Flexible wobble plate machine with visual positioning unit

Abstract

The invention relates to a flexible wobble plate machine with a visual positioning unit, which is applied to the field of transportation and storage, and is characterized in that a turn-over mechanism is arranged below a machine head to accurately turn over a component piece adsorbed by a rotary suction nozzle, so that the problem of low turn-over efficiency of a traditional flexible vibration plate is solved, and the situation of invalid grabbing caused by the fact that the back surface of the component piece faces upwards is reduced; the motion path of the suction nozzle is simplified; meanwhile, a piston cylinder and an adsorption pipe are arranged in the overturning roller, the probability of element damage in the overturning process is reduced through the adsorption effect, element ejection and transfer are achieved through expansion and contraction of a corrugated pipe, the quality of element pieces transferred across cavities is improved, and the material blocking risk is reduced; in addition, by adopting a top camera, a bottom camera and a follow-up camera, multi-dimensional positioning identification is carried out on the element piece, the suction nozzle and the material carrying disc, the disc arranging precision and quality are further improved, and efficient, low-loss and accurate automatic disc arranging operation is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to a tray placing machine, in particular to a flexible tray placing machine with visual positioning unit applied in the field of transportation and storage. BACKGROUND

[0002] In modern industrial production, the tray placing process of materials is a core link in the fields of electronic component manufacturing and precision part processing, etc., and has very high requirements on precision and efficiency. The tray placing machine based on visual positioning acquires material images through an industrial camera or a 3D visual sensor, combines image processing algorithms (such as edge detection and deep learning) to calculate the position, posture and front and back surface state of the material in real time, and drives an XYZ three-axis motion platform to control a suction nozzle to complete accurate grabbing and placing, which has the advantages of strong adaptability and high automation degree. However, the existing devices mostly use a single visual positioning system, which has problems such as missing of depth information caused by single visual angle, misrecognition caused by environmental interference (such as light change), and dynamic trailing in high-speed motion, and the positioning precision is limited. In addition, the flexible vibration disc flipping method has uncertainty, which easily causes confusion of the front and back surfaces of components, leads to invalid operation of the grabbing device or difficulty in path optimization, and finally affects the tray placing efficiency and accuracy.

[0003] The patent with the publication number CN113753578A discloses a magnetic core unloading tray placing machine with vision, which integrates feeding and conveying, up and down double-sided cleaning, weighing detection, visual appearance screening and intelligent tray placing functions. The device cooperates with the material suction and transfer system and the lifting conveying mechanism, cooperates with the high-precision CCD visual positioning and the tray automatic pushing system, realizes the full-process automation operation of the magnetic core from cleaning and quality inspection to accurate tray placing, and significantly improves the production efficiency and large-scale manufacturing capacity.

[0004] The patent with the publication number CN113213162A discloses a flexible tray placing machine, which is composed of a tray placing frame, a feeding device, multiple pickup devices (with multiple independent material taking nozzles) and a conveying device. The feeding device includes a flexible feeder, a visual detection assembly (detecting the model, size, shape and position of the material, installed on the upper part of the frame with the detection end aligned with the vibration disc) and a camera (close to the feeder with the detection end located at the top). This scheme significantly improves the production efficiency by cooperating the flexible feeder with the visual detection, solves the problems of low precision and high defect rate of traditional tray placing machines, and effectively avoids product scratches and scratches.

[0005] The above-mentioned existing technologies disclose the CCD visual positioning, the tray automatic pushing system and the visual detection assembly, which realize the automatic detection and tray placing of materials. However, the existing tray placing device is complicated in operation when processing components with the back surface upward. SUMMARY

[0006] The present application aims to solve the problem of the complicated operation of the existing tray arrangement device when processing components with the reverse side facing up.

