A rotary reciprocating transfer device with impeller dispensing and material addition

Abstract

This invention relates to the field of rotary transfer technology, and more particularly to a rotary reciprocating transfer device with impeller dispensing and mass addition, comprising a rotary module, a lifting module, a rotating module, and a positioning module. This invention uses a suction cup assembly to pick up the target workpiece, and a servo motor driven by the positioning module to rotate and vertically displace the rotary platform. The positioning module precisely controls the rotation angle, enabling the intermittent control of the rotary table's reciprocating movement by the material handling mechanism. By projecting the suction cup assembly corresponding to the target workpiece, the area projected onto the target workpiece is used to initially determine whether the workpiece's placement is correct. A pre-pickup test confirms that the correctly placed workpiece meets the gripping requirements. By rotating the rotary table, the contact position between the target workpiece and the suction cup assembly is changed, allowing even incorrectly placed workpieces to be transferred, thus improving the efficiency of reciprocating transport.

Description

Technical Field

[0001] This invention relates to the field of rotary transfer technology, and more particularly to a rotary reciprocating transfer device with impeller dispensing and mass addition. Background Technology

[0002] Since the beginning of the new century, the development of automatic transfer technology has been injected with new vitality. The basic technology of transfer automation has developed rapidly and has been perfectly combined with artificial intelligence technology, communication technology and control technology. In addition, the realization of transfer automation is of great significance for improving production efficiency, reducing costs, ensuring product quality, and especially reducing labor intensity. Therefore, it is necessary to develop and design a rotary reciprocating transfer device for impeller dispensing and mass addition to realize fully automatic reciprocating handling.

[0003] Chinese Patent Publication No. CN115683426A discloses a device and method for measuring the starting friction torque of a turntable bearing under multiple load conditions. It is evident that the prior art lacks a turntable reciprocating transfer device that uses impeller dispensing and mass addition to classify incorrectly positioned target workpieces and adaptively adjust the contact position between the target workpiece and the suction cup assembly by rotating the turntable. This allows even incorrectly positioned target workpieces to successfully complete the transfer task, thereby improving the efficiency of reciprocating handling operations. Summary of the Invention

[0004] To address this issue, the present invention provides a rotary reciprocating transfer device with impeller dispensing and mass addition, which overcomes the problem in the prior art where the transfer device cannot automatically identify and analyze the relative position of the target workpiece and the suction cup assembly, resulting in the inability to automatically and successfully complete the transfer task for target workpieces that are not placed in the correct position, thus leading to low efficiency in reciprocating handling.

[0005] To achieve the above objectives, the present invention provides a rotary table reciprocating transfer device for dispensing adhesive and adding mass to an impeller, comprising,

[0006] The turntable module is used to grab the target workpiece at any picking station and rotate it to place the target workpiece to the next picking station. The turntable module includes a turntable and several picking mechanisms set on the turntable. Each picking mechanism includes a suction cup assembly for picking up and dropping the target workpiece, a camera assembly for acquiring images of the picking station, and a digital air pressure display.

[0007] A lifting module is used to drive the suction cup assembly to lift and lower. The lifting module includes a lifting screw connected to the turntable module, a first servo motor that drives the lifting screw to move, and a plurality of guide columns disposed on the turntable.

[0008] A rotating module is used to drive the turntable to rotate. The rotating module includes a rotating platform and a second servo motor for driving the rotating platform to rotate. The rotating platform is connected to the turntable.

[0009] The positioning module is connected to the rotation module, the turntable module, and the lifting module respectively. When the positioning module determines that there is a target workpiece in any material handling station image based on the material handling station image, it can obtain the real-time projection area of ​​the corresponding suction cup component, and determine the real-time projection area based on the standard projection area to simulate marking the suction cup component. The positioning module can also calculate the first gripping ratio, the second gripping ratio, and the third gripping ratio based on the number of simulated marks of each suction cup component and the total number of suction cup components to select the starting mode of the first servo motor and the second servo motor.

[0010] The simulated labels include a first adsorption label, a second adsorption label, and a third adsorption label.

[0011] Furthermore, the positioning module can acquire the image of the material handling station captured by the camera component in any of the material handling mechanisms, and extract and determine the target workpiece in the image of the material handling station.

[0012] When the positioning module determines that there is a target workpiece in the image of the material picking station, it will determine the real-time projection area based on the standard projection area to determine whether to perform a pre-picking test on the target workpiece.

[0013] Furthermore, when the positioning module determines that there is a target workpiece in the image of the material handling station, it obtains the area of ​​the orthographic projection of the suction cup assembly onto the corresponding target workpiece, records it as the real-time projection area, and makes a determination.

[0014] When the positioning module determines that the real-time projected area is less than the standard projected area, it will obtain the positional relationship between the suction cup assembly and the target workpiece to classify and mark the suction cup assembly.

[0015] When the positioning module determines that the real-time projected area is greater than or equal to the standard projected area, it performs a pre-absorption test on the target workpiece and determines the real-time adsorption pressure based on the standard adsorption pressure in order to classify and mark the suction cup assembly with a third adsorption mark.

