Fully automatic and precise alignment tube seat and tube cap packaging device and alignment packaging method

Abstract

The invention discloses a fully automatic and accurate alignment tube seat and tube cap packaging device and an alignment packaging method, which solves the problem of how to realize automatic and accurate alignment and packaging of the tube seat and the tube cap of the passive optical switch. Through two visual systems, the position images of the tube seat and the tube cap are respectively obtained at this time, and the adsorption orientation of the tube seat placed on the tube seat adsorption table is used as a reference. By adjusting the orientation of the orientation rotation adsorption table, the orientation of the tube cap is consistent with the packaging orientation of the tube seat. Through the visual system, the outer contour image of the tube cap adsorbed on the tube cap welding adsorption tube and the outer contour image of the tube seat adsorbed on the tube seat adsorption table are respectively obtained, and the outer contour image of the tube seat is taken as a reference. Through the fixture on the XYZ three-direction slide table, the outer contour of the tube seat is completely aligned with the outer contour of the tube cap, avoiding the occurrence of the misalignment phenomenon between the packaging orientation of the tube cap and the packaging orientation of the tube seat in the packaging, and improving the qualified rate of the passive optical switch.

Description

Technical Field

[0001] The invention relates to a packaging device for a tube seat and a tube cap, and in particular to a full-automatic alignment packaging device and an alignment packaging method for a tube cap and a tube seat with specific requirements for the butt joint position when the tube cap and the tube seat are packaged. Background Art

[0002] A passive optical switch device is a device used for photoelectric signal conversion. It consists of a tube socket and a tube cap that are precisely aligned and packaged together through power welding. The tube socket is composed of a circular tube socket base and a rectangular chip. The rectangular chip is attached to the circular tube socket base through a placement machine. A lens that can transmit light is provided on the cylindrical tube cap, and a light path refraction prism is provided on the lens so that the light can be refracted at a specified angle when passing through the lens. Therefore, in the alignment packaging of the tube socket and the tube cap of the passive optical switch device, the identification point on the tube socket should be packaged together with the refraction prism on the tube cap lens. That is to say: in the alignment packaging of the tube cap and the tube socket, the packaging orientation of the tube cap and the tube socket should be aligned first, and the outer contour of the tube cap should be aligned with the outer contour of the tube socket. The existing passive optical switch cap and socket alignment packaging technology is completed by manual alignment. Alignment marking points are set on both the socket and the cap. The two markings are manually aligned before packaging. This alignment method has the problems of large manual alignment error, inaccurate alignment and low production efficiency, which cannot meet the requirements of factory automated assembly line production. How to achieve automatic and accurate alignment of the socket and the cap with high precision and realize mass automated production of passive optical switches is a practical problem that needs to be solved on site. Summary of the invention

[0003] The present invention provides a fully automatic and accurate alignment tube seat and tube cap packaging device and an alignment packaging method, which solves the technical problem of how to achieve automatic and accurate alignment and packaging of a tube seat and a tube cap of a passive optical switch.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The overall concept of the present invention is: through the respective automatic conveying lines of the tube socket and the tube cap, the tube socket is placed and adsorbed on the tube socket adsorption table, and the tube cap is adsorbed on the azimuth rotation adsorption table, and the position images of the tube socket and the tube cap at this time are respectively obtained through two visual systems, and the adsorption orientation of the tube socket placed on the tube socket adsorption table is used as a reference, and the orientation of the tube cap is made consistent with the packaging orientation of the tube socket by adjusting the orientation of the azimuth rotation adsorption table, and then, the tube cap with the good orientation positioning is conveyed and adsorbed on the tube cap welding adsorption tube through the conveying mechanism, and the outer contour image of the tube cap adsorbed on the tube cap welding adsorption tube and the outer contour image of the tube socket adsorbed on the tube socket adsorption table are respectively obtained through the visual system, and the outer contour image of the tube cap adsorbed on the tube socket adsorption table is used as a reference, and the outer contour of the tube socket is completely aligned with the outer contour of the tube cap through the fixture on the XYZ three-directional slide table. Finally, the tube cap is pressed down and packaged together with the tube socket. The present invention realizes fully automated and accurate alignment of the tube seat and the tube cap by first aligning the orientation of the tube seat and the tube cap and then aligning the outer contours of the two, thereby avoiding the misalignment of the packaging orientation of the tube cap and the tube seat during packaging, and improving the qualified rate and production efficiency of the passive optical switch.