[0007] To solve the above problems, the present application provides a flexible tray arrangement machine with a visual positioning unit, which comprises a dust-free cabinet; a mounting seat is fixedly connected in the dust-free cabinet, a flexible vibration tray is fixedly connected to the mounting seat, a straight vibration feeder is fixedly connected to one side of the flexible vibration tray, a machine head is arranged on the side of the flexible vibration tray away from the straight vibration feeder, the machine head comprises a machine frame, a plurality of Z-axis linear motion mechanisms are fixedly connected to the machine frame, a rotating suction nozzle is fixedly connected to the sliding block of the Z-axis linear motion mechanism, the rotating suction nozzle is in communication with an external negative pressure suction mechanism, and a rotating mechanism is arranged in the rotating suction nozzle to drive the rotating suction nozzle to rotate; a tray conveying mechanism is arranged outside the flexible vibration tray and parallel to the flexible vibration tray, a plurality of carrier trays are clamped to the tray conveying mechanism, a plurality of carrier holes are arranged in the carrier trays, a magazine type feeder is fixedly connected to one end of the tray conveying mechanism and the mounting seat, and a magazine type feeder is fixedly connected to the other end of the tray conveying mechanism and the mounting seat; a gantry type two-dimensional mechanical arm is fixedly connected to the machine head, and the gantry type two-dimensional mechanical arm is used to drive the machine head to move in a two-dimensional plane. A turnover mechanism is fixedly connected to the lower part of the machine head, the turnover mechanism comprises a fixed frame fixedly connected to the lower end of the machine frame, a moving frame is slidingly connected in the fixed frame, the moving frame is fixedly connected with an electric push rod one driving the moving frame to slide along the fixed frame; an outer cylinder is fixedly connected to the moving frame, a turnover roller is rotatably connected in the outer cylinder, a plurality of transfer cavities one corresponding to the rotating suction nozzles are arranged in the turnover roller, a guide cover is fixedly connected to the lower end of the outer cylinder and the moving frame, a transfer strip is slidingly nested in the guide cover, and a transfer cavity two matched with the transfer cavity one is arranged in the transfer strip; a rack is engaged in the middle part of the turnover roller, the plurality of transfer strips and the rack are fixedly connected with a same moving strip, the moving strip is fixedly connected with an electric push rod two driving the moving strip to linearly move along the surface of the moving frame, and the electric push rod two is fixedly connected with the moving frame.

[0008] In the flexible tray arrangement machine with a visual positioning unit, the turnover mechanism is used to replace the flexible vibration tray to accurately turn over the components, thereby improving the tray arrangement quality and efficiency.

[0009] As a further supplement to the present application, a piston cylinder is fixedly connected in the turnover roller, the piston cylinder is fixedly connected with a suction pipe extending into the transfer cavity one, a piston disc is slidingly connected in the piston cylinder, the piston disc is fixedly connected with the movable end of an electric push rod three, and the electric push rod three is fixed in the turnover roller.

[0010] As a further supplement to the present application, the suction pipe comprises a bellows part arranged in the middle part of the suction pipe and vertical pipe parts arranged on the upper and lower sides of the bellows part, a containing cavity in communication with the transfer cavity one is arranged in the turnover roller, the circumferential outer wall of the suction pipe is slidingly abutted with the inner wall of the containing cavity, and the piston cylinder and the electric push rod three are fixed in the containing cavity.

[0011] As a further supplement to the present application, a top camera is arranged above the flexible vibration disc, and the top camera is used for positioning and identifying the component pieces in the flexible vibration disc, and the top camera is fixedly connected with the mounting seat through the support frame; a follow-up camera is fixedly connected with the rack, and the follow-up camera faces the side of the tray conveying mechanism, and the follow-up camera is used for positioning and identifying the tray and the loading holes thereon.

[0012] As a further supplement to the present application, the gantry type two-dimensional mechanical arm comprises an X-axis linear motion mechanism fixedly connected with the mounting seat and a Y-axis linear motion mechanism fixedly connected with the X-axis linear motion mechanism, and the Y-axis linear motion mechanism is fixedly connected with a bottom camera through a connecting frame, and the bottom camera is arranged on the movement path of the rotating suction nozzle, and the bottom camera is used for positioning and identifying the rotating suction nozzle and the component pieces adsorbed thereon.

[0013] As a further supplement to the present application, the outer cylinder is a hollow cylindrical structure, and a first opening is formed in the outer cylinder and communicates with the guide cover and penetrates the outer cylinder, and the first opening is arranged in cooperation with the transfer cavity one.

[0014] As a further supplement to the present application, a tooth slot is formed in the middle of the turnover roller, a pair of upper and lower symmetrical second openings are formed in the middle of the outer cylinder, the second openings are arranged opposite to the tooth slot of the turnover roller, and the rack is inserted into the second opening at the lower end and is in clamping cooperation with the tooth slot.

