Split type material tray, packaging device detection, transfer and classification equipment and detection method

Abstract

The invention provides a split type material tray, packaging device detecting, transferring and classifying equipment and a detecting method, and belongs to the technical field of packaging device detection.The split type material tray comprises a mother tray and a son tray, edge steps are arranged on the periphery of the mother tray, and object taking notches facilitating taking out of the son tray are symmetrically formed in the periphery of the mother tray; the sub-trays are provided with positioning grooves distributed in an array mode, and the sub-trays are stacked in the mother tray. The packaging device detecting, transferring and classifying equipment comprises an equipment rack, a feeding tray, a discharging tray, a conveying belt, a detecting module, a positioning camera, a feeding robot, a discharging robot and a waste box. The tray is composed of the mother tray with the unified specification and the sub-trays with different sizes and different grades, when the specifications and the sizes of the detected packaging devices are different, only the matched sub-trays need to be replaced, and the whole tray does not need to be replaced; and the robot transfers the materials between the tray and the working area through the positioning camera and coordinate transformation, and the qualified materials and the unqualified materials are classified and stored.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic packaging, and in particular relates to a split material tray, packaging device detection, transfer and classification equipment and a detection method. Background Art

[0002] Electronic packaging parts such as ceramic tube shells and metal cover plates are characterized by small batches and multiple varieties of production. To avoid product damage, products need to be placed in special tooling during transportation and placement. There are two main ways to place traditional product tooling. One is to develop a special tooling for each product model, which results in extremely high development and manufacturing costs for special tooling; the other is to design trays of uniform specifications, and place products directly in them in a scattered manner, which can easily cause scratches and cause products to overlap. In more and more production scenarios where vision and robots are used for product inspection, the equipment cannot accurately distinguish between multiple overlapping products and achieve accurate automatic loading and unloading. Therefore, considering the cost of use and applicable scenarios, traditional product tooling cannot be used as loading and unloading tooling for automated visual equipment. Summary of the invention

[0003] The embodiments of the present invention provide a split material tray, packaging device detection, transfer and classification equipment and detection method, which are intended to achieve compatibility with electronic packaging devices of different sizes on the basis of lower manufacturing costs and realize automated loading and unloading, detection, transfer and classification management after detection.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a split material pallet, including: a mother tray and a child tray, the mother tray is provided with edge steps around it, and symmetrically provided with taking notches around it for easy removal of the child tray; the child tray is provided with positioning grooves distributed in an array, and the child tray is stacked in the mother tray.

[0005] In combination with the first aspect, in one achievable manner, the mother tray may contain one or more sub-trays arranged in an array.

[0006] In combination with the first aspect, in one achievable manner, positioning notches are further provided on two symmetrical sides of the master disc.

[0007] In combination with the first aspect, in one achievable manner, the master disc is provided with hollow weight-reducing holes distributed in an array.

[0008] In a second aspect, an embodiment of the present invention further provides a packaging device detection, transportation and classification device, comprising an equipment frame, a loading tray, a unloading tray, a conveyor belt, a detection module, a positioning camera, a loading robot, an unloading robot and a waste box, wherein the loading tray and the unloading tray are respectively arranged at the left and right ends of the equipment frame, the conveyor belt is located between the loading tray and the unloading tray, and the waste box is located on one side of the unloading tray; the positioning camera is located above the loading tray;

[0009] Among them, the loading tray and the unloading tray adopt the split material tray.

[0010] In a third aspect, an embodiment of the present invention further provides a method for automatic loading and unloading detection, transfer and classification of packaged devices, using the split material tray, the method comprising:

[0011] Send the loading tray containing the materials to be tested to the loading platform;

[0012] The positioning camera obtains the characteristics and placement angle of the materials in the loading tray, and transmits them to the loading robot in order of rows and columns after coordinate transformation;

[0013] The loading robot picks up the materials one by one, adjusts the angles, and places them in an array at the corresponding target positions on the conveyor belt;

[0014] The conveyor belt conveys materials through the detection module for detection;

[0015] After the inspection is completed, the unloading robot transfers the products into the unloading tray and waste box on the unloading platform according to the coordinate transformation;

[0016] When the product is unloaded, the loading robot loads the material at the same time, and the product cycles for the next inspection.

