Product positioning detection device and detection method

Abstract

The invention provides a product positioning detection device and method.The product positioning detection device comprises a product conveying module, the product conveying module is sequentially provided with a feeding disc station, a to-be-fed station, an empty disc temporary storage station, a to-be-taken station and a qualified product discharging station, and the feeding disc station, the empty disc temporary storage station and the qualified product discharging station are each provided with a stacking mechanism; the feeding and transplanting mechanism comprises a feeding and transplanting module and a first adsorption assembly. The product connection motion module comprises a double-rotor linear module, a feeding correction carrying table and a material receiving carrying table. A code scanning mechanism; a transposition mechanism; the measuring mechanism comprises a first laser module and a second laser module and is used for measuring the distance and the angle of the product, the first laser module is parallel to the plane of the product, and an inclined included angle is formed between the second laser module and the plane of the product; the discharging and transplanting mechanism is used for transferring the products on the receiving carrying table; and an unqualified product conveying line. According to the scheme, the product detection efficiency and detection precision can be greatly improved, and the requirements of an automatic production line are met.

Description

Technical Field

[0001] The present invention relates to the field of detection, and in particular to a product positioning detection device and a detection method. Background Art

[0002] For special shape combination products with protruding devices at specific positions on flat surfaces such as glass or screens, such as attached Fig.12 Product 10 shown in the figure needs to be inspected before use in order to ensure the accuracy of the placement and angle of the protruding device 101. The traditional inspection method mainly requires the operator to manually move the product to a control mold for comparison inspection or measure with a ruler. In the current inspection method, the operator moves the product to the inspection equipment for inspection one by one. The entire process of loading, inspecting and unloading requires manual follow-up, including filling, placing and unloading. The entire process is inefficient, with a high error rate, high labor intensity for operators, and prone to quality disturbances. It is difficult to distinguish between good and bad products, and cannot meet the needs of assembly line batch operations. Summary of the invention

[0003] In view of the above, the present invention provides a product positioning detection device and method, which can greatly improve product detection efficiency and detection accuracy, and meet the cost control and efficiency requirements of automated production lines.

[0004] The present invention specifically adopts the following technical solution: a product positioning detection device, characterized in that: it includes: A product conveying module, on which a loading tray station, a loading station, an empty tray buffer station, a waiting station, and a qualified product unloading station are sequentially arranged, the loading tray station and the qualified product unloading station are arranged at both ends of the product conveying module, and a stacking mechanism is arranged at the loading tray station, the empty tray buffer station, and the qualified product unloading station; A material loading and transplanting mechanism, spanning above the product conveying module, comprises a material loading and transplanting module and a first adsorption component; A product docking motion module is located on one side of the product conveying module, and the product docking motion module includes a double-moving linear module, a loading and correction platform and a material receiving platform arranged on the platform of the double-moving linear module; A code scanning mechanism, provided on one side of the product docking motion module, for scanning the code of the product carried on the loading and correction platform; A shifting mechanism, which is arranged on one side of the product docking motion module and is located at the next station of the code scanning mechanism, and is used to transfer the product whose code has been scanned on the loading and correction platform; The measuring mechanism is arranged at one side of the product docking motion module and is located at the next station of the transposition mechanism, and includes a first laser module and a second laser module, and is used to measure the distance and angle of the product, wherein the first laser module is parallel to the product plane, and the second laser module forms an inclined angle with the product plane; A material unloading and transplanting mechanism, spanning above the product conveying module and the product docking movement module, comprises a material unloading and transplanting module and a third adsorption component, and is used to transfer the product on the material receiving platform; The unqualified product conveying line is located on one side of the product conveying module and is used to convey the unqualified products.

[0005] As a further improved technical solution, blocking mechanisms are provided at one end along the material tray conveying direction at the loading tray station, the material loading station, the empty tray buffer station, the material taking station, and the qualified product unloading station.

