Automatic loading and unloading device for chip packaging tubes based on vision guidance

Abstract

The present application relates to the field of chip labeling, specifically, it relates to a tube automatic feeding and discharging device based on visual guidance. It includes a device main body, a mobile installation table is arranged at the device main body, a material tube placing part for placing the tube is vertically arranged on the upper surface of the mobile installation table through a first mounting bracket, the material tube placing part is sequentially formed with a feeding section, a sorting section and a discharging section from top to bottom; one side of the material tube placing part along the tube width direction is provided with a pushing assembly, the other side is provided with a material distribution assembly and a taking and placing assembly for taking and placing the tube, the pushing assembly is used for pushing the material tube at the discharging section to the material distribution area of the material distribution assembly, and the material distribution area is covered in the taking and placing range of the taking and placing assembly. The device main body in the present application can form a complete automatic feeding and discharging process for the tube through the material tube placing part arranged at the mobile installation table, the pushing assembly, the material distribution assembly and the taking and placing assembly, and has high automation degree.

Description

Technical Field

[0001] The present invention relates to the field of chip labeling, in particular to an automatic loading and unloading device for chip packaging tubes based on vision guidance. Background Art

[0002] Chips come in a variety of packaging options, with tube packaging being the most common. When labeling tube-packaged chips, the tubes containing the chips are first loaded into the tube placement area. The tubes are then unloaded one by one from the tube placement area, and the customer's device is labeled using the chips encapsulated within the tubes.

[0003] Among existing labeling methods, manual labeling is often used, requiring manual comparison of the barcode information on the product equipment before labeling. Manual labeling is prone to labeling errors and also requires a high labor cost. Therefore, an automated loading and unloading labeling device is needed to improve labeling accuracy and efficiency. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides an automatic loading and unloading device for chip packaging tubes based on vision guidance.

[0005] An automatic loading and unloading device for chip packaging tubes based on vision guidance includes a device main body, a mobile mounting platform is provided on the device main body, a material tube placement part for placing the tube is vertically provided on the upper surface of the mobile mounting platform through a first mounting frame, and the material tube placement part forms a feeding section, a sorting section and a discharging section from top to bottom; the material tube placement part is provided with a pushing component on one side along the width direction of the tube, and a dividing component and a picking and placing component for picking and placing the tube on the other side, the pushing component is used to push the material tube at the discharging section to the dividing area of ​​the dividing component, and the dividing area is covered within the picking and placing range of the picking and placing component; the picking and placing component includes a multi-axis manipulator and a clamping component provided at the moving end of the multi-axis manipulator, and the clamping component includes a visual detection component and a suction component.

[0006] The device body of the present invention can form a complete set of automatic loading and unloading processes for tubes through the material tube placement part, pushing component, material dividing component and picking and placing component arranged on the mobile mounting platform; it has a high degree of automation, thereby being able to better improve the loading and unloading efficiency and labeling accuracy, and has high practical value and economic value.

[0007] As preferred, the feeding section comprises a tube hopper which is wide at the top and narrow at the bottom, the narrow section of the tube hopper is formed with a tube passage which allows only a single tube to pass at the same time; the lower end of the tube hopper is connected with a first plate body and a second plate body which are perpendicular to the mounting platform, the first plate body and the second plate body are fixedly installed on the mounting platform through the fixing seat; a sorting section which is connected with the tube passage and used for sorting the stacked tubes and a discharging section which is used for cooperating with the pushing assembly to discharge are sequentially formed from top to bottom between the first plate body and the second plate body; the side walls of the first plate body and the second plate body which face each other are both provided with oppositely arranged limiting vertical plates which are arranged between the upper end and the lower end of the sorting section in the vertical direction.

[0008] The first plate body and the second plate body can preferably limit the two ends of the tube in the length direction of the tube, and the limiting vertical plates arranged on the first plate body and the second plate body can preferably limit the two sides of the tube in the width direction of the tube. Therefore, the position stability of the tube in the sorting section can be preferably ensured through the cooperation of the first plate body, the second plate body and the limiting vertical plates, so that the situation that the feeding and discharging processes are affected due to the tube separating from the tube placing part can be effectively avoided.