[0016] Furthermore, when the positioning module determines that the real-time projected area on the target workpiece is less than or equal to the standard projected area, it obtains the center point of the orthographic projection of the suction cup assembly as the origin to establish a rectangular coordinate system, and obtains the position of the center point of the target workpiece in the rectangular coordinate system for determination, so as to classify and mark the suction cup assembly corresponding to the target workpiece.

[0017] The classification labels include a first simulated label and a second simulated label.

[0018] Furthermore, when the positioning module determines that the real-time projected area on the target workpiece is greater than or equal to the standard projected area, it performs a pre-absorption test on the target workpiece, obtains the real-time adsorption pressure displayed by the digital air pressure display on the corresponding material handling mechanism, and determines the real-time adsorption pressure according to the standard adsorption pressure, so as to simulate marking the suction cup component corresponding to the material handling mechanism.

[0019] Furthermore, when the positioning module determines that the real-time adsorption pressure displayed by the digital pressure gauge is less than the standard adsorption pressure, it re-acquires the center point of the orthographic projection of the suction cup assembly as the origin to establish a rectangular coordinate system, and then determines the position of the center point of the target workpiece in the rectangular coordinate system.

[0020] If the center point of the target workpiece is at the first offset position, the positioning module performs a first simulated mark on the suction cup assembly corresponding to the target workpiece;

[0021] If the center point of the target workpiece is at the second offset position, the positioning module performs a second simulated mark on the suction cup assembly corresponding to the target workpiece;

[0022] If the center point of the target workpiece is at the origin, the positioning module determines that the placement of the target workpiece is correct and will perform on-site inspection of the suction cup assembly.

[0023] Furthermore, when the positioning module determines that each of the suction cup components has completed the simulated marking, it obtains the percentage of the number of suction cup components that have completed the third adsorption marking out of the total number of suction cup components and records it as the first grasping percentage.

[0024] When the positioning module determines that the first grasping ratio is less than the standard grasping ratio, it compares the second grasping ratio with the third grasping ratio to determine the adjustment method for the contact area between the target component and the suction cup component.

[0025] When the positioning module determines that the first grasping ratio is greater than or equal to the standard grasping ratio, it will sequentially control the first servo motor to start and the second servo motor to start.

[0026] Furthermore, when the positioning module determines that the first grasping ratio is less than the standard grasping ratio, it obtains the percentage of the number of suction cup components that have completed the first adsorption mark to the total number of suction cup components as the second grasping ratio, and the percentage of the number of suction cup components that have completed the second adsorption mark to the total number of suction cup components as the third grasping ratio.

[0027] Furthermore, the positioning module can compare the second gripping ratio with the third gripping ratio, and when it is determined that the second gripping ratio is less than the third gripping ratio, it controls the second servo motor to turn on, so as to drive the turntable to rotate, and repeat the above-mentioned operation of acquiring the image of the material handling station collected by the camera component in any of the material handling mechanisms, and extracting, judging and simulating marking the target workpiece in the image of the material handling station.

[0028] Furthermore, when the positioning module determines that the first gripping ratio is greater than or equal to the standard gripping ratio, it controls the first servo motor to drive the lifting screw to rise, and controls the second servo motor to drive the turntable to rotate to the next material handling station to release the target workpiece.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: by projecting the suction cup assembly corresponding to the target workpiece, the correctness of the placement position of the target workpiece is initially determined based on the area of ​​the suction cup assembly projected onto the target workpiece; a pre-pickup test is performed on the target workpiece with the correct placement to determine whether the target workpiece meets the standard requirements of the grasping task; target workpieces with incorrect placement are classified and marked, and the contact position between the target workpiece and the suction cup assembly is changed by rotating the turntable, so that target workpieces with incorrect placement can also be transferred, improving the efficiency of reciprocating handling; the target workpiece is picked up by the suction cup assembly, and the reciprocating movement of the turntable is intermittently controlled by the picking mechanism; by setting up a camera assembly, the image of the picking station is collected in real time to obtain the target workpiece information; the second servo motor is driven by the positioning module to drive the rotating platform to rotate, and the first servo motor is driven by the positioning module to drive the picking mechanism to accurately perform vertical and circumferential displacement, so as to realize the switching of the target workpiece to the new station.

[0030] Furthermore, by acquiring images of the picking station captured by the corresponding camera components in each picking mechanism, it is determined whether the picking station has a target workpiece based on the images, so as to determine whether each picking mechanism should perform the task of grabbing the target workpiece. This avoids the suction cup components still performing the suction operation on the picking station where there is no target workpiece, thus increasing unnecessary energy consumption and improving the intelligence of the rotary reciprocating transfer device.

[0031] Furthermore, by comparing the standard projected area with the real-time projected area, the alignment of the suction cup assembly with the target workpiece is initially determined based on the area of ​​the vertical projection of the suction cup assembly onto the target workpiece. If the real-time projected area is greater than or equal to the standard projected area, it indicates that the entire orthographic projection of the suction cup assembly is projected onto the target workpiece. If the real-time projected area is less than the standard projected area, it indicates that the irregular placement of the target workpiece prevents the entire orthographic projection of the suction cup assembly from being projected onto the target workpiece. In this case, the positional relationship of the target workpiece with a real-time projected area less than the standard projected area is further determined to determine whether the material handling assembly should perform the gripping task. This avoids performing the gripping operation even when the target workpiece is offset and in the gripping blind zone of the suction cup assembly, thus avoiding energy waste caused by equipment operation. For target workpieces with a real-time projected area greater than or equal to the standard projected area, the gripping task is directly performed. This simple method of determining whether to perform the gripping operation speeds up the real-time transfer task process.