[0017] In conjunction with the third aspect, in one achievable manner, the positioning camera obtains the characteristics and placement angle of the material in the loading tray, and transmits them to the loading robot in order of rows and columns after coordinate transformation. The coordinate transformation process is as follows;

[0018] Use the positioning camera to establish the coordinate system O directly above the loading tray C X C Y C Z C , and obtain the geometric feature points of each product in the loading tray, and give the movement point of the loading robot;

[0019] Establish the conveyor belt coordinate system O V X V Y V , set the origin O V and the origin of the camera coordinate system O C Overlap, XV The direction of the axis is the direction of movement of the conveyor belt, and the rotation angle between the two coordinate systems is θ; among them, plane O C X C Y C Parallel to the conveyor belt plane;

[0020] The base coordinate systems of the loading robot and the unloading robot are established as R1 X R1 Y R1 , O R2 X R2 Y R2 , the positions of the origin relative to the origin of the conveyor belt coordinate system are R1 P V , R2 PV , the rotation angles between the two coordinate systems are θ1 and θ2.

[0021] The position relationship between the transmission belt coordinate system and the camera coordinate system is:

[0022] P V =R Z (θ)P C

[0023] Where P V is the coordinate of point P in the conveyor belt coordinate system, P C is the coordinate of point P in the positioning camera coordinate system, Represents the rotation matrix between the camera coordinate system and the conveyor coordinate system;

[0024] The relationship between the base coordinate system of the feeding robot and the position of the conveyor belt is expressed as:

[0025] P V =R Z (θ1)P R1 + R1 P V

[0026] represents the rotation matrix between the base coordinate system of the feeding robot and the conveyor coordinate system, P R1 is the coordinate of point P in the base coordinate system of the feeding robot;

[0027] Similarly, the relationship between the base coordinate system of the unloading robot and the position of the conveyor belt is:

[0028] P V =R Z (θ2)P R2 + R2 P V

[0029] The above coordinate transformation method can complete the coordinate transformation of the automatic loading process, that is, the product position in the material tray photographed by the camera is converted into the robot's target picking point.

[0030] In conjunction with the third aspect, in one achievable manner, after the inspection is completed, the unloading robot transfers the products according to the coordinate transformation to the unloading tray on the unloading platform and the coordinate transformation process in the waste box is as follows:

[0031] Assume that a material point P moves a total of ΔS from the loading point to the unloading point. According to the coordinate transformation process, the position of the material point P relative to the conveyor belt coordinate system has only changed in the X direction. Then the coordinates of the point P after it moves to P' in the conveyor belt coordinate system are:

[0032]

[0033] The position of point P' in the base coordinate system of the unloading robot and the conveyor coordinate system is expressed as follows:

[0034] P' V =R Z (θ2)P' R2 + R2 P V

[0035] P' R2 That is, the position of P' in the base coordinate system of the unloading robot. Since the unloading tray and the loading tray have the same size, P' R2 As the starting point of the unloading robot's pick-and-place operation, the center point of the grid in the unloading tray or the center point of the waste box is used as the target point to complete the robot's unloading and transfer the classified materials to the unloading tray and waste box.

[0036] Compared with the prior art, the split material pallet, packaging device detection, transfer and classification equipment and detection method provided by the present invention have the following beneficial effects: in order to reduce manufacturing costs and improve the compatibility of material pallet tooling, a split material pallet is designed, which consists of a lightweight aluminum alloy mother pallet with uniform specifications and plastic sub-pallets with different size grades. When the specifications and sizes of the packaging devices to be detected are different, it is only necessary to replace the corresponding sub-pallet, and there is no need to replace the entire pallet; and through the positioning camera vision system and coordinate transformation, the robot can transfer product materials between the pallet and the work area, and classify and store qualified materials and unqualified materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the exploded structure of a split material tray provided in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the structure of a master tray of a split material tray provided in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the three-dimensional structure of a packaged device detection, transportation and classification device provided in an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of coordinate transformation provided by an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a material transfer structure provided by an embodiment of the present invention;

[0042] Description of reference numerals:

[0043] 1. Sub-tray; 101. Positioning slot; 2. Mother tray; 21. Pick-up notch; 22. Edge step; 23. Positioning notch; 24. Weight-reducing hollow hole; 3. Pneumatic pin; 4. Equipment rack; 5. Loading tray; 6. Positioning camera; 7. Loading robot; 8. Detection module; 9. Unloading robot; 10. Unloading tray; 11. Waste box; 12. Conveyor belt. DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] Please also read Figure 1 and Figure 2 The split material tray provided by the present invention is now described. The split material tray includes a mother tray 2 and a sub-tray 1. The mother tray 2 is provided with edge steps 22 around it, and symmetrically provided with taking-out notches 21 around it for facilitating taking out the sub-tray 1. The sub-tray 1 is provided with positioning grooves 101 distributed in an array, and the sub-tray 1 is stacked in the mother tray 2.

