A high-speed, high-precision plate-stirring machine with precise force control

Abstract

A high-speed, high-precision tray placing machine with precise force control. The fixture conveyor track module is used to transfer empty fixtures to the fixture lifting platform for transfer, and unload fixtures loaded with products; the material box loading conveyor platform module is used to load the sub-tray fixture material box filled with products, and the first material box clamping module clamps the sub-tray fixture and transfers it to the sub-tray fixture conveyor track loading end; the sub-tray fixture conveyor track module is used to transfer the sub-tray fixture filled with products to the sub-tray top The lifting platform cooperates with the gantry module to transfer the product and transfer the empty Sub-Tray fixture to the second material box clamping module; the gantry module is equipped with a driving device, which simultaneously drives the suction head module, the Sub-Tray camera module and the fixture camera module to move in parallel. The suction head module is used to suck the product at the calibrated position on the Sub-Tray lifting platform and transfer it to the corresponding position of the fixture above the fixture lifting platform. The second material box clamping module clamps the empty tray material box to the material box unloading conveying platform for unloading.

Description

Technical Field

[0001] The present invention relates to the field of plate-stirring machines, and in particular to a high-speed, high-precision plate-stirring machine with precise force control. Background Art

[0002] The product packaging process requires securing the module to a metal jig. Before packaging, the module is delivered by the supplier on a tray. Therefore, accurate transfer of the module from the tray to the metal jig is crucial. Currently available palletizing equipment can accomplish this transfer process, but it faces various drawbacks in addressing the aforementioned challenges: 1. These devices lack visual inspection when picking and placing products, relying solely on machining and assembly precision to ensure product placement. 2. The suction head has a cushioning mechanism, but the corresponding pressure level is not specifically calibrated. 3. The jig positioning platform typically uses a pneumatic cylinder, which causes impact when stopping and cannot be adjusted in terms of lift distance. 4. The gripper lacks a mechanism to prevent material from jamming when gripping the jig. 5. Alternatively, palletizing can be accomplished using a robot arm with a camera and a suction head. This approach, however, is characterized by high mechanical costs and the fact that the camera and suction head are integrated, requiring the camera to operate before palletizing can be achieved, resulting in low production efficiency. In short, currently, no palletizing equipment can achieve high speed, high precision, and precise force control for palletizing from trays to metal pallets. Summary of the Invention

[0003] In order to automatically grab the camera module from the tray, transfer it to the fixture, and meet the following technical requirements of high speed, high precision and precise force control, the present invention adopts the following technical solutions:

[0004] A high-speed, high-precision tray placing machine with precise force control, including a fixture conveying track module, a gantry module, a sub-tray fixture conveying track module, a material box loading conveying platform module, and a material box unloading conveying platform module;

[0005] The fixture conveyor track module is used to transfer empty fixtures to the fixture lifting platform, cooperate with the gantry module to receive products, and unload fixtures loaded with products;

[0006] The material box loading and conveying platform module is used to load the sub-tray jig material box filled with products. The first material box clamping module is configured next to the material box loading and conveying platform module. The first material box clamping module clamps the sub-tray jig filled with products and transfers it to the loading end of the sub-tray jig conveying track;

[0007] The sub-tray fixture conveyor track module is used to transfer sub-tray fixtures filled with products to the sub-tray lifting platform, and cooperates with the gantry module to transfer products and transfer empty sub-tray fixtures to the second magazine clamping module;

[0008] The gantry module is equipped with a drive device, which is respectively connected to the suction head module, the Sub-Tray camera module, and the fixture camera module, and drives the three modules to move in parallel. The Sub-Tray camera module is used to take pictures and record the position of the product on the Sub-Tray lifting platform, and perform position calibration; the suction head module is used to suck the product at the calibrated position on the Sub-Tray lifting platform and transfer it to the corresponding position of the fixture above the fixture lifting platform; and the suction head module provides overpressure protection for the product during the suction process; the fixture camera module is used to take pictures, record the position of the product placed on the fixture, and compare it with the calibrated position of the fixture without the product placed.

[0009] The second material box clamping module clamps the empty tray material box to the material box unloading conveying platform for unloading.

[0010] Specifically, the jig conveying track module includes a jig input transmission track, a jig positioning and transferring track, and a jig output transmission track connected in sequence; the jig jacking platform is set on the jig positioning and transferring track, and the empty jig is input from the jig input transmission track and transferred to the blocking position of the jig jacking platform. The jig jacking platform determines the position of the empty jig and the transmission direction, and then lifts the jig to the specified height, turns on the vacuum, and adsorbs and fixes the jig. When the jig is loaded with products, the vacuum is disconnected. At the same time, after the blocking position of the jig jacking platform drops, the jacking platform drops, and the jig falls into the conveying track. The jig is transported to the next workstation through the transmission track.