[0006] As a further improved technical solution, the loading correction platform includes a first direction correction mechanism, a second direction correction mechanism, a fixed platform and a supporting platform, the first direction correction mechanism and the second direction correction mechanism are arranged on the supporting platform, the first direction correction mechanism includes a first synchronous drive component, a plurality of first positioning columns and a third positioning column, the second direction correction mechanism includes a second synchronous drive component and a plurality of second positioning columns, a strip groove extending along the first direction is opened on the fixed platform, the first positioning column and the third positioning column are distributed along the first direction of the fixed platform, the first positioning column is driven by the first synchronous drive component to move closer to or away from the edge of the fixed platform, the third positioning column passes through the strip groove and moves translationally in the strip groove, the second positioning column is distributed along the second direction of the fixed platform, and is driven by the second synchronous drive component to move closer to or away from the edge of the fixed platform, and the first direction and the second direction are two directions perpendicular to each other.

[0007] As a further improved technical solution, the first synchronous drive component includes a first synchronous belt, a first synchronous wheel, a first synchronous motor, and two first connecting blocks. The two first connecting blocks are symmetrically arranged at the two ends of the support platform through a first slide rail. The first connecting block is clamped on the first synchronous belt through a first chuck. The first positioning column and the third positioning column are arranged on the first connecting block. The second synchronous drive component includes a second synchronous belt, a second synchronous wheel, a second synchronous motor, and two second connecting blocks. The two second connecting blocks are symmetrically arranged at the other two ends of the support platform through a second slide rail. The second connecting block is clamped on the second synchronous belt through a second chuck. The second positioning column is arranged on the second connecting block.

[0008] As a further improved technical solution, the first positioning posts are provided in one group, and the third positioning posts are provided in two parallel groups.

[0009] As a further improved technical solution, the material receiving platform includes a carrier frame and multiple material levels arranged on the carrier frame. The surface of the material level is provided with multiple protrusions arranged in a matrix, the protrusions are made of elastic material, and the edge of the material level is provided with a raised limit frame.

[0010] As a further improved technical solution, the code scanning mechanism includes a second fixed frame, an adjustable connecting rod arranged on the fixed frame, and a plurality of code scanning guns arranged on the adjustable connecting rod.

[0011] As a further improved technical solution, the shifting mechanism includes a third fixed frame, a second lifting module arranged on the third fixed frame, and a second adsorption assembly arranged on the second lifting module. The second adsorption assembly and the first adsorption assembly and the third adsorption assembly respectively include a connecting plate and multiple rows of suction cups arranged on the connecting plate, and each row of the suction cups is provided with two or more.

[0012] As a further improved technical solution, the stacking mechanism includes a plurality of frame columns, a supporting mechanism and a lifting platform mechanism. The lifting platform mechanism is movably arranged on the machine platform and is located below the conveying plane of the product conveying module, and is used to support the material tray at the bottom. The frame columns and the supporting mechanism are arranged on the side panels of the product conveying module, and the supporting mechanism is used to support the stacked material trays on both sides.

[0013] As a further improved technical solution, the frame columns include corner columns and straight columns. The frame columns in the stacking mechanism arranged at the empty tray cache station are all corner columns. The frame columns in the stacking mechanism arranged at the loading tray station and the qualified product unloading station include two straight columns and two corner columns. In the loading tray station, the straight columns are located in the loading direction, and in the qualified product unloading station, the straight columns are located in the unloading direction. Limiting plates are also symmetrically arranged on the straight columns, and the limiting plates are movably arranged on the straight columns through telescopic parts.

[0014] A product positioning detection method uses the product positioning detection device of the technical solution of the present application to load, calibrate, measure, and classify and unload products.

[0015] The beneficial effects of the present invention are: The equipment of the present invention integrates functions such as batch loading, correction positioning, angle detection, distance detection, and automatic batch classification and unloading. The various parts are integrated and coordinated to realize the automatic detection of products, so that the whole process of product detection can be tracked and traced. A stacking mechanism is set in the product conveying module, which can load and unload trays in batches, and an empty tray buffer station is set on the product conveying module. The assembly line buffering and replenishment of trays are automatically realized inside the equipment. There is no need for manual labor to collect empty trays at the loading end and place trays for receiving products at the unloading end. Only one tray needs to be added when loading to realize the automatic supply of trays, so that the trays can be automatically used in the equipment, saving labor costs and time costs, and improving efficiency.