[0032] Furthermore, by determining the positional relationship between the suction cup assembly and the target workpiece, the irregularly placed target workpieces are divided into two categories: a first simulated mark and a second simulated mark. The first simulated mark is applied to the target workpiece located in the first or third quadrant of the Cartesian coordinate system, indicating that the target workpiece is located above or below the suction cup assembly. The second simulated mark is applied to the target workpiece located in the second or fourth quadrant of the Cartesian coordinate system, indicating that the target workpiece is located to the left or right of the suction cup assembly.

[0033] Furthermore, by conducting a pre-adsorption test on a target workpiece with a real-time projected area greater than or equal to the standard projected area, it is possible to directly determine whether the suction cup assembly can successfully grip the workpiece. If the real-time adsorption pressure is greater than or equal to the standard adsorption pressure, it indicates that the contact position between the suction cup assembly and the target workpiece is firm, and the transfer and conversion task can be completed. In this case, a third adsorption mark is applied to the suction cup assembly. If the real-time adsorption pressure is less than the standard adsorption pressure, it indicates that the contact position between the suction cup assembly and the target workpiece is not the preset standard position. That is, the actual contact area between the suction cup assembly and the target workpiece may be uneven, resulting in a weak contact and shaking. This reduces the suction capacity of the suction cup assembly and causes the transfer and conversion task to fail. In this case, the position of the suction cup assembly and the target workpiece will be determined to see if the circumferential displacement of the turntable can change the contact position between the suction cup assembly and the target workpiece, thereby making the contact between the suction cup assembly and the target workpiece firm.

[0034] Furthermore, by determining the position of the target workpiece corresponding to the suction cup assembly with a real-time adsorption pressure lower than the standard adsorption pressure, it is determined whether the contact position between the suction cup assembly and the target workpiece can be changed by altering the spatial position of the suction cup assembly. If the center point of the target workpiece is determined to be at the first offset position, it indicates that the target workpiece is located above or below the suction cup assembly, meaning that the contact position between the suction cup assembly and the target workpiece cannot be changed by rotating the turntable. In this case, the only solution is for the operator to correct the placement of the target workpiece to achieve the transfer and switching of workstations. If the center point of the target workpiece is determined to be at the second offset position, it indicates that the target workpiece is located to the left or right of the suction cup assembly. In this case, rotating the turntable can change the contact position between the suction cup assembly and the target workpiece, potentially resulting in a firm contact between the suction cup assembly and the target workpiece. If the center point of the target workpiece is determined to be at the origin, it indicates that the contact position between the suction cup assembly and the target workpiece is the preset standard position. In this case, the reason for the unstable contact position between the suction cup assembly and the target workpiece is due to damage to the suction cup assembly, and the suction cup assembly is then inspected and repaired on-site.

[0035] Furthermore, by calculating the ratio of suction cup components capable of performing gripping tasks to the total number of suction cup components, it is determined whether to perform a transfer operation. Simple calculations determine the start and stop of each component of the transfer device, improving the accuracy of turntable startup and the stability of device operation. This avoids excessively frequent turntable startups due to differences in the placement time of each target workpiece. When the first gripping percentage is determined to be greater than or equal to the standard gripping percentage, the gripping operation of the suction cup components and the turntable is controlled in a timely manner, improving the efficiency of the transfer task. Moreover, through a simple operation method, incorrect gripping positions can be quickly corrected, increasing the success rate of the transfer task and ensuring the real-time effectiveness of gripping the target workpiece.

[0036] Furthermore, by comparing the second gripping percentage with the third gripping percentage, the adjustment method for the contact area between the target component and the suction cup component is selected based on the misalignment type of the incorrectly placed target workpiece. If the second gripping percentage is greater than or equal to the third gripping percentage, it indicates that a large number of target workpieces are placed above or below the suction cup component, and the placement position of the target workpieces needs to be corrected by the staff in a timely manner. If it is determined that the second gripping percentage is less than the third gripping percentage, it indicates that a large number of target workpieces are placed to the left or right of the suction cup component, and the position of the suction cup component is adjusted by circumferential displacement of the turntable, thereby changing the contact position between the suction cup component and the target workpiece, making the suction cup component and the target workpiece make firm contact, thereby improving the efficiency of the transfer task. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the rotary table reciprocating transfer device for impeller dispensing and mass addition according to an embodiment of the present invention;

[0038] Figure 2 This is a connection diagram of the rotary table reciprocating transfer system with impeller dispensing and mass addition according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram illustrating the logic of the positioning module simulating marking on the suction cup assembly according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram illustrating the logic of the positioning module controlling the start-up of the first servo motor and the second servo motor in an embodiment of the present invention. Implementation

[0041] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0042] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0044] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] Please see Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the structure of the rotary table reciprocating transfer device for impeller dispensing and mass addition according to an embodiment of the present invention. Figure 2This is a connection diagram of a rotary table reciprocating transfer system for impeller dispensing and mass addition according to an embodiment of the present invention. The present invention provides a rotary table reciprocating transfer device for impeller dispensing and mass addition, including a rotary table 101, a material handling mechanism 102, a suction cup assembly 103, a camera assembly 104, a digital pressure display 105, a lifting screw 201, a guide column 202, a first servo motor 203, a rotating platform 301, and a second servo motor 302.