[0011] Specifically, the fixture lifting platform has the same structure as the Sub-Tray lifting platform. The fixture lifting platform includes an adsorption plate, a positioning frame, a vacuum adsorber, a material blocking cylinder, a groove type photoelectric sensor, and a fixing plate. The driving end of the stepping motor is connected to a synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially connected to an eccentric wheel. The positioning frame is in a U shape. Guide columns are arranged inside the positioning frame. One end of each guide column is connected to the fixing plate. The adsorption plate is arranged on the top surface of the positioning frame. The suction nozzles of the vacuum adsorber are distributed on the top surface of the adsorption plate and are used to adsorb the fixture. The eccentric wheel abuts against the positioning frame. The stepping motor drives the eccentric wheel to rotate, causing the guide columns inside the positioning frame to rise and fall, thereby driving the positioning frame to perform a lifting movement. The sensing piece of the groove type photoelectric sensor is installed on the positioning frame, and the sensing groove is installed on the fixing plate. When the positioning frame is lifted, the sensing piece leaves the sensing groove, and the groove type photoelectric sensor has no signal. When the positioning frame descends, the sensing piece falls into the sensing groove, and the groove type photoelectric sensor has a signal. The material blocking cylinder is installed beside the positioning frame and is used to limit the position of the fixture. When the fixture is transported, the material blocking cylinder lifts to block and limit the fixture. Coaxial fiber optic sensors corresponding to the positioning frame are installed to detect whether the flow direction of the fixture is correct and whether the position is correct. Positioning pins are also arranged on the positioning frame. After the fixture is transported in place, the fixture lifting platform lifts, and the positioning pins are inserted into the corresponding pin holes of the fixture to achieve the positioning of the fixture.

[0012] By driving the overall rotation of the eccentric wheel with a stepping motor to带动整体抬升, an impact-free lifting process can be achieved, ensuring the stability of the product in the fixture. The lifting height is adjustable. At the same time, using a stepping motor also has the function of overvoltage protection. When the stepping motor is subjected to a torque exceeding its own, it will produce a loss of steps.

[0013] In addition, the fixture lifting platform also includes an X-axis servo module, which uses a high-precision ball screw and a servo motor. The screw nut on the ball screw is connected to the bottom surface of the fixing plate, thereby driving the overall movement of the fixture lifting platform in the x-axis direction, and the repeat positioning accuracy can reach ±0.005 mm. When the suction head module transfers each camera module and the fixture camera module needs to detect the position of the camera module on the fixture, the fixture is moved through the X-axis servo module to achieve the displacement adjustment of the fixture's X-axis deviation and the transplanting of the fixture slot pitch.

[0014] Specifically, the suction head module includes a scale block, a limit block, a suction device, and a first sensing device; the suction device includes a guiding component, a suction nozzle, and an air duct; an air guide cavity is formed inside the guiding component along the moving direction of the guiding component. A fixed block is fixedly installed on the guiding component. The air duct passes through the fixed block and is connected to the air inlet of the air guide cavity. The air outlet of the air guide cavity is connected to the suction nozzle;

[0015] The limit block and the scale block are both installed on the guide assembly. The limit block can slide relative to the scale block on the guide assembly. The detection end of the first sensing device is fixedly installed on the fixed block, and the receiving end of the first sensing device is fixedly installed on the limit block; the scale block is elastically connected to the limit block.

[0016] Specifically, the guide assembly is a miniature ball bushing guide assembly, an air guide cavity is opened in the guide column of the miniature ball bushing guide assembly, the limit block is fixedly installed on the guide column, the scale block is fixedly connected to the ball bushing of the miniature ball bushing guide assembly, and the fixed block is fixedly installed on the top of the guide column.

[0017] Specifically, a connecting cavity is opened on the scale block, and after the guide column passes through the connecting cavity, the outer wall of the ball bushing is fixedly connected to the scale block. Scale lines are provided on the side wall of the scale block, and a ruler block is configured on the scale block. The ruler block is detachably connected to the scale block according to the scale lines.

[0018] Specifically, a mounting hole is provided on the scale block, a waist hole is provided on the ruler block, and the scale block is fixedly connected to the mounting hole after passing through the waist hole through a connecting piece. By adjusting the different positions of the ruler block, the size of the pressure when the suction nozzle is pressed down can be calibrated.

[0019] Specifically, it also includes a motor, a synchronous pulley is installed on the rotating shaft of the motor, a gear is fixedly installed on the guide assembly, the synchronous pulley and the gear are connected through a synchronous belt transmission, and a second sensing device is also fixedly installed on the motor.

[0020] Specifically, the Sub-Tray fixture conveying track includes a Sub-Tray input track, a Sub-Tray positioning and transplanting mechanism, and a Sub-Tray output track connected in sequence; a movable clamping mechanism is installed on the Sub-Tray fixture conveying track, the Sub-Tray lifting platform is installed on the Sub-Tray positioning and transplanting mechanism, and a movable pushing mechanism is provided on the Sub-Tray output track; the clamping mechanism clamps the Sub-Tray fixture filled with products and transfers it to the blocking position on the Sub-Tray lifting platform, the Sub-Tray lifting platform determines the placement of the Sub-Tray fixture and the direction of transmission, and fixes the position of the Sub-Tray fixture. After the product on the Sub-Tray fixture is transferred, the empty Sub-Tray is transported to the unloading position, and the pushing mechanism pushes the empty Sub-Tray fixture out for unloading.

[0021] Specifically, the clamping mechanism includes a lifting cylinder, a clamping claw cylinder, and an anti-collision sensor; the driving end of the clamping claw cylinder is connected to the clamping claw, and the anti-collision sensor includes a T-block, a guide column, and a slot-type photoelectric sensor. The T-block is covered with a circle of outer shell, and the outer shell is installed on the side wall of the clamping claw cylinder. The guide column passes through the T-block and the outer shell, and compression springs are provided at both ends of the guide column and arranged in the outer shell, and the two ends of the compression spring respectively resist the outer shell and the T-block; the sensing slot of the slot-type photoelectric sensor is installed on the outer shell, and the sensing piece of the photoelectric sensor is connected to the guide column, and the sensing slot corresponds to the position of the sensing piece. When the guide column is collided, the position of the sensing piece is driven to deviate from the sensing slot, thereby playing the role of anti-collision alarm; the lifting cylinder is fixed on the slider of the conveying track, and the lifting end of the lifting cylinder is connected to the T-block.

