Multi-runner visual feeding device and feeding transferring method

Abstract

The invention provides a multi-runner visual feeding device and a feeding transferring method, and belongs to the field of industrial vision, the multi-runner visual feeding device comprises a belt line, a transferring adjusting mechanism, a visual positioning module and a controller; the multiple belt lines are arranged side by side at intervals and used for independently conveying materials of different specifications. The transfer adjusting mechanism is arranged on the side edge of the corresponding belt line and used for adjusting and transferring materials. The visual collection direction of the visual positioning module is arranged right opposite to the belt line below, and the visual positioning module is used for carrying out posture judgment and pre-detection on materials on the belt line; the feeding and transferring method comprises the steps of feeding, translational feeding, material transferring and transferring induction driving control. The middle frame plate is picked up by combining multiple runners with visual positioning, the multiple runners are adaptive to materials of different specifications and sizes, independent feeding and synchronous feeding can be achieved, the overall feeding precision is improved, the multi-specification and large-batch feeding requirements are met, and application and popularization in the fields of 3C, semiconductors and the like are facilitated.

Description

Technical Field

[0001] The present invention belongs to the field of industrial vision, and particularly relates to a multi-channel vision feeding device and a feeding transfer method. Background Art

[0002] With the rapid development of the 3C industry, especially the consumer electronics market such as mobile terminals and electronic wearable products, the shipment volume of electronic product components is increasing, and higher requirements are put forward for production efficiency and product reliability. For example, due to the increasing precision of products and the higher requirements of consumers for products, the dimensional accuracy requirements for components are getting higher and higher. It is often not limited to the detection of planar dimensions. In order to improve the assembly accuracy of components, high requirements are imposed on the dimensions of each dimension of a single part.

[0003] For the middle frame of a mobile phone, a detection device that requires large quantities, high precision, and is suitable for different specifications of middle frames is needed. Traditional feeding machines are only single-channel, and problems such as attitude deviation often occur when the middle frame of the product is placed on the belt. Therefore, it is necessary to improve the traditional feeding machine to meet the aforementioned requirements. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a multi-channel vision feeding device and a feeding transfer method, which can solve the above problems.

[0005] Design principle: Improve the overall feeding method, change from a single channel to multiple channels controlled independently or synchronously; secondly, before the middle frame of the material to be tested is fed, the attitude is adjusted by a manipulator, or the material is picked up and transferred to the downstream station through visual positioning.

[0006] A multi-channel vision feeding device includes a belt line, a transfer adjustment mechanism, a visual positioning module, and a controller; a plurality of belt lines are arranged side by side at intervals for independently conveying different specifications of materials; the transfer adjustment mechanism is arranged on the side of the corresponding belt line for adjusting and transferring the materials; the visual acquisition direction of the visual positioning module is set directly opposite to the belt line below for judging the attitude and pre-detecting the materials on the belt line.

[0007] Furthermore, the multi-channel vision feeding device further includes a feeding induction module installed at the upstream end of the belt line for sensing whether there is material at the upstream end of the belt line, and sending a signal to the controller to activate the movement of the belt line when it senses that there is material, creating a new position for discharging the material.

[0008] Furthermore, the multi-channel vision feeding device further includes a material taking induction module installed in the middle and lower reaches of the belt line for sensing whether the material has been taken away by the transfer adjustment mechanism, and sending a signal to the controller to activate the movement of the belt line when it senses that the material has been taken away, and controlling the belt line to stop moving when it senses that the material has not been taken away.

[0009] Further, a receiving box is also arranged at the downstream end of each belt line.

[0010] Further, the multi-channel vision feeding device further includes a supporting chassis. The upstream end of the belt line is supported by legs, and the middle and downstream bottoms of the belt line are supported on the supporting chassis. The transfer adjustment mechanism and the vision positioning module are also arranged on the supporting chassis.

[0011] The present invention also provides a feeding and transfer method implemented based on the multi-channel vision feeding device. The feeding and transfer method includes the following steps (the following steps do not distinguish the order).

[0012] S1. Feeding: Manually or automatically move the material to the feeding end of the belt line.