[0046] The turntable 101 module is used to grab the target workpiece at any picking station and rotate it to place the target workpiece to the next picking station. The turntable 101 module includes a turntable 101 and a plurality of picking mechanisms 102 arranged on the turntable 101. Each picking mechanism 102 includes a suction cup assembly 103 for picking up and dropping the target workpiece, a camera assembly 104 for acquiring images of the picking station, and a digital air pressure display 105 for displaying the real-time adsorption pressure.

[0047] A lifting module is used to drive the suction cup assembly 103 to lift. The lifting module includes a lifting screw 201 connected to the turntable 101 module, a first servo motor 203 that drives the lifting screw 201 to move, and a plurality of guide columns 202 provided on the turntable 101 to support the turntable.

[0048] A rotation module is used to drive the turntable 101 to rotate. The rotation module includes a rotation platform 301 and a second servo motor 302 for driving the rotation platform 301 to rotate. The rotation platform 301 is connected to the turntable 101.

[0049] The positioning module is connected to the rotation module, the turntable 101 module, and the lifting module respectively. When the positioning module determines that there is a target workpiece in any material picking station image based on the material picking station image, it can obtain the real-time projected area of ​​the corresponding suction cup component 103, and determine the real-time projected area based on the standard projected area to simulate marking the suction cup component 103. The positioning module can also calculate the first gripping ratio, the second gripping ratio, and the third gripping ratio based on the number of simulated marks of each suction cup component 103 and the total number of suction cup components 103, so as to select the starting mode of the first servo motor 203 and the second servo motor 302.

[0050] The simulated labels include a first adsorption label, a second adsorption label, and a third adsorption label;

[0051] The starting method for the first servo motor 203 and the second servo motor 302 includes: when it is determined that the first gripping ratio is greater than or equal to the standard gripping ratio, controlling the first servo motor 203 to drive the lifting screw 201 to rise, and controlling the second servo motor 302 to drive the turntable 101 to rotate to the next material handling station to release the target workpiece.

[0052] When it is determined that the second gripping ratio is less than the third gripping ratio, the second servo motor 302 is turned on to drive the turntable 101 to rotate at a preset rotation angle.

[0053] By projecting the suction cup assembly 103 corresponding to the target workpiece, the placement position of the target workpiece is initially determined based on the area projected onto the target workpiece. A pre-pickup test is performed on correctly placed target workpieces to determine if they meet the standard requirements for the gripping task. Incorrectly placed target workpieces are categorized and marked. By rotating the turntable 101, the contact position between the target workpiece and the suction cup assembly 103 is changed, enabling even incorrectly placed target workpieces to be transferred, thus improving the efficiency of reciprocating transport. The suction cup assembly 103 picks up the target workpiece, and the material handling mechanism 102 intermittently controls the turntable 101 to reciprocate. A camera assembly 104 is used to capture real-time images of the material handling station and obtain target workpiece information. The positioning module drives the second servo motor 302 to rotate the rotating platform 301, and the positioning module drives the first servo motor 203 to precisely move the material handling mechanism 102 vertically and circumferentially, thereby achieving a change of workstation for the target workpiece.

[0054] Specifically, the positioning module can acquire the image of the material handling station captured by the camera component 104 in any of the material handling mechanisms 102, and extract and determine the target workpiece in the image of the material handling station.

[0055] If a target workpiece is present in the image of the material picking station, the positioning module will determine the real-time projection area based on the standard projection area to determine whether to perform a pre-picking test on the target workpiece.

[0056] If the target workpiece is not present in the image of the picking station, the positioning module determines that the picking mechanism 102 will not perform the task of picking up the target workpiece, and continues to acquire the picking station image collected by the camera component 104 in the next picking mechanism 102 for extraction and determination.

[0057] By acquiring images of the picking station captured by the corresponding camera components 104 in each picking mechanism 102, it is determined whether there is a target workpiece at the picking station based on the images, so as to determine whether each picking mechanism 102 performs the task of grabbing the target workpiece. This avoids the suction cup component 103 still performing the suction operation at the picking station where there is no target workpiece, thus increasing unnecessary energy consumption and improving the intelligence of the reciprocating transfer device of the turntable 101.

[0058] See Figure 3 As shown, it is a logical schematic diagram of the positioning module simulating marking of the suction cup assembly 103 in an embodiment of the present invention;

[0059] Specifically, the positioning module has a set standard projection area. When the positioning module determines that there is a target workpiece in the image of the material handling station, it makes the light source pass perpendicularly through the suction cup assembly 103 in the material handling mechanism 102 to obtain the orthographic projection of the suction cup assembly 103. The area of ​​the orthographic projection of the suction cup assembly 103 onto the corresponding target workpiece is recorded as the real-time projection area. The real-time projection area is then determined based on the standard projection area.