[0046] See also Figure 5 As shown, in some embodiments, the mother tray 2 can accommodate one or more sub-trays 1 arranged in an array.

[0047] In some embodiments, see Figure 1 and Figure 2 As shown, positioning notches 23 are also provided on two symmetrical sides of the master disc 2 .

[0048] In some embodiments, see Figure 1 and Figure 2 As shown, the master disc 2 is provided with hollow weight-reducing holes distributed in an array.

[0049] One of the technical points of the material tray provided by the present invention is: lightweight master plate 2 design - in order to reduce the manufacturing cost, a lightweight aluminum alloy master plate 2 with uniform specifications is designed. Figure 1 As shown, the main features are as follows:

[0050] Design of positioning notch 23: In order to position and clamp the pallet on the equipment, positioning notches 23 are designed symmetrically on both sides of the bottom surface of the pallet. The pallet can be clamped by clamping the pneumatic pin 3 on the equipment frame 4 in the positioning notch 23. The symmetrical design eliminates direction requirements when placing the pallet, reducing cumbersome operations.

[0051] The design of the taking-out notch 21 is that the taking-out notch 21 is designed around the periphery to facilitate taking out the sub-tray 1 .

[0052] The design of the edge step 22 is to set the edge step 22 of a certain height so that the pallets can be stacked stably as a whole and prevent the materials from being stacked.

[0053] The lightweight design reduces the overall weight by setting hollow weight-reducing holes at the bottom of the mother disc 2.

[0054] Technical point 2: Compatible sub-tray 1 design - In order to be compatible with electronic packaging parts of various specifications and sizes, a graded and compatible plastic sub-tray 1 is designed. The common product sizes are graded, and the size that the mother tray 2 can accommodate is used as the boundary. The grids are evenly distributed in the array within the range, and a plastic sub-tray 1 with several rows and columns of grids is obtained. Figure 4 When the products shown are placed therein, it is only necessary to ensure that the products are not placed on the edges of the grids. A single product is allowed to be placed crookedly in the grid. When loading and unloading, the positioning camera 6 will obtain the product posture, so that rotation adjustment can be performed when the robot loads the materials.

[0055] Based on the same inventive concept, see Figure 3 As shown, the present invention also provides a packaging device detection, transportation and classification equipment, including an equipment frame 4, a loading tray 5, a unloading tray 10, a conveyor belt 12, a detection module 8, a positioning camera 6, a loading robot 7, an unloading robot 9 and a waste box 11, the loading tray 5 and the unloading tray 10 are respectively arranged at the left and right ends of the equipment frame 4, the conveyor belt 12 is located between the loading tray 5 and the unloading tray 10, and the waste box 11 is located on one side of the unloading tray 10; the positioning camera 6 is located above the loading tray 5; wherein, the loading tray 5 and the unloading tray 10 adopt the split material tray.

[0056] Based on the same inventive concept, the present invention also provides a packaging device automatic loading and unloading detection and transportation classification method, see Figure 3 As shown, the packaging device is used to detect the transport and classification equipment, and the method includes:

[0057] Send the loading tray containing the materials to be tested to the loading platform;

[0058] The positioning camera obtains the characteristics and placement angle of the materials in the loading tray, and transmits them to the loading robot in order of rows and columns after coordinate transformation;

[0059] The loading robot picks up the materials one by one, adjusts the angles, and places them in an array at the corresponding target positions on the conveyor belt;

[0060] The conveyor belt conveys materials through the detection module for detection;

[0061] After the inspection is completed, the unloading robot transfers the products into the unloading tray and waste box on the unloading platform according to the coordinate transformation;

[0062] When the product is unloaded, the loading robot loads the material at the same time, and the product cycles for the next inspection.