[0006] A fully automatic and precisely aligned tube socket and tube cap packaging device comprises a packaging device base plate, an electric controller, a tube cap transfer mechanism bracket, a packaging visual system mounting bracket, a tube socket and a tube cap, a tube socket placement adsorption platform is fixedly arranged on the packaging device base plate, a tube socket is movably placed and adsorbed on the tube socket placement adsorption platform, an inverted L-shaped bracket is fixedly arranged on the packaging device base plate on the right side of the tube socket placement adsorption platform, a packaging electric control cylinder is fixedly arranged on the top plate of the inverted L-shaped bracket, a tube cap welding adsorption tube is connected to the downwardly extending shaft of the packaging electric control cylinder; a chip is arranged on the tube socket, an orientation marking point is arranged on the chip, a lens is arranged on the tube cap, an elliptical prism is arranged on the lens, an orientation positioning electric control lifting cylinder is arranged on the top plate of the inverted L-shaped bracket on one side of the packaging electric control cylinder, an L-shaped bracket plate is connected to the downwardly extending shaft of the orientation positioning electric control lifting cylinder, and a tube cap welding adsorption tube is connected to the L-shaped bracket plate. An azimuth angle adjustment servo motor and an azimuth adjustment rotating shaft are respectively arranged on the frame plate, a driving gear is arranged on the output shaft of the azimuth angle adjustment servo motor, a driven gear is arranged on the azimuth adjustment rotating shaft, the driving gear and the driven gear are meshed together, an azimuth adjustment adsorption platform is fixedly connected to the lower end of the azimuth adjustment rotating shaft, a pipe cap is adsorbed on the azimuth adjustment adsorption platform, an azimuth positioning visual camera is arranged on the base plate of the packaging device just below the azimuth adjustment adsorption platform; an electrically controlled horizontal cylinder arranged along the left and right horizontal directions is arranged on the packaging visual system mounting bracket, a horizontal telescopic plate is connected to the output shaft of the electrically controlled horizontal cylinder, a pipe cap imaging camera and a pipe seat imaging camera are respectively arranged on the horizontal telescopic plate; the electrically controlled horizontal cylinder, the packaging electrically controlled cylinder, the azimuth positioning electrically controlled lifting cylinder and the azimuth angle adjustment servo motor are respectively electrically connected to the electric controller.

[0007] An XYZ slide mechanism is arranged on the base plate of the packaging device at the rear side of the adsorption table for placing the tube holder, a Z-direction lifting platform in the up and down directions of the XYZ slide mechanism is arranged on the base plate of the packaging device, a Y-direction slide in the front and back directions is arranged on the Z-direction lifting platform, an X-direction slide in the left and right directions is arranged on the Y-direction slide, an electric-controlled clamping cylinder is arranged on the X-direction slide, a left clamping claw and a right clamping claw are arranged on the electric-controlled clamping cylinder, a left clamping plate is arranged on the left clamping claw, a right clamping plate is arranged on the right clamping claw, and the tube holder is clamped between the left clamping plate and the right clamping plate; the electric-controlled clamping cylinder is electrically connected to the electric controller.

[0008] An electrically controlled mobile module track in left and right directions is arranged on the pipe cap transfer mechanism bracket, an electrically controlled mobile module is arranged on the electrically controlled mobile module track in left and right directions, a lifting cylinder is arranged on the moving slider of the electrically controlled mobile module, a nozzle bracket is connected to the output shaft of the lifting cylinder, and a nozzle is arranged on the nozzle bracket.