[0015] As a further supplement to the present application, the fixing frame is a semi-enclosing frame structure and is arranged below the rack, and the moving frame is a strip-shaped plate with an L-shaped cross section.

[0016] In summary, the turnover mechanism arranged below the machine head is used for turning over the component pieces adsorbed by the rotating suction nozzle, and the problem of low turnover efficiency caused by the fact that the traditional tray placing machine relies on the flexible vibration disc for turnover is overcome, so that accurate turnover is realized, the occurrence of invalid grabbing caused by the fact that the component pieces are placed with the back upward is reduced, and the movement path of the rotating suction nozzle is simplified; meanwhile, through the cooperation of the turnover roller provided with the transfer cavity one and the transfer strip provided with the transfer cavity two, the turnover of the component pieces is realized, and the lateral reciprocating movement of the transfer strip enables the turned-over component pieces to be quickly aligned with the rotating suction nozzle, so that rapid secondary adsorption is realized, and the turnover efficiency of the component pieces is further improved; in addition, the piston cylinder arranged in the turnover roller and the adsorption pipe are used for adsorbing the component pieces in the turnover process, so that the probability of damage of the component pieces in the turnover process is reduced, and the stretching and contraction of the adsorption pipe including the corrugated pipe portion in the air pumping and exhausting process is used for realizing the ejection and transfer of the component pieces, improving the transfer quality of the component pieces in different cavities, and reducing the probability of material blocking and damage of the component pieces in the transfer process. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1Fig. 1 is a schematic diagram of the three-dimensional structure of the present application; Figure 2 Fig. 2 is a schematic diagram of the internal structure of the dust-free cabinet in the present application; Figure 3 Fig. 3 is a schematic diagram of the three-dimensional structure of the head and the gantry-type two-dimensional mechanical arm in the present application; Figure 4 Fig. 4 is a schematic diagram of the three-dimensional structure of the loading tray in the present application; Figure 5 Fig. 5 is a schematic diagram of the three-dimensional structure of the head in the present application; Figure 6 Fig. 6 is a schematic diagram of the longitudinal section structure of the head in the present application at the position of rotating the suction nozzle; Figure 7 Fig. 7 is a schematic diagram of the enlarged structure at A in the present application; Figure 6 Fig. 8 is a schematic diagram of the three-dimensional structure of the turnover mechanism in the present application; Figure 8 Fig. 9 is a schematic diagram of the exploded structure of the turnover mechanism in the present application; Figure 9 Fig. 10 is a schematic diagram of the turnover action of the turnover roller in the present application; Figure 10 Fig. 11 is a schematic diagram of the state of the component piece entering into the transfer cavity I in the present application; Figure 11 Fig. 12 is a schematic diagram of the state of the component piece entering into the transfer cavity II in the present application; Figure 12 Fig. 13 is a schematic diagram of the state of the component piece being adsorbed by the rotating suction nozzle after being turned over in the present application; Figure 13 Fig. 14 is a schematic diagram of the internal section structure of the turnover roller in the present application; Figure 14 Fig. 15 is a schematic diagram of the assembly structure of the piston cylinder and the adsorption tube in the present application. Figure 15 Fig. 16 is a legend of the figures.

[0018] ​1, dust-free cabinet; 2, mounting seat; 3, straight vibration feeder; 4, flexible vibration disc; 5, machine head; 6, gantry two-dimensional mechanical arm; 601, X-axis linear motion mechanism; 602, Y-axis linear motion mechanism; 7, loading tray; 701, loading hole; 8, tray conveying mechanism; 9, magazine type feeder; 10, magazine type feeder; 11, top camera; 12, support frame; 13, bottom camera; 14, connecting frame; 15, follow-up camera; 16, rack; 17, rotating suction nozzle; 18, Z-axis linear motion mechanism; 19, component sheet; 20, turning mechanism; 21, fixing frame; 22, moving frame; 23, electric push rod one; 24, outer cylinder; 2401, opening one; 2402, opening two; 25, guide cover; 26, turnover roller; 2601, transfer cavity one; 2602, clamping tooth groove; 2603, containing cavity; 27, transfer strip; 2701, transfer cavity two; 28, rack; 29, moving strip; 30, electric push rod two; 31, suction tube; 3101, bellows part; 3102, vertical tube part; 32, piston cylinder; 33, piston disc; 34, electric push rod three. DETAILED DESCRIPTION