[0060] If the real-time projection area is smaller than the standard projection area, the positioning module will determine the positional relationship between the suction cup assembly 103 and the target workpiece in order to classify and mark the suction cup assembly 103.

[0061] If the real-time projection area is greater than or equal to the standard projection area, the positioning module performs a pre-absorption test on the target workpiece and determines the real-time adsorption pressure based on the standard adsorption pressure in order to classify and mark the suction cup assembly 103 with a third adsorption mark.

[0062] The classification mark indicates that the contact position between the target workpiece and the suction cup assembly 103 does not meet the standard. The classification mark includes a first adsorption mark and a second adsorption mark. The third adsorption mark indicates that the contact position between the target workpiece and the suction cup assembly 103 meets the standard.

[0063] In this embodiment, the standard projection area is defined as the orthogonal projection area of ​​the light source passing through the suction cup assembly 103. The setting value is related to the relative distance between the light source and the suction cup assembly 103, the characteristics of the light source, and the structure of the suction cup assembly 103. Generally, it is set between 100 square centimeters and 500 square centimeters, and can be adjusted according to the actual measurement value.

[0064] By comparing the standard projection area with the real-time projection area, the alignment of the suction cup assembly 103 with the target workpiece is initially determined based on the area of ​​the vertical projection of the suction cup assembly 103 onto the target workpiece. If the real-time projection area is greater than or equal to the standard projection area, it means that the orthogonal projection of the suction cup assembly 103 is fully projected onto the target workpiece. If the real-time projection area is less than the standard projection area, it means that due to the irregular placement of the target workpiece, the orthogonal projection of the suction cup assembly 103 is not fully projected onto the target workpiece. In this case, the positional relationship of the target workpiece with a real-time projection area less than the standard projection area is further determined to determine whether the material handling assembly should perform the gripping task. This avoids performing the suction operation even if the target workpiece is offset and located in the gripping blind zone of the suction cup assembly 103, which would cause energy waste during equipment operation. For target workpieces with a real-time projection area greater than or equal to the standard projection area, the gripping task is directly performed. This simple method of determining whether to perform the gripping operation speeds up the real-time transfer task process.

[0065] Specifically, when the positioning module determines that the real-time projected area on the target workpiece is less than or equal to the standard projected area, it obtains the center point of the orthographic projection of the suction cup assembly 103 as the origin, takes the orthographic projection of the turntable 101 as a circle, obtains the tangent line on the circle passing through the origin, rotates the tangent line counterclockwise by 45 degrees, establishes a horizontal axis passing through the origin along the direction of the tangent line, and establishes a vertical axis perpendicular to the horizontal axis on the orthographic projection plane. A rectangular coordinate system is established based on the origin, the horizontal axis, and the vertical axis. The position of the center point of the target workpiece in the rectangular coordinate system is then determined.

[0066] If the center point of the target workpiece is at the first offset position, the positioning module performs a first simulated mark on the suction cup assembly 103 corresponding to the target workpiece;

[0067] If the center point of the target workpiece is at the second offset position, the positioning module performs a second simulated marking on the suction cup assembly 103 corresponding to the target workpiece.

[0068] The first offset position is the first quadrant, the third quadrant, the horizontal axis, and the vertical axis in the rectangular coordinate system, and the second offset position is the second quadrant and the fourth quadrant in the rectangular coordinate system.

[0069] By determining the positional relationship between the suction cup assembly 103 and the target workpiece, the irregularly placed target workpieces are divided into two categories: a first simulated mark and a second simulated mark. The first simulated mark is applied to the target workpiece located in the first or third quadrant of the Cartesian coordinate system, indicating that the target workpiece is located at the vertical position of the suction cup assembly 103. The second simulated mark is applied to the target workpiece located in the second or fourth quadrant of the Cartesian coordinate system, indicating that the target workpiece is located at the horizontal position of the suction cup assembly 103.

[0070] Since the turntable 101 can only move circumferentially when performing reciprocating transfer tasks, for target workpieces located above or below the suction cup assembly 103, the suction cup assembly 103 cannot successfully grasp the target workpiece by adjusting the rotation angle of the turntable 101. For target workpieces located to the left or right of the suction cup assembly 103, the circumferential displacement of the turntable 101 is used to align the suction cup assembly 103 with the target workpiece, thereby successfully grasping the target workpiece.

[0071] Specifically, the positioning module is equipped with a standard adsorption pressure. When the real-time projected area on the target workpiece is determined to be greater than or equal to the standard projected area, a pre-adsorption test is performed on the target workpiece to obtain the real-time adsorption pressure displayed on the digital pressure display 105 on the corresponding material handling mechanism 102. The real-time adsorption pressure is then determined based on the standard adsorption pressure.

[0072] If the real-time adsorption pressure is less than the standard adsorption pressure, the positioning module will re-establish a rectangular coordinate system to classify and mark the suction cup assembly 103 corresponding to the material handling mechanism 102.