[0016] The product docking motion module of the device of the present invention uses a double-actuator linear module as a drive, and a loading and correction platform and a receiving platform are respectively set on the two movable platforms, and the work is divided and taken over. The loading and correction platform uses two sets of synchronous driving mechanisms to drive multiple sets of horizontal and vertical positioning columns to calibrate and align the products on it to ensure that they are aligned with the scanning position, and at the same time provide accurate position guarantee for the transposition mechanism to ensure the accuracy of the position when the product is transferred from the loading and correction platform to the receiving platform, thereby ensuring the accuracy of the detection and improving the overall detection accuracy and efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the product positioning detection device of this application.

[0018] Figure 2 This is a schematic diagram of the planar structure of the product positioning detection device of this application.

[0019] Figure 3 This is a schematic diagram of the partial structure of the stacking mechanism of this application.

[0020] Figure 4 This is a schematic diagram of the lifting platform mechanism structure for this application.

[0021] Figure 5 This is a schematic diagram of the loading and correction platform structure for this application.

[0022] Figure 6 This is a schematic diagram of the partial decomposition structure of the loading and correction platform for this application.

[0023] Figure 7 This is a schematic diagram of the partial decomposition structure of the loading and correction platform for this application.

[0024] Figure 8 This is a schematic diagram of the material receiving platform structure for this application.

[0025] Fig. 9 This is a schematic diagram of the structure of the QR code scanning organization for this application.

[0026] Fig.10This is a schematic diagram of the transposition mechanism structure of this application.

[0027] Fig.11 This is a schematic diagram of the measurement mechanism structure of this application.

[0028] Fig.12 This is a picture of the product to be tested. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "setting", "connection" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0031] Reference Figure 1-Figure 2A product positioning detection device of this embodiment includes a product conveying module 1, a loading and transplanting mechanism 2, a product docking and motion module 3, a code scanning mechanism 4, a transposition mechanism 5, a measuring mechanism 6, a unloading and transplanting mechanism 7, and an unqualified product conveying line 8. The product conveying module 1 is a tray conveying line, and an existing conveying mechanism such as synchronous belt conveyor or belt conveyor can be used. For example, the product conveying module 1 in this embodiment includes two side plates 11, a belt (not shown), a transmission wheel (not shown) and a driving motor (not shown). The transmission wheel is arranged on the inner wall of the two side plates 11, and the belt is sleeved on the transmission wheel. The output end of the driving motor is connected to the transmission wheel. The driving motor starts to drive the transmission wheel to rotate, and then drives the belt to convey and transmit the tray 9 thereon. The loading and transferring mechanism 2 spans above the product conveying module 1, and includes a loading and transferring module 21 and a first adsorption component 22, which is used to move the products in the fully loaded material tray 9 to the product docking motion module 3. The product docking motion module 3 includes a double-moving linear module 31, a loading and correction platform 32 and a receiving platform 33 arranged on the moving platform of the double-moving linear module 31. The loading and correction platform 32 is driven by the double-moving linear module 31 to move at three locations: below the loading and transferring mechanism 2, the scanning mechanism 4, and the shifting mechanism 5. The receiving platform 33 is driven by the double-moving linear module 31 to move at three locations: below the shifting mechanism 5, the measuring mechanism 6, and below the unloading and transferring mechanism 7. The movements of the loading and correction platform 32 and the receiving platform 33 are independent of each other and do not interfere with each other. The double-moving linear module 31 is driven by a linear motor. The code scanning mechanism 4, the position changing mechanism 5, and the measuring mechanism 6 are sequentially distributed on one side of the product docking motion module 3. The code scanning mechanism 4 is used to scan the code of the product 10 carried on the loading and correction platform 32. The position changing mechanism 5 is used to transfer the product 10 on the loading and correction platform 32 to the receiving platform 33. The measuring mechanism 6 is used to measure the distance and angle of the product 10 and feed back the data to the computer to determine whether it is qualified. The unloading and transplanting mechanism 7 transfers the product on the receiving platform 33 to the unloading end of the product conveying module 1 or the unqualified product conveying line 8 according to the inspection result of the product 10.

