Needle alignment mechanism

Abstract

The utility model relates to the field of needle tube assembling equipment, and discloses a needle alignment mechanism which can detect the position deviation of a needle inserting head and a photographing assembly and improve the machining precision. The device comprises a rack, the bracket is arranged on the rack; the first photographing assembly is arranged on the bracket; the transferring assembly is used for driving the support to move in the up-down, left-right and front-back directions; the pin head is arranged on the bracket; the second photographing assembly is arranged on the rack; and the optical calibration plate is arranged right above the second photographing assembly and located below the first photographing assembly, the upper side and the lower side of the optical calibration plate are each provided with a plurality of positioning marks, and the multiple positioning marks are symmetrically arranged up and down.

Description

Technical Field

[0001] The utility model relates to the field of needle tube assembly equipment, in particular to a needle alignment mechanism. Background Art

[0002] The current needle assembly process is still primarily manual, requiring meticulous assembly of each needle tube individually. The precise design of the needle tip and the compact arrangement of the needle tubes make precise positioning of the needle tubes a significant technical challenge. During assembly, the needle tubes must be precisely aligned and inserted into the needle holes in the needle plate; any slight deviation can lead to failure of the entire assembly process. Therefore, precise alignment between the needle tube and the needle hole is extremely important, placing extremely high demands on the precision of the assembly system.

[0003] To improve positioning accuracy, existing assembly processes typically use an overhead camera assembly to determine the position of the pin plate. However, during actual operation, the position of the pin head may fluctuate, potentially causing an offset in the relative position between the pin head and the camera assembly. This offset can cause deviations in the pin head's positioning during subsequent processing or use, affecting the pin's accuracy. This loss of accuracy not only increases processing difficulty but can also negatively impact the final product quality and performance. Therefore, ensuring precise alignment and stability between the pin head and the camera assembly is crucial to improving the efficiency and quality of the entire assembly process. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems in the prior art. To this end, the present invention proposes a needle alignment mechanism that can detect the position deviation between the needle insertion head and the camera assembly to improve processing accuracy.

[0005] The needle alignment mechanism according to an embodiment of the present invention includes:

[0006] frame;

[0007] a bracket, provided on the frame;

[0008] A first photographing component is provided on the bracket;

[0009] A transfer assembly, used for driving the bracket to move in up and down, left and right, and front and back directions;

[0010] A pin head is provided on the bracket;

[0011] A second camera assembly is provided on the frame;

[0012] The optical calibration plate is arranged directly above the second camera assembly and below the first camera assembly. A plurality of positioning marks are provided on the upper and lower sides of the optical calibration plate, and the plurality of positioning marks are symmetrically arranged in the upper and lower directions.

[0013] According to some embodiments of the present invention, the second photographing component includes a refractive lens and a lens, and the lens photographs the optical calibration plate through the refractive lens.

[0014] According to some embodiments of the present invention, the angle between the refractive lens and the horizontal plane is 45 degrees.

[0015] According to some embodiments of the present invention, the positioning mark is a through hole, and the through hole passes through the optical calibration plate.

[0016] According to some embodiments of the present invention, the plurality of positioning marks form a grid.

[0017] According to some embodiments of the present invention, the positioning mark array is distributed on the optical calibration plate.

[0018] According to some embodiments of the present invention, a fourth power member is further included, and the fourth power member is used to drive the optical calibration plate to approach or move away from directly above the second camera assembly.

[0019] According to some embodiments of the present invention, the present invention further includes:

[0020] A material storage trough is provided on the bracket, and the material storage trough is provided with a discharge port;

[0021] A conveying wheel is rotatably mounted on the bracket, and a plurality of transfer troughs are provided on the conveying wheel. The transfer troughs are arranged on the circumference of the conveying wheel, and the circumference of the conveying wheel is docked with the storage trough. After rotation, the plurality of transfer troughs can be respectively docked with the discharge port.

[0022] A steering assembly includes a steering trough, a first power member, and a second power member. The steering trough is rotatably provided on the bracket. After the conveying wheel rotates, the transfer trough can move to the steering trough. The first power member drives the steering trough to rotate.

[0023] The guide block is arranged on the bracket, the steering groove and the guide block are connected by a pipeline, the second power member is used to drive the needle tube on the steering groove to be transported along the pipeline to the guide block, and the needle head is arranged on the guide block.