[0019] The two embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0020] First embodiment: Figures 1-13 A flexible tray turning machine with visual positioning unit is shown, which comprises a dust-free cabinet 1; the dust-free cabinet 1 is fixedly connected with a mounting seat 2, the mounting seat 2 is fixedly connected with a flexible vibration disc 4, one side of the flexible vibration disc 4 is provided with a straight vibration feeder 3 fixedly connected with the mounting seat 2, the component sheet 19 is poured into the straight vibration feeder 3, then the straight vibration feeder 3 is started, the straight vibration feeder 3 vibrates and pours the component sheet 19 into the flexible vibration disc 4, realizing the dispersion and small amount of feeding of the component sheet 19, the flexible vibration disc 4 is started, so that the component sheet 19 falling into the flexible vibration disc 4 is fully dispersed, facilitating subsequent grabbing and adsorption; it should be noted that the straight vibration feeder 3 and the flexible vibration disc 4 are prior art, which will not be described herein.

[0021] Please refer to Figure 2 and Figure 5 , one side of the flexible vibration disc 4 away from the straight vibration feeder 3 is provided with a machine head 5, the machine head 5 comprises a rack 16, a plurality of Z-axis linear motion mechanisms 18 are fixedly connected on the rack 16, a rotating suction nozzle 17 is fixedly connected on the sliding block of the Z-axis linear motion mechanism 18, the rotating suction nozzle 17 is communicated with an external negative pressure suction mechanism, the rotating suction nozzle 17 is provided with a rotating mechanism inside for driving itself to rotate, the rotating suction nozzle 17 is used for negative pressure adsorption of the component sheet 19 and driving the component sheet 19 to rotate horizontally, adjusting the orientation of the component sheet 19; it should be noted that the rotating suction nozzle 17 is prior art, which will not be described herein.

[0022] Please refer to Figure 2 and Figure 4 , the outer side of the flexible vibration disc 4 is provided with a tray conveying mechanism 8 arranged in parallel with it, a plurality of carrier trays 7 are clamped on the tray conveying mechanism 8, the carrier tray 7 is provided with a distributed carrier hole 701, one end of the tray conveying mechanism 8 is provided with a fixed connection with the mounting seat 2 The magazine feeder 9, and the other end is provided with a fixed connection with the mounting seat 2 The magazine feeder 10; Specifically, the tray conveying mechanism 8 drives the carrier tray 7 to move from the feeding position to the tray position, and after the tray is finished, the carrier tray 7 is conveyed to the unloading position, it should be noted that the tray conveying mechanism 8, The magazine feeder 9 and the magazine feeder 10 are all prior art, and this application will not be described here.

[0023] Please refer to Figure 2 , Figure 3 and Figure 5 , the head 5 is fixedly connected with the gantry type two-dimensional mechanical arm 6, the gantry type two-dimensional mechanical arm 6 is used to drive the head 5 to move in a two-dimensional plane, and cooperates with the Z-axis linear motion mechanism 18 to realize the movement of the rotating suction nozzle 17 in the three-dimensional space, so that the rotating suction nozzle 17 absorbs the element piece 19 from the flexible vibration disc 4, and then moves to the carrier hole 701 of the carrier tray 7.

[0024] Please refer to Figure 5 , Figure 6 and Figure 7 , the lower part of the head 5 is fixedly connected with the turnover mechanism 20, the turnover mechanism 20 includes a fixed frame 21 fixedly connected with the lower end of the rack 16, a moving frame 22 is slidingly connected in the fixed frame 21, and the moving frame 22 is fixedly connected with an electric push rod one 23 driving it to slide along the fixed frame 21; The outer cylinder 24 is fixedly connected to the moving frame 22, the outer cylinder 24 is rotatably connected with the turnover roller 26, a plurality of transfer cavities one 2601 corresponding to the rotating suction nozzle 17 are formed in the turnover roller 26, the lower end of the outer cylinder 24 is fixedly connected with the guide cover 25, the guide cover 25 is fixedly connected with the moving frame 22, the transfer strip 27 is slidingly nested in the guide cover 25, and the transfer strip 27 is provided with a transfer cavity two 2701 matched with the transfer cavity one 2601; The middle part of the turnover roller 26 is engaged with the rack 28, and the plurality of transfer strips 27 and the rack 28 are fixedly connected with the same moving strip 29, and the moving strip 29 is fixedly connected with the electric push rod two 30 driving it to move linearly along the surface of the moving frame 22. The electric push rod two 30 is fixedly connected with the moving frame 22.