[0073] If the real-time adsorption pressure is greater than or equal to the standard adsorption pressure, the positioning module performs a third adsorption mark on the suction cup assembly 103 on the material handling mechanism 102.

[0074] In this embodiment, the standard adsorption pressure is related to the size, material, surface condition of the suction cup assembly 103, and the structure of the target workpiece. Generally, it is set between 50 Pa and 500 Pa, and is selected according to the actual adsorption state of the suction cup assembly 103 on the target workpiece.

[0075] The third adsorption mark indicates that the actual contact between the suction cup assembly 103 and the target workpiece meets the requirements of the transfer and conversion station task. The suction cup assembly 103 that has completed the third adsorption mark is a suction cup assembly 103 that can perform the gripping task.

[0076] By performing a pre-grabbing test on a target workpiece with a real-time projected area greater than or equal to the standard projected area, it is possible to directly determine whether the suction cup assembly 103 can successfully grip the target workpiece. If the real-time suction pressure is determined to be less than the standard suction pressure, it indicates that the contact position between the suction cup assembly 103 and the target workpiece is not the preset standard position. This could be due to unevenness in the actual contact area between the suction cup assembly 103 and the target workpiece, leading to weak contact and shaking. This reduces the suction capacity of the suction cup assembly 103 on the target workpiece, resulting in failure to complete the transfer and switching station task. To avoid this situation, a pre-grabbing test is performed on a target workpiece with a real-time projected area greater than or equal to the standard projected area. A pre-absorption test is performed on the target workpiece with a standard projected area. If the real-time adsorption pressure is determined to be greater than or equal to the standard adsorption pressure, it indicates that the contact position between the suction cup assembly 103 and the target workpiece is firm and the transfer and conversion station task can be completed. Then, a third adsorption mark is made on the suction cup assembly 103. If the real-time adsorption pressure is determined to be less than the standard adsorption pressure, it indicates that the contact position between the suction cup assembly 103 and the target workpiece is not firm. Then, by determining the position between the suction cup assembly 103 and the target workpiece, it is determined whether the contact position between the suction cup assembly 103 and the target workpiece can be changed by the circumferential displacement of the turntable 101, thereby making the contact between the suction cup assembly 103 and the target workpiece firm.

[0077] Specifically, when the positioning module determines that the real-time adsorption pressure displayed by the digital pressure display 105 is less than the standard adsorption pressure, it re-obtains the center point of the orthographic projection of the suction cup assembly 103 as the origin. Using the orthographic projection of the turntable 101 as a circle, it obtains the tangent line passing through the origin on the circle. The tangent line is rotated counterclockwise by 45 degrees, and a horizontal axis is established along the tangent line through the origin. A vertical axis perpendicular to the horizontal axis is established on the orthographic projection plane. A Cartesian coordinate system is re-established based on the origin, the horizontal axis, and the vertical axis. The position of the center point of the target workpiece in the Cartesian coordinate system is then determined.

[0078] If the center point of the target workpiece is at the first offset position, the positioning module performs a first simulated mark on the suction cup assembly 103 corresponding to the target workpiece;

[0079] If the center point of the target workpiece is at the second offset position, the positioning module performs a second simulated marking on the suction cup assembly 103 corresponding to the target workpiece;

[0080] If the center point of the target workpiece is at the origin, the positioning module determines that the placement of the target workpiece is correct and will perform on-site inspection of the suction cup assembly 103.

[0081] By determining the position of the target workpiece corresponding to the suction cup assembly 103 when the real-time adsorption pressure is lower than the standard adsorption pressure, it is determined whether the contact position between the suction cup assembly 103 and the target workpiece can be changed by altering the spatial position of the suction cup assembly 103. If the center point of the target workpiece is determined to be at the first offset position, it means that the target workpiece is located above or below the suction cup assembly 103, i.e., the contact position between the suction cup assembly 103 and the target workpiece cannot be changed by rotating the turntable 101. In this case, the only way to achieve the transfer and switching of workstations is for the operator to correct the placement of the target workpiece. If the center point of the target workpiece is located at the second offset position, it means that the target workpiece is located at the position of the suction cup assembly 103. By rotating the turntable 101, the contact position between the suction cup assembly 103 and the target workpiece is changed, which may make the suction cup assembly 103 and the target workpiece make firm contact. If it is determined that the center point of the target workpiece is at the origin, it means that the contact position between the suction cup assembly 103 and the target workpiece is the preset standard position. The reason why the contact position between the suction cup assembly 103 and the target workpiece is not firm is due to the damage of the suction cup assembly 103. Then, the suction cup assembly 103 is inspected and processed on site.

[0082] See Figure 4 As shown, it is a logic diagram of the positioning module controlling the start of the first servo motor 203 and the second servo motor 302 in an embodiment of the present invention;

[0083] Specifically, the positioning module is configured with a standard gripping ratio for each suction cup assembly 103. When the positioning module determines that each suction cup assembly 103 has completed the simulated marking, it obtains the percentage of suction cup assemblies 103 that have completed the third adsorption marking out of the total number of suction cup assemblies 103 and records it as the first gripping ratio. The standard gripping ratio is then compared with the first gripping ratio.