[0024] According to some embodiments of the present invention, the steering assembly further includes a third photographing assembly, which is used to photograph the steering groove, and the third photographing assembly is electrically connected to the first power component.

[0025] According to some embodiments of the present invention, the guide block is rotatably provided on the bracket and further includes a positioning head. The pin head is detachably provided on the bracket, the pin head is provided with a through hole, the positioning head is detachably provided on the bracket, and the positioning head is provided with a positioning plane.

[0026] The embodiments of the present invention have at least the following beneficial effects:

[0027] The first camera assembly and the pin head are both arranged on the bracket. The first camera assembly can detect the position of the pinhole on the pin plate. After determining the position, it controls the movement of the bracket so that the pin head can be moved to the corresponding position to achieve the positioning of the pin head. The second camera assembly can take pictures directly below the optical calibration plate. After the first camera assembly is moved to the system default position directly above the optical calibration plate, the first camera assembly takes pictures directly above the optical calibration plate. The two sets of pictures are compared. Since the patterns on the upper and lower sides are completely symmetrical, the position deviation of the first camera assembly and the second camera assembly can be quickly calculated by comparing the two patterns. The optical calibration plate is removed, and the transfer assembly moves the bracket so that the pin head is moved directly above the second camera assembly. The pin head is aligned with the center of the second camera assembly. Whether it is at the center can be determined by taking pictures with the second camera assembly. The distance moved by the transfer assembly is compensated by the position deviation of the first and second camera assemblies to calculate the relative distance between the first camera assembly and the pin head. By setting up two camera assemblies, the distance between the first camera assembly and the pin head can be effectively calculated to ensure the processing accuracy of the pin head.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 This is a schematic diagram of the overall structure of the needle loading device according to an embodiment of the utility model;

[0031] Figure 2 for Figure 1 A schematic structural diagram of the bracket portion shown in the first perspective;

[0032] Figure 3 for Figure 1 A schematic structural diagram of the bracket portion from a second viewing angle is shown;

[0033] Figure 4 for Figure 1 A schematic structural diagram of the storage tank and the steering assembly is shown;

[0034] Figure 5 for Figure 1 The structural diagram of the guide block pressing needle structure shown;

[0035] Figure 6 for Figure 6 The schematic structural diagram of the pipeline cutting section is shown;

[0036] Figure 7 for Figure 6 A schematic structural diagram of a cut section of the locking assembly is shown;

[0037] Figure 8 for Figure 1 A schematic structural diagram of a second photographing assembly is shown;

[0038] Figure 9 for Figure 1 Schematic diagram of the structure of the optical calibration plate shown;

[0039] Reference numerals:

[0040] Frame 100, transfer assembly 110, second camera assembly 120, refractive lens 121, lens 122, optical calibration plate 130, fourth power member 140

[0041] The bracket 200 includes a first camera assembly 210;

[0042] The material storage trough 300 and the material outlet 310 limit piece 320;

[0043] Conveying wheel 400, transfer trough 410;

[0044] Steering assembly 500, steering chute 510, first power member 520, second power member 530, third camera assembly 550;

[0045] Guide block 600 , pin head 610 , through hole 611 , first connection plane 612 , positioning head 620 , positioning plane 621 , second connection plane 622 , pipe 630 , guide channel 631 , guide channel 632 ;

[0046] Pressure needle assembly 700, pressure block 710, third power member 720, pressure sensor 730, displacement sensor 740

[0047] Locking assembly 800 , connecting protrusion 810 , and locking member 820 . DETAILED DESCRIPTION

[0048] The following content will describe several embodiments of the present invention, including embodiments corresponding to the accompanying drawings. It can be understood that the accompanying drawings are used to assist in understanding the technical features and technical solutions of the present invention, and should not be understood as limiting the scope of protection of the present invention.

[0049] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0050] It should be noted that, unless otherwise clearly defined, when a feature is referred to as "fixed", "connected" or "installed" on another feature, it can be directly fixed or connected to the other feature, or it can be indirectly fixed or connected to the other feature. The words "fixed", "connected" or "installed" should be understood in a broad sense. Technicians in the relevant technical field can reasonably determine the specific meaning of the above words in this utility model in combination with the specific content of the technical solution.