[0009] As preferred, the pushing assembly comprises a pushing assembly and a lifting assembly; the pushing assembly comprises two pushing blocks arranged on the upper surface of the first mounting frame and a cylinder guide rail assembly used for driving the two pushing blocks to move, the two pushing blocks are symmetrically arranged on the two sides near the middle part in the length direction of the tube, and the pushing blocks move in the width direction of the tube through the cylinder guide rail assembly; the upper part of the pushing block is formed with a placing through slot which extends in the length direction of the tube, and the placing through slots on the upper part of the two pushing blocks cooperatively form a first placing area used for placing the tube; when the tube is driven by the pushing block to move to the limit position in the moving direction, the position of the tube forms a position to be lifted which is used for cooperating with the lifting assembly.

[0010] The tube can be stably driven to move through the pushing block, and the placing through slot arranged on the pushing block can ensure that the length direction of the tube can remain stable and will not deviate from the original position when the tube moves in the width direction of the tube along the pushing block.

[0011] As preferred, the cylinder guide rail assembly comprises two linear guides arranged on the lower surface of the first mounting frame and arranged in the moving direction of the pushing block, and a sliding block which is slidingly connected with the linear guides, and further comprises a pushing cylinder used for driving the sliding block to move; the piston rod of the pushing cylinder is connected with the sliding block and the pushing block through the first connecting plate.

[0012] The present invention can stably control the movement of the slider and the push block through the piston rod of the pushing cylinder, thereby pushing out the tubes through the push block. At the same time, the forward and return travels of the piston rod of the pushing cylinder are fixed, so the tubes at the discharge section can be stably and continuously pushed out one by one.

[0013] Preferably, the lifting assembly includes a lifting cylinder provided on the lower surface of the first mounting frame and located below the position to be lifted, and a pressing cylinder installed on the second wrench body through the second connecting plate and located above the position to be lifted, the two lifting cylinders are symmetrically provided on both sides near the middle of the tube in the length direction of the position to be lifted; the piston rods of the two lifting cylinders move in the up and down directions; the piston rods of the lifting cylinders are connected to a lifting block, and a notch for placing the material pipe is formed in the lifting block. When the lifting cylinder drives the lifting block to move upward through the piston rod, the notches of the two lifting blocks cooperate to form a second placement area for placing the tube; the piston rod of the pressing cylinder moves in the up and down directions, and the piston rod of the pressing cylinder is connected to a pressure plate.

[0014] The present invention can better ensure the positioning stability of the tube at the notch of the lifting block through the lifting block and the pressure plate, so that it can better cooperate with the subsequent material distribution component to perform material distribution.

[0015] Preferably, the material distribution assembly includes two transmission belts arranged along the width direction of the tube at the material tube placement portion and driven synchronously, and the two transmission belts are symmetrically arranged on both sides near the middle of the length direction of the tube at the material tube placement portion through a second mounting frame; one end of the flow belt in the transmission direction is located below the second placement area; a plurality of placement clamps are arranged at both transmission belts, and the placement clamps form a clamping area along the length direction of the tube at the material tube placement portion, and the placement clamps are evenly distributed along the transmission direction of the transmission belts, and the placement clamps at corresponding positions on the two transmission belts cooperate to form a placement position for placing the tube.

[0016] The present invention can form a sequence of tubes along the transmission direction of the transmission belt by using the transmission belt, so that the tubes can be picked up and placed in a better manner in conjunction with the subsequent pick-and-place assembly.

[0017] Preferably, the multi-axis manipulator includes a fixed support installed on a mobile mounting platform and a movable base movably connected to the fixed support; the movable base includes a first movable arm that rotates in a vertical direction, and a second movable arm and a third movable arm that rotate around two perpendicular axes in a horizontal plane respectively; the first movable arm is connected to the upper part of the fixed support through a first joint, the second movable arm is movably connected to the side of the first movable arm near the material distribution area through a second joint, and the third movable arm is movably connected to the upper part of the second movable arm through a third joint; the movable end is located at an end of the third movable arm far from the third joint.