[0084] If the first grasping ratio is less than the standard grasping ratio, the positioning module compares the second grasping ratio with the third grasping ratio to determine the adjustment method for the contact area between the target component and the suction cup component 103;

[0085] If the first grasping ratio is greater than or equal to the standard grasping ratio, the positioning module will sequentially control the first servo motor 203 to start and the second servo motor 302 to start.

[0086] In this embodiment, the standard gripping ratio is related to the actual transfer task requirements, the number of suction cup components 103, and the structural design. Generally, it is set between 60% and 90%, and is selected according to the actual transfer task requirements.

[0087] The first gripping percentage refers to the percentage of target workpieces that are correctly positioned in each suction cup assembly 103. The higher the first gripping percentage, the higher the efficiency of the transfer task.

[0088] By calculating the ratio of the number of suction cup assemblies 103 capable of performing gripping tasks to the total number of suction cup assemblies 103, it is determined whether to perform a transfer operation. The start and stop of each component of the transfer device are determined by simple calculation, which improves the accuracy of the turntable 101 startup and the stability of the device operation. It avoids the turntable 101 starting too frequently due to the difference in the placement time of each target workpiece. When it is determined that the first gripping ratio is greater than or equal to the standard gripping ratio, the gripping operation of the suction cup assembly 103 and the turntable 101 is controlled in time to improve the efficiency of the transfer task.

[0089] Specifically, the positioning module has a preset rotation angle. When the positioning module determines that the first gripping percentage is less than the standard gripping percentage, it obtains the percentage of the number of suction cup components 103 that have completed the first adsorption mark out of the total number of suction cup components 103 as the second gripping percentage, and the percentage of the number of suction cup components 103 that have completed the second adsorption mark out of the total number of suction cup components 103 as the third gripping percentage. The second gripping percentage and the third gripping percentage are then compared.

[0090] If the second capture percentage is greater than or equal to the third capture percentage, the positioning module determines that the target component should be adjusted on-site.

[0091] If the second grasping ratio is less than the third grasping ratio, the positioning module controls the second servo motor 302 to turn on, and drives the turntable 101 to rotate at a preset rotation angle. The above-mentioned operation of acquiring the image of the picking station collected by the camera component 104 in any of the picking mechanisms 102, and extracting, judging and simulating the target workpiece in the picking station image is repeated.

[0092] In this embodiment, the preset rotation angle is related to the structural design of the turntable 101, the number of material handling mechanisms 102, and the structural design. Generally, it is set between 1 degree and 5 degrees, and is selected according to the actual transfer task requirements.

[0093] The second gripping percentage represents the percentage of target workpieces in each suction cup assembly 103 that are incorrectly positioned and located above or below the suction cup assembly 103. The higher the second gripping percentage, the less stable the automated operation of the transfer task will be, and the staff will need to correct the position of the target workpieces in a timely manner.

[0094] The third gripping percentage represents the proportion of target workpieces in each suction cup assembly 103 that are incorrectly positioned and located to the left or right of the suction cup assembly 103. Even if the third gripping percentage is high, the position of the suction cup assembly 103 can be adjusted by circumferential displacement of the turntable 101, thereby changing the contact position between the suction cup assembly 103 and the target workpiece, so that the target workpieces that are not completely correctly positioned can still be gripped and successfully transferred.

[0095] By comparing the second and third gripping percentages, the adjustment method for the contact area between the target component and the suction cup component 103 is selected based on the misalignment type of the incorrectly placed target workpiece. If the second gripping percentage is greater than or equal to the third gripping percentage, it indicates that a large number of target workpieces are placed above or below the suction cup component 103, requiring timely correction by staff. If the second gripping percentage is less than the third gripping percentage, it indicates that a large number of target workpieces are placed to the left or right of the suction cup component 103. In this case, the position of the suction cup component 103 is adjusted by circumferential displacement of the turntable 101, thereby changing the contact position between the suction cup component 103 and the target workpiece, ensuring a firm contact between the suction cup component 103 and the target workpiece, thus improving the efficiency of the transfer task. Furthermore, through a simple operation, incorrect gripping positions can be quickly corrected, increasing the success rate of the transfer task and ensuring the real-time effectiveness of gripping the target workpiece.

[0096] Specifically, when the positioning module determines that the first gripping ratio is greater than or equal to the standard gripping ratio, it controls the first servo motor 203 to drive the lifting screw 201 to rise, and controls the second servo motor 302 to drive the turntable 101 to rotate to the next material handling station to release the target workpiece.