[0032] Specifically, a loading tray station 110, a material loading station 120, an empty tray buffer station 130, a material loading station 140, and a qualified product unloading station 150 are sequentially arranged on the product conveying module 1. The loading tray station 110 and the qualified product unloading station 150 are arranged at both ends of the product conveying module 1. Stacking mechanisms are arranged at the loading tray station 110, the empty tray buffer station 130, and the qualified product unloading station 150. A blocking mechanism 12 is arranged at one end of the material tray 9 conveying direction at the loading tray station 110, the material loading station 120, the empty tray buffer station 130, the material loading station 140, and the qualified product unloading station 150. Preferably, a blocking cylinder is used to block the material tray 9 at the station to further improve stability and position accuracy.

[0033] Further integration Figure 3-Figure 4The stacking mechanism includes a plurality of frame columns 13, a lifting platform mechanism 14 and a supporting mechanism 15. The lifting platform mechanism 14 is arranged on the machine platform and is located below the conveying plane of the product conveying module 1. The lifting platform mechanism 14 includes a top platform 141, a lifting motor 142, a connecting plate 143 and a guide column 144. The top platform 141 is arranged at the movable end of the lifting motor 142. Guide blocks 145 are arranged at the four end corners of the connecting plate 143. The guide column 144 is movably connected to the bottom of the top platform 141 through the guide block 145. When the lifting motor 142 drives the top platform 141 to perform vertical lifting movement, it plays a stabilizing and guiding role. The lifting motor 142 preferably adopts a screw motor. The frame column 13 and the supporting mechanism 15 are arranged on the side plate 11 of the product conveying module. The supporting mechanism 15 is used to hold the stacked material trays 9 on both sides. The supporting mechanism 15 includes a telescopic cylinder 151 and a support plate 152. The support plate 152 is arranged on the telescopic cylinder 151, and the support plate 152 is used to hold the material trays 9.

[0034] After releasing the tray 9, the telescopic cylinders 151 on both sides drive the support plate 152 to extend to the bottom of the lowest tray 9 so as to support all the trays 9 above. The lifting motor 142 drives the top platform 141 to rise and support the bottom of the tray 9. The telescopic cylinder 151 drives the support plate 152 to be retracted from the bottom tray 9. The lifting motor 142 drives the tray 9 to descend until the penultimate tray moves to the original bottom tray position. Then the support plate 152 is extended to the bottom of the tray 9 to support all the trays 9 except the bottom tray. The lifting motor 142 continues to drive the top platform 141 and the trays 9 thereon to descend, and the trays 9 are lowered to the conveyor belt of the product conveying module 1. The process of collecting and stacking trays is opposite to that of releasing the trays. The trays 9 on the conveyor belt of the product conveying module 1 are lifted up one by one, and then clamped by the supporting mechanisms 15 on both sides. In this way, the trays 9 are stacked in the frame column 13 one by one.

[0035] In this embodiment, the frame column 13 includes a corner column 131 and a straight column 132. The frame columns 13 in the stacking mechanism provided at the empty tray buffer station 130 are all corner columns 131. The frame columns 13 in the stacking mechanism provided at the loading tray station 110 and the qualified product unloading station 150 include two straight columns 132 and two corner columns 131. The straight column 132 in the loading tray station 110 is located in the loading direction, and the straight column 132 in the qualified product unloading station 150 is located in the unloading direction. A limit plate 16 is symmetrically provided on the straight column 132. The limit plate 16 is movably arranged on the straight column 132 through a telescopic member 17. The telescopic member 17 adopts a telescopic cylinder, such as Figure 3 In this way, other equipment or manipulators can be docked at the loading and unloading ends. The limit plate 16 is automatically opened by the telescopic member 17, so that the stacked full product trays can be moved in (at the loading end) or taken out (at the unloading end) from the side at one time without lifting operations, which saves time and effort and is more efficient.