[0022] In summary, this device can automatically grab modules from a tray and transfer them to a metal fixture. It utilizes a high-speed linear motor module and a gantry structure with three moving actuators to form the picking and placement components. This motor can operate at speeds of up to 2 meters per second, enabling high-speed transfer. Furthermore, a vision system composed of three high-speed industrial cameras uses high-precision algorithms to precisely position the module and fixture. A suction head module with force control and automatic angle adjustment also enables precise force control during picking and placement, effectively preventing damage to the product due to excessive pressure. This device utilizes a fully automated process, replacing most manual labor and reducing manual work time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the external structure of a high-speed, high-precision plate-stirring machine with precise force control;

[0024] Figure 2 This is a schematic diagram of the internal structure of a high-speed, high-precision plate-stirring machine with precise force control;

[0025] Figure 3 This is a structural diagram of the gantry module in a high-speed, high-precision, and precise force-controlled plate-stirring machine;

[0026] Figure 4 This is a structural diagram of the fixture conveyor track module in a high-speed, high-precision, and precise force-controlled plate-stirring machine;

[0027] Figure 5 yes Figure 4 B. Enlarged view of the local structure;

[0028] Figure 6 This is a structural diagram of the Sub-Tray fixture conveyor track in a high-speed, high-precision, and precise force-controlled tray placing machine.

[0029] Figure 7 yes Figure 6 C. Enlarged view of local structure;

[0030] Figure 8 yes Figure 6 D. Enlarged view of local structure;

[0031] Figure 9 This is a schematic diagram of the structure of the Sub-Tray filled with camera modules;

[0032] Figure 10 This is a schematic diagram of the structure of an empty Sub-Tray;

[0033] Figure 11 It is a structural diagram of an empty fixture;

[0034] Figure 12 This is a schematic diagram of the structure of the fixture filled with camera modules;

[0035] Figure 13 yes Figure 3 A. Schematic diagram of the partially enlarged structure Figure 1 ;

[0036] Figure 14 yes Figure 3 A. Schematic diagram of the partially enlarged structure Figure 2 ;

[0037] Figure 15 yes Figure 13 sectional view of

[0038] Reference numerals: 1 material box loading and conveying platform module; 2 first material box clamping module; 3 material box unloading and conveying platform module; 4 second material box clamping module; 5 barcode scanning gun;

[0039] 6 gantry modules;

[0040] 601 three-motor linear motor; 602 base; 603 Sub-Tray camera module; 604 suction head module; 605 fixture camera module;

[0041] 6-401 tension spring; 6-402 scale block; 6-403 limit block; 6-404 scale block; 6-405 fixed block; 6-406 air guide tube; 6-407 gear; 6-4801 nozzle; 6-4802 rubber ring; 6-409 synchronous pulley; 6-4101 sensor plate; 6-4102 receiving slot; 6-411 servo stepper motor; 6-412 in-position sensor; 6-413 synchronous belt; 6-414 micro ball bushing guide assembly; 6-415 air guide cavity; 6-416 guide column; 6-417 waist hole;

[0042] 7. Fixture conveying track module;

[0043] 7-201; 7-202 vacuum absorber; 7-203 blocking block; 7-204 positioning frame; 7-205 eccentric wheel; 7-206 material blocking cylinder; 7-207 tension spring; 7-208 slot type photoelectric sensor; 7-209 fixing plate;

[0044] 8Sub-Tray fixture conveyor track module;

[0045] 8-1Sub-Tray input track; 8-2Sub-Tray positioning and transplanting mechanism; 8-3Sub-Tray output track;

[0046] 8-101 Lifting cylinder; 8-102 Gripper cylinder; 8-103 Gripper; 8-104 Anti-collision sensor; 8-105 Guide column; 8-106 T-block; 8-107 Sensor plate; 8-108 Slot-type photoelectric sensor; 8-109 Compression spring. DETAILED DESCRIPTION

[0047] The following combination Figures 1 to 15 The present invention is further described.

[0048] A high-speed, high-precision plate placing machine with precise force control includes a fixture conveying track module 7, a gantry module 6, a sub-tray fixture conveying track module 8, a material box loading and conveying platform module 1, a material box unloading and conveying platform module 3, and a barcode scanner 5.

[0049] 1. The cassette loading and conveying platform module 1 is used to load the tray cassette loaded with products. The first cassette gripping module 2 is configured next to the cassette loading and conveying platform module 1. The first cassette gripping module 2 grips the tray cassette loaded with products and transfers it to the loading end of the sub-tray fixture conveyor track;

[0050] 2. The fixture conveying track module 7 includes a fixture input transmission track, a fixture positioning and transplanting track, and a fixture output transmission track.

[0051] 2.1 The fixture input and output tracks share the same structure, both using a stepper motor-driven pulley structure to transport fixtures. A stepper motor drives a bidirectional trapezoidal rod to adjust the track width, with automatic width adjustment capabilities and compatible widths of 60-120mm. A fiber optic sensor is fixedly installed on the fixture input track.