[0009] A fully automatic and accurate alignment packaging method for a tube seat and tube cap packaging device, characterized by the following steps:

[0010] The first step is that the tube seat automatic conveying line conveys the tube seat to the tube seat placement adsorption table, and the tube cap automatic conveying line conveys the tube cap to the suction nozzle. The tube cap is then conveyed by the electric control moving module and adsorbed to the position adjustment adsorption table;

[0011] Step 2: The azimuth positioning visual camera images the tube cap adsorbed on the azimuth adjustment adsorption platform, and transmits the acquired tube cap image to the electronic controller; the electronic controller controls the output shaft of the electronically controlled horizontal cylinder to extend, so that the tube seat imaging camera is set just above the tube seat placement adsorption platform, and the tube seat imaging camera images the tube seat adsorbed on the tube seat placement adsorption platform, and transmits the acquired tube seat image to the electronic controller;

[0012] In the third step, the computer in the electronic controller identifies the orientation mark point set on the chip in the transmitted tube base image, and the computer in the electronic controller identifies the elliptical prism set on the lens in the transmitted tube cap image; the computer uses the tube base image as a reference to calculate the angle that the tube cap needs to rotate when the elliptical prism on the lens in the tube cap image is aligned with the orientation mark point set on the chip, and controls the rotation of the servo motor to rotate the tube cap to a position where the elliptical prism on the lens in the tube cap image is aligned with the orientation mark point set on the chip according to the calculated rotation angle;

[0013] Step 4: The electronic controller controls the output shaft of the electronically controlled horizontal cylinder to retract, and the electronic controller controls the electronically controlled moving module to transfer the positioned pipe cap from the azimuth adjustment adsorption platform to the lower port of the pipe cap welding adsorption tube;

[0014] Step 5: The electronic controller controls the nozzle bracket to retract, and the electronic controller controls the output shaft of the electronically controlled horizontal cylinder to extend, and the pipe cap imaging camera is used to image the pipe cap adsorbed on the lower port of the pipe cap welding adsorption tube, and the pipe seat imaging camera is used to image the pipe seat adsorbed on the pipe seat placement adsorption table;

[0015] Step 6: The computer in the electronic controller compares the outer contours of the two images obtained in the fifth step, and uses the image of the outer contour of the tube cap as a reference to calculate the size of the tube seat that needs to be moved. The electronic controller controls the action of the electronically controlled clamping cylinder to clamp the tube seat between the left clamping plate and the right clamping plate, and controls the action of the slide on the XYZ slide mechanism to make the outer contour center line of the tube seat completely coincide with the outer contour center line of the tube cap.

[0016] Step 7: The electronic controller controls the electronically controlled clamping cylinder to open the clamping of the tube seat, and controls the packaging electronically controlled cylinder to press down, so that the tube cap and the tube seat are connected and packaged together.

[0017] The invention greatly improves the qualified rate and production efficiency of the passive optical switch after the tube base and the tube cap are packaged, and the light coupling rate of the packaged passive optical switch is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the working state when the electric control moving module 38 on the tube cap transfer mechanism bracket 19 of the present invention transfers the tube cap 7 to the orientation adjustment adsorption platform 11;

[0020] Figure 3 It is a structural schematic diagram of the adjustment implementation mechanism for adjusting the position of the pipe cap 7 according to the present invention;

[0021] Figure 4 It is a structural schematic diagram of the present invention when visually identifying the outer contour of the tube base 3 and the outer contour of the tube cap 7;

[0022] Figure 5 It is a structural schematic diagram of the present invention when the outer contour of the tube seat 3 is aligned and displaced;

[0023] Figure 6 is a schematic structural diagram of a pipe cap 7 of the present invention;

[0024] Figure 7 It is a schematic structural diagram of the tube base 3 of the present invention. DETAILED DESCRIPTION

[0025] The present invention is described in detail below in conjunction with the accompanying drawings:

[0026] A fully automatic and precisely aligned tube seat and tube cap packaging device comprises a packaging device base plate 1, an electric controller, a tube cap transfer mechanism bracket 19, a packaging visual system mounting bracket 14, a tube seat 3 and a tube cap 7. A computer is arranged in the electric controller, and the computer serves as a central controller to control the fully automatic operation of the entire system. A tube seat placement adsorption platform 2 is fixedly arranged on the packaging device base plate 1, and a tube seat 3 is movably placed and adsorbed on the tube seat placement adsorption platform 2. An inverted L-shaped bracket 4 is fixedly arranged on the packaging device base plate 1 on the right side of the tube seat placement adsorption platform 2, and a packaging electric control cylinder 5 is fixedly arranged on the top plate of the inverted L-shaped bracket 4. A tube cap welding adsorption tube 6 is connected to the downwardly extending shaft of the packaging electric control cylinder 5. After the output shaft of the packaging electric control cylinder 5 is pressed down , the tube cap 7 is aligned and connected with the tube base 3, and the adsorption tube 6 is welded to the tube cap and the adsorption platform 2 is placed on the tube base and energized, and then the two are packaged together; a chip 40 is attached to the tube base 3, and an orientation marking point 41 is provided on the chip 40, a lens 37 is provided on the tube cap 7, and an elliptical prism 39 is provided on the lens 37. When packaging, the orientation marking point 41 provided on the chip 40 needs to be aligned with the elliptical prism 39, that is, the packaging of the two has an azimuth alignment requirement, and an azimuth positioning electric control lifting cylinder 8 is provided on the top plate of the inverted L-shaped bracket 4 on one side of the packaging electric control cylinder 5, and an L-shaped bracket plate 9 is connected to the downward extending shaft of the azimuth positioning electric control lifting cylinder 8, and the L-shaped bracket plate 9 is respectively provided with orientation marking points 41 and 41 on the L-shaped bracket plate 9. The azimuth angle adjustment servo motor 10 and the azimuth adjustment rotating shaft 27, a driving gear 25 is arranged on the output shaft of the azimuth angle adjustment servo motor 10, a driven gear 26 is arranged on the azimuth adjustment rotating shaft 27, the driving gear 25 and the driven gear 26 are meshed together, the lower end of the azimuth adjustment rotating shaft 27 is fixedly connected with an azimuth adjustment adsorption platform 11, a pipe cap 7 is adsorbed on the azimuth adjustment adsorption platform 11, an azimuth positioning visual camera 12 is arranged on the packaging device base plate 1 just below the azimuth adjustment adsorption platform 11, the pipe cap 7 completes the alignment work with the pipe seat here, so that when the pipe cap is transferred to the pipe cap welding adsorption tube 6 under the packaging electric control cylinder 5, its orientation is correct, and a rotation angle sensor is arranged on the L-shaped bracket plate 9 28, the rotation angle sensor 28 is electrically connected to the electric controller, and the rotation angle of the azimuth angle adjustment servo motor 10 is precisely controlled by the rotation angle sensor 28; on the packaging visual system mounting bracket 14, an electric-controlled horizontal cylinder 15 is arranged along the left and right horizontal directions, and a horizontal telescopic plate 16 is connected to the output shaft of the electric-controlled horizontal cylinder 15, and a tube cap imaging camera 17 and a tube seat imaging camera 18 are respectively arranged on the horizontal telescopic plate 16. The tube seat imaging camera 18 first images the tube seat 3 adsorbed on the tube seat placement adsorption platform 2, in order to provide an orientation reference for the tube cap 7 adsorbed on the orientation adjustment adsorption platform 11, so as to guide the electric controller to adjust the orientation of the tube cap 7 to be consistent with the orientation when the tube seat 3 is packaged;The electric-controlled horizontal cylinder 15, the encapsulated electric-controlled cylinder 5, the azimuth positioning electric-controlled lifting cylinder 8 and the azimuth angle adjustment servo motor 10 are all electrically connected to the electric controller. ;