[0036] A plurality of trays 9 containing products are placed on the loading tray station 110 on the product conveying module 1, and the trays 9 are placed one by one on the belt below through the stacking mechanism and transported to the loading position 120. The loading and transplanting module 21 drives the first adsorption component 22 to take out the products from the loading position 120 and transfer them to the loading correction platform 32. When all the products in the tray 9 at the loading position 120 are taken out, the blocking mechanism 12 thereunblocks the tray 9, and the empty trays continue to be transported to the empty tray buffer station 130. The empty trays can be stacked and buffered at this station to provide empty trays for the loading position 140. After the empty trays at the loading position 140 are filled, they are unblocked and continue to be transported to the qualified product unloading station 150. When the loading position 140 is empty, the trays at the empty tray buffer station 130 are unblocked and the trays 9 are transported to the loading position 140. In the product conveying module 1, these stations can automatically realize the assembly line caching and replenishment of the material tray 9. There is no need for additional manual labor to collect the empty material trays at the loading end and place the material trays for receiving products at the unloading end. Only the material tray 9 needs to be filled once when loading to realize the automatic supply of the material tray, saving labor cost and time cost.

[0037] The product docking motion module 3 is located on one side of the product conveying module 1, and the loading correction platform 32 thereon includes a first direction correction mechanism, a second direction correction mechanism, a fixed platform 321 and a supporting platform 322, such as Figure 5 The fixed platform 321 is mounted on the supporting platform 322. The first direction correction mechanism and the second direction correction mechanism are movably arranged on the supporting platform 322. The first direction correction mechanism includes a first synchronous drive assembly 323, a plurality of first positioning posts 324 and a third positioning post 325. The second direction correction mechanism includes a second synchronous drive assembly 326 and a plurality of second positioning posts 327. A strip groove 3211 extending along the first direction is provided on the fixed platform 321. The first positioning posts 324 and the third positioning posts 325 are distributed along the first direction of the fixed platform 321. The first positioning posts 324 are driven by the first synchronous drive assembly 323 to move toward or away from the fixed platform 321 at the edge of the fixed platform 321. The third positioning posts 325 pass through the strip groove 3211 and move in translation in the strip groove 3211. The second positioning posts 327 are distributed along the second direction of the fixed platform 321 and are driven by the second synchronous drive assembly 326 to move toward or away from the fixed platform 321 at the edge of the fixed platform 321. In this embodiment, the first direction and the second direction are two directions perpendicular to each other.

[0038] Combination Figure 5-Figure 7The first synchronous drive assembly 323 includes a first synchronous belt 3231, a first synchronous wheel 3232, a first synchronous motor 3233, and two first connecting blocks 3234. The two first connecting blocks 3232 are symmetrically arranged at both ends of the support platform through a first slide rail 3235. The first connecting block 3232 is clamped on the first synchronous belt 3231 through a first clamp 3236 connected at the bottom. The two first connecting blocks 3234 are respectively connected to two opposite sides of the first synchronous belt 3231. In this way, the first synchronous motor 3233 drives the first synchronous The rotation of the wheel 3232 drives the first synchronous belt 3231 to transmit, and then drives the two first connecting blocks 3234 clamped on the first synchronous belt 3231 to move relatively close, that is, the first positioning column 324 and the third positioning column 325 on it are gathered toward the center of the fixed platform 321, and the first synchronous motor 3233 drives the reverse rotation, which drives the first positioning column 324 and the third positioning column 325 to spread toward the edge of the fixed platform 321. These two left and right movements can correct the position of the product on the fixed platform 321 in the first direction. Further, each first connecting block 3234 is provided with a group of first positioning columns 324 and two groups of third positioning columns 325 parallel to each other, that is, two groups of third positioning columns 325 are movable in a strip groove 3211 to correct and push the products 10 on the left and right sides of the strip groove 3211.

[0039] At the same time, the second synchronous drive assembly 326 includes a second synchronous belt 3261, a second synchronous wheel 3262, a second synchronous motor 3263, and two second connecting blocks 3264. The two second connecting blocks 3264 are symmetrically arranged at the other two ends of the support platform 322 through the second slide rail 3265. The second connecting blocks 3264 are clamped on the second synchronous belt 3261 through the second clamp 3266 connected at the bottom, and the second positioning column 327 is arranged on the second connecting block 3264. Similarly, the second synchronous belt 3261 drives the second positioning column 327 to converge toward the center of the fixed platform 321 to correct the position of the product 10 in the second direction, so that the subsequent workstations can perform accurate scanning and measurement operations on the product. The position correction of the product in the first direction and the second direction can be carried out by synchronous drive or separately.