[0063] The coordinate transformation method provided by the present invention is as follows Figure 4 As shown, the material to be tested is placed in the material tray, and the material tray and the conveyor belt are placed at the same height plane. To realize the robot's automatic loading, it is necessary to perform the coordinate conversion between "product position-robot coordinate-conveyor belt position" to ensure that the robot reaches the target position accurately, and use the end suction head or suction cup and other actuators to realize the picking and placing of product materials. Figure 5 As shown in the figure, since the position of the material in the material tray is not fixed, it is necessary to use a positioning camera to obtain the geometric feature points of each product to give the robot movement point. Figure 4 As shown, after completing the calibration of the positioning camera parameters, the positioning camera coordinate system O C X C Y C Z C It is built right above the loading pallet to ensure that the field of view can completely cover the flat area of ​​the pallet.

[0064] The coordinate transformation process is as follows:

[0065] 1. Use the positioning camera to establish the coordinate system O directly above the loading tray C X C Y C Z C , and obtain the geometric feature points of each product in the loading tray, and give the movement point of the loading robot;

[0066] 2. Establish the conveyor belt coordinate system O V X V Y V , set the origin O V and the origin of the camera coordinate system O C Overlap, X V The direction of the axis is the direction of movement of the conveyor belt, and the rotation angle between the two coordinate systems is θ; among them, plane O C X C YC Parallel to the conveyor belt plane;

[0067] 3. Establish the base coordinate systems of the loading robot and the unloading robot respectively R1 X R1 Y R1 , O R2 X R2 Y R2 , the positions of the origin relative to the origin of the conveyor belt coordinate system are R1 P V , R2 P V , the rotation angles between the two coordinate systems are θ1 and θ2;

[0068] 4. The position relationship between the transmission belt coordinate system and the camera coordinate system is:

[0069] P V =R Z (θ)P C

[0070] Where P V is the coordinate of point P in the conveyor belt coordinate system, P C is the coordinate of point P in the positioning camera coordinate system, Represents the rotation matrix between the camera coordinate system and the conveyor coordinate system;

[0071] 5. The relationship between the base coordinate system of the feeding robot and the position of the conveyor belt is:

[0072] P V =R Z (θ1)P R1 + R1 P V

[0073] represents the rotation matrix between the base coordinate system of the feeding robot and the conveyor coordinate system, P R1 is the coordinate of point P in the base coordinate system of the feeding robot;

[0074] 6. Similarly, the relationship between the base coordinate system of the unloading robot and the position of the conveyor belt is:

[0075] P V =R Z (θ2)P R2 + R2 P V

[0076] The above coordinate transformation method can complete the coordinate transformation of the automatic loading process, that is, the product position in the material tray captured by the camera is converted into the robot's target picking point. Since there are complete and mature methods for camera calibration and SCARA robot (other forms of robots can also be used to complete the pick-and-place operation, and the coordinate transformation method is universal), this technical description will not be repeated.

[0077] The automatic loading and unloading process is as follows: Figure 3 As shown in the schematic diagram of the system structure, the relative positions of "camera-conveyor belt-robot-material tray-waste box" can be determined through the equipment structure parameters, and the parameters required for coordinate transformation can be obtained. Figure 3 As shown in the figure, the specific working process of automatic loading and unloading is: the material tray is placed in place by the manipulator, and the equipment locates and clamps the material tray; the top positioning camera takes pictures of the material feature points and placement angles, and transmits them to the loading robot in order after coordinate transformation in row and column order (there are relatively mature algorithms for visual image recognition and posture detection, which will not be repeated in this technical description); Figure 5 As shown, the loading robot picks up the materials in turn and adjusts the angle to place them at the corresponding target positions on the conveyor belt (the corresponding points can be consistent with the row and column spacing of the material tray or can be appropriately adjusted according to the width of the conveyor belt and the detection requirements), realizing the array transfer of materials from the material tray to the conveyor belt. The distance between the center of the placement area on the conveyor belt and the center of the tray in the X direction is D; the conveyor belt moves forward a certain distance to reach the detection module, and after completing the detection, it moves again a certain distance to reach the working area of ​​the unloading robot.