[0027] An XYZ slide mechanism 13 is arranged on the packaging device base plate 1 at the rear side of the tube holder adsorption platform 2, a Z-direction lifting platform 36 of the XYZ slide mechanism 13 in the up and down direction is arranged on the packaging device base plate 1, a Y-direction slide 34 in the front and back direction is arranged on the Z-direction lifting platform 36, an X-direction slide 35 in the left and right direction is arranged on the Y-direction slide 34, an electric-controlled clamping cylinder 33 is arranged on the X-direction slide 35, a left clamping claw 31 and a right clamping claw 32 are arranged on the electric-controlled clamping cylinder 33, a left clamping plate 29 is arranged on the left clamping claw 31, a right clamping plate 30 is arranged on the right clamping claw 32, and the tube holder 3 is clamped between the left clamping plate 29 and the right clamping plate 30; the electric-controlled clamping cylinder 33 and the electric controller are electrically connected. connected together; the XYZ slide mechanism 13 is mainly used to complete the second outer contour center line alignment adjustment of the tube cap 7 and the tube seat 3 before packaging, and the adjustment is based on the tube seat imaging camera 18 to image the tube seat 3 adsorbed on the tube seat placement adsorption platform 2 for the second time, and the tube cap imaging camera 17 to image the tube cap 7 adsorbed on the lower end of the tube cap welding adsorption tube 6; the computer in the electronic controller calculates the deviation in the X, Y and Z directions based on the comparison of the two imaging images, and controls the movement of the corresponding slide on the XYZ slide mechanism 13 based on the deviation, thereby driving the fixture on the slide to drive the tube seat 3 to adjust and move, so that the outer contour center line of the tube seat 3 coincides with the outer contour center line of the tube cap 7, preparing for the subsequent packaging welding.

[0028] An electrically controlled movable module track 20 in the left and right directions is arranged on the pipe cap transfer mechanism bracket 19, an electrically controlled movable module 38 is arranged on the electrically controlled movable module track 20 in the left and right directions, a lifting cylinder 22 is arranged on the movable slider 21 of the electrically controlled movable module 38, a suction nozzle bracket 23 is connected to the output shaft of the lifting cylinder 22, and a suction nozzle 24 is arranged on the suction nozzle bracket 23; the pipe cap 7 that has completed the orientation positioning is lifted by the lifting cylinder 22 and translated to the suction nozzle 24, and then translated to the lower port of the pipe cap welding adsorption tube 6 by the movable slider 21 of the electrically controlled movable module 38. During the whole movement process, the orientation of the pipe cap 7 remains unchanged.

[0029] A fully automatic and accurate alignment packaging method for a tube seat and tube cap packaging device, characterized by the following steps:

[0030] In the first step, the tube seat automatic conveying line conveys the tube seat 3 to be adsorbed on the tube seat placement adsorption platform 2, and the tube cap automatic conveying line conveys the tube cap 7 to the suction nozzle 24, and the tube cap 7 is then conveyed by the electric control moving module 38 and adsorbed on the orientation adjustment adsorption platform 11;

[0031] Step 2: The azimuth positioning visual camera 12 images the tube cap 7 adsorbed on the azimuth adjustment adsorption platform 11, and transmits the acquired tube cap image to the electronic controller; the electronic controller controls the output shaft of the electronically controlled horizontal cylinder 15 to extend, so that the tube seat imaging camera 18 is set just above the tube seat placement adsorption platform 2, and the tube seat imaging camera 18 images the tube seat 3 adsorbed on the tube seat placement adsorption platform 2, and transmits the acquired tube seat image to the electronic controller;

[0032] Step 3: The computer in the electronic controller identifies the orientation mark point 41 set on the chip 40 in the transmitted tube base image, and the computer in the electronic controller identifies the elliptical prism 39 set on the lens 37 in the transmitted tube cap image; the computer uses the tube base image as a reference to calculate the angle that the tube cap needs to rotate when the elliptical prism 39 on the lens 37 in the tube cap image is aligned with the orientation mark point 41 set on the chip 40, and controls the rotation of the azimuth angle adjustment servo motor 10 according to the calculated rotation angle, so that the tube cap 7 rotates to a position where the elliptical prism 39 on the lens 37 in the tube cap image is aligned with the orientation mark point 41 set on the chip 40;