[0013] S2. Translational feeding: The incoming material induction module senses whether there is incoming material at the upstream of the belt line. If incoming material is sensed, the controller issues an excitation signal to control the movement of the belt line, and the material moves downstream to vacate a new feeding vacancy for the upstream feeding end. If no material is sensed, the controller controls the belt line to remain stationary.

[0014] S3. Material transfer: At the transfer position, first, the vision positioning module determines the posture of the material below and positions it, and the transfer adjustment mechanism picks up the material and transfers it to the downstream station.

[0015] S4. Transfer induction and drive control: The material taking induction module senses whether the material on the lower belt line has been taken away by the transfer adjustment mechanism. When it senses that the material has been taken away, it sends a signal to the controller to excite the movement of the belt line. When it senses that the material has not been taken away, it controls the belt line to remain stationary.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This device uses multi-channels combined with vision positioning to pick up the middle frame board, and the multi-channels are adapted to materials of different specifications and sizes, and can be independently or synchronously fed, improving the overall feeding accuracy, meeting the feeding requirements of multiple specifications and large quantities, and facilitating popularization and application in fields such as 3C and semiconductors. Description of the Drawings

[0017] Figure 1 is a schematic diagram of a multi-channel vision feeding device of the present application; Figure 2 is a schematic diagram of the belt line and the receiving box; Figure 3 is a schematic diagram of the transfer adjustment mechanism; Figure 4 is a schematic diagram of the vision positioning module.

[0018] In the figure, 1. Belt conveyor; 11. Belt support frame; 12. Feeding belt; 13. Belt drive assembly; 14. Upstream support leg; 15. Midstream and downstream adjustment support; 16. Forced button; 17. Belt conveyor shield; 2. Transfer and adjustment mechanism; 21. Suction cup; 22. Lifting drive; 23. Scanning code assembly; 24. Pick-up adapter; 25. Multi-axis robotic arm; 26. Transfer base; 3. Vision positioning module; 31. Vision support; 32. Vision camera assembly; 33. Vision light source; 34. Light source support; 4. Incoming material induction module; 5. Material picking induction module; 6. Receiving box; 61. Box body; 62. Box adapter; 63. Box material sensor; 7. Support chassis. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] Multi-channel visual loading device A multi-channel vision feeding device, see Figure 1 - Figure 4 , the multi-channel vision feeding device includes a belt conveyor 1, a transfer and adjustment mechanism 2, a vision positioning module 3 and a controller (not shown in the figure); a plurality of belt conveyors 1 are arranged side by side at intervals for independently conveying materials of different specifications; the transfer and adjustment mechanism 2 is arranged on the side of the corresponding belt conveyor 1 for adjusting and transferring materials; the vision acquisition direction of the vision positioning module 3 is set directly opposite to the belt conveyor 1 below for attitude judgment and pre-detection of the materials on the belt conveyor 1. In the illustrated example, the multi-channel vision feeding device is used for intelligent feeding and detection of the middle frame plates in the 3C field.

[0021] Furthermore, the multi-channel vision feeding device further includes an incoming material induction module 4 installed at the upstream end of the belt conveyor 1 for sensing whether there is material at the upstream end of the belt conveyor 1 and sending a signal to the controller to trigger the movement of the belt conveyor 1 when material is sensed, creating a new position for discharging materials.

[0022] Further, the multi-channel visual feeding device further includes a material taking induction module 5 installed in the middle and lower reaches of the belt line 1, which is used to sense whether the material has been taken away by the transfer and adjustment mechanism 2, and send a signal to the controller to activate the movement of the belt line 1 when it senses that the material has been taken away, and control the belt line 1 to stop moving when it senses that the material has not been taken away.

[0023] Further, a receiving box 6 is also provided at the downstream end of each belt line 1. The visual positioning module 3 can perform visual positioning on the material through visual processing, and can also perform pre-detection, and move the materials with obvious unqualified details into the receiving box 6 for temporary storage. Specifically, refer to Figure 2 , the receiving box 6 includes a box body 61, a box adapter 62 and a box material inductor 63. The box body 61 is connected to the downstream end of the belt line 1 through the box adapter 62. The box body 61 is provided with a plurality of induction holes for installing the box material inductor 63.