[0051] It should be noted that the descriptions of the directions or positional relationships indicated by up, down, left, right, top, bottom, front, back, inside, and outside used in the present invention are based on the directions or positional relationships in the drawings or embodiments, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it cannot be understood as a limitation on the present invention.

[0052] It should be noted that the term "and / or" used in the present invention includes any combination of one or more related listed items, "above", "below", "within", etc. are understood to include the number itself.

[0053] It should be noted that if the first and second are described in this utility model, they are only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0054] It should be noted that, unless otherwise expressly defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention.

[0055] Reference Figures 1-9 The basic embodiment of the first aspect of the present invention provides a needle loading device, comprising:

[0056] Bracket 200;

[0057] The material storage tank 300 is provided on the bracket 200 and has a discharge port 310;

[0058] The conveying wheel 400 is rotatably mounted on the bracket 200 and is provided with a plurality of transfer troughs 410. The transfer troughs 410 are arranged around the conveying wheel 400. The circumference of the conveying wheel 400 is docked with the storage trough 300. After rotation, the plurality of transfer troughs 410 can be respectively docked with the discharge port 310.

[0059] The steering assembly 500 includes a steering trough 510, a first power member 520, and a second power member 530. The steering trough 510 is rotatably mounted on the bracket 200. After the conveying wheel 400 rotates, the transfer trough 410 can move to the steering trough 510. The first power member 520 drives the steering trough 510 to rotate.

[0060] The guide block 600 is rotatably mounted on the bracket 200 . The steering trough 510 and the guide block 600 are connected via a pipe 630 . The second power member 530 is used to drive the needle tube on the steering trough 510 to be transported along the pipe 630 to the guide block 600 .

[0061] The pin head 610 is detachably mounted on the guide block 600 and has a through hole 611;

[0062] The positioning head 620 is detachably mounted on the guide block 600 , and is provided with a positioning plane 621 .

[0063] According to the embodiment of the present invention, by such an arrangement, at least the following effects can be achieved: a large number of needle tubes can be placed in the storage trough 300 in advance, which is convenient for long-term work, and the needle tubes are discharged from the discharge port 310 below the storage trough 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer trough 410 is suitable for the diameter of the needle tube. A transfer trough 410 is provided on the conveying wheel 400, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge trough, the needle tube just falls into the transfer trough 410, and the conveying wheel 400 continues to rotate, and the transfer trough 410 can move to the steering trough 510, and the needle tube just falls at the corresponding position of the steering trough 510. The steering trough 510 determines whether to control the first power member 520 to drive the steering trough 510 by judging the direction of the needle tube. The steering groove 510 rotates to make the needle tube face the correct direction; the steering groove 510 and the guide block 600 are connected by a pipe 630, so that the needle tube of the steering groove 510 is transported to the guide block 600 through the second power member 530, and the guide block 600 is rotatably provided on the bracket 200. The guide block 600 can slightly adjust the angle so that the needle tube can be inserted vertically into the needle plate; when the verticality of the positioning head 620 needs to be adjusted, the positioning head 620 is installed on the guide block 600, the angle of the guide block 600 is adjusted so that the positioning plane 621 fits the needle plate, the guide block 600 is fixed so that the guide block 600 maintains the corresponding angle, the needle head 610 is replaced, and the needle tube is inserted into the needle plate along the through hole 611. The positioning angle of the positioning head 620 can ensure that the needle tube can be inserted vertically into the needle plate, prevent the needle tube from being inserted at an angle, resulting in damage to the needle tube, and improve the accuracy and yield of the product.

[0064] It can be understood that the turning trough 510 can be located slightly below the conveying wheel 400. When the transfer trough 410 moves to the top of the turning trough 510, the needle tube naturally falls due to gravity and just falls into the turning trough 510; the turning trough 510 can also be provided with a guide slope. Please refer to the attached figure, the needle tube slides along the guide slope into the turning trough 510.

[0065] In some embodiments, the pin pressing assembly 700 includes a pressing block 710 and a third power member 720 . The pressing block 710 is disposed on the bracket 200 and above the pin head 610 . The third power member 720 drives the pressing block 710 to move toward the pin head 610 .

[0066] Some needle tubes can naturally fall into the needle groove of the needle plate due to gravity, while some needle tubes cannot fall directly into the needle plate due to certain friction between them and the needle plate. The needle pressing assembly 700 can press the needle tubes into the needle plate.

