Flexible tray placing machine with visual positioning unit

Abstract

This invention relates to a flexible tray-stacking machine with a visual positioning unit for use in transportation and storage. Through a flipping mechanism located below the machine head, it precisely flips the component pieces adsorbed by the rotating suction nozzle, solving the problem of low flipping efficiency in traditional flexible vibratory trays, reducing invalid gripping due to component pieces facing upwards, and simplifying the suction nozzle's movement path. Simultaneously, the flipping roller incorporates a piston cylinder and suction tube, reducing the probability of component damage during flipping through suction, and utilizing the expansion and contraction of a bellows to eject and transfer components, improving the quality of component transfer across cavities and reducing the risk of jamming. Furthermore, by employing a top camera, a bottom camera, and a follow-up camera, it performs multi-dimensional positioning and identification of the component pieces, suction nozzle, and tray, further improving the tray-stacking accuracy and quality, achieving efficient, low-loss, and precise automated tray-stacking operations.

Description

Technical Field

[0001] This invention relates to a tray-stacking machine, and more particularly to a flexible tray-stacking machine with a visual positioning unit for use in the fields of transportation and storage. Background Technology

[0002] In modern industrial production, the material placement process is a core step in the manufacturing of electronic components and the processing of precision parts, requiring extremely high precision and efficiency. Visual positioning-based placement machines acquire material images through industrial cameras or 3D vision sensors, and combine image processing algorithms (such as edge detection and deep learning) to calculate the material's position, posture, and front / back status in real time. This drives an XYZ three-axis motion platform to control the nozzle to complete precise gripping and placement, offering advantages such as strong adaptability and high automation. However, existing equipment mostly uses single-vision positioning systems, which suffer from problems such as missing depth information due to a single perspective, misidentification caused by environmental interference (such as changes in lighting), and dynamic trailing during high-speed movement, limiting positioning accuracy. In addition, the reliance on flexible vibrating discs for flipping introduces uncertainty, easily causing confusion between the front and back of components, leading to ineffective operation of the gripping device or difficulties in path optimization, ultimately affecting placement efficiency and accuracy.

[0003] The existing patent with publication number CN113753578A discloses a magnetic core unloading and tray-stacking machine with vision, which integrates feeding and conveying, top and bottom double-sided cleaning, weighing and detection, visual appearance screening and intelligent tray-stacking functions. The equipment achieves fully automated operation of magnetic cores from cleaning and quality inspection to precise tray-stacking through the cooperation of a suction and transfer system and a lifting conveyor mechanism, combined with high-precision CCD vision positioning and automatic tray pushing system, which significantly improves production efficiency and large-scale manufacturing capabilities.

[0004] A patent application with publication number CN113213162A discloses a flexible tray-stacking machine, which consists of a tray-stacking frame, a feeding device, a multi-pickup device (equipped with multiple independent pick-up nozzles), and a conveying device. The feeding device includes a flexible feeder, a vision inspection component (detecting material type / size / shape / position, mounted on the upper part of the frame with the inspection end aligned with the vibrating plate), and a camera (close to the feeder, with the inspection end located at the top). This solution significantly improves production efficiency by combining flexible feeding with vision inspection, solving the problems of low accuracy and high defect rate of traditional tray-stacking machines, and effectively avoiding product damage.

[0005] The aforementioned prior art discloses CCD vision positioning, automatic tray pushing system and vision inspection component, which realizes automatic detection and tray placement of materials. However, the existing tray placement device is cumbersome to operate when handling components with the reverse side facing up. Summary of the Invention

[0006] The technical problem that this invention aims to solve in view of the above-mentioned prior art is that existing tray-stacking devices are cumbersome to operate when handling components with the reverse side facing up.