[0018] The first movable arm, the second movable arm and the third movable arm of the multi-axis manipulator can ensure that the clamping assembly has sufficient movement range under the driving of the multi-axis manipulator, so that the movement range of the whole taking and placing assembly can cover the distribution area. Therefore, the flexible manipulator can better ensure the smooth progress of the whole clamping process and the subsequent labeling work.

[0019] As preferred, the visual detection assembly and the suction assembly are respectively installed at the moving end of the multi-axis manipulator through the manipulator block and the gripper, and the suction position of the suction assembly is covered in the detection range of the visual detection assembly.

[0020] The visual detection assembly can detect the tube pipe sucked by the suction assembly in real time, so that the corresponding labeling position can be quickly determined, and the accuracy and efficiency of the labeling work are better improved.

[0021] As preferred, the visual detection assembly comprises a mounting seat and a visual detection camera fixed to the upper part of the mounting seat, the visual detection camera comprises a camera main body and a shooting lens, the camera main body is fixedly installed at the upper surface of the mounting seat, and the shooting lens is arranged on the side wall near the suction assembly; the axis of the shooting lens is perpendicular to the suction assembly, and the lens of the visual detection camera faces the side of the suction assembly.

[0022] In the working process of the visual detection assembly in the application, after the suction assembly sucks the tube pipe from the distribution area, the camera main body starts to work, the shooting lens scans and shoots the tube pipe and uploads the shooting data to the computer; after the computer processes the data, the corresponding labeling position of the tube pipe can be obtained, so that the subsequent labeling work of the multi-axis manipulator can be better coordinated.

[0023] As preferred, the suction assembly comprises a suction disc mounting plate arranged at the gripper, the suction disc mounting plate does not interfere with other components of the multi-axis manipulator when moving with the third movable arm of the multi-axis manipulator; the suction disc mounting plate is symmetrically provided with suction disc mounting holes on both sides along the length direction thereof; vacuum suction discs are arranged at the suction disc mounting holes on both sides, and the suction nozzles of the vacuum suction discs are arranged on the side away from the gripper; the suction nozzles of the vacuum suction discs on both sides cooperatively form a suction position for sucking the tube pipe, and the suction position is parallel to the suction disc mounting plate.

[0024] When the suction assembly moves with the multi-axis manipulator after completing the suction, the tube pipe can better maintain the original relative position with the suction assembly; so that the tube pipe can effectively avoid the situation of separating from the suction assembly, and has high stability. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of the device main body in Example 1.

[0026] Figure 2 This is a structural diagram of the device body in Example 1 from another perspective;

[0027] Figure 3 for Figure 1 A magnified schematic diagram of point A in the middle;

[0028] Figure 4 for Figure 1 Schematic diagram of the structure of the middle material pipe placement part, the second connecting plate and the pressing cylinder;

[0029] Figure 5 for Figure 2 Schematic diagram of the structure of the push component;

[0030] Figure 6 for Figure 3 Schematic diagram of the structure of the lifting cylinder and lifting block;

[0031] Figure 7 for Figure 3 Schematic diagram of the structure of the middle compression cylinder and pressure plate;

[0032] Figure 8 for Figure 1 Schematic diagram of the structure of the middle material distribution component;

[0033] Figure 9 for Figure 1 Schematic diagram of the structure of the multi-axis manipulator;

[0034] Figure 10 for Figure 1 Schematic diagram of the structure of the gripping component. DETAILED DESCRIPTION

[0035] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are merely for explaining the present invention and are not intended to limit the present invention.