[0067] In some embodiments, the pressure needle assembly 700 further includes a pressure sensor 730 . The pressure sensor 730 is disposed on the pressing block 710 . The pressure sensor 730 is used to detect the pressure of the pressing block 710 .

[0068] The pressure sensor 730 is provided on the pressure block 710. When the pressure block 710 is pressed against the pressure needle, it can detect the pressure between the needle tube and the needle plate. During the downward pressure of the needle tube, if the pressure is less than the threshold value, the downward pressure component works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, and other problems may occur, resulting in excessive pressure. The downward pressure component is controlled to stop working, and an alarm is processed to remind the staff to deal with it in time to prevent damage to the needle tube or the needle plate.

[0069] It can be understood that the pressure during the normal downward pressing process of the pressure component gradually increases, and the threshold is the pressure at which the pressure component just reaches the maximum movement distance.

[0070] In some embodiments, the needle pressing assembly 700 further includes a displacement sensor 740 . The displacement sensor 740 is disposed on the bracket 200 . The displacement sensor 740 is used to detect the position of the needle tube.

[0071] The displacement sensor 740 can detect the moving distance of the needle tube and determine whether the needle tube has moved into place. The position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step will be continued. If the needle tube cannot move to the corresponding position, the work will be stopped to ensure that the needle tube can move to the corresponding position.

[0072] In some embodiments, a first photographing component 210 is further included. The first photographing component 210 is disposed on the bracket 200 and is used to photograph the needle plate.

[0073] The first camera component 210 and the pin head 610 are both arranged on the bracket 200. The relative positions of the first camera component 210 and the pin head 610 can be determined. The first camera component 210 can detect the position of the pinhole on the needle plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can be moved to the corresponding position, thereby realizing precise positioning of the pin head 610.

[0074] In some embodiments, the third power member 720 is a voice coil motor or a telescopic cylinder.

[0075] In some embodiments, a frame 100 is further included. The frame 100 is provided with a transfer assembly 110. The transfer assembly 110 is used to drive the bracket 200 to move in the up and down, left and right, and front and back directions.

[0076] The frame 100 is used to support the entire device. The transfer assembly 110 is a three-axis processing platform equipped with multiple transport power parts, which can move the bracket 200 arbitrarily on the frame 100.

[0077] In some embodiments, a limiting plate 320 is provided in the material storage trough 300 , and the distance between the limiting plate 320 and the inner wall of the material storage trough 300 is greater than the diameter of one needle tube and less than the diameter of three needle tubes.

[0078] The needle tube is placed above the limiting plate 320, and the limiting plate 320 is located in the middle of the storage trough 300. The needle tube can pass through the limiting plate 320 and the inner wall of the storage trough 300 and fall to the discharge port 310 located below. The limiting plate 320 divides the storage trough 300 into two parts to prevent the needle tubes below from being piled up and the pressure between the needle tubes from being too high, which affects the transportation effect of the conveying wheel 400.

[0079] In some embodiments, the steering assembly 500 further includes a suction member for sucking the needle tube.

[0080] The adsorption member is a suction cup structure that can provide negative pressure power, which can fix the needle tube in the steering groove 510 to prevent the needle tube from falling during the rotation process.

[0081] In some embodiments, the turning groove 510 is provided with a V-shaped groove.

[0082] When the needle tube falls into the turning groove 510, it can slide along the inner wall of the V-shaped groove to the middle of the V-shaped groove. The needle tube is in the middle and the position of each needle tube is kept consistent, ensuring that subsequent work can be carried out accurately.

[0083] In some embodiments, the minimum distance between the circumference of the delivery wheel 400 and the material storage tank 300 is less than the diameter of a needle tube.

[0084] The minimum distance is less than the diameter of a needle tube, which can prevent the needle tube from falling into the gap between the discharge trough along the conveying wheel 400. A certain gap is set between the discharge trough along the conveying wheel 400 to prevent friction between the storage trough 300 and the conveying wheel 400.

[0085] In some embodiments, the first power member 520 is a rotary motor or a rotary cylinder.

[0086] In some embodiments, the second power member 530 is a pneumatic power member or a telescopic cylinder.

[0087] The wind pressure power part is a wind generator. By setting a negative pressure wind power device in the pipeline 630, or setting a positive pressure wind power device on the side of the turning groove 510 opposite to the pipeline 630, the needle tube can be blown toward the guide block 600; a telescopic cylinder is set on the side of the turning groove 510 opposite to the pipeline 630, which can push the needle tube toward the pipeline 630 and move it along the pipeline 630 to the guide block 600.