[0078] Assume that a material point P moves a total of ΔS from the loading point to the unloading point. According to the coordinate transformation process, the position of the material point P relative to the conveyor belt coordinate system has only changed in the X direction. Then the coordinates of the point P after it moves to P' in the conveyor belt coordinate system are:

[0079]

[0080] The position of point P' in the base coordinate system of the unloading robot and the conveyor coordinate system is expressed as follows:

[0081] P' V =R Z (θ2)P' R2 + R2 P V

[0082] P' R2 That is, the position of P' in the base coordinate system of the unloading robot. Since the unloading tray and the loading tray have the same size, P' R2 As the starting point of the unloading robot's pick-and-place operation, the center point of the grid in the unloading tray or the center point of the waste box is used as the target point to complete the robot's unloading and transfer the classified materials to the unloading tray and waste box.

[0083] like Figure 3 As shown, in order to improve the overall work rhythm, after the first loading, the conveyor belt transfers the material to the inspection area, and the first inspection and the second loading process can be carried out at the same time; after the inspection is completed, the system determines whether the second loading is completed, and the conveyor belt moves to transfer the inspected material to the unloading area, and the first unloading starts; at the same time, the second inspection and the third loading start, and the above process is repeated to reduce the waiting time for loading and unloading.

[0084] To further illustrate the use of material pallets and the loading and unloading process, a plastic sub-pallet suitable for a certain product is selected with 5 rows and 5 columns, with a row spacing of 35mm and a column spacing of 40mm (the coordinate values ​​in the following text are all in mm). The various components of the equipment have good installation accuracy. To facilitate processing and debugging, θ, θ1, and θ2 are all 0°; the loading robot is offset relative to the conveyor belt coordinate system. R1 P V is (400,-400), the unloading robot is offset relative to the conveyor belt coordinate system R2 P V is (1400,-400). Figure 5 As shown in the figure, after the positioning camera recognizes, the coordinates of the center point P of the first row and first column of the product are (70.2, 79.5) in the camera coordinate system, and the product is deflected counterclockwise at an angle of 3° with the X axis. Since θ is 0°, according to the formula P V =R Z (θ)P C , then the coordinates of P in the conveyor belt coordinate system are also (70.2, 79.5). V =R Z (θ1)P R1 + R1 P V , converted to the coordinates of the loading robot's base coordinate system as (-329.8, 479.5), and the products are neatly placed on the conveyor belt according to the number of products in the tray.

[0085] like Figure 5 As shown, the row and column spacing when placed on the conveyor belt is set to be consistent with that in the material tray, and the distance D between the placement area and the center of the material tray is 400mm. The conveyor belt points corresponding to each grid in the sub-pallet can be obtained, and the loading robot completes the posture alignment and array transfer of the material from the loading tray to the conveyor belt loading area.

[0086] After the product corresponding to point P is placed on the conveyor belt, its position in the conveyor belt coordinate system is (470, 80). After the material is picked up and placed in the loading tray, the conveyor belt moves along the X axis to transfer the material to the detection area. After the detection is completed, the conveyor belt transfers the material to the unloading area at position P'. Assuming that the conveyor belt moves a total of ΔS of 900mm along the X direction, the position of point P' in the conveyor belt coordinate system is (1370, 80). According to the formula P' V =R Z (θ2)P' R2 + R2 P V , converted to the coordinates of (-30,480) in the base coordinate system of the unloading robot. According to the distance between the center of the unloading area of ​​the equipment conveyor belt and the center of the unloading tray and the center of the waste box, the target point corresponding to each product can be obtained. Then, according to the detection results marked by the system, the unloading robot completes the transfer of materials from the conveyor belt to the unloading tray or the waste box.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A split material tray, characterized in that: include: The mother tray (2) is provided with edge steps (22) on its periphery and symmetrically provided with taking-out notches (21) for facilitating taking out the sub-tray (1); and The sub-tray (1) is provided with positioning grooves (101) distributed in an array, and the sub-tray (1) is stacked inside the mother tray (2).

2. The split material tray according to claim 1, characterized in that: The mother tray (2) can accommodate one or more sub-trays (1) arranged in an array.

3. The split material tray according to claim 1, characterized in that: Positioning notches (23) are also provided on two symmetrical sides of the master disc (2).

4. The split material tray according to claim 1, characterized in that: The master disc (2) is provided with hollow weight-reducing holes distributed in an array.