[0025] Specifically, please refer to Figure 10 , Figure 11 , Figure 12 and Figure 13 , when the element piece 19 on the rotating suction nozzle 17 needs to be turned over, the following steps are included: Step one, start the electric push rod one 23, move the frame 22 to drive the outer cylinder 24 to move, so that the transfer cavity one 2601 of the turnover roller 26 moves directly below the component sheet 19; Step two, start the Z-axis linear motion mechanism 18, so that the rotating suction nozzle 17 drives the component sheet 19 to be turned to be inserted into the transfer cavity one 2601, and then the rotating suction nozzle 17 releases the component sheet 19 to be turned and returns to the initial position; Step three, start the electric push rod two 30 to make its movable end stretch out, the electric push rod two 30 drives the rack 28 to stretch out outward through the moving strip 29, the rack 28 drives the turnover roller 26 and the component sheet 19 in the transfer cavity one 2601 to rotate one hundred and eighty degrees, at the same time, the transfer cavity two 2701 of the transfer strip 27 moves below the transfer cavity one 2601, the component sheet 19 falls into the transfer cavity two 2701 under the action of gravity through the guide cover 25; then start the electric push rod two 30 again to make its movable end retract, drive the turnover roller 26 to rotate reversely one hundred and eighty degrees and drive the transfer cavity two 2701 of the transfer strip 27 to return to the initial position; Step four, start the electric push rod one 23 again, the electric push rod one 23 pushes the moving frame 22 and the transfer strip 27 thereon to stretch out outward, so that the transfer cavity two 2701 of the transfer strip 27 moves directly below the rotating suction nozzle 17; Step five, start the Z-axis linear motion mechanism 18 again, drive the rotating suction nozzle 17 to move downward, adsorb and grab the turned component sheet 19 in the transfer cavity two 2701, and then return to the initial position.

[0026] Compared with the traditional tray placing machine, the component sheet 19 to be turned adsorbed by the rotating suction nozzle 17 is turned through the turning mechanism 20 arranged below the machine head 5, the problem of poor turning efficiency caused by the traditional tray placing machine relying on the flexible vibration disc 4 to turn is overcome, accurate turning is realized, invalid grabbing caused by the back of the component sheet 19 facing upward is reduced, and the movement path of the rotating suction nozzle 17 is simplified; at the same time, through the cooperation of the turnover roller 26 provided with the transfer cavity one 2601 and the transfer strip 27 provided with the transfer cavity two 2701, the turning of the component sheet 19 is realized, and the transverse reciprocating movement of the transfer strip 27 is cooperated, so that the turned component sheet 19 can be quickly aligned with the rotating suction nozzle 17, the secondary adsorption is realized quickly, and the turning efficiency of the component sheet 19 is further improved.

[0027] Please refer to Figure 2 and Figure 3, a top camera 11 is arranged above the flexible vibration disc 4, the top camera 11 is used for positioning and identifying the component sheet 19 in the flexible vibration disc 4, and the top camera 11 is fixedly connected with the mounting base 2 through a support frame 12; a following camera 15 is fixedly connected with the rack 16, and the following camera 15 faces the side of the tray conveying mechanism 8, the following camera 15 is used for positioning and identifying the tray 7 and the loading hole 701 on the tray 7; the gantry type two-dimensional mechanical arm 6 comprises an X-axis linear motion mechanism 601 fixedly connected with the mounting base 2 and a Y-axis linear motion mechanism 602 fixedly connected with the X-axis linear motion mechanism 601, and the Y-axis linear motion mechanism 602 is fixedly connected with a bottom camera 13 through a connecting frame 14, the bottom camera 13 is arranged on the movement path of the rotating suction nozzle 17, and the bottom camera 13 is used for positioning and identifying the rotating suction nozzle 17 and the component sheet 19 adsorbed on the rotating suction nozzle 17.