[0088] In some embodiments, the steering assembly 500 further includes a third photographing assembly 550 , which is used to photograph the steering groove 510 . The third photographing assembly 550 is electrically connected to the first power member 520 .

[0089] The third photographing component 550 is used to photograph the steering groove 510, to determine the direction of the needle tube in the steering groove 510, and to control whether the first movable member rotates to adjust the direction of the needle tube.

[0090] Furthermore, the steering assembly 500 is also provided with a lifting mechanism, which is used to drive the steering trough 510 to move in the up and down directions. Before the steering trough 510 rotates, the steering trough 510 is first moved upward or downward to separate the steering trough 510 from other components to prevent interference between the steering trough 510 and other components during rotation.

[0091] In some embodiments, a locking assembly 800 is further included, and the locking assembly 800 includes:

[0092] The connecting protrusion 810 is provided on the guide block 600. The bracket 200 is provided with a first spherical groove. The connecting protrusion 810 is provided with a first spherical surface. The first spherical surface cooperates with the first spherical groove.

[0093] The locking member 820 passes through the connecting protrusion 810 and is connected to the bracket 200 , so that the guide block 600 and the bracket 200 are relatively fixed.

[0094] The first spherical surface and the first spherical groove cooperate so that the connecting protrusion 810 located on the guide block 600 can rotate relative to the spherical surface. The spherical structure can adjust the guide block 600 with the center of the spherical surface as the center, and can adjust the angle in all directions; loosen the locking piece 820, the connecting protrusion 810 can adjust the angle, lock the locking piece 820, and the locking piece 820 abuts against the connecting protrusion 810, so that the guide block 600 is fixed on the bracket 200, which is conducive to the disassembly and installation of the locking piece 820 and facilitates the adjustment of the angle.

[0095] It is understandable that due to the limitation of the spherical limiting structure, the guide block 600 can be adjusted to a smaller angle, but in general the error angle of the needle plate is also small. Therefore, the guide block 600 can be adjusted to a smaller angle to meet the verticality requirement.

[0096] In some embodiments, the locking member 820 and the bracket 200 are threadedly connected.

[0097] The threaded connection is a widely used detachable fixed connection with the advantages of simple structure, reliable connection, and easy assembly and disassembly. The threaded connection facilitates the disassembly and installation of the locking member 820 and facilitates the adjustment of the angle.

[0098] In some embodiments, the connecting protrusion 810 is provided with a second spherical groove, which is provided on the side of the connecting protrusion 810 opposite to the first spherical surface. The locking member 820 is provided with a second spherical surface, and the second spherical surface and the second spherical groove are matched.

[0099] When the connecting protrusion 810 rotates, the second spherical groove is arranged on the side of the connecting protrusion 810 opposite to the first spherical surface, and the position of the second spherical surface does not change. The second spherical surface is provided by the locking piece 820, and the second spherical surface and the second spherical groove cooperate to ensure that there is always a maximum contact area between the two, thereby improving the locking effect of the locking piece 820.

[0100] In some embodiments, the pin header 610 is provided with a first connection plane 612 , the first connection plane 612 is in contact with the guide block 600 , and the extension direction of the through hole 611 is perpendicular to the first connection plane 612 .

[0101] The first connecting plane 612 fits the guide block 600 , and the extension direction of the through hole 611 is perpendicular to the first connecting plane 612 . By determining the position of the first connecting plane 612 , the through hole 611 is ensured to extend vertically, thereby ensuring the verticality of the needle insertion.

[0102] In some embodiments, the positioning head 620 is provided with a second connection plane 622 , the second connection plane 622 is in contact with the guide block 600 , and the second connection plane 622 is parallel to the positioning plane 621 .

[0103] The second connection plane 622 fits the guide block 600 , and the second connection plane 622 is parallel to the positioning plane 621 . By determining the position of the second connection plane 622 , the positioning plane 621 and the second connection plane 622 are parallel, thereby ensuring the positioning accuracy of the guide block 600 .

[0104] In some embodiments, the guide block 600 is provided with a guide channel 631 and a guide channel 632 , the pipe 630 , the guide channel 631 , and the guide channel 632 are connected in sequence, and the diameter of the guide channel 632 gradually decreases from top to bottom.