[0052] 2.2. The fixture positioning and transfer track includes a conveyor track and a fixture lifting platform. The conveyor track has the same structure as the fixture input and transfer track.

[0053] The fixture lifting platform includes a suction plate 7-201, a positioning frame 7-204, a vacuum adsorber 7-202, a material blocking cylinder 7-211, a slot type photoelectric sensor 7-208, and a fixing plate 7-209. The driving end of the stepping motor is connected to a synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially connected to an eccentric wheel 7-205. The positioning frame 7-204 is in a U shape. A guide column is provided inside the positioning frame 7-204. One end of the guide column is connected to the fixing plate 7-209. The suction plate 7-201 is arranged on the top surface of the positioning frame 7-204. The suction nozzles of the vacuum adsorber 7-202 are distributed on the top surface of the suction plate 7-201 and are used to adsorb the fixture. The eccentric wheel 7-205 abuts against the positioning frame 7-204. The stepping motor drives the eccentric wheel 7-205 to rotate, causing the guide column inside the positioning frame 7-204 to rise and fall, thereby driving the positioning frame 7-204 to perform a lifting movement. The sensing piece of the slot type photoelectric sensor 7-208 is installed on the positioning frame 7-204, and the sensing slot is installed on the fixing plate 7-209. When the positioning frame 7-204 is lifted, the sensing piece leaves the sensing slot, and the slot type photoelectric sensor 7-208 has no signal. When the positioning frame 7-204 descends, the sensing piece falls into the sensing slot, and the slot type photoelectric sensor 7-208 has a signal. The material blocking cylinder 7-211 is installed beside the positioning frame 7-204 and is used to limit the position of the fixture. When the fixture is transported, the material blocking cylinder 7-211 lifts up to block and limit the fixture. A corresponding coaxial optical fiber inductor 7-208 is installed on the positioning frame 7-204 to detect whether the flow direction of the fixture is correct and whether the position is correct. A positioning pin is also provided on the positioning frame 7-204. When the fixture is transported in place, the fixture lifting platform lifts up, and the positioning pin is inserted into the corresponding pin hole of the fixture to achieve the positioning of the fixture.

[0054] By using a stepping motor to drive the overall rotation of the eccentric wheel 7-205 and带动整体抬升 can be translated as "带动 the overall lifting", which is incorrect. It should be "带动 the overall lifting", and the whole sentence can be translated as "By using a stepping motor to drive the overall rotation of the eccentric wheel 7-205, the overall lifting can be achieved, realizing a shock-free lifting process, ensuring the stability of the product in the fixture. The lifting height is adjustable. At the same time, using a stepping motor also has the function of overvoltage protection. When the stepping motor is subjected to a torque exceeding its own torque, it will lose steps."

[0055] In addition, the fixture lifting platform further includes an X-axis servo module, which uses a high-precision ball screw and a servo motor. The screw nut on the ball screw is connected to the bottom surface of the fixing plate 7-209, thereby driving the overall movement of the fixture lifting platform in the x-axis direction, and the repeat positioning accuracy can reach ±0.05 mm. Whenever the suction head module 604 transfers each camera module and the fixture camera module 605 needs to detect the position of the camera module on the fixture, the fixture is moved through the X-axis servo module to achieve the displacement adjustment of the fixture's X-axis deviation and the transplanting of the fixture slot pitch.

[0056] The working process of the jig conveying track module 7: the empty jig is transmitted to the material blocking position on the jig lifting platform through the jig input transmission track, the material blocking cylinder 7-211 rises to limit the position of the jig, and the fiber optic sensor determines that the jig is in place. Another sensor determines whether the direction of the jig conveying is correct, and then the positioning frame 7-204 rises through the eccentric wheel mechanism, and the jig position is positioned by the positioning pin. After it is in place, the vacuum adsorber 7-202 is opened to adsorb the jig, and the material blocking cylinder 7-211 descends; the camera of the jig camera module 605 detects the position of the corresponding jig slot, and the X-axial deviation is adjusted by the servo module to achieve high-precision placement of the product in the X-axial direction; at the same time, the jig slot pitch is moved; when the jig is full of products, the positioning plate descends, and the servo module moves the positioning plate to the equal material position, and transports it to the second material box clamping module 4 through the jig output transmission track.

[0057] 3. A driving device of a three-motor linear motor 601 is installed on the gantry module 6. The driving device is connected to the suction head module 604, the sub-tray camera module 603 and the fixture camera module 605 respectively, and drives the suction head module 604, the sub-tray camera module 603 and the fixture camera module 605 to move in parallel.

[0058] 3.1 The Sub-Tray camera module 603 is used to take photos and record the position of products on the material lifting platform and perform position calibration;

[0059] 3.2 The suction head module 604 is used to suck the product at the calibrated position on the material lifting platform and transfer it to the corresponding position of the fixture above the fixture lifting platform;

[0060] 3.3 The fixture camera module 605 is used to take pictures and record the position of the product transferred to the air fixture and compare it with the calibrated position;

[0061] Among them, the suction head module 604 is a picking head with force control calibration, which includes a scale block 6-402, a limit block 6-403, a suction device, and an in-position sensor 6-412.