[0007] To address the aforementioned problems, this invention provides a flexible tray-stacking machine with a visual positioning unit, comprising a cleanroom cabinet; a mounting base is fixedly connected inside the cleanroom cabinet, and a flexible vibrating plate is fixedly connected to the mounting base; a linear vibrating feeder is fixedly connected to one side of the flexible vibrating plate and to the mounting base; a machine head is located on the side of the flexible vibrating plate away from the linear vibrating feeder; the machine head includes a frame, and multiple Z-axis linear motion mechanisms are fixedly connected to the frame; a rotating suction nozzle is fixedly connected to the sliding block of each Z-axis linear motion mechanism, and the rotating suction nozzle is connected to an external negative pressure suction mechanism; a rotating mechanism that drives the nozzle to rotate is located inside the rotating suction nozzle; a material tray conveying mechanism is arranged parallel to the flexible vibrating plate on its outer side, and multiple material trays are engaged on the material tray conveying mechanism; the material trays have distributed material loading holes; one end of the material tray conveying mechanism has a magazine-type feeder fixedly connected to the mounting base, and the other end has a magazine-type unloading device fixedly connected to the mounting base; a gantry-type two-dimensional robotic arm is fixedly connected to the machine head, and the gantry-type two-dimensional robotic arm is used to move the machine head in a two-dimensional plane;

[0008] A flipping mechanism is fixedly connected to the lower part of the machine head. The flipping mechanism includes a fixed frame fixedly connected to the lower end of the machine frame. A movable frame is slidably connected inside the fixed frame. An electric push rod is fixedly connected to the movable frame to drive it to slide along the fixed frame. An outer cylinder is fixedly connected to the movable frame. A flipping roller is rotatably connected inside the outer cylinder. The flipping roller has multiple transfer cavities corresponding to the rotating suction nozzles. A guide cover is fixedly connected to the lower end of the outer cylinder. The guide cover is fixedly connected to the movable frame. A transfer strip is slidably nested inside the guide cover. A transfer cavity 2 is opened on the transfer strip to cooperate with the transfer cavity 1. A rack meshes in the middle of the flipping roller. Multiple transfer strips and racks are fixedly connected to the same movable strip. An electric push rod 2 is fixedly connected to the movable strip to drive it to move linearly along the surface of the movable frame. The electric push rod 2 is fixedly connected to the movable frame.

[0009] In the aforementioned flexible tray-turning machine with a visual positioning unit, a flipping mechanism replaces the flexible vibrating plate for precise flipping, improving tray-turning quality and efficiency.

[0010] As a further supplement to this application, a piston cylinder is fixedly connected inside the tumbling roller, and an adsorption tube extending into the transfer chamber is fixedly connected to the piston cylinder. A piston disc is slidably connected inside the piston cylinder, and the movable end of an electric push rod three is fixedly connected to the piston disc. The electric push rod three is fixed inside the tumbling roller.

[0011] As a further supplement to this application, the adsorption tube includes a corrugated tube section disposed in the middle of itself and vertical tube sections disposed on the upper and lower sides of the corrugated tube section. A receiving cavity communicating with the transfer cavity is opened in the flipping roller. The outer circumferential wall of the adsorption tube slides against the inner wall of the receiving cavity. The piston cylinder and the electric push rod are both fixed in the receiving cavity.

[0012] As a further supplement to this application, a top camera is provided directly above the flexible vibratory feeder. The top camera is used to position and identify the component pieces inside the flexible vibratory feeder. The top camera is fixedly connected to the mounting base through a support frame. A follow-up camera is fixedly connected to the frame. The follow-up camera faces the material tray conveying mechanism and is used to position and identify the material tray and its material loading holes.

[0013] As a further supplement to this application, the gantry-type two-dimensional robotic arm includes an X-axis linear motion mechanism fixedly connected to the mounting base and a Y-axis linear motion mechanism fixedly connected to the X-axis linear motion mechanism. The Y-axis linear motion mechanism is fixedly connected to a bottom camera via a connecting frame. The bottom camera is set on the motion path of the rotating suction nozzle and is used to position and identify the rotating suction nozzle and the component pieces adsorbed on it.

[0014] As a further supplement to this application, the outer cylinder is a hollow cylindrical structure, and an opening 1 is provided on the outer cylinder that communicates with the guide cover and penetrates the outer cylinder. The opening 1 is configured to cooperate with the transfer cavity 1.

[0015] As a further supplement to this application, the turning roller has a toothed groove in the middle, and the outer cylinder has a pair of symmetrically arranged openings in the middle. The openings are opposite to the toothed groove of the turning roller, and the rack is inserted into the opening at the lower end and engages with the toothed groove.