[0105] By connecting the pipe 630, the guide channel 631 and the guide channel 632 in sequence, the needle tube can be transported along the route to the guide block 600. The diameter of the guide channel 632 gradually decreases from top to bottom to guide the needle tube, so that the needle tube can eventually fall into the needle hole in the middle.

[0106] In some embodiments, the rack 100;

[0107] The bracket 200 is provided on the frame 100;

[0108] A first photographing component is provided on the bracket 200;

[0109] The transfer assembly 110 is used to drive the bracket 200 to move in the up-down, left-right, and front-back directions;

[0110] Pin header 610, provided on bracket 200;

[0111] The second camera assembly 120 is provided on the frame 100;

[0112] The optical calibration plate 130 is located directly above the second camera assembly 120 and below the first camera assembly 210. A plurality of positioning marks are provided on both the upper and lower sides of the optical calibration plate 130, and the plurality of positioning marks are symmetrically arranged in the upper and lower directions.

[0113] Under this setting, the first camera component 210 and the pin head 610 are both arranged on the bracket 200. The first camera component 210 can detect the position of the pinhole on the pin plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can move to the corresponding position to achieve the positioning of the pin head 610; the second camera component 120 can take pictures directly below the optical calibration plate 130. After the first camera component 210 moves to the system default position directly above the optical calibration plate 130, the first camera component 210 takes pictures directly above the optical calibration plate 130. The two sets of photos are compared. Since the patterns on the upper and lower sides are completely symmetrical to each other, the first camera component 210 can quickly calculate the position of the first camera component 210 by comparing the two patterns. and the position deviation of the second camera component 120, remove the optical calibration plate 130, and the transfer component 110 moves the bracket 200 to move the pin head 610 to the top of the second camera component 120, and align the pin head with the center of the second camera component 120. Whether it is at the center can be judged after shooting by the second camera component 120. The distance moved by the transfer component 110 is compensated by the position deviation of the first camera component 210 and the second camera component 120, and the relative distance between the first camera component 210 and the pin head 610 can be calculated. By setting two camera components, the distance between the first camera component 210 and the pin head 610 can be effectively calculated to ensure the pin processing accuracy of the pin head 610.

[0114] It can be understood that the position deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. It can be calculated by the distance between the shooting centers of the first camera component 210 and the second camera component 120 relative to the center of the optical calibration plate 130; it can also be calculated by making the pattern of one of the camera components symmetrical and then overlapping the two patterns for comparison and judgment.

[0115] In applications such as machine vision, image measurement, photogrammetry, and three-dimensional reconstruction, the optical calibration plate 130 needs to establish a geometric model of camera imaging in order to correct the distortion of the lens 122; determine the conversion relationship between physical size and pixels; and determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image.

[0116] By capturing images of a flat plate with a fixed-pitch pattern array and applying a calibration algorithm to the image, the camera's geometric model can be derived, resulting in highly accurate measurement and reconstruction results. The flat plate with the fixed-pitch pattern array is the calibration plate.

[0117] In some embodiments, the second photographing component 120 includes a refractive lens 121 and a lens 122 , and the lens 122 photographs the optical calibration plate 130 through the refractive lens 122 .

[0118] The lens 122 shoots the optical calibration plate 130 through the refracting lens 122, so that the lens 122 shoots a pattern that is symmetrical to the original pattern. In the deviation calculation, the position deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. It can be calculated by the distance between the shooting centers of the first camera component 210 and the second camera component 120 relative to the center of the optical calibration plate 130.

[0119] In some embodiments, the angle between the refractive lens 121 and the horizontal plane is 45 degrees.

[0120] The 45-degree lens makes the pattern it forms more accurate, which is beneficial for the calculation of deviation.

[0121] In some embodiments, the positioning mark is a through hole 611 , and the through hole 611 passes through the optical calibration plate 130 .

[0122] The through-hole 611 passing through the upper and lower parts makes the shapes and patterns of the upper and lower sides of the optical calibration plate 130 completely symmetrical. In addition, the through-hole 611 structure also allows the second camera assembly 120 to directly photograph the pin head 610 through the through-hole 611. Under this structure, the optical calibration plate 130 can be removed.

[0123] In some embodiments, the plurality of positioning marks form a grid.