[0033] Step 4: The electronic controller controls the output shaft of the electronically controlled horizontal cylinder 15 to retract, and the electronic controller controls the electronically controlled moving module 38 to transfer the positioned pipe cap 7 from the orientation adjustment adsorption platform 11 to the lower end of the pipe cap welding adsorption tube 6;

[0034] Step 5: The electronic controller controls the nozzle bracket 23 to retract, and the electronic controller controls the output shaft of the electronically controlled horizontal cylinder 15 to extend, and the pipe cap imaging camera 17 is used to image the pipe cap 7 adsorbed on the lower end of the pipe cap welding adsorption tube 6, and the pipe seat imaging camera 18 is used to image the pipe seat 3 adsorbed on the pipe seat placement adsorption platform 2;

[0035] Step 6: The computer in the electronic controller compares the outer contours of the two images obtained in the fifth step, and uses the image of the outer contour of the tube cap as a reference to calculate the size of the tube seat 3 that needs to be moved. The electronic controller controls the action of the electronically controlled clamping cylinder 33 to clamp the tube seat 3 between the left clamping plate 29 and the right clamping plate 30, and controls the action of the slide on the XYZ slide mechanism 13 to make the outer contour center line of the tube seat 3 completely coincide with the outer contour center line of the tube cap 7.

[0036] Step 7: The electronic controller controls the electronically controlled clamping cylinder 33 to open the clamping of the tube seat 3, and controls the packaging electronically controlled cylinder 5 to press down, so that the tube cap 7 and the tube seat 3 are connected and packaged together.