[0036] Example 1

[0037] like Figure 1-10The present embodiment provides an automatic loading and unloading device for chip packaging tubes based on vision guidance, including a device body 100, a movable mounting platform 110 is provided on the device body 100, and a material tube placement portion 120 for placing the tubes is vertically provided on the upper surface of the movable mounting platform 110 through a first mounting frame 130. The material tube placement portion 120 forms a feeding section, a sorting section and a discharging section from top to bottom; the material tube placement portion 120 is provided with a pushing component on one side along the width direction of the tube, and a dividing component 140 and a pick-and-place component for picking and placing the tubes on the other side. The pushing component is used to push the material tube at the discharging section to the dividing area of ​​the dividing component 140, and the dividing area is covered within the picking and placing range of the pick-and-place component; the pick-and-place component includes a multi-axis robot 150 and a gripping component 160 provided at the moving end 155 of the multi-axis robot 150, and the gripping component 160 includes a visual detection component and a suction component.

[0038] Specifically, when using the device body 100 of this embodiment, the movable mounting platform 110 is first moved to the labeling position where labeling is required. Then, tubes containing encapsulated chips are placed one by one through the loading section into the tube placement unit 120. Once in the tube placement unit 120, the tubes are sequentially arranged in a tube sequence from top to bottom due to gravity. At this point, the tube at the bottom of the tube sequence is located at the discharge section.

[0039] Furthermore, a pusher assembly located on one side of the tube's width pushes the tubes at the discharge section along their width. The dispensing assembly 140 then arranges the dispensing tubes sequentially in the dispensing area, facilitating their removal by the pick-and-place assembly and subsequent comparative labeling. The multi-axis robot 150 in the pick-and-place assembly then drives the gripper assembly 160 to grip each tube in the dispensing area. During this gripping process, the visual inspection assembly visually inspects the tubes gripped by the gripper assembly 160 to determine which customer device they correspond to, facilitating subsequent labeling.

[0040] It can be understood that compared with the prior art, the device body 100 in this embodiment can form a complete set of automatic loading and unloading processes for tubes through the material tube placement part 120, the pushing component, the material dividing component 140 and the pick-and-place component arranged on the mobile mounting platform 110; it has a high degree of automation, thereby being able to better improve the loading and unloading efficiency and labeling accuracy, and has high practical value and economic value.

[0041] Furthermore, the aforementioned feeding section comprises a tube hopper 121 in the shape of wide top and narrow bottom, the narrow section of the tube hopper 121 is formed with a tube passage allowing only a single tube to pass through at the same time; the lower end of the tube hopper 121 is connected with a first plate body 122 and a second plate body 123 perpendicular to the mounting platform 110 on both sides along the length direction of the tube, the first plate body 122 and the second plate body 123 are fixedly installed on the mounting platform 110 through a fixing seat 124; a sorting section for sorting the stacked tubes and a discharging section for cooperating with the pushing assembly for discharging are sequentially formed from top to bottom between the first plate body 122 and the second plate body 123 and are connected with the tube passage; the side walls of the first plate body 122 and the second plate body 123 facing each other are respectively provided with oppositely arranged limiting vertical plates 125, which are arranged between the upper and lower ends of the sorting section along the vertical direction.

[0042] Specifically, the tube hopper in the shape of wide top and narrow bottom enables the user to more conveniently put the tubes into the feeding section; and due to the structure of wide top and narrow bottom of the tube hopper, the tubes naturally fall through the tube passage into the sorting section under the action of gravity after entering the tube hopper. In addition, the first plate body and the second plate body can preferably limit the two ends of the tube along the length direction; at the same time, the limiting vertical plates 125 arranged on the first plate body and the second plate body can preferably limit the two sides of the tube along the width direction. Therefore, the cooperation of the first plate body, the second plate body and the limiting vertical plates 125 can preferably ensure the positional stability of the tube in the sorting section; thereby effectively avoiding the situation that the tube is separated from the tube placing part 120 and affects the normal feeding and discharging process. In addition, the limiting vertical plates 125 have no effect on the tubes in the discharging section, so that the tubes in the discharging section can normally move along the width direction and be pushed out in cooperation with the pushing assembly.