[0028] Specifically, when the component sheet 19 is placed by the positioning unit, the following steps are included: Before the rotating suction nozzle 17 adsorbs the component sheet 19 on the flexible vibration disc 4, the top camera 11 is used for identifying and positioning the component sheet 19 on the flexible vibration disc 4, the identification information includes the front and back information of the component sheet 19, the orientation information of the component sheet 19 and the specification information of the component sheet 19, the rotating suction nozzle 17 grasps the component sheet 19 on the flexible vibration disc 4 based on the identification and positioning information, it should be noted that, when grasping, whether the front or back of the component sheet 19 does not need to be considered, only the component sheet 19 which is close to the head 5 and independently distributed needs to be grasped, which simplifies the movement path of the head 5 and the rotating suction nozzle 17 thereon, and improves the grasping efficiency; in addition, based on the orientation information of the identified component sheet 19, the rotating suction nozzle 17 is rotated after adsorption and grasping, the orientation of the component sheet 19 is adjusted, and the component sheet 19 is lifted to the initial position under the action of the Z-axis linear motion mechanism 18; Step two, start the gantry type two-dimensional mechanical arm 6, so that the rotating suction nozzle 17 drives the component sheet 19 to move towards the tray 7, in the moving process, the rotating suction nozzle 17 drives the component sheet 19 to pass above the bottom camera 13, the bottom camera 13 identifies and obtains the front and back information and the orientation information of the component sheet 19, and compares them with the front and back information and the orientation information required for correct placement again; Step three, based on the front and back information of the component sheet 19 obtained by the bottom camera 13 in step two, the turnover mechanism 20 is started to turn over the component sheet 19 which needs to be turned over, and then the rotating suction nozzle 17 is used again to adsorb and grasp, and the orientation of the component sheet 19 is adjusted again through the rotating suction nozzle 17; Step four, when the following camera 15 moves above the tray 7 along with the head 5, the following camera 15 is used to identify and position the tray 7 and the loading hole 701 thereon.

[0029] Compared with the traditional single visual positioning mode, the element sheet 19 is positioned and state-identified when being in different devices, and the state of the element sheet 19 is tested and adjusted multiple times, so that the accuracy and efficiency of the plate arrangement are further improved.

[0030] Please refer to Figure 9 , the outer cylinder 24 is a hollow cylindrical structure, and the outer cylinder 24 is provided with an opening one 2401 which is communicated with the guide cover 25 and penetrates the outer cylinder 24, and the opening one 2401 is matched with the transfer cavity one 2601.

[0031] Specifically, when the transfer cavity one 2601 driven by the turnover roller 26 rotates to the upper end vertex of the outer cylinder 4, the transfer cavity one 2601 is communicated with the opening one 2401, and the rotating suction nozzle 17 drives the element sheet 19 to pass through the opening one 2401 and then inserts into the transfer cavity one 2601, when the transfer cavity one 2601 driven by the turnover roller 26 rotates to the lower end vertex of the outer cylinder 24, the transfer cavity one 2601 is communicated with the guide cover 25 through the opening 2401.

[0032] Please refer to Figure 9 , the turnover roller 26 is provided with a clamping tooth groove 2602 in the middle, the outer cylinder 24 is provided with a pair of upper and lower symmetrical openings two 2402 in the middle, the opening two 2402 is opposite to the clamping tooth groove 2602 of the turnover roller 26, and the rack 28 is inserted into the opening two 2402 at the lower end and is matched with the clamping tooth groove 2602.

[0033] Specifically, the rack 28 moves horizontally along the opening two 2402 at the lower end to drive the turnover roller 26 to rotate.

[0034] Please refer to Figure 7 , Figure 8 and Figure 9 , the fixed frame 21 is a semi-enclosing frame structure and is arranged below the rack 16, and the moving frame 22 is a strip-shaped plate with an L-shaped cross section.

[0035] Specifically, when the turnover operation is not needed, the moving frame 22 and the outer cylinder 24 are located at the side of the rack 16, so as to avoid interference with the rotating suction nozzle 17 which moves up and down.