[0062] The suction device includes a micro ball bushing guide assembly 6-414, a suction nozzle 6-4801, and an air guide tube 6-406. The micro ball bushing guide assembly 6-414 includes a guide post, which is covered with a ball bushing that can slide along the guide post. A fixed block 6-405 is fixed to the top of the guide post, and an air guide cavity 6-415 is provided in the guide post. The air guide tube 6-406 passes through the fixed block 6-405 and is connected to the air guide cavity 6-415. The other end of the air guide cavity 6-415 is connected to the suction nozzle 6-4801. The suction function is achieved by connecting the air guide tube 6-406 to an external vacuum pump and then using the suction nozzle 6-4801. A rubber ring 6-4802 is installed at the bottom of the suction nozzle 6-4801 to prevent the suction nozzle 801 from making direct rigid contact with the product, effectively protecting the product.

[0063] In order to control the pressure of the suction nozzle 6-4801 on the camera module and avoid damaging the camera module by pressing down during the suction process, a limit block 6-403 is installed on the guide column, and the ball bushing of the micro ball bushing guide assembly 6-414 is fixedly connected to the scale block 6-402. The side wall of the scale block 6-402 is provided with scale lines, and the scale block 6-402 is provided with a ruler block 6-404. The scale block 6-402 is provided with a mounting hole, and the ruler block 6-404 is provided with a waist hole 6-417. The ruler block 6-404 and the scale block 6-402 are fixedly connected to the mounting hole after a screw passes through the waist hole 6-417. The waist hole 6-417 can make the fixed position of the scale block 6-404 relative to the scale block 6-402 variable, and the screw can be connected to the mounting hole on the scale block 6-402 at any position in the waist hole 6-417, so that the position of the scale block 6-404 can be adjusted according to the scale line. Then the scale block 6-404 is connected to the limit block 6-403 through the tension spring 6-401. The connection of the tension spring 6-401 allows elastic tension to exist between the scale block 6-404 and the limit block 6-403. By adjusting the arrow of the scale block 6-404 to the corresponding scale line, the tension on the limit block 6-403 can be controlled. When the guide column is pressed down, the suction nozzle 6-4801 can be controlled to press down to the size of the pressure on the set product, so that the product can be prevented from being damaged by downward pressure during the suction process. In addition, the detection end of the in-position sensor 6-412 is fixedly installed on the fixed block 6-405, and the receiving end of the in-position sensor 6-412 is fixedly installed on the limit block 6-403.

[0064] In the process of sucking the product, in order to adapt to the position of the camera module and accurately control the position of the suction nozzle 6-4801, a servo stepper motor 6-411 is also provided. The rotating shaft of the servo stepper motor 6-411 is installed with a synchronous belt 6-413 and a wheel 6-409. The guide column of the guide assembly is also fixedly installed with a gear 6-407. The synchronous belt 6-413, the wheel 6-409 and the gear 6-407 are connected through the synchronous belt 6-413. A slot-type photoelectric sensor 8-108 is also fixedly installed on the motor. The sensor plate 6-4101 of the slot-type photoelectric sensor is installed at the rotating shaft end of the motor. The receiving slot 6-4102 of the slot-type photoelectric sensor 8-108 is fixedly installed on the motor housing. The position of the sensor plate 6-4101 corresponds to the position of the receiving slot 6-4102. The slot-type photoelectric sensor 8-108 can be used to accurately control whether the rotation angle exceeds the preset angle, thereby accurately controlling the rotation angle of the nozzle. By using small-pitch synchronous belt 6-413 wheel 6-409, the processing accuracy and the small gap between synchronous belt 6-413 and synchronous belt 6-413 wheel 6-409, and using high-resolution servo stepper motor 6-411, one pulse only rotates 0.088°, thus achieving high-precision angle adjustment.

[0065] The working process of this pickup head with calibration force is as follows: the position of the scale block 6-404 on the scale block 6-402 is adjusted according to the scale line. At the same time, the tension of the tension spring 6-41 between the scale block 6-404 and the limit block 6-403 is also adjusted to control the downward pressure of the suction nozzle 6-4801 when sucking the product, and the position change of the limit block 6-403 is sensed by the in-position sensor 6-412. During the suction process, the rotation angle of the suction nozzle 6-4801 is precisely controlled by the servo stepper motor 6-411 and the slot photoelectric sensor 8-108. The suction nozzle 6-4801 is pressed down, and the presence or absence of a signal from the in-position sensor 6-412 is used to determine whether the pressure is in place. Then, the product is sucked, completing the suction process.

[0066] This pickup head offers the following advantages: The nozzle can be changed to suit different products, enabling the pickup and placement of various products. The rotational adjustment angle is highly precise, thanks to the use of fine-pitch synchronous pulleys, ensuring machining accuracy and minimizing gaps between the synchronous belt and pulleys. A high-resolution servo stepper motor achieves precise angle adjustment, with each pulse providing only 0.088 degrees of rotation. The precise force-controlled downward pressure mechanism calibrates the tension at different spring lengths, allowing the downward pressure to be determined by simply adjusting the arrow on the adjustment scale to the corresponding scale line. In this configuration, the tension at scale 5 is 2.5N, and the force increases by 0.54N for each 1mm increase. The presence of a signal from a position sensor determines whether the pressure is in place. The device is also tolerant to vertical deformation within 0.8mm, ensuring product removal without crushing. While meeting these requirements, this design is compact and lightweight, weighing only 80g, excluding the motor.

[0067] 4. The Sub-Tray fixture conveying track includes the Sub-Tray input track 8-1, the Sub-Tray positioning and transplanting mechanism 8-2 and the Sub-Tray output track 8-3.