[0124] The optical calibration plate 130 with a grid pattern can determine the conversion relationship between physical size and pixels, which is conducive to quickly calculating the position deviation through the length of the grid, with higher calculation accuracy and ease of use.

[0125] In some embodiments, an array of positioning marks is distributed on the optical calibration plate 130 .

[0126] The array-distributed optical calibration plate 130 can determine the distance between different positioning marks. By determining the conversion relationship between physical size and pixels, it is helpful to quickly calculate the position deviation through the length of the grid, with higher calculation accuracy and ease of use.

[0127] In some embodiments, a fourth power member 140 is further included, and the fourth power member 140 is used to drive the optical calibration plate 130 to move closer to or away from directly above the second camera assembly 120 .

[0128] The optical calibration plate 130 is moved by the fourth power member 140 to be close to or away from the position directly above the second camera assembly 120 , so as to facilitate the subsequent shooting operation of the second camera assembly 120 on the pin head 610 .

[0129] A needle mounting method according to a basic embodiment of the second aspect of the present invention comprises the following steps:

[0130] Pre-position, install the positioning head 620 on the guide block 600, rotate and adjust the direction of the guide block 600 and move the bracket 200 so that the guide plane of the positioning head 620 is completely aligned with the needle plate, fix the guide block 600 and replace the positioning head 620 with the pin head 610;

[0131] Photo positioning: photograph the needle plate through the first photographing component 210 to locate the pinhole on the needle plate;

[0132] Move the bracket 200 to move the pin head 610 to the top of the corresponding pinhole;

[0133] Transport the needle tube, drive the conveying wheel 400 to rotate, and the needle tube in the storage tank 300 falls into the transfer groove 410 of the conveying wheel 400. The needle tube leaves the conveying wheel 400 and is transported to the needle head 610 on the guide block 600;

[0134] Needle installation: install the needle tube on the needle head 610 onto the needle plate.

[0135] By installing the positioning head 620 on the guide block 600, adjusting the angle of the guide block 600, so that the positioning plane 621 fits the needle plate, fixing the guide block 600, so that the guide block 600 maintains the corresponding angle, replacing the pin head 610, and inserting the needle tube into the needle plate along the through hole 611. The positioning angle of the positioning head 620 can ensure that the needle tube can be inserted vertically into the needle plate to prevent the needle tube from being inserted at an angle; the first camera component 210 and the pin head 610 are both arranged on the bracket 200, and the relative position of the first camera component 210 and the pin head 610 can be determined. The first camera component 210 can detect the position of the pinhole on the needle plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can be moved to the corresponding position to achieve accurate positioning of the pin head 610; a large number of needles can be placed in the storage tank 300 in advance The tube is convenient for long-term work, and the needle tube is discharged from the discharge port 310 below the storage trough 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer trough 410 is suitable for the diameter of the needle tube. A transfer trough 410 is provided on the conveying wheel 400, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge trough, the needle tube just falls into the transfer trough 410, and the conveying wheel 400 continues to rotate to transport the needle tube one by one to the needle head 610; the needle tube is pressed onto the needle plate by the pressure assembly; the entire processing process can determine the flatness of the needle plate, correct the deviation of the verticality of the needle head 610, and automatically insert multiple needle tubes into the needle plate, with high working efficiency and high processing precision, and effectively reducing the wear between the needle plate and the needle tube.

[0136] In some embodiments, a needle pressure detection step A is also included, in which the position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step is continued. If the needle tube cannot move to the corresponding position, the work is stopped.

[0137] The displacement sensor 740 can detect the moving distance of the needle tube and determine whether the needle tube has moved into place. The position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step will be continued. If the needle tube cannot move to the corresponding position, the work will be stopped to ensure that the needle tube can move to the corresponding position.

[0138] In some embodiments, the needle tube installation step also includes a needle pressure detection step B, in which the pressure of the needle tube during the downward pressing process is detected by the pressure sensor 730. When the needle tube does not move to the corresponding position, if the pressure is greater than the threshold value, the work is stopped; if it is less than the threshold value, the work continues.

[0139] The pressure sensor 730 is provided on the pressure block 710. When the pressure block 710 is pressed against the pressure needle, it can detect the pressure between the needle tube and the needle plate. During the downward pressure of the needle tube, if the pressure is less than the threshold value, the downward pressure component works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, and other problems may occur, resulting in excessive pressure. The downward pressure component is controlled to stop working, and an alarm is processed to remind the staff to deal with it in time to prevent damage to the needle tube or the needle plate.