[0036] Second embodiment: Figure 14 and Figure 15 show a flexible plate arrangement machine with a visual positioning unit, based on the first embodiment, the piston cylinder 32 is fixedly connected in the turnover roller 26, the piston cylinder 32 is fixedly connected with the adsorption pipe 31 which extends into the transfer cavity one 2601, the piston disc 33 is slidingly connected in the piston cylinder 32, the piston disc 33 is fixedly connected with the movable end of the electric push rod three 34, and the electric push rod three 34 is fixed in the turnover roller 26.

[0037] Specifically, when the element piece 19 is placed into the transfer cavity one 2601, the element piece 19 abuts against the adsorption tube 31, the electric push rod three 34 is started, the piston disc 33 slides in the piston cylinder 32, negative pressure is generated to adsorb and fix the element piece 19, so that when the turnover roller 26 turns over, the element piece 19 is adsorbed and fixed by the adsorption tube 31 and cannot rub against the inner wall of the outer cylinder 24, the element piece 19 is protected, the damage of the element piece 19 during turnover is reduced, and the turnover quality is further improved.

[0038] Please refer to Figure 14 The adsorption tube 31 includes a bellows part 3101 arranged at the middle part of the adsorption tube 31 and vertical tube parts 3102 arranged on the upper and lower sides of the bellows part 3101, the turnover roller 26 is internally provided with a containing cavity 2603 in communication with the transfer cavity one 2601, the circumferential outer wall of the adsorption tube 31 is in sliding abutment with the inner wall of the containing cavity 2603, and the piston cylinder 32 and the electric push rod three 34 are both fixed in the containing cavity 2603.

[0039] Specifically, please refer to Figure 12 When the element piece 19 is inserted into the transfer cavity one 2601, the adsorption tube 31 is extruded, the bellows part 3101 is compressed, when the piston cylinder 32 performs negative pressure air extraction, the bellows part 3101 is further compressed, and when the transfer cavity one 2601 moves to be in communication with the transfer cavity two 2701, the piston cylinder 32 is released, the adsorption tube 31 containing the bellows part 3101 is vertically expanded, the expanded adsorption tube 31 extrudes the element piece 19, so that the element piece 19 is more easily separated from the transfer cavity one 2601 and enters into the transfer cavity two 2701, instead of the traditional mode of transferring the element piece 19 by using gravity between the transfer cavity one 2601 and the transfer cavity two 2701, the transfer quality is improved, and the probability of material jamming and low transfer efficiency of the element piece 19 is reduced.

[0040] In combination with the current actual demand, the above-mentioned embodiments adopted by the present application are not limited to this, various changes made within the knowledge range of those skilled in the art without departing from the concept of the present application still fall within the protection range of the present application.

Claims

1. A flexible tray-stacking machine with a visual positioning unit, characterized in that, Includes a cleanroom cabinet (1); a mounting base (2) is fixedly connected inside the cleanroom cabinet (1), a flexible vibrating plate (4) is fixedly connected to the mounting base (2), a direct vibration feeder (3) is fixedly connected to the mounting base (2) on one side of the flexible vibrating plate (4), and a machine head (5) is provided on the side of the flexible vibrating plate (4) away from the direct vibration feeder (3). The machine head (5) includes a frame (16), and multiple Z-axis linear motion mechanisms (18) are fixedly connected to the frame (16). A rotating suction nozzle (17) is fixedly connected to the sliding block of the Z-axis linear motion mechanism (18). The rotating suction nozzle (17) is connected to an external negative pressure suction mechanism. 7) The internal part is provided with a rotating mechanism that drives itself to rotate; the flexible vibrating plate (4) is provided with a material tray conveying mechanism (8) arranged parallel to it on the outside. Multiple material trays (7) are clamped on the material tray conveying mechanism (8). The material trays (7) are provided with distributed material loading holes (701). One end of the material tray conveying mechanism (8) is provided with a magazine-type feeder (9) fixedly connected to the mounting base (2), and the other end is provided with a magazine-type unloading device (10) fixedly connected to the mounting base (2); the machine head (5) is fixedly connected with a gantry-type two-dimensional robotic arm (6). The gantry-type two-dimensional robotic arm (6) is used to drive the machine head (5) to move in a two-dimensional plane; A flipping mechanism (20) is fixedly connected to the lower part of the machine head (5). The flipping mechanism (20) includes a fixed frame (21) fixedly connected to the lower end of the machine frame (16). A movable frame (22) is slidably connected inside the fixed frame (21). An electric push rod (23) is fixedly connected to the movable frame (22) to drive it to slide along the fixed frame (21). An outer cylinder (24) is fixedly connected to the movable frame (22). A flipping roller (26) is rotatably connected inside the outer cylinder (24). The flipping roller (26) has multiple transfer chambers (2601) that correspond one-to-one with the rotating suction nozzle (17). The lower end of the outer cylinder (24) is fixed. A guide cover (25) is connected to the movable frame (22). A transfer strip (27) is slidably nested inside the guide cover (25). A transfer cavity two (2701) is opened on the transfer strip (27) to cooperate with the transfer cavity one (2601). A rack (28) is engaged in the middle of the flipping roller (26). Multiple transfer strips (27) and racks (28) are all fixedly connected to the same movable strip (29). The movable strip (29) is fixedly connected to an electric push rod two (30) that drives it to move linearly along the surface of the movable frame (22). The electric push rod two (30) is fixedly connected to the movable frame (22).