[0068] 4.1 The Sub-Tray input track 8-1 includes a conveying track and a clamping mechanism. The conveying track and the fixture input transmission track have the same structure. The clamping mechanism includes a lifting cylinder 8-101, a clamping cylinder 8-102, and an anti-collision sensor 8-104; the anti-collision sensor 8-104 includes a T-block 8-106, a guide column 8-105, and a slot-type photoelectric sensor 8-108. The T-block 8-106 is covered with a circle of outer shell, which is installed on the side wall of the clamping cylinder 8-102. The guide column 8-105 passes through the T-block 8-106 and the outer shell. The two ends of the guide column 8-105 are provided with compression springs and are set in the outer shell. The two ends of the spring respectively press against the housing and T-block 8-106; the sensing slot of the slot-type photoelectric sensor 8-108 is installed on the housing, and the sensing plate 8-107 of the photoelectric sensor is connected to the guide post. The sensing slot and the sensing plate 8-107 are positioned correspondingly. When the guide post is hit, the position of the sensing plate 8-107 is shifted away from the sensing slot, which serves as an anti-collision alarm; the lifting cylinder 8-101 is fixed to the slider of the conveyor track, and the lifting end of the lifting cylinder 8-101 is connected to the T-block 8-106. The driving end of the clamping cylinder 8-102 is connected to the clamping claw 8-103, and the clamping claw cylinder 8-102 is fixed to the housing.

[0069] Workflow: When the Sub-Tray material box reaches the specified position, the clamping mechanism is in the low position under the action of the lifting cylinder 8-101, and the clamping claw 8-103 is moved to the material box through the synchronous belt to clamp the Sub-Tray. When the Sub-Tray is moved to the specified position, the clamping claw 8-103 is released and retreats to a safe position. The lifting cylinder 8-101 raises the clamping claw 8-103, and the Sub-Tray fixture is transported to the waiting position through the belt.

[0070] 4.2 The Sub-Tray positioning and transplanting mechanism 8-2 has the same structure as the fixture positioning and transplanting track.

[0071] 4.3 Sub-Tray output track 8-3 includes a conveyor track and a sub-tray pusher mechanism. The conveyor track shares the same structure as the fixture input and transfer track. It includes a lift cylinder, a push rod, and an anti-collision sensor. The anti-collision sensor is identical in structure to the anti-collision sensor in sub-tray input track 8-1. The push rod is fixed to the housing, and the lift cylinder is fixed to the slider of the conveyor track. The lift end of the lift cylinder is connected to a T-block. When the push rod pushes a stuck sub-tray, the push rod cannot move, and the compression spring connected to the guide column is compressed, causing the sensor plate to shift. The anti-collision sensor generates a signal, and the equipment alarms.

[0072] Working process: The push rod mechanism is in a high position. When the sub-tray is transported from the belt to the material box, the belt does not have enough friction to send all the sub-trays into the material box. Therefore, when there is no signal from the material sensor and a signal from the outlet sensor, the push rod mechanism descends and pushes the sub-tray into the material box through the synchronous belt. When there is no signal from the outlet sensor, it means that all the sub-trays have entered the material box, and the push rod retreats to its initial position.

[0073] 5. The second material box clamping module 4 is configured between the discharge port of the Sub-Tray output track 8-3 and the material box unloading conveying platform module 3. When all the camera modules in the tray are transferred on the Sub-Tray fixture conveying track, the empty tray needs to be unloaded into the empty tray material box. When the empty tray material box is full, the second material box clamping module 4 clamps the empty tray material box to the material box unloading conveying platform for unloading.

[0074] The working process of the whole machine is as follows: when the fiber optic sensor determines that there is no jig on the jig lifting and positioning platform (working position), the empty jig will be transferred to the jig track of this device through the previous device and transported to the code scanning position. After scanning the QR code on the jig, the jig will be transported to the material stop position, and the transportation will be stopped to determine whether the jig transportation direction is correct. If the jig direction is correct, the lifting platform will rise to position the jig and fix the jig. At this time, the camera in the jig camera module moves to the top of the first slot of the jig, takes a picture and records the position, compares it with the calibration position, and moves the jig to the calibration position in the X direction through the servo module.

[0075] At the same time as the empty jig enters the equipment, the material box filled with sub-tray jigs is placed on the material box platform and transported to the grabbing position by the platform synchronous belt. Then the barcode scanner 5 scans the QR code on the material box, and the material box loading claw module grabs the full material box to the sub-tray jig waiting position; the material picking claw on the sub-tray entrance track clamps the sub-tray to the specified position on the track belt, and then the claw retreats to a safe position. At this time, the fiber optic sensor on the positioning platform determines that there is no jig on the sub-tray jig lifting positioning platform, and the belt transports the sub-tray to the blocking position. The sensors on the platform respectively determine the position, specifications, and direction of the sub-tray. After all three factors are met, the positioning platform lifts the sub-tray to position and fix the sub-tray position.