[0140] It can be understood that the pressure during the normal downward pressing process of the pressure component gradually increases, and the threshold is the pressure at which the pressure component just reaches the maximum movement distance.

[0141] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", "extended embodiment" may be used to describe several embodiments of the present utility model. The specific features, structures, materials or characteristics in several embodiments may be combined in accordance with the principles and purposes of the present utility model.

[0142] Although some embodiments of the present invention have been shown and described in this specification, the present invention should not be limited to the above embodiments. As long as the technical effects of the present invention are achieved by the same or equivalent means, any changes, modifications, equivalent substitutions and equivalent variations to these embodiments within the spirit and principles disclosed in the present invention and without departing from the principles and purpose of the present invention should be included in the scope of protection disclosed in the present invention and should be deemed to fall within the scope of protection of the present invention.

Claims

1. A needle alignment mechanism, characterized in that: include: Rack(100); A bracket (200) is provided on the frame (100); A first photographing component (210) is provided on the bracket (200); A transfer assembly (110) for driving the support (200) to move in up-down, left-right, and front-back directions; A pin header (610) is provided on the bracket (200); A second photographing component (120) is provided on the frame (100); An optical calibration plate (130) is arranged directly above the second camera assembly (120) and below the first camera assembly (210), and a plurality of positioning marks are provided on both upper and lower sides of the optical calibration plate (130), and the plurality of positioning marks are symmetrically arranged in an upper and lower direction.

2. The needle alignment mechanism according to claim 1, characterized in that: The second photographing component (120) comprises a refractive lens (121) and a lens (122), and the lens (122) photographs the optical calibration plate (130) through the refractive lens (122).

3. The needle alignment mechanism according to claim 2, characterized in that: The angle between the refractive lens (121) and the horizontal plane is 45 degrees.

4. The needle alignment mechanism according to claim 1, characterized in that: The positioning mark is a through hole (611), and the through hole (611) passes through the optical calibration plate (130).

5. The needle alignment mechanism according to claim 1, characterized in that: A plurality of the positioning marks form a grid.

6. The needle alignment mechanism according to claim 1, characterized in that: The positioning mark array is distributed on the optical calibration plate (130).

7. The needle alignment mechanism according to claim 1, characterized in that: It also includes a fourth power member (140), and the fourth power member (140) is used to drive the optical calibration plate (130) to approach or move away from the position directly above the second photographing component (120).

8. The needle alignment mechanism according to claim 1, characterized in that: Also includes: A material storage trough (300) is provided on the bracket (200), and the material storage trough (300) is provided with a discharge port (310); A conveying wheel (400) is rotatably disposed on the bracket (200), and a plurality of transfer troughs (410) are provided on the conveying wheel (400). The transfer troughs (410) are disposed on the circumference of the conveying wheel (400). The circumference of the conveying wheel (400) is docked with the storage tank (300), and after rotation, the plurality of transfer troughs (410) can respectively dock with the discharge port (310); A steering assembly (500) comprises a steering trough (510), a first power member (520) and a second power member (530); the steering trough (510) is rotatably disposed on the bracket (200); after the conveying wheel (400) rotates, the transfer trough (410) can move to the steering trough (510); and the first power member (520) drives the steering trough (510) to rotate; A guide block (600) is provided on the bracket (200); the steering groove (510) and the guide block (600) are connected via a pipe (630); the second power member (530) is used to drive the needle tube on the steering groove (510) to be transported along the pipe (630) to the guide block (600); and the needle head (610) is provided on the guide block (600).

9. The needle alignment mechanism according to claim 8, characterized in that: The steering assembly (500) further includes a third photographing assembly (550), wherein the third photographing assembly (550) is used to photograph the steering groove (510), and the third photographing assembly (550) is electrically connected to the first power member (520).

10. The needle alignment mechanism according to claim 8, characterized in that: The guide block (600) is rotatably arranged on the bracket (200) and further includes a positioning head (620). The pin head (610) is detachably arranged on the bracket (200), and the pin head (610) is provided with a through hole (611). The positioning head (620) is detachably arranged on the bracket (200), and the positioning head (620) is provided with a positioning plane (621).

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