2. The flexible tray-stacking machine with a visual positioning unit according to claim 1, characterized in that, A piston cylinder (32) is fixedly connected inside the flipping roller (26). The piston cylinder (32) is fixedly connected to an adsorption tube (31) extending into the transfer chamber (2601). A piston disc (33) is slidably connected inside the piston cylinder (32). The piston disc (33) is fixedly connected to the movable end of an electric push rod (34). The electric push rod (34) is fixed inside the flipping roller (26).

3. A flexible tray-stacking machine with a visual positioning unit according to claim 2, characterized in that, The adsorption tube (31) includes a corrugated tube section (3101) located in the middle of itself and vertical tube sections (3102) located on the upper and lower sides of the corrugated tube section (3101). The flipping roller (26) has a receiving cavity (2603) that communicates with the transfer cavity one (2601). The outer circumferential wall of the adsorption tube (31) slides against the inner wall of the receiving cavity 2603. The piston cylinder (32) and the electric push rod three (34) are both fixed in the receiving cavity (2603).

4. A flexible tray-stacking machine with a visual positioning unit according to claim 1, characterized in that, A top camera (11) is provided directly above the flexible vibrating plate (4). The top camera (11) is used to locate and identify the component pieces (19) inside the flexible vibrating plate (4). The top camera (11) is fixedly connected to the mounting base (2) through the support frame (12). A follow-up camera (15) is fixedly connected on the frame (16). The follow-up camera (15) faces the material tray conveying mechanism (8). The follow-up camera (15) is used to locate and identify the material tray (7) and the material loading hole (701) on it.

5. A flexible tray-stacking machine with a visual positioning unit according to claim 4, characterized in that, The gantry-type two-dimensional robotic arm (6) includes an X-axis linear motion mechanism (601) fixedly connected to the mounting base (2) and a Y-axis linear motion mechanism (602) fixedly connected to the X-axis linear motion mechanism (601). The Y-axis linear motion mechanism (602) is fixedly connected to a bottom camera (13) via a connecting frame (14). The bottom camera (13) is set on the movement path of the rotating suction nozzle (17). The bottom camera (13) is used to position and identify the rotating suction nozzle (17) and the component pieces (19) adsorbed on it.

6. A flexible tray-stacking machine with a visual positioning unit according to claim 1, characterized in that, The outer cylinder (24) is a hollow cylindrical structure. An opening (2401) is provided on the outer cylinder (24) to communicate with the guide cover (25) and penetrate the outer cylinder (24). The opening (2401) is configured to cooperate with the transfer cavity (2601).

7. A flexible tray-stacking machine with a visual positioning unit according to claim 6, characterized in that, The turning roller (26) has a toothed groove (2602) in the middle, and the outer cylinder (24) has a pair of symmetrically arranged openings (2402) in the middle. The openings (2402) are arranged opposite to the toothed groove (2602) of the turning roller (26). The rack (28) is inserted into the opening (2402) at the lower end and engages with the toothed groove (2602).

8. A flexible tray-stacking machine with a visual positioning unit according to claim 1, characterized in that, The fixed frame (21) is a semi-enclosed frame structure and is located below the frame (16), and the movable frame (22) is a strip plate with an L-shaped cross section.

Images