[0016] As a further supplement to this application, the fixed frame has a semi-enclosed frame structure and is located below the frame, and the movable frame is a strip plate with an L-shaped cross-section.

[0017] In summary, this invention overcomes the problem of poor flipping efficiency caused by traditional swivel machines relying on flexible vibrating discs for flipping by using a flipping mechanism located below the machine head. This achieves precise flipping, reduces ineffective gripping due to the back of the component being facing upwards, and simplifies the movement path of the rotating suction nozzle. Simultaneously, the cooperation of a flipping roller with a first transfer chamber and a transfer strip with a second transfer chamber enables the rotating flipping of the component. The lateral reciprocating movement of the transfer strip allows the flipped component to quickly align with the rotating suction nozzle for rapid secondary adsorption, further improving the flipping efficiency. Furthermore, the piston cylinder and adsorption tube within the flipping roller adsorb the component during the flipping process, reducing the probability of damage. The expansion and contraction of the adsorption tube, including the corrugated section, during the exhaust process enables the ejection and transfer of the component, improving the quality of transfer between different cavities and reducing the probability of jamming and damage during transfer. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present application;

[0019] Figure 2 This is a schematic diagram of the internal structure of the cleanroom cabinet in this application;

[0020] Figure 3 This is a three-dimensional structural diagram of the machine head and the gantry-type two-dimensional robotic arm in this application;

[0021] Figure 4 This is a three-dimensional structural diagram of the material tray in this application;

[0022] Figure 5 This is a three-dimensional structural diagram of the head unit in this application;

[0023] Figure 6 This is a longitudinal sectional view of the machine head in the rotating suction nozzle position in this application;

[0024] Figure 7 For this Figure 6 Enlarged structural diagram at point A;

[0025] Figure 8 This is a three-dimensional structural diagram of the flipping mechanism in this application;

[0026] Figure 9 This is an exploded structural diagram of the flipping mechanism in this application;

[0027] Figure 10 This is a schematic diagram of the flipping action of the flipping roller in this application;

[0028] Figure 11This is a schematic diagram showing the state of the component chip entering the transfer cavity in this application;

[0029] Figure 12 This is a schematic diagram showing the state of the component chip entering the second transfer cavity in this application;

[0030] Figure 13 This is a schematic diagram showing the state of the component chip being adsorbed by the rotating suction nozzle after being flipped over in this application.

[0031] Figure 14 This is a schematic diagram of the internal cross-sectional structure of the turning roller in this application;

[0032] Figure 15 This is a schematic diagram of the assembly structure of the piston cylinder and adsorption tube in this application.

[0033] Explanation of the labels in the diagram:

[0034] 1. Cleanroom cabinet; 2. Mounting base; 3. Vertical vibratory feeder; 4. Flexible vibratory feeder; 5. Machine head; 6. Gantry-type 2D robotic arm; 601. X-axis linear motion mechanism; 602. Y-axis linear motion mechanism; 7. Material tray; 701. Material loading hole; 8. Material tray conveying mechanism; 9. Magazine-type feeder; 10. Magazine-type unloader; 11. Top camera; 12. Support frame; 13. Bottom camera; 14. Connecting frame; 15. Follow-up camera; 16. Frame; 17. Rotary suction nozzle; 18. Z-axis linear motion mechanism; 19. Component piece; 2 0. Flipping mechanism; 21. Fixed frame; 22. Moving frame; 23. Electric push rod one; 24. Outer cylinder; 2401. Opening one; 2402. Opening two; 25. Guide cover; 26. Turning roller; 2601. Transfer chamber one; 2602. Gear groove; 2603. Receiving cavity; 27. Transfer bar; 2701. Transfer chamber two; 28. Rack; 29. ​​Moving bar; 30. Electric push rod two; 31. Adsorption tube; 3101. Corrugated pipe section; 3102. Vertical pipe section; 32. Piston cylinder; 33. Piston disc; 34. Electric push rod three. Detailed Implementation

[0035] The two embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0036] First implementation method:

[0037] Figures 1-13This invention discloses a flexible tray-stacking machine with a visual positioning unit, comprising a cleanroom cabinet 1; a mounting base 2 is fixedly connected inside the cleanroom cabinet 1, and a flexible vibrating plate 4 is fixedly connected to the mounting base 2. A direct vibration feeder 3, which is fixedly connected to the mounting base 2, is provided on one side of the flexible vibrating plate 4. Component pieces 19 are poured into the direct vibration feeder 3, and then the direct vibration feeder 3 is started. The direct vibration feeder 3 vibrates and tilts the component pieces 19 onto the flexible vibrating plate 4, realizing the dispersion and small-scale feeding of the component pieces 19. The flexible vibrating plate 4 is started, so that the component pieces 19 falling into the flexible vibrating plate 4 are fully dispersed, which is convenient for subsequent grasping and adsorption. It should be noted that the direct vibration feeder 3 and the flexible vibrating plate 4 are both prior art, and will not be described in detail in this application.

[0038] Please see Figure 2 and Figure 5 The flexible vibratory feeder 4 has a head 5 on the side away from the direct vibratory feeder 3. The head 5 includes a frame 16. 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. The rotating suction nozzle 17 has a rotating mechanism inside that drives it to rotate. The rotating suction nozzle 17 is used to negatively pressure adsorb the element plate 19 and drive the element plate 19 to rotate horizontally, adjusting the orientation of the element plate 19. It should be noted that the rotating suction nozzle 17 is prior art and will not be described in detail in this application.

[0039] Please see Figure 2 and Figure 4 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 unloader 10 fixedly connected to the mounting base 2. Specifically, the material tray conveying mechanism 8 drives the material trays 7 from the loading position to the swing position. After the swing is completed, the material trays 7 are conveyed to the unloading position. It should be noted that the material tray conveying mechanism 8, the magazine-type feeder 9 and the magazine-type unloader 10 are all prior art, and will not be described in detail in this application.

[0040] Please see Figure 2 , Figure 3 and Figure 5 The machine head 5 is fixedly connected to 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. It cooperates with the Z-axis linear motion mechanism 18 to realize the movement of the rotating suction nozzle 17 in three-dimensional space, so that the rotating suction nozzle 17 adsorbs the element piece 19 from the flexible vibrating plate 4 and then transfers it to the loading hole 701 of the loading plate 7.

[0041] Please see Figure 5 , Figure 6 and Figure 7 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 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 cavities 2601 corresponding to the rotating suction nozzles 17. The lower end of the outer cylinder 24 is fixedly connected to... A guide cover 25 is provided, which is fixedly connected to the movable frame 22. A transfer strip 27 is slidably nested inside the guide cover 25. A transfer cavity 2701 is opened on the transfer strip 27 to cooperate with the first transfer cavity 2601. A rack 28 is engaged in the middle of the flipping roller 26. Multiple transfer strips 27 and racks 28 are fixedly connected to the same movable strip 29. The movable strip 29 is fixedly connected to an electric push rod 30 that drives it to move linearly along the surface of the movable frame 22. The electric push rod 30 is fixedly connected to the movable frame 22.

[0042] For details, please refer to Figure 10 , Figure 11 , Figure 12 and Figure 13 When it is necessary to flip the component piece 19 on the rotating nozzle 17, the following steps are included:

[0043] Step 1: Start the electric push rod 23, and the moving frame 22 drives the outer cylinder 24 on it to move, so that the transfer chamber 2601 of the flipping roller 26 moves to directly below the component piece 19.

[0044] Step 2: Start the Z-axis linear motion mechanism 18 so that the rotating suction nozzle 17 drives the component piece 19 to be flipped into the transfer cavity 2601. Then rotate the suction nozzle 17 to release the component piece 19 to be flipped and return it to the initial position.