[0024] Further, the multi-channel visual feeding device further includes a support chassis 7. The upstream end of the belt line 1 is supported by legs, the middle and lower reaches of the belt line 1 are supported on the support chassis 7, and the transfer and adjustment mechanism 2 and the visual positioning module 3 are also arranged on the support chassis 7.

[0025] Among them, the belt line 1 includes a belt support plate frame 11, a feeding belt 12, a belt drive assembly 13, an upstream end support leg 14, a middle and lower reaches adjustment support 15, a forced button 16 and a belt line guard 17; the upstream end of the belt support plate frame 11 is supported by the upstream end support leg 14, and the middle and lower reaches of the belt support plate frame 11 are supported on the support chassis 7 through the middle and lower reaches adjustment support 15. The two forced buttons 16 are respectively used for manual forced start and stop of the belt drive assembly 13, and the belt line guard 17 is arranged at the upstream end of the belt support plate frame 11.

[0026] Among them, the transfer and adjustment mechanism 2 includes a suction cup 21, a lifting driver 22, a code scanning assembly 23, a picking adapter 24, a multi-axis robotic arm 25 and a transfer base 26; the multi-axis robotic arm 25 is installed on the transfer base 26, and the end shaft of the multi-axis robotic arm 25 is connected to and drives the picking adapter 24 to lift and rotate. The picking adapter 24 is connected to the suction cup 21 and the code scanning assembly 23, and the suction cup 21 is installed on the picking adapter 24 through the lifting driver 22.

[0027] Specifically, a set of suction cup 21, lifting driver 22 and code scanning assembly 23 are respectively arranged at both ends of the picking adapter 24, and the suction cup 21 adopts a sponge suction cup. The code scanning assembly 23 includes a code scanning gun and a code scanning adapter. The code scanning gun is installed on one side of one end of the picking adapter 24 through the code scanning adapter, and the suction cup 21 is connected to the other side of one end of the picking adapter 24 through the lifting driver 22.

[0028] The multi-axis robot arm 25 is a four-axis robot arm, and the end axis is vertically arranged and can be raised, lowered and rotated.

[0029] Among them, the visual positioning module 3 includes a visual bracket 31, a visual camera assembly 32 and a visual light source 33. The visual camera assembly 32 is arranged at the top side end of the visual bracket 31, and the visual light source 33 is installed to the side end of the visual bracket 31 through a light source frame 34. A light source hole is opened in the middle of the visual light source 33, and the visual camera assembly 32 is vertically arranged through the light source hole.

[0030] The belt line 1 of the present application loads two materials - middle frame plates at a time, corresponding to the two groups of suction cups 21, the lifting drive 22, and the code scanning component 23 of the transfer and adjustment mechanism 2. Figure 1 Two flow channels are arranged, namely two sets of parallel belt lines 1, a transfer adjustment mechanism 2 and a visual positioning module 3.

[0031] Loading transfer method A material loading and transferring method implemented based on the aforementioned multi-channel visual loading device, the material loading and transferring method includes (the following steps are not sequenced).

[0032] S1, loading, manually or automatically move the material into the loading end of belt line 1.

[0033] S2, horizontal feeding, the incoming material sensing module 4 senses whether there is incoming material upstream of the belt line 1. If it senses that there is material, the controller sends an excitation signal to control the movement of the belt line 1, and the material moves downstream to make room for new material loading at the upstream loading end. If material is sensed, the controller controls the belt line 1 to remain stationary.

[0034] S3, material transfer. At the transfer position, the visual positioning module 3 first determines the posture of the material below and positions it, and the transfer adjustment mechanism 2 picks up the material and transfers it to the downstream station.

[0035] S4, transfer sensing control, the material taking sensing module 5 senses whether the material on the belt line 1 below is taken away by the transfer adjustment mechanism 2. When it senses that the material is taken away, it sends a signal to the controller to stimulate the movement of the belt line 1. When it senses that the material is not taken away, it controls the belt line 1 to be stationary.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-channel visual feeding device, characterized in that: It includes a belt line (1), a transfer and adjustment mechanism (2), a vision positioning module (3) and a controller; multiple belt lines (1) are arranged side by side at intervals for independently conveying materials of different specifications; The transfer and adjustment mechanism (2) is arranged on the side of the corresponding belt line (1) for adjusting and transferring materials; The vision acquisition direction of the vision positioning module (3) is set facing the lower belt line (1) for posture judgment and pre-detection of the materials on the belt line (1).