[0040] Reference Figure 8 The material receiving platform 33 includes a carrier frame 331 and a plurality of material levels 332 arranged on the carrier frame 331. A raised limit frame 333 is provided at the edge of the material level 332. A plurality of convex points 334 are arranged in a matrix on the surface of the material level 332. The convex points 334 are made of elastic material, such as rubber, silicone, PEEK (polyetheretherketone), etc., preferably PEEK (polyetheretherketone), which contacts the product at 10 points to protect the product. PEEK convex points are also provided at the material placing position on the fixed platform 321 of the material loading and correction platform 32 (not shown in the figure).

[0041] In the product docking motion module 3, the loading and correction platform 32 first moves to the bottom of the first adsorption component 22 to receive the product for correction and positioning, then moves to the scanning mechanism 4 to scan the code for confirmation, and then moves to the switching mechanism 5. After the second adsorption component 53 of the switching mechanism 5 takes out the product 10 on the loading and correction platform 32, the loading and correction platform 32 returns to the bottom of the first adsorption component 22 to cycle the material receiving process. The material receiving platform 33 moves to the bottom of the switching mechanism 5, receives the product on the switching mechanism 5, and then continues to move to the next workstation, waiting for the third adsorption component 71 of the unloading and transferring mechanism 7 to come and take away the product on the material receiving platform 33.

[0042] Reference Fig. 9 The code scanning mechanism 4 is arranged on one side of the product docking motion module 3, and is used to scan the code of the product carried on the loading and correction platform 32, and the code can be a two-dimensional code or a barcode. The code scanning mechanism 4 includes a second fixed frame 41, an adjustable connecting rod arranged on the second fixed frame 41, and a plurality of code scanning guns 42 arranged on the adjustable connecting rod. The number of code scanning guns 42 corresponds to the number of preset positions of products on the lower loading and correction platform 32. The adjustable connecting rod includes a connecting rod 43 and a chuck 44. The connecting rod 43 is fixed on the second fixed frame 41, and the chuck 44 is clamped on the connecting rod 43. The chuck 44 is semi-open, and the opening is locked by a screw 45. Loosening the screw 45 can release the restriction of the chuck 44 on the connecting rod 43, thereby adjusting the position of the chuck and the code scanning gun 42 thereon.

[0043] Reference Fig.10 The shifting mechanism 5 is arranged on one side of the product docking motion module 3, located at the next station of the code scanning mechanism 4, and includes a third fixed frame 51, a second lifting module 52 arranged on the third fixed frame 51, and a second adsorption component 53 arranged on the second lifting module 52. The second adsorption component 53 is the same as the first adsorption component 22 and the third adsorption component 71, and both include a connecting plate and a plurality of rows of suction cups 257 arranged on the connecting plate. Each row of suction cups 257 is provided with two or more, and the suction cups 257 are made of silicone material and are used to adsorb the product 10.

[0044] like Fig.11 The measuring mechanism 6 is arranged on one side of the product docking motion module 3, located at the next station of the shifting mechanism 5, and includes a first laser module 61 and a second laser module 62. The first laser module 61 and the second laser module 62 are fixed on the machine table through a fourth fixing frame 63. The first laser module 61 is parallel to the product plane, and the second laser module 62 forms an inclined angle a of 45° with the product plane. The first laser module 61 and the second laser module 62 adopt line laser modules.

[0045] When the material receiving platform 33 moves to the position of the measuring mechanism 6, the first laser module 61 and the second laser module 62 scan the product 10 simultaneously. After the second laser module 61 completes the scanning, the data of the product 10 and the protruding device 101 thereon are obtained, and the angle of the protruding device 101 on the product plane is calculated, so as to determine the degree of inclination of the protruding device 101 and the product surface. After the first laser module 61 completes the scanning, the data of the product 10 and the protruding device 101 thereon are obtained, and the distance of the protruding device 101 on the product plane is calculated, so as to determine whether the position of the protrusion is correctly installed. In this embodiment, the protruding device 101 with a vertical angle and in accordance with the predetermined position is considered a qualified product, otherwise it is unqualified.