[0043] The pushing assembly comprises a pushing assembly 210 and a lifting assembly; the pushing assembly 210 comprises two pushing blocks 215 arranged on the upper surface of the first mounting frame 130 and a cylinder guide rail assembly for driving the two pushing blocks 215 to move, the two pushing blocks 215 are symmetrically arranged on both sides near the middle part along the length direction of the tube, and the pushing blocks 215 move along the width direction of the tube through the cylinder guide rail assembly; the upper part of the pushing block 215 is formed with a placing slot 2151 extending along the length direction of the tube, and the placing slots 2151 on the upper part of the two pushing blocks 215 cooperatively form a first placing area for placing the tube; when the tube is driven by the pushing block 215 to move to the limit position along the moving direction, the position of the tube forms a position to be lifted for cooperating with the lifting assembly.

[0044] Understandably, during use of the apparatus body 100 of this embodiment, the tube at the discharge section naturally falls into the first placement area of ​​the two push blocks 215 due to gravity. As the two push blocks 215, driven by the cylinder guide assembly, move along the width of the tube, the tube follows the push blocks 215 out of the discharge section and into the position to be lifted. This embodiment utilizes the push blocks 215 to relatively stably drive the tube's movement, and the placement slots 2151 provided on the push blocks 215 ensure that the tube remains stable in its longitudinal direction and does not deviate from its original position as it follows the push blocks 215 along its width.

[0045] The cylinder guide rail assembly includes two linear guide rails 212 provided on the lower surface of the first mounting frame 130 and arranged along the moving direction of the push block 215, and a slider 213 provided on the linear guide rails 212 and slidingly engaged with the linear guide rails 212, and also includes a pushing cylinder 211 for driving the slider 213 to move; the piston rod of the pushing cylinder 211 is connected to the slider 213 and the push block 215 through a first connecting plate 214.

[0046] Specifically, by pushing the air cylinder 211, the movement of the slider 213 and the push block 215 can be controlled more stably through the piston rod, so that the tubes are pushed out through the push block 215. At the same time, the forward and return strokes of the piston rod of the air cylinder 211 are fixed, so the tubes at the discharge section can be pushed out one by one stably and continuously.

[0047] The lifting assembly includes a lifting cylinder 310 provided on the lower surface of the first mounting frame 130 and located at the lower side of the position to be lifted, and a pressing cylinder 320 installed on the second wrench body through the second connecting plate 410 and located at the upper side of the position to be lifted. The two lifting cylinders 310 are symmetrically provided on both sides near the middle of the length direction of the tube at the position to be lifted; the piston rods of the two lifting cylinders 310 move in the up and down directions; the piston rods of the lifting cylinders 310 are connected to the lifting blocks 610, and the lifting blocks 610 are formed with notches 611 for placing the material tubes. When the lifting cylinder 310 drives the lifting blocks 610 to move upward through the piston rod, the notches 611 of the two lifting blocks 610 cooperate to form a second placement area for placing the tubes; the piston rod of the pressing cylinder 320 moves in the up and down directions, and the piston rod of the pressing cylinder 320 is connected to a pressure plate 710.

[0048] Specifically, when the push block 215 drives the tube to the position to be lifted, the lift cylinder 310 located below the lifting position drives the lift block 610 upward via a piston rod. The lift block 610 lifts the tube upward and disengages the tube from the push block 215. Once the tube is disengaged from the push block 215, the cylinder guide assembly retracts the push block 215, allowing the aforementioned ejection process to continue. Simultaneously, the notch 611 in the lift block 610 effectively positions the tube, effectively preventing it from falling or shifting as the lift block 610 moves upward. As the tube lift block 610 moves upward, the compression cylinder 320 drives the pressure plate 710 downward via a piston rod, pressing the tube against the lift block 610.

[0049] It can be understood that the lifting block 610 and the pressure plate 710 can better ensure the positioning stability of the tube at the notch 611 of the lifting block 610, so that the subsequent material separation component 140 can be better coordinated for material separation.