[0045] Step 3: Activate the electric push rod 20 to extend its movable end. The electric push rod 20 drives the rack 28 to extend outward via the moving bar 29. The rack 28 drives the tilting roller 26 and the component piece 19 in its transfer cavity 2601 to rotate 180 degrees. At the same time, the transfer cavity 2701 of the transfer bar 27 moves below the transfer cavity 2601. Under the action of gravity, the component piece 19 falls into the transfer cavity 2701 through the guide cover 25. Then, activate the electric push rod 20 again to retract its movable end, driving the tilting roller 26 to rotate 180 degrees in the opposite direction and simultaneously driving the moving cavity 2701 of the transfer bar 27 back to its initial position.

[0046] Step 4: Restart the electric push rod 23. The electric push rod 23 pushes the moving frame 22 and the transfer bar 27 on it to extend outward, so that the transfer chamber 2701 of the transfer bar 27 moves to directly below the rotating suction nozzle 17.

[0047] Step 5: Restart the Z-axis linear motion mechanism 18 to drive the rotating suction nozzle 17 to move downwards, adsorb and grab the flipped component piece 19 in the transfer cavity 2701, and then return to the initial position.

[0048] Compared to traditional plate-turning machines, this invention uses a flipping mechanism 20 located below the machine head 5 to flip the component pieces 19 that need to be flipped, which are adsorbed by the rotating suction nozzle 17. This overcomes the problem of poor flipping efficiency caused by the reliance on the flexible vibrating plate 4 in traditional plate-turning machines, achieving precise flipping, reducing ineffective gripping caused by the back of the component piece 19 facing upwards, and simplifying the movement path of the rotating suction nozzle 17. At the same time, through the cooperation of the flipping roller 26 with a first transfer cavity 2601 and the transfer strip 27 with a second transfer cavity 2701, the rotating flipping of the component piece 19 is achieved. With the lateral reciprocating movement of the transfer strip 27, the flipped component piece 19 can be quickly aligned with the rotating suction nozzle 17, achieving rapid secondary adsorption and further improving the flipping efficiency of the component piece 19.

[0049] Please see Figure 2 and Figure 3 A top camera 11 is located directly above the flexible vibratory feeder 4. The top camera 11 is used to locate and identify the component pieces 19 inside the flexible vibratory feeder 4. The top camera 11 is fixedly connected to the mounting base 2 via a support frame 12. A follower camera 15 is fixedly connected to the frame 16. The follower camera 15 faces the material tray conveying mechanism 8. The follower camera 15 is used to locate and identify the material tray 7 and the material loading holes 701 on it. 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. A bottom camera 13 is fixedly connected to the Y-axis linear motion mechanism 602 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 locate and identify the rotating suction nozzle 17 and the component pieces 19 adsorbed on it.

[0050] Specifically, when arranging component piece 19 on a tray using the positioning unit, the following steps are included:

[0051] Step 1: Before the rotating suction nozzle 17 adsorbs the component pieces 19 on the flexible vibrating disk 4, the top camera 11 identifies and positions the component pieces 19 on the flexible vibrating disk 4. The identified information includes the front and back information of the component pieces 19, the orientation information of the component pieces 19, and the specification information of the component pieces 19. Based on the identification and positioning information, the rotating suction nozzle 17 grasps the component pieces 19 on the flexible vibrating disk 4. It should be noted that when grasping, it is not necessary to consider whether the component pieces 19 are front or back. It is only necessary to grasp the component pieces 19 that are close to the machine head 5 and are independently distributed. This simplifies the movement path of the machine head 5 and the rotating suction nozzle 17 on it and improves the grasping efficiency. In addition, based on the identified orientation information of the component pieces 19, the rotating suction nozzle 17 rotates after adsorbing and grasping to adjust the orientation of the component pieces 19, and lifts them to the initial position under the action of the Z-axis linear motion mechanism 18.

[0052] Step 2: Start the gantry-type two-dimensional robotic arm 6, so that the rotating suction nozzle 17 drives the component piece 19 to move towards the material tray 7. During the movement, the rotating suction nozzle 17 drives the component piece 19 to pass over the bottom camera 13. The bottom camera 13 identifies and acquires the front and back information and orientation information of the component piece 19, and compares it with the front and back information and orientation information required for correct tray placement.