Claims

1. A method for aligning and packaging a tube seat and tube cap packaging device with full-automatic and precise alignment, which is carried out by the tube seat and tube cap packaging device with full-automatic and precise alignment, comprising a packaging device base plate, an electric controller, a tube cap transfer mechanism bracket, a packaging visual system mounting bracket, a tube seat and a tube cap, a tube seat placement adsorption platform is fixedly arranged on the packaging device base plate, a tube seat is movably placed and adsorbed on the tube seat placement adsorption platform, an inverted L-shaped bracket is fixedly arranged on the packaging device base plate on the right side of the tube seat placement adsorption platform, a packaging electric control cylinder is fixedly arranged on the top plate of the inverted L-shaped bracket, a tube cap welding adsorption tube is connected to the downwardly extending shaft of the packaging electric control cylinder; a tube seat is arranged on the tube seat The chip is provided with an azimuth marking point, the tube cap is provided with a lens, the lens is provided with an elliptical prism, an azimuth positioning electric control lifting cylinder is provided on the top plate of the inverted L-shaped bracket on one side of the encapsulated electric control cylinder, an L-shaped bracket plate is connected to the downwardly extending shaft of the azimuth positioning electric control lifting cylinder, an azimuth angle adjustment servo motor and an azimuth adjustment rotating shaft are respectively provided on the L-shaped bracket plate, a driving gear is provided on the output shaft of the azimuth angle adjustment servo motor, a driven gear is provided on the azimuth adjustment rotating shaft, the driving gear and the driven gear are meshed together, an azimuth adjustment adsorption platform is fixedly connected to the lower end of the azimuth adjustment rotating shaft, the tube cap is adsorbed on the azimuth adjustment adsorption platform, and the azimuth adjustment adsorption platform is provided with a tube cap. An azimuth positioning vision camera is arranged on the base plate of the packaging device directly below the platform; an electric-controlled horizontal cylinder arranged along the left and right horizontal directions is arranged on the packaging vision system mounting bracket, and a horizontal telescopic plate is connected to the output shaft of the electric-controlled horizontal cylinder, and a pipe cap imaging camera and a pipe base imaging camera are arranged on the horizontal telescopic plate respectively; the electric-controlled horizontal cylinder, the packaging electric-controlled cylinder, the azimuth positioning electric-controlled lifting cylinder and the azimuth angle adjustment servo motor are respectively electrically connected to the electric controller; an XYZ slide mechanism is arranged on the base plate of the packaging device on the rear side of the pipe base for placing the adsorption platform, and the Z-direction lifting platform of the XYZ slide mechanism in the up and down directions is arranged on the base plate of the packaging device, and front and rear direction lifting devices are arranged on the Z-direction lifting platform A Y-axis slide table is arranged in the direction of the tube cap, an X-axis slide table in the left and right directions is arranged on the Y-axis slide table, an electric-controlled clamping cylinder is arranged on the X-axis slide table, a left clamping claw and a right clamping claw are arranged on the electric-controlled clamping cylinder, a left clamping plate is arranged on the left clamping claw, a right clamping plate is arranged on the right clamping claw, and a tube holder is clamped between the left clamping plate and the right clamping plate; the electric-controlled clamping cylinder is electrically connected to the electric controller; an electric-controlled moving module track in the left and right directions is arranged on the tube cap transfer mechanism bracket, an electric-controlled moving module is arranged on the electric-controlled moving module track in the left and right directions, a lifting cylinder is arranged on the moving slider of the electric-controlled moving module, a nozzle bracket is connected to the output shaft of the lifting cylinder, and a nozzle is arranged on the nozzle bracket; it is characterized in that Follow these steps: The first step is that the tube seat automatic conveying line conveys the tube seat to the tube seat placement adsorption table, and the tube cap automatic conveying line conveys the tube cap to the suction nozzle. The tube cap is then conveyed by the electric control moving module and adsorbed to the position adjustment adsorption table; Step 2: The azimuth positioning visual camera images the tube cap adsorbed on the azimuth adjustment adsorption platform, and transmits the acquired tube cap image to the electronic controller; the electronic controller controls the output shaft of the electronically controlled horizontal cylinder to extend, so that the tube seat imaging camera is set just above the tube seat placement adsorption platform, and the tube seat imaging camera images the tube seat adsorbed on the tube seat placement adsorption platform, and transmits the acquired tube seat image to the electronic controller; In the third step, the computer in the electronic controller identifies the orientation mark point set on the chip in the transmitted tube base image, and the computer in the electronic controller identifies the elliptical prism set on the lens in the transmitted tube cap image; the computer uses the tube base image as a reference to calculate the angle that the tube cap needs to rotate when the elliptical prism on the lens in the tube cap image is aligned with the orientation mark point set on the chip, and controls the rotation of the servo motor to rotate the tube cap to a position where the elliptical prism on the lens in the tube cap image is aligned with the orientation mark point set on the chip according to the calculated rotation angle; Step 4: The electronic controller controls the output shaft of the electronically controlled horizontal cylinder to retract, and the electronic controller controls the electronically controlled moving module to transfer the positioned pipe cap from the azimuth adjustment adsorption platform to the lower port of the pipe cap welding adsorption tube; Step 5: The electronic controller controls the nozzle bracket to retract, and the electronic controller controls the output shaft of the electronically controlled horizontal cylinder to extend, and the pipe cap imaging camera is used to image the pipe cap adsorbed on the lower port of the pipe cap welding adsorption tube, and the pipe seat imaging camera is used to image the pipe seat adsorbed on the pipe seat placement adsorption table; Step 6: The computer in the electronic controller compares the outer contours of the two images obtained in the fifth step, and uses the image of the outer contour of the tube cap as a reference to calculate the size of the tube seat that needs to be moved. The electronic controller controls the action of the electronically controlled clamping cylinder to clamp the tube seat between the left clamping plate and the right clamping plate, and controls the action of the slide on the XYZ slide mechanism to make the outer contour center line of the tube seat completely coincide with the outer contour center line of the tube cap. Step 7: The electronic controller controls the electronically controlled clamping cylinder to open the clamping of the tube seat, and controls the packaging electronically controlled cylinder to press down, so that the tube cap and the tube seat are connected and packaged together.

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