[0076] The camera in the Sub-Tray camera module moves to the top of the first product, takes a picture and records the position, then moves to the waiting position, and compares the recorded position with the calibration position. The fixture is moved to the calibration position in the X direction through the servo module; according to the relative position of the nozzle head and the calibration of the Sub-Tray positioning plate, the position and rotation angle of the nozzle head are adjusted so that the nozzle head is centered when it picks up the product. The nozzle head moves to the top of the first product. Because of overpressure protection, when the sensor on the nozzle head has feedback, the vacuum generator is turned on to pick up the product, but the pressure value reaches After the vacuum reaches -75Kpa, the nozzle head rises; the nozzle head with the product is moved above the middle camera to determine the position of the product on the nozzle head. This position is compared with the position of the fixture slot, and the nozzle head position and angle are adjusted. The product is lowered to 0.05-0.1mm above the fixture slot, and the vacuum release device is closed. When the vacuum value drops to -60Kpa, the product is placed in the fixture slot, and the nozzle head is removed to pick up the second product. Through automatic adjustment of the three aspects of X, Y, and Θ (angle), it is ensured that the deviation between the center of the product and the center of the fixture slot does not exceed ±0.02mm after placement.

[0077] While placing the product, the camera in the Sub-Tray camera module detects the position of the second product on the Sub-Tray. After placing the product, the nozzle head immediately picks up the second product. At this time, the camera in the fixture camera module detects the position of the second slot on the fixture. The above steps are repeated to complete the product placement. This process parallelizes the photo-taking process of the cameras on both sides and the movement of the nozzle head, saving time and improving the UPH. At the same time, the Y-axis is driven by a linear motor with an acceleration of up to 2G and a moving speed of 2m / s. It only takes 1.6-1.7 seconds to complete a placement process. Taking into account the time for fixture replacement, the UPH of the entire equipment can reach 2000+.

[0078] When the fixture is full of products, the positioning platform descends and the fixture is transported to the next device. At the same time, the positioning platform moves to the equal material level, and the blocking block rises until the next fixture is in place. The above process is repeated to complete the fixture replacement. When there are no products on the sub-tray, the positioning platform descends and the sub-tray is transported to the empty material box. The empty sub-tray is pushed into the material box by the push rod. At the same time, the positioning platform moves to the equal material level, and the blocking block rises until the next sub-tray is in place. The above process is repeated to complete the sub-tray replacement.

[0079] When the material box is filled with an empty Sub-Tray, the material box is placed on the platform through the material box clamping module. After the material box is transported to the exit, the empty tray on the Sub-Tray is manually replaced with a full tray to complete the replacement of the material box.

[0080] In summary, this device can automatically grab modules from a tray and transfer them to a metal fixture. It utilizes a gantry structure with three linear motor modules, forming the pick-and-place assembly. This motor can operate at speeds of up to 2 meters per second, enabling high-speed transfer. Furthermore, a vision system composed of three high-speed industrial cameras utilizes high-precision algorithms to precisely position the module and fixture. A suction head module 604 with force control and automatic angle adjustment is also employed to achieve precise force control during pick-and-place, effectively preventing damage to the product due to excessive pressure. This device utilizes a fully automated process, replacing much of the manual labor and reducing manual work time.

[0081] It is understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced with equivalents to achieve the same technical effects; as long as the use requirements are met, they are all within the scope of protection of the present invention.

Claims

1. A high-speed, high-precision plate-stirring machine with precise force control, characterized in that: Including fixture conveyor track module, gantry module, pallet conveyor track module, material box loading conveyor platform module, material box unloading conveyor platform module; The jig conveying track module is used to transfer empty jigs to the jig lifting platform. The jig lifting platform cooperates with the gantry module to receive products, and the jig conveying track module unloads jigs loaded with products. The material box loading and conveying platform module is used to load the pallet jig material box filled with products. The first material box clamping module is configured next to the material box loading and conveying platform module. The first material box clamping module clamps the pallet jig filled with products and transfers it to the loading end of the pallet conveying track module; The pallet conveyor track module is used to transport the pallet jig filled with products to the pallet lifting platform. The pallet lifting platform cooperates with the gantry module to transfer the products to the empty jig, and the pallet conveyor track module transports the empty pallet jig to the second material box clamping module. The gantry module is equipped with a driving device, which is respectively connected to the suction head module, the tray camera module and the fixture camera module, and drives the three modules to move in parallel at the same time; the tray camera module is used to take pictures and record the position of the product on the tray lifting platform, and perform position calibration; the suction head module is used to suck the product at the calibrated position on the tray lifting platform and transfer it to the corresponding position on the fixture above the fixture lifting platform, and the suction head module performs overpressure protection on the product during the suction process; the fixture camera module is used to take pictures, record the position of the product placed on the fixture, and compare it with the calibrated position of the fixture without the product placed; The second material box clamping module clamps the empty tray to the material box unloading conveying platform module for unloading; The suction head module includes a scale block, a limit block, a suction device, and a first sensing device; the suction device includes a guide assembly, a suction nozzle, and an air guide tube; an air guide cavity is opened inside the guide assembly along the moving direction of the guide assembly, a fixed block is fixedly mounted on the guide assembly, the air guide tube passes through the fixed block and is connected to the air inlet of the air guide cavity, and the air outlet of the air guide cavity is connected to the suction nozzle; The limit block and the scale block are both installed on the guide assembly, and the limit block can slide relative to the scale block on the guide assembly. The detection end of the first sensing device is fixedly installed on the fixed block, and the receiving end of the first sensing device is fixedly installed on the limit block; the scale block is elastically connected to the limit block.

2. A high-speed, high-precision, precise force-controlled plate-stirring machine according to claim 1, characterized in that: The jig conveying track module includes a jig input transmission track, a jig positioning and transplanting track, and a jig output transmission track connected in sequence; The fixture lifting platform is arranged on the fixture positioning and transplanting track. The empty fixture is input from the fixture input transmission track and transmitted to the material blocking position of the fixture lifting platform. The fixture lifting platform judges the arrival situation and transmission direction of the empty fixture, and then lifts the fixture to a specified height and fixes it. When the fixture is fully loaded with products, while the material blocking position of the fixture lifting platform descends, the fixture lifting platform descends, and the fixture falls into the conveying track. The fixture is conveyed to the next station through the fixture output transmission track.