[0046] The feeding and transplanting module 21 is mounted on the machine platform through the first fixed frame 23, and includes a first Y-axis linear module 211 and a first lifting module 212. The first Y-axis linear module 211 is arranged on the first fixed frame 23, and the first lifting module 212 is arranged on the first Y-axis linear module 211, and is driven to move horizontally by the first Y-axis linear module 211. The first adsorption component 22 is arranged on the first lifting module 212, and is driven to lift vertically by the first lifting module 212. The first Y-axis linear module 211 and the first lifting module 212 are preferably linear motor modules. The suction cup of the first adsorption component 22 moves under the drive of the feeding and transplanting module 21, and absorbs and transfers the product 10 in the material tray 9 of the to-be-loaded position 120 to the feeding correction carrier 32 of the product docking motion module 3.

[0047] The material unloading and transplanting mechanism 7 spans over the product conveying module 1 and the product docking motion module 3, and includes a material unloading and transplanting module and a third adsorption component 71, which is used to transfer the product on the material receiving platform. Specifically, the material unloading and transplanting module is mounted on the machine platform through the fifth fixed frame 72, and the material unloading and transplanting module includes an X-axis linear module 73, a second Y-axis linear module 74, and a third lifting module 75. The third adsorption component 71 is arranged on the third lifting module 75, and is driven to lift vertically by the third lifting module 75. The third lifting module 75 is arranged on the X-axis linear module 73 and is driven to move horizontally by the X-axis linear module 73. The X-axis linear module 73 is arranged on the second Y-axis linear module 74 and is driven to move horizontally by the second Y-axis linear module 74, so as to realize the transfer of products between the material receiving platform 33, the material taking position 140, and the unqualified product conveying line 8. The material unloading and transplanting mechanism 7 takes out the products with unqualified measurement results from the material receiving platform 33 and sends them to the unqualified product conveying line 8, and takes out the qualified products from the material receiving platform 33 and sends them to the material tray with the material taking position 140. When the material tray here is full, it is automatically transferred to the qualified product unloading station 150 for stacking and storage so that multiple trays can be transferred at one time.

[0048] In this embodiment, the first lifting module 212, the second lifting module, and the third lifting module 75 preferably adopt linear motor modules.

[0049] The unqualified product conveyor line 8 is located on one side of the product conveyor module 1 and is used to convey unqualified products. The unqualified product conveyor line 8 can use the same transmission structure as the product conveyor module, preferably using a full-width PVC belt line for transmission. Unqualified products can be directly placed on the PVC belt line and conveyed out of the equipment.

[0050] In addition, the above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on the technical personnel in the relevant technical field. Although this specification has described the present invention in detail with reference to the above embodiments, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A product positioning detection device, characterized in that: include A product conveying module, on which a loading tray station, a loading station, an empty tray buffer station, a waiting station, and a qualified product unloading station are sequentially arranged, the loading tray station and the qualified product unloading station are arranged at both ends of the product conveying module, and a stacking mechanism is arranged at the loading tray station, the empty tray buffer station, and the qualified product unloading station; A material loading and transplanting mechanism, spanning above the product conveying module, comprises a material loading and transplanting module and a first adsorption component; A product docking motion module is located on one side of the product conveying module, and the product docking motion module includes a double-moving linear module, a loading and correction platform and a material receiving platform arranged on the platform of the double-moving linear module; A code scanning mechanism, provided on one side of the product docking motion module, for scanning the code of the product carried on the loading and correction platform; A shifting mechanism, which is arranged on one side of the product docking motion module and is located at the next station of the code scanning mechanism, and is used to transfer the product whose code has been scanned on the loading and correction platform; The measuring mechanism is arranged at one side of the product docking motion module and is located at the next station of the transposition mechanism, and includes a first laser module and a second laser module, and is used to measure the distance and angle of the product, wherein the first laser module is parallel to the product plane, and the second laser module forms an inclined angle with the product plane; A material unloading and transplanting mechanism, spanning above the product conveying module and the product docking movement module, comprises a material unloading and transplanting module and a third adsorption component, and is used to transfer the product on the material receiving platform; The unqualified product conveying line is located on one side of the product conveying module and is used to convey the unqualified products.

