin feeding is easy to cause fatigue, and there are hidden dangers of fin placement in the wrong direction or fin feeding operation errors. The other is that fins are shaken by a fin shaking pot to a belt conveying mechanism, and then are grabbed by a mechanical arm and fed to a grinding mold to automatically complete the subsequent automatic processes. The shaking of the fin shaking pot is affected by the shape of the fin, and the applicability of the fin shaking pot is limited, so that the utilization rate of the machine table is not high, and the collision between the fin shaking pot and the parts during operation produces a large noise and is easy to cause material jamming. SUMMARY

[0003] The present application aims to overcome the deficiencies of the prior art, and provides a fin automatic feeding method applied to crystal component locking.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: A fin automatic feeding method applied to crystal component locking, the device involved in the automatic feeding method comprises a belt conveying mechanism and a mechanical arm, the belt conveying mechanism is provided with a taking station, and an upper visual camera is arranged directly above the taking station, and the upper visual camera faces the taking station to take images; The mechanical arm is located beside the taking station, the execution end of the mechanical arm is provided with a suction nozzle, and the suction nozzle is used for sucking fins on the belt conveying mechanism; a lower visual camera is arranged on the side of the mechanical arm, and the lower visual camera faces upward to take images; The automatic feeding method comprises the following steps: A feeding step: fins are conveyed to the taking station by the belt conveying mechanism; A first visual identification step: the upper visual camera arranged directly above the belt conveying mechanism identifies the locking surface position of the fin, and positions the suction position of the mechanical arm; A grabbing step: according to the identification result of the upper visual camera, the mechanical arm is driven to move to the positioned suction position, and the suction nozzle is used to grab the fin; A second visual identification step: the lower visual camera arranged on the side of the mechanical arm takes a picture of the grabbed fin to identify the placement direction of the fin; The placing step: according to the recognition result of the lower visual camera, the mechanical arm is driven to accurately place the heat sink in the preset direction in the automatic locking mold.

[0005] Further, the mechanical arm is a four-axis mechanical arm.

[0006] Further, the two sides of the material taking station are respectively provided with a plane light source directed to the material taking station.

[0007] Further, a ring-shaped light source is arranged directly above the lower visual camera.

[0008] Further, in the feeding step, the feeding mode of the heat sink includes directly placing the heat sink on the belt conveying mechanism, or placing the heat sink loaded in a blister tray on the belt conveying mechanism, or placing the heat sink loaded in a tray on the belt conveying mechanism.

[0009] Further, the belt conveying mechanism is provided with a tensioning structure.

[0010] By adopting the above technical scheme, the present application has the beneficial effects of: 1. Improving the degree of automation and production efficiency: the full-process automation of the heat sink from feeding, identification, grabbing to placing is realized, replacing the inefficient manual placing mode. The "one person with multiple machines" and non-stop operation are realized, and the operator only needs to supplement the materials in time, which greatly improves the overall production efficiency.

[0011] 2. Improving the versatility and flexibility: the scheme of belt conveying combined with visual identification can adapt to different shapes and types of heat sinks, solving the problem of limited part shape caused by the vibration pot method. The system is compatible with three feeding modes of direct placement on the belt, blister tray loading and tray loading, and has a wide range of applications. Through program parameter adjustment, new models can be adapted without the need to develop complex programs or frequently replace hardware for each type of heat sink, greatly improving the reusability and adaptability of the equipment.

[0012] 3. Improving the placing accuracy: the dual visual guarantee system of the upper visual camera positioning and grabbing and the lower visual camera accurate orientation ensures that the heat sink can be accurately placed in the automatic locking mold with the correct direction and position. This fundamentally avoids the operation hidden dangers such as incorrect direction and position caused by manual placing, ensuring the quality and yield of the subsequent locking process. BRIEF DESCRIPTION OF DRAWINGS

[0013] The present application will be further described in detail below in combination with the drawings and specific embodiments: Fig. 1 It is a front view of the device adopted by the present application. Fig. 2 It is a perspective view of the device adopted by the present application (the upper visual camera is not shown). DETAILED DESCRIPTION

[0014] As shown in the drawings, the fin automatic feeding method applied to the locking of crystal components comprises a belt conveying mechanism 1 and a mechanical arm 2, and the mechanical arm 2 is a four-axis mechanical arm. Figs. 1-2

[0015] The belt conveying mechanism 1 is provided with a material taking station, and an upper visual camera 3 is arranged above the material taking station and takes images towards the material taking station. The mechanical arm 2 is arranged beside the material taking station, and the execution end of the mechanical arm 2 is provided with a suction nozzle 21 for sucking the fins on the belt conveying mechanism 1. A lower visual camera 4 is arranged beside the mechanical arm 2 and takes images upwards.