3. The high-speed and high-precision tray loading machine with precise force control according to claim 2, wherein the fixture lifting platform includes an adsorption plate, a positioning frame, a vacuum adsorber, a material blocking cylinder, a slot type photoelectric sensor, and a fixing plate; the driving end of the stepping motor is connected to a synchronous pulley through a synchronous belt, and the synchronous pulley is coaxially connected to an eccentric wheel; the positioning frame is in a U shape, a guide column is arranged inside the positioning frame, one end of the guide column is connected to the fixing plate, the adsorption plate is arranged on the top surface of the positioning frame, and the suction nozzles of the vacuum adsorber are distributed on the top surface of the adsorption plate for adsorbing the fixture; the eccentric wheel abuts against the positioning frame, and the stepping motor drives the eccentric wheel to rotate, causing the positioning frame and the guide column to have a displacement in height, thereby driving the positioning frame to perform a lifting motion; the sensing piece of the slot type photoelectric sensor is installed on the positioning frame, and the sensing groove is installed on the fixing plate; the material blocking cylinder is installed beside the positioning frame, the driving end of the material blocking cylinder is connected with a blocking block, and the material blocking cylinder restricts the position of the fixture through a lifting motion in the vertical direction. A corresponding coaxial optical fiber sensor is installed on the positioning frame to detect whether the flow direction and position of the fixture are correct. A positioning pin is also arranged on the positioning frame. When the fixture is placed in place, the fixture lifting platform lifts, and the positioning pin is inserted into the corresponding pin hole of the fixture to achieve the positioning of the fixture; the fixture lifting platform further includes an X-axis servo module, and the X-axis servo module drives the whole fixture lifting platform to move in the X-axis direction to achieve the displacement adjustment of the X-axis deviation of the fixture and the transplanting of the fixture slot pitch.

4. The high-speed and high-precision tray loading machine with precise force control according to claim 1, wherein the guiding component is a micro ball bushing guiding component. An air guiding cavity is opened in the guide column of the micro ball bushing guiding component. The limiting block is fixedly installed on the guide column. The scale block is fixedly connected to the ball bushing of the micro ball bushing guiding component. The fixing block is fixedly installed at the top end of the guide column.

5. The high-speed and high-precision tray loading machine with precise force control according to claim 4, wherein a connecting cavity is opened on the scale block. After the guide column penetrates through the connecting cavity, the outer wall of the ball bushing is fixedly connected to the scale block. Scale lines are arranged on the side wall of the scale block. A scale block is arranged on the scale block. The scale block is detachably connected to the scale block according to the scale lines.

6. The high-speed and high-precision tray loading machine with precise force control according to claim 5, wherein The scale block is provided with a mounting hole, and the ruler block is provided with a waist hole. The ruler block and the scale block are fixedly connected to the mounting hole after a connecting piece passes through the waist hole.

7. A high-speed, high-precision, precise force-controlled plate-stirring machine according to claim 1, characterized in that: It also includes a motor, a rotating shaft of the motor is equipped with a synchronous pulley, a gear is fixedly mounted on the guide assembly, the synchronous pulley and the gear are connected through a synchronous belt transmission, and a second induction device is fixedly mounted on the motor.

8. A high-speed, high-precision, precise force-controlled plate-stirring machine according to claim 3 or 7, characterized in that: The pallet conveying track module includes a pallet input track, a pallet positioning and transplanting mechanism, and a pallet output track connected in sequence; A movable clamping mechanism is installed on the pallet conveying track module, a pallet lifting platform is installed on the pallet positioning and transplanting mechanism, and a movable pushing mechanism is provided on the pallet output track; The clamping mechanism clamps the pallet jig filled with products and transfers it to the blocking position on the pallet lifting platform. The pallet lifting platform determines the position of the pallet jig and the direction of transfer, and fixes the position of the pallet jig. When the products on the pallet jig are transferred, the empty pallet is transported to the unloading position, and the pushing mechanism pushes the pallet jig out for unloading.

9. A high-speed, high-precision, precise force-controlled plate-stirring machine according to claim 8, characterized in that: The clamping mechanism includes a lifting cylinder, a clamping claw cylinder, and an anti-collision sensor; the driving end of the clamping claw cylinder is connected to the clamping claw, and the anti-collision sensor includes a T-block, a guide column, and a slot-type photoelectric sensor. The T-block is covered with a circle of outer shell, and the outer shell is installed on the side wall of the clamping claw cylinder. The guide column passes through the T-block and the outer shell, and compression springs are provided at both ends of the guide column and arranged in the outer shell, and the two ends of the compression spring respectively press against the outer shell and the T-block; the sensing slot of the slot-type photoelectric sensor is installed on the outer shell, and the sensing piece of the slot-type photoelectric sensor is connected to the guide column, and the sensing slot corresponds to the position of the sensing piece. After the guide column is collided, the position of the sensing piece is driven to deviate from the sensing slot, thereby playing the role of anti-collision alarm; the lifting cylinder is fixed on the slider of the pallet conveying track module, and the lifting end of the lifting cylinder is connected to the T-block.

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