2. The product positioning detection device according to claim 1, characterized in that: A blocking mechanism is provided at one end along the conveying direction of the tray at the loading tray station, the waiting loading station, the empty tray buffer station, the waiting taking station, and the qualified product unloading station.

3. The product positioning detection device according to claim 1, characterized in that: The loading correction platform includes a first direction correction mechanism, a second direction correction mechanism, a fixed platform and a supporting platform. The first direction correction mechanism and the second direction correction mechanism are arranged on the supporting platform. The first direction correction mechanism includes a first synchronous drive component, a plurality of first positioning columns and a third positioning column. The second direction correction mechanism includes a second synchronous drive component and a plurality of second positioning columns. A strip groove extending along the first direction is opened on the fixed platform. The first positioning column and the third positioning column are distributed along the first direction of the fixed platform. The first positioning column is driven by the first synchronous drive component to move closer to or away from the edge of the fixed platform. The third positioning column passes through the strip groove and moves translationally in the strip groove. The second positioning column is distributed along the second direction of the fixed platform and is driven by the second synchronous drive component to move closer to or away from the edge of the fixed platform. The first direction and the second direction are two directions perpendicular to each other.

4. The product positioning detection device according to claim 3, characterized in that: The first synchronous drive assembly includes a first synchronous belt, a first synchronous wheel, a first synchronous motor, and two first connecting blocks. The two first connecting blocks are symmetrically arranged at the two ends of the support platform through a first slide rail. The first connecting block is clamped on the first synchronous belt through a first chuck. The first positioning column and the third positioning column are arranged on the first connecting block. The first positioning column is provided in one group, and the third positioning column is provided in two groups in parallel. The second synchronous drive assembly includes a second synchronous belt, a second synchronous wheel, a second synchronous motor, and two second connecting blocks. The two second connecting blocks are symmetrically arranged at the other two ends of the support platform through a second slide rail. The second connecting block is clamped on the second synchronous belt through a second chuck. The second positioning column is arranged on the second connecting block.

5. The product positioning detection device according to claim 4, characterized in that: The material receiving platform includes a carrier frame and a plurality of material levels arranged on the carrier frame. The surface of the material level is provided with a plurality of protrusions arranged in a matrix, the protrusions are made of elastic material, and the edge of the material level is provided with a protruding limit frame.

6. The product positioning detection device according to claim 1, characterized in that: The code scanning mechanism includes a second fixing frame, an adjustable connecting rod arranged on the second fixing frame, and a plurality of code scanning guns arranged on the adjustable connecting rod.

7. The product positioning detection device according to claim 1, characterized in that: The shifting mechanism includes a third fixed frame, a second lifting module arranged on the third fixed frame, and a second adsorption assembly arranged on the second lifting module. The second adsorption assembly and the first adsorption assembly and the third adsorption assembly respectively include a connecting plate and multiple rows of suction cups arranged on the connecting plate, and each row of the suction cups is provided with two or more.

8. The product positioning detection device according to claim 1, characterized in that: The stacking mechanism includes a plurality of frame columns, a supporting mechanism and a lifting platform mechanism. The lifting platform mechanism is movably arranged on the machine platform and is located below the conveying plane of the product conveying module, and is used to support the material tray at the bottom. The frame columns and the supporting mechanism are arranged on the side panels of the product conveying module, and the supporting mechanism is used to support the stacked material trays on both sides.

9. The product positioning detection device according to claim 1, characterized in that: The frame columns include corner columns and straight columns. The frame columns in the stacking mechanism arranged at the empty tray buffer station are all corner columns. The frame columns in the stacking mechanism arranged at the loading tray station and the qualified product unloading station include two straight columns and two corner columns. In the loading tray station, the straight columns are located in the loading direction, and in the qualified product unloading station, the straight columns are located in the unloading direction. Limiting plates are also symmetrically arranged on the straight columns, and the limiting plates are movably arranged on the straight columns through telescopic parts.

10. A product positioning detection method, characterized in that: The product positioning detection device described in any one of claims 1 to 9 is used to load, calibrate, measure, and classify and unload products.

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