5. A packaged device detection, transportation and classification device, characterized in that: The device comprises an equipment frame (4), a loading tray (5), a unloading tray (10), a conveyor belt (12), a detection module (8), a positioning camera (6), a loading robot (7), an unloading robot (9) and a waste box (11), wherein the loading tray (5) and the unloading tray (10) are respectively arranged at the left and right ends of the equipment frame (4), the conveyor belt (12) is located between the loading tray (5) and the unloading tray (10), and the waste box (11) is located on one side of the unloading tray (10); the positioning camera (6) is located above the loading tray (5); Wherein, the loading tray (5) and the unloading tray (10) are split material trays as described in any one of claims 1 to 4.

6. A method for automatic loading and unloading, detection, transportation and classification of packaged devices, using the packaged device detection, transportation and classification equipment as claimed in claim 5, characterized in that: The method comprises: Send the loading tray containing the materials to be tested to the loading platform; The positioning camera obtains the characteristics and placement angle of the materials in the loading tray, and transmits them to the loading robot in order of rows and columns after coordinate transformation; The loading robot picks up the materials one by one, adjusts the angles, and places them in an array at the corresponding target positions on the conveyor belt; The conveyor belt conveys materials through the detection module for detection; After the inspection is completed, the unloading robot transfers the products into the unloading tray and waste box on the unloading platform according to the coordinate transformation; When the product is unloaded, the loading robot loads the material at the same time, and the product cycles for the next inspection.

7. The method for automatic loading and unloading, detection, transportation and classification of packaged devices as claimed in claim 6, characterized in that: The positioning camera obtains the characteristics and placement angle of the material in the loading tray, and transmits them to the loading robot in order after coordinate transformation in row and column order. The coordinate transformation process is as follows; Use the positioning camera to establish the coordinate system O directly above the loading tray C X C Y C Z C , and obtain the geometric feature points of each product in the loading tray, and give the movement point of the loading robot; Establish the conveyor belt coordinate system O V X V Y V , set the origin O V and the origin of the camera coordinate system O C Overlap, X V The direction of the axis is the direction of movement of the conveyor belt, and the rotation angle between the two coordinate systems is θ; among them, plane O C X C Y C Parallel to the conveyor belt plane; The base coordinate systems of the loading robot and the unloading robot are established as R1 X R1 Y R1 , O R2 X R2 Y R2 , the positions of the origin relative to the origin of the conveyor belt coordinate system are R1 P V , R2 P V , the rotation angles between the two coordinate systems are θ1 and θ2; The position relationship between the transmission belt coordinate system and the camera coordinate system is: P.S V ZR Z (θ)P C Where P V is the coordinate of point P in the conveyor belt coordinate system, P C is the coordinate of point P in the positioning camera coordinate system, Represents the rotation matrix between the camera coordinate system and the conveyor coordinate system; The relationship between the base coordinate system of the feeding robot and the position of the conveyor belt is expressed as: P V =R Z (θ1)P R1 + R1 P V represents the rotation matrix between the base coordinate system of the feeding robot and the conveyor coordinate system, P R1 is the coordinate of point P in the base coordinate system of the feeding robot; Similarly, the relationship between the base coordinate system of the unloading robot and the position of the conveyor belt is: P V =R Z (θ2)P R2 + R2 P V The above coordinate transformation method can complete the coordinate transformation of the automatic loading process, that is, the product position in the material tray photographed by the camera is converted into the robot's target picking point.

8. The method for automatic loading and unloading, detection, transportation and classification of packaged devices as claimed in claim 7, characterized in that: After the inspection is completed, the unloading robot transfers the products according to the coordinate transformation to the unloading tray on the unloading platform and the waste box. The coordinate transformation process is as follows: Assume that a material point P moves a total of ΔS from the loading point to the unloading point. According to the coordinate transformation process, the position of the material point P relative to the conveyor belt coordinate system has only changed in the X direction. Then, the coordinates of the point P' in the conveyor belt coordinate system after it moves are: The position of point P' in the base coordinate system of the unloading robot and the conveyor coordinate system is expressed as follows: P’ V =R Z (θ2)P’ R2 + R2 P V P' R2 That is, the position of P' in the base coordinate system of the unloading robot. Since the unloading tray and the loading tray have the same size, P' R2 As the starting point of the unloading robot's pick-and-place operation, the center point of the grid in the unloading tray or the center point of the waste box is used as the target point to complete the robot's unloading and transfer the classified materials to the unloading tray and waste box.

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