2. The multi-channel visual feeding device according to claim 1, characterized in that: The multi-channel vision feeding device further includes a feeding induction module (4) installed at the upstream end of the belt line (1) for sensing whether there is material at the upstream end of the belt line (1), and sending a signal to the controller to activate the movement of the belt line (1) when it senses that there is material, creating a new position for discharging the material.

3. The multi-channel visual feeding device according to claim 1 or 2, characterized in that: The multi-channel vision feeding device further includes a material taking induction module (5) installed in the middle and lower reaches of the belt line (1) for sensing whether the material has been taken away by the transfer and adjustment mechanism (2), and sending a signal to the controller to activate the movement of the belt line (1) when it senses that the material has been taken away, and controlling the belt line (1) to stop moving when it senses that the material has not been taken away.

4. The multi-channel visual feeding device according to claim 1, characterized in that: A receiving box (6) is also arranged at the downstream end of each belt line (1).

5. The multi-channel visual feeding device according to claim 1, characterized in that: The multi-channel vision feeding device further includes a support chassis (7). The upstream end of the belt line (1) is supported by legs, the middle and lower reaches of the bottom of the belt line (1) are supported on the support chassis (7), and the transfer and adjustment mechanism (2) and the vision positioning module (3) are also arranged on the support chassis (7).

6. The multi-channel visual feeding device according to claim 5, characterized in that: The belt line (1) includes a belt support frame (11), a feeding belt (12), a belt drive assembly (13), upstream end support legs (14), middle and lower reach adjustment supports (15), a forced button (16) and a belt line guard (17); the upstream end of the belt support frame (11) is supported by the upstream end support legs (14), the middle and lower reaches of the belt support frame (11) are supported on the support chassis (7) through the middle and lower reach adjustment supports (15), two forced buttons (16) are respectively used for manually forcing the start and stop of the belt drive assembly (13), and the belt line guard (17) is arranged at the upstream end of the belt support frame (11).

7. The multi-channel visual feeding device according to claim 1, characterized in that: The transfer and adjustment mechanism (2) includes a suction cup (21), a lifting drive (22), a code scanning assembly (23), a picking adapter (24), a multi-axis robotic arm (25) and a transfer base (26); the multi-axis robotic arm (25) is installed on the transfer base (26), the end axis of the multi-axis robotic arm (25) is connected to and drives the picking adapter (24) to lift and rotate, the picking adapter (24) is connected to the suction cup (21) and the code scanning assembly (23), and the suction cup (21) is installed on the picking adapter (24) through the lifting drive (22).

8. The multi-channel visual feeding device according to claim 1, wherein: The vision positioning module (3) includes a vision support (31), a vision camera assembly (32), and a vision light source (33). The vision camera assembly (32) is disposed at the top side end of the vision support (31). The vision light source (33) is mounted to the side end of the vision support (31) through a light source bracket (34). A light source hole is formed in the middle of the vision light source (33), and the vision camera assembly (32) is vertically disposed through the light source hole.

9. A feeding and transfer method implemented based on the multi-channel visual feeding device described in claim 3, characterized in that, The feeding and transferring method includes: S1. Feeding: Manually or automatically move the material to the feeding end of the belt line (1). S2. Translational feeding: The incoming material sensing module (4) senses whether there is incoming material upstream of the belt line (1). If there is incoming material sensed, the controller issues an excitation signal to control the movement of the belt line (1), and the material moves downstream, creating a new feeding vacancy at the upstream feeding end. If no material is sensed, the controller controls the belt line (1) to remain stationary. S3. Material transfer: At the transfer position, first, the vision positioning module (3) determines the attitude of the material below and positions it, and the transfer adjustment mechanism (2) picks up the material and transfers it to the downstream station. S4. Transfer sensing and drive control: The material pickup sensing module (5) senses whether the material on the lower belt line (1) has been picked up by the transfer adjustment mechanism (2). When it senses that the material has been picked up, it sends a signal to the controller to excite the movement of the belt line (1). When it senses that the material has not been picked up, it controls the belt line (1) to remain stationary.

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