[0050] Furthermore, the material distribution assembly 140 includes two transmission belts 141 arranged along the width direction of the tube at the material tube placement portion 120 and driven synchronously. The two transmission belts 141 are symmetrically arranged on both sides near the middle of the tube in the length direction of the tube at the material tube placement portion 120 through a second mounting bracket 142; one end of the flow belt in the transmission direction is located below the second placement area; a plurality of placement clamps 143 are arranged on both transmission belts 141, and the placement clamps 143 form a clamping area along the length direction of the tube at the material tube placement portion 120. The placement clamps 143 are evenly distributed along the transmission direction of the transmission belts 141, and the placement clamps 143 at corresponding positions on the two transmission belts 141 cooperate to form a placement position for placing the tube.

[0051] Specifically, the lift cylinder 310, via its piston rod, drives the lift block 610 to lift the tube. Then, the push block 215 is retracted. At this point, the piston rod of the lift cylinder 310 is retracted, causing it to move downward. The tube then moves downward and lands on the conveyor belt. Specifically, the conveyor belt allows the tubes to be arranged in a sequence along the belt's transmission direction, effectively facilitating subsequent pick-and-place operations.

[0052] In summary, by repeating the above process, the tubes located at the discharge section can be transported one by one from the discharge section to the first placement area of ​​the push block 215; then, driven by the push cylinder 211, they reach the waiting position for lifting; then, they are lifted by the lifting cylinder 310 and fall into the second placement area of ​​the lifting block 610; finally, the lifting cylinder 310 drives the lifting block 610 to move downward, and the tubes fall one by one into the placement position on the conveyor belt and form an array along the transmission direction of the conveyor belt.

[0053] The multi-axis manipulator 150 includes a fixed support 151 installed on the mobile mounting platform 110 and a movable base movably connected to the fixed support 151; the movable base includes a first movable arm 152 that rotates in a vertical direction, and a second movable arm 153 and a third movable arm 154 that rotate around two perpendicular axes in a horizontal plane respectively; the first movable arm 152 is connected to the upper part of the fixed support 151 through a first joint, the second movable arm 153 is movably connected to the side of the first movable arm 152 near the material distribution area through a second joint, and the third movable arm 154 is movably connected to the upper part of the second movable arm 153 through a third joint; the movable end 155 is located at the end of the third movable arm 154 far from the third joint.

[0054] Understandably, the first movable arm 152, the second movable arm 153, and the third movable arm 154 of the multi-axis manipulator 150 can ensure that the gripping assembly 160 has a sufficient range of motion under the control of the multi-axis manipulator 150, thereby ensuring that the entire pick-and-place assembly's pick-and-place range can fully cover the material distribution area. Therefore, the flexible manipulator can effectively ensure the smooth progress of the entire gripping process and subsequent labeling work.

[0055] The visual inspection component and the suction component are respectively installed at the moving end 155 of the multi-axis manipulator 150 through the manipulator block 161 and the gripper 162, and the suction position of the suction component is covered within the detection range of the visual inspection component.

[0056] This embodiment can perform real-time detection of the tube sucked by the suction component through the visual detection component, so that the corresponding labeling position can be quickly determined, thereby preferably improving the accuracy and efficiency of the labeling work.

[0057] Specifically, the aforementioned visual inspection component includes a mounting base 167 and a visual inspection camera fixed on the upper part of the mounting base 167. The visual inspection camera includes a camera body 163 and a shooting lens 164. The camera body 163 is fixedly mounted on the upper surface of the mounting base 167, and the shooting lens 164 is arranged on the outer wall of one side of the camera body 163 near the suction component; the axis of the shooting lens 164 is perpendicular to the suction component, and the lens of the visual inspection camera is facing the side of the suction component.

[0058] Specifically, during the operation of the visual inspection component in this embodiment, after the suction component sucks the tube from the material distribution area, the camera body 163 starts working, and the shooting lens 164 scans and shoots the tube and uploads the shooting data to the computer; after the computer processes the data, it can obtain the labeling position corresponding to the tube, so that it can better cooperate with the multi-axis robot 150 to perform subsequent labeling work.