[0053] Step 3: Based on the front and back information of component sheet 19 obtained by bottom camera 13 in step 2, start flipping mechanism 20 to flip the component sheet 19 that needs to be flipped, and then use rotating suction nozzle 17 to adsorb and grab it again. At the same time, adjust the orientation of component sheet 19 again by rotating suction nozzle 17.

[0054] Step 4: When the follow-up camera 15 moves above the material tray 7 along with the machine head 5, the follow-up camera 15 is used to identify and locate the material tray 7 and the material loading hole 701 on it.

[0055] Compared with the traditional single-vision positioning method, the present invention uses a top camera 11, a bottom camera 13 and a follow-up camera 15 to locate and identify the status of the component piece 19 when it is in different devices, and performs multiple checks and adjustments on the status of the component piece 19, thereby further improving the accuracy and efficiency of the tray placement.

[0056] Please see Figure 9 The outer cylinder 24 is a hollow cylindrical structure. An opening 2401 is provided on the outer cylinder 24, which communicates with the guide cover 25 and penetrates the outer cylinder 24. The opening 2401 is configured to cooperate with the transfer cavity 2601.

[0057] Specifically, when the flip roller 26 drives the transfer cavity 2601 on it to the upper end of the outer cylinder 4, the transfer cavity 2601 is connected to the opening 2401. The rotating suction nozzle 17 drives the element piece 19 to pass through the opening 2401 and insert it into the transfer cavity 2601. When the flip roller 26 drives the transfer cavity 2601 to the lower end of the outer cylinder 24, the transfer cavity 2601 is connected to the guide cover 25 through the opening 2401.

[0058] Please see Figure 9 The turning roller 26 has a toothed groove 2602 in the middle, and the outer cylinder 24 has a pair of symmetrical openings 2402 in the middle. The openings 2402 are 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.

[0059] Specifically, the rack 28 moves laterally along the lower opening of the second opening 2402, driving the turning roller 26 to rotate.

[0060] Please see Figure 7 , Figure 8 and Figure 9 The fixed frame 21 has a semi-enclosed frame structure and is located below the frame 16, while the movable frame 22 is a strip plate with an L-shaped cross section.

[0061] Specifically, when there is no need for flipping, the moving frame 22 and the outer cylinder 24 are both located on the side of the frame 16 to avoid interference with the rotating suction nozzle 17 that moves up and down.

[0062] Second implementation method:

[0063] Figure 14 and Figure 15 A flexible tray-stacking machine with a visual positioning unit is shown. Based on the first embodiment, a piston cylinder 32 is fixedly connected inside the flip 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 flip roller 26.

[0064] Specifically, after the component piece 19 is placed into the transfer chamber 2601, the component piece 19 abuts against the adsorption tube 31. The electric push rod 34 is activated, and the piston disc 33 slides in the piston cylinder 32, generating negative pressure to adsorb and fix the component piece 19. This ensures that when the flipping roller 26 flips, the component piece 19 is adsorbed and fixed by the adsorption tube 31, preventing friction with the inner wall of the outer cylinder 24, protecting the component piece 19, reducing damage to the component piece 19 during flipping, and further improving the flipping quality.

[0065] Please see Figure 14The 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 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 34 are both fixed in the receiving cavity 2603.

[0066] For details, please refer to Figure 12 When the element piece 19 is inserted into the first transfer chamber 2601, it squeezes the adsorption tube 31, and the corrugated tube 3101 is compressed. When the piston cylinder 32 performs negative pressure evacuation, the corrugated tube 3101 is further compressed. When the first transfer chamber 2601 moves to communicate with the second transfer chamber 2701, the piston cylinder 32 releases air, and the adsorption tube 31, including the corrugated tube 3101, expands vertically. The expanded adsorption tube 31 squeezes the element piece 19, making it easier for the element piece 19 to detach from the first transfer chamber 2601 and enter the second transfer chamber 2701. This replaces the traditional method of using gravity to transfer the element piece 19 in the first transfer chamber 2601 and the second transfer chamber 2701, improving the transfer quality and reducing the probability of the element piece 19 getting stuck and the transfer efficiency being low.

[0067] In light of current practical needs, the above-described embodiments adopted in this application are not limited to this scope of protection. Various changes made within the knowledge of those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

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 (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 (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.

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