[0097] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rotary reciprocating transfer device for dispensing adhesive and adding mass to an impeller, characterized in that, include, The turntable module is used to grab the target workpiece at any picking station and rotate it to place the target workpiece to the next picking station. The turntable module includes a turntable and several picking mechanisms set on the turntable. Each picking mechanism includes a suction cup assembly for picking up and dropping the target workpiece, a camera assembly for acquiring images of the picking station, and a digital air pressure display. A lifting module is used to drive the suction cup assembly to lift and lower. The lifting module includes a lifting screw connected to the turntable module, a first servo motor that drives the lifting screw to move, and a plurality of guide columns disposed on the turntable. A rotating module is used to drive the turntable to rotate. The rotating module includes a rotating platform and a second servo motor for driving the rotating platform to rotate. The rotating platform is connected to the turntable. The positioning module is connected to the rotation module, the turntable module, and the lifting module respectively. When the positioning module determines that there is a target workpiece in any material handling station image based on the material handling station image, it can obtain the real-time projection area of ​​the corresponding suction cup component, and determine the real-time projection area based on the standard projection area to simulate marking the suction cup component. The positioning module can also calculate the first gripping ratio, the second gripping ratio, and the third gripping ratio based on the number of simulated marks of each suction cup component and the total number of suction cup components to select the starting mode of the first servo motor and the second servo motor. The simulated labels include a first adsorption label, a second adsorption label, and a third adsorption label.

2. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 1, characterized in that, The positioning module can acquire images of the material handling station captured by the camera component in any of the material handling mechanisms, and extract and determine the target workpiece in the material handling station image. When the positioning module determines that there is a target workpiece in the image of the material picking station, it will determine the real-time projection area based on the standard projection area to determine whether to perform a pre-picking test on the target workpiece.

3. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 2, characterized in that, When the positioning module determines that there is a target workpiece in the image of the material handling station, it obtains the area of ​​the orthographic projection of the suction cup assembly onto the corresponding target workpiece, records it as the real-time projection area, and makes a determination. When the positioning module determines that the real-time projected area is less than the standard projected area, it will obtain the positional relationship between the suction cup assembly and the target workpiece to classify and mark the suction cup assembly. When the positioning module determines that the real-time projected area is greater than or equal to the standard projected area, it performs a pre-absorption test on the target workpiece and determines the real-time adsorption pressure based on the standard adsorption pressure in order to classify and mark the suction cup assembly with a third adsorption mark.

4. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 3, characterized in that, When the positioning module determines that the real-time projected area on the target workpiece is less than or equal to the standard projected area, it obtains the center point of the orthographic projection of the suction cup assembly as the origin to establish a rectangular coordinate system, obtains the position of the center point of the target workpiece in the rectangular coordinate system for determination, so as to classify and mark the suction cup assembly corresponding to the target workpiece. The classification labels include a first simulated label and a second simulated label.

5. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 3, characterized in that, When the positioning module determines that the real-time projected area on the target workpiece is greater than or equal to the standard projected area, it performs a pre-absorption test on the target workpiece, obtains the real-time adsorption pressure displayed by the digital air pressure display on the corresponding material handling mechanism, and determines the real-time adsorption pressure according to the standard adsorption pressure in order to simulate marking the suction cup component corresponding to the material handling mechanism.

6. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 5, characterized in that, When the positioning module determines that the real-time adsorption pressure displayed by the digital pressure gauge is less than the standard adsorption pressure, it re-acquires the center point of the orthographic projection of the suction cup assembly as the origin to establish a rectangular coordinate system, and then determines the position of the center point of the target workpiece in the rectangular coordinate system. If the center point of the target workpiece is at the first offset position, the positioning module performs a first simulated mark on the suction cup assembly corresponding to the target workpiece; If the center point of the target workpiece is at the second offset position, the positioning module performs a second simulated mark on the suction cup assembly corresponding to the target workpiece; If the center point of the target workpiece is at the origin, the positioning module determines that the placement of the target workpiece is correct and will perform on-site inspection of the suction cup assembly.

7. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 6, characterized in that, When the positioning module determines that each of the suction cup components has completed the simulated marking, it obtains the percentage of the number of suction cup components that have completed the third adsorption marking out of the total number of suction cup components and records it as the first grasping percentage. When the positioning module determines that the first gripping ratio is less than the standard gripping ratio, it compares the second gripping ratio with the third gripping ratio to determine the adjustment method for the contact area between the target workpiece and the suction cup assembly. When the positioning module determines that the first grasping ratio is greater than or equal to the standard grasping ratio, it will sequentially control the first servo motor to start and the second servo motor to start.

8. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 6, characterized in that, When the positioning module determines that the first grasping ratio is less than the standard grasping ratio, it obtains the percentage of the number of suction cup components that have completed the first adsorption mark to the total number of suction cup components as the second grasping ratio, and the percentage of the number of suction cup components that have completed the second adsorption mark to the total number of suction cup components as the third grasping ratio.

9. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 8, characterized in that, The positioning module can compare the second gripping ratio with the third gripping ratio, and when it is determined that the second gripping ratio is less than the third gripping ratio, it controls the second servo motor to turn on, so as to drive the turntable to rotate, and repeats the above-mentioned operation of acquiring the image of the material handling station collected by the camera component in any of the material handling mechanisms, and extracting, judging and simulating the target workpiece in the image of the material handling station.

10. The impeller-dispensing and mass-adding rotary table reciprocating transfer device according to claim 7, characterized in that, When the positioning module determines that the first gripping ratio is greater than or equal to the standard gripping ratio, it controls the first servo motor to drive the lifting screw to rise, and controls the second servo motor to drive the turntable to rotate to the next material handling station to release the target workpiece.

Images