[0059] In addition, the suction component includes a suction cup mounting plate 165 arranged at the gripper 162. When the suction cup mounting plate 165 moves with the third movable arm 154 at the multi-axis manipulator 150, it does not interfere with other components of the multi-axis manipulator 150; the suction cup mounting plate 165 is symmetrically provided with suction cup mounting holes on both sides along its length direction; vacuum suction cups 166 are provided at the suction cup mounting holes on both sides, and the suction nozzles of the vacuum suction cups 166 are provided on one side of the far gripper 162; the suction nozzles of the vacuum suction cups 166 on both sides cooperate to form a suction position for sucking the material pipe, and the suction position is parallel to the suction cup mounting plate 165.

[0060] As can be understood, in this embodiment, the vacuum cups 166 located on either side of the cup mounting plate 165 along its length effectively facilitate tube suction and placement. The vacuum cups 166 cooperate to form a suction position that secures the tube on both sides of its length. Therefore, after the suction assembly completes suction and moves with the multi-axis robot 150, the tube maintains its original relative position with the suction assembly, effectively preventing the tube from dislodging and maintaining high stability.

[0061] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on one or several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0062] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs a structure and embodiment similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. The chip packaging tube automatic loading and unloading device based on the vision-guided multi-axis robot is characterized by: The invention comprises a device body (100), wherein a movable installation platform (110) is provided at the device body (100), and a material tube placement portion (120) for placing tubes is vertically provided on the upper surface of the movable installation platform (110) through a first installation frame (130), and the material tube placement portion (120) is sequentially formed into a feeding section, a sorting section, and a discharging section from top to bottom; a pushing component is provided on one side of the material tube placement portion (120) along the width direction of the tube, and a material separation component (140) and a pick-and-place component for picking and placing the tubes are provided on the other side, the pushing component is used to push the material tubes at the discharging section to the material separation area of ​​the material separation component (140), and the material separation area is covered within the pick-and-place range of the pick-and-place component; the pick-and-place component comprises a multi-axis manipulator (150) and a gripping component (160) provided at a movable end (155) of the multi-axis manipulator (150), and the gripping component (160) comprises a visual detection component and a suction component; The visual inspection component and the suction component are respectively installed at the moving end (155) of the multi-axis manipulator (150) through the manipulator block (161) and the gripper (162), and the suction position of the suction component is covered within the detection range of the visual inspection component; The visual inspection component includes a mounting seat (167) and a visual inspection camera fixed on the upper part of the mounting seat (167), the visual inspection camera includes a camera body (163) and a shooting lens (164), the camera body (163) is fixedly mounted on the upper surface of the mounting seat (167), and the shooting lens (164) is arranged on the outer wall of one side of the camera body (163) near the suction component; the axis of the shooting lens (164) is perpendicular to the suction component, and the lens of the visual inspection camera faces the side of the suction component; The suction component includes a suction cup mounting plate (165) arranged at the gripper (162), and the suction cup mounting plate (165) does not interfere with other components of the multi-axis manipulator (150) when moving with the third movable arm (154) at the multi-axis manipulator (150); the suction cup mounting plate (165) is symmetrically provided with suction cup mounting holes on both sides along its length direction; vacuum suction cups (166) are provided at the suction cup mounting holes on both sides, and the suction nozzles of the vacuum suction cups (166) are arranged on one side of the far gripper (162); the suction nozzles of the vacuum suction cups (166) on both sides cooperate to form a suction position for sucking the material pipe, and the suction position is parallel to the suction cup mounting plate (165).

2. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 1 is characterized in that: The feeding section comprises a tube hopper (121) which is wide at the top and narrow at the bottom, and the narrow section of the tube hopper (121) forms a material tube passage that allows only a single tube to pass through at the same time; a first plate (122) and a second plate (123) which are perpendicular to the mounting platform (110) are respectively connected to the lower end of the tube hopper (121) on both sides along the length direction of the tube, and the first plate (122) and the second plate (123) are fixedly mounted on the mounting platform (110) via a fixing seat (124); a sorting section which is connected to the material tube passage and is used for stacking and sorting the tubes, and a discharging section which is used for cooperating with a pushing component to discharge the material are sequentially formed between the first plate (122) and the second plate (123) from top to bottom; and mutually facing side walls of the first plate (122) and the second plate (123) are provided with oppositely arranged limiting vertical plates (125), and the limiting vertical plates (125) are vertically arranged between the upper and lower ends of the sorting section.

3. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 2 is characterized by: The pushing assembly includes a pushing assembly (210) and a lifting assembly; the pushing assembly (210) includes two pushing blocks (215) arranged on the upper surface of the first mounting frame (130) and a cylinder guide assembly for driving the two pushing blocks (215) to move, the two pushing blocks (215) are symmetrically arranged on both sides near the middle of the material pipe in the length direction, and the pushing blocks (215) move along the width direction of the material pipe through the cylinder guide assembly; a placement groove (2151) extending along the length direction of the material pipe is formed on the upper part of the pushing block (215), and the placement grooves (2151) at the upper parts of the two pushing blocks (215) cooperate to form a first placement area for placing the material pipe, and when the pushing block (215) drives the material pipe to move to the extreme position along the moving direction, the position of the material pipe forms a waiting position for lifting for cooperating with the lifting assembly.

4. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 3 is characterized by: The cylinder guide rail assembly includes two linear guide rails (212) provided on the lower surface of the first mounting frame (130) and arranged along the moving direction of the push block (215), and a slider (213) provided on the linear guide rails (212) and slidably engaged therewith, and also includes a pushing cylinder (211) for driving the slider (213) to move; the piston rod of the pushing cylinder (211) is connected to the slider (213) and the push block (215) through a first connecting plate (214).

5. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 3 is characterized by: The lifting assembly comprises a lifting cylinder (310) provided on the lower surface of the first mounting frame (130) and located below the position to be lifted, and a pressing cylinder (320) installed on the second wrench body through a second connecting plate (410) and located above the position to be lifted. The two lifting cylinders (310) are symmetrically provided on both sides of the tube at the position to be lifted, near the middle in the longitudinal direction. The piston rods of the two lifting cylinders (310) move in the up-down direction. The pistons of the lifting cylinders (310) A lifting block (610) is connected to the rod, and a notch (611) for placing a material tube is formed at the lifting block (610). When the lifting cylinder (310) drives the lifting block (610) to move upward through the piston rod, the notches (611) of the two lifting blocks (610) cooperate to form a second placement area for placing the tube; the piston rod of the pressing cylinder (320) moves in the up and down direction, and the piston rod of the pressing cylinder (320) is connected to a pressure plate (710).

6. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 5 is characterized by: The material distribution assembly (140) includes two transmission belts (141) arranged along the width direction of the tube at the material tube placement portion (120) and driven synchronously. The two transmission belts (141) are symmetrically arranged on both sides of the tube at the material tube placement portion (120) near the middle in the length direction through a second mounting frame (142); one end of the flow belt in the transmission direction is located below the second placement area; a plurality of placement clamps (143) are arranged on both transmission belts (141), and the placement clamps (143) form a clamping area along the length direction of the tube at the material tube placement portion (120). The placement clamps (143) are evenly distributed along the transmission direction of the transmission belts (141), and the placement clamps (143) at corresponding positions on the two transmission belts (141) cooperate to form a placement position for placing the tube.

7. The chip packaging tube automatic loading and unloading device based on a multi-axis robot guided by vision according to claim 1 is characterized in that: The multi-axis manipulator (150) includes a fixed support (151) installed at a mobile mounting platform (110) and a movable base movably connected to the fixed support (151); the movable base includes a first movable arm (152) rotating in a vertical direction, and a second movable arm (153) and a third movable arm (154) rotating around two perpendicular axes in a horizontal plane; the first movable arm (152) is connected to the upper part of the fixed support (151) through a first joint, the second movable arm (153) is movably connected to a side of the first movable arm (152) near the material distribution area through a second joint, and the third movable arm (154) is movably connected to the upper part of the second movable arm (153) through a third joint; the movable end (155) is located at an end of the third movable arm (154) far from the third joint.

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