[0016] The automatic feeding method comprises the following steps: A feeding step: feeding the fins to the material taking station through the belt conveying mechanism 1; A first visual recognition step: recognizing the locking surface position of the fin through the upper visual camera 3 arranged above the belt conveying mechanism 1 and positioning the suction position of the mechanical arm 2; A grabbing step: driving the mechanical arm to move to the positioned suction position according to the recognition result of the upper visual camera 3 and grabbing the fin by the suction nozzle 21; A second visual recognition step: photographing and recognizing the grabbed fin through the lower visual camera 4 arranged beside the mechanical arm 2 to determine the placing direction of the fin; A feeding step: driving the mechanical arm 2 to accurately place the fin in the automatic locking mold according to the recognition result of the lower visual camera 4 in the preset direction, and then sequentially performing automatic fin oil coating, crystal locking and finished product collecting operations on the fed fin.

[0017] Plane light sources 5 are arranged on both sides of the material taking station and shoot towards the material taking station. A ring light source 6 is arranged above the lower visual camera 4. Through the assistance of the light sources, the upper visual camera 3 and the lower visual camera 4 can both obtain uniform, clear and non-interfering images, thereby improving the detection accuracy and stability of the visual system.

[0018] In the feeding step, the feeding mode of the fin includes directly placing the fin on the belt conveying mechanism 1, placing the fin loaded in a suction disc on the belt conveying mechanism 1, or placing the fin loaded in a tray on the belt conveying mechanism 1. The procedures of the above three feeding modes can be directly realized by increasing fixed values to realize program making, without making one by one.

[0019] ​The suction nozzle 21 of the robot arm 2 is designed as a standardized general-purpose suction nozzle according to the placement posture (face-up / back-down) of the heat sink, so as to reduce the switching operation of the suction nozzle 21.

[0020] The grabbing working range of the robot arm 2 is configured to be able to cover the blister tray with the maximum size.

[0021] The belt conveying mechanism 1 is provided with a tensioning structure so as to facilitate replacement after reaching the service life.

[0022] The belt conveying mechanism 1 can be designed in a double-layer structure to provide sufficient feeding space.

[0023] The above describes the specific embodiment of the present application, but those skilled in the art should understand that this is only an example, and those skilled in the art can make various changes or modifications to this embodiment without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A fin automatic feeding method for use in locking of a crystal assembly, characterized by: The automatic feeding method involves a device including a belt conveying mechanism and a mechanical arm, the belt conveying mechanism having a material taking station, and an upper visual camera being arranged above the material taking station and facing the material taking station to take images; The mechanical arm is arranged beside the material taking station, and an execution end of the mechanical arm is provided with a suction nozzle for sucking the heat sink on the belt conveying mechanism; a lower visual camera is arranged beside the mechanical arm and faces upward to take images; The automatic feeding method includes the following steps: A feeding step of feeding the heat sink to the material taking station through the belt conveying mechanism; A first visual recognition step of recognizing the locking surface position of the heat sink through the upper visual camera arranged above the belt conveying mechanism and positioning the suction position of the mechanical arm; A grabbing step of driving the mechanical arm to move to the positioned suction position according to the recognition result of the upper visual camera and grabbing the heat sink through the suction nozzle; A second visual recognition step of taking pictures of the grabbed heat sink through the lower visual camera arranged beside the mechanical arm to determine the placing direction of the heat sink; A feeding step of driving the mechanical arm to accurately place the heat sink in the automatic locking mold according to the recognition result of the lower visual camera.

2. The fin automatic feeding method for use in the locking of a crystal assembly according to claim 1, wherein: The mechanical arm is a four-axis mechanical arm.

3. The fin automatic feeding method for use in the locking of a crystal assembly according to claim 1, wherein: Plane light sources are arranged on both sides of the material taking station and face the material taking station.

4. The fin automatic feeding method for use in the locking of a crystal assembly according to claim 1, wherein: A ring-shaped light source is arranged above the lower visual camera.

5. The fin automatic feeding method for use in the locking of a crystal assembly according to claim 1, wherein: In the feeding step, the feeding mode of the heat sink includes directly placing the heat sink on the belt conveying mechanism, placing the heat sink on the belt conveying mechanism after loading the heat sink in a suction disc, or placing the heat sink on the belt conveying mechanism after loading the heat sink in a tray.

6. The fin automatic feeding method for use in the locking of a crystal assembly according to claim 1, wherein: The belt conveying mechanism is provided with a tensioning structure.

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