Multi-layer material stacking equipment with center rotary detection function

Abstract

The invention relates to multi-layer material stacking equipment with center rotary detection, which belongs to the technical field of industrial automation, and comprises a vibration isolation table, and a visual identification module, a stacking adjustment module, an angle detection module and a sensor array module which are arranged on the vibration isolation table. The stacking adjusting module is used for grabbing and adjusting the poses of the materials and achieving stacking; a rotary bearing platform of the sensor array module drives materials to rotate, and a spiral sensor array synchronously detects the outline of an inner hole. According to the invention, the measurement of the pitching angle of the material is realized through the angle detection module, the in-situ measurement of the central position of the material is realized through central rotary detection, and the pose adjustment is carried out by the stacking adjustment module based on the measurement result. According to the equipment, the detection function is integrated in the stacking process, the secondary positioning error of a traditional sub-process detection mode is eliminated, and high-precision stacking of multiple layers of materials is achieved.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation technology, specifically relating to a multi-layer material stacking device with a central rotary detection system. Background Technology

[0002] In the field of industrial automation technology, multi-layer alignment and stacking of materials is a crucial step in processes such as precision machinery manufacturing, semiconductor packaging, and microelectronics assembly. With industrial development, the requirements for stacking accuracy and efficiency are increasing, especially when handling large-sized and heavy materials, where achieving high-precision alignment is particularly challenging.

[0003] Currently, the industry commonly adopts a step-by-step approach combining vision guidance and robotic arms. Specifically, a vision system first identifies the central hole features on the material surface, obtaining its two-dimensional image coordinates. These coordinates are then used as a reference to guide the robotic arm or adjustment table to grasp and place a single layer of material. However, vision recognition only obtains the center position of the material's hole surface. Due to manufacturing errors, the inner wall axis of the central hole often deviates from the theoretical axis based on surface feature recognition, making stacking results relying solely on vision positioning unreliable. Therefore, to ensure the true coaxiality of the final stack, after vision-guided stacking, the entire assembly must be transferred to another dedicated inspection device (such as a coordinate measuring machine) for offline inspection of the hole's inner wall to verify accuracy.

[0004] However, during the disassembly, handling, and re-clamping of stacked components into the testing equipment, they are affected by vibration, temperature changes, and secondary positioning deviations. This causes the final test results to fail to accurately reflect the real-time state at the end of stacking, introducing new errors. Therefore, there is an urgent need for a solution that can achieve in-situ center detection during the stacking process to eliminate systematic errors caused by process separation. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides a multi-layer material stacking device with a central rotary detection system. The technical problem to be solved by this invention is achieved through the following technical solution: This invention provides a multi-layer material stacking device with a center-rotating detection system, comprising: a vision recognition module disposed above the device for acquiring two-dimensional image information of the center hole of the material to be stacked; a stacking adjustment module disposed on one side of a vibration isolation table, including a feeding platform, a gripping unit, and multiple lifting units, wherein the gripping unit is disposed on the feeding platform for gripping the material to be stacked; the feeding platform is used to drive the gripping unit to feed along a first direction; the multiple lifting units are spaced apart and respectively connected to the feeding platform for driving the feeding platform to move up and down along a second direction; the first direction and the second direction are perpendicular to each other; and an angle detection module for performing planar detection on the gripped material to be stacked, obtaining... The planar detection results are obtained; multiple lifting units are also used to drive the feed platform to deflect according to the planar detection results, so as to adjust the angle and pose of the material to be stacked; a sensor array module is set on the other side of the vibration isolation table, including a rotating bearing platform and a spiral sensor array, the stacking adjustment module stacks the material to be stacked on the rotating bearing platform, the rotating bearing platform is used to drive the material to be stacked to rotate around the center; the spiral sensor array is used to detect the inner wall contour of the center hole of the material to be stacked during the rotation process, and obtain the rotation detection result; wherein, the stacking adjustment module is also used to adjust the angle and pose or horizontal position of the material to be stacked according to the rotation detection result.

[0006] In one embodiment of the present invention, the feeding platform includes a floating part, a fixed part, and a feeding unit, a guiding unit, and an alignment platform disposed between the floating part and the fixed part; the fixed part is fixedly connected to a plurality of lifting units, and the feeding unit and the guiding unit both extend along the first direction and are spaced apart, for driving the floating part to move relative to the fixed part along the first direction; the alignment platform is used to drive the floating part to move relative to the fixed part along a third direction to adjust the horizontal position of the material to be stacked; wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

[0007] In one embodiment of the present invention, the gripping unit includes a plurality of linear push rods distributed along a circumferential array, and each of the linear push rods has a degree of freedom to move along the radial direction of the circumferential array in which it is located.

[0008] In one embodiment of the present invention, the output ends of the plurality of lifting units are all connected to the lower surface of the feed platform via a hinge mechanism.

[0009] In one embodiment of the present invention, the angle detection module includes an angle lifting unit and a plurality of displacement sensors; the angle lifting unit is used to drive the plurality of displacement sensors to move up and down along the second direction; the plurality of displacement sensors are distributed in a circumferential array, and the detection ends of the plurality of displacement sensors are arranged on the same mounting plane, for obtaining distance information between them and the surface of the material to be stacked; wherein, the plane detection result is obtained based on the distance information obtained by the plurality of displacement sensors, and is used to determine the plane angle of the material to be stacked.

[0010] In one embodiment of the present invention, the rotating bearing platform includes an air-floating turntable and a material platform; the material to be stacked is stacked on the material platform, the material platform is disposed on the air-floating turntable, and the material platform and the material to be stacked on it are driven to rotate around the center by the air-floating turntable.

[0011] In one embodiment of the present invention, the spiral sensor array includes a support column and a plurality of sensors sequentially distributed around the outer periphery of the support column along a spiral line.

[0012] In one embodiment of the present invention, the sensor array module further includes a multi-axis adjustment stage, the spiral sensor array being fixedly mounted on the multi-axis adjustment stage via the support column, the multi-axis adjustment stage being used to adjust the spatial orientation of the spiral sensor array relative to the rotation axis of the rotating support platform.

[0013] In one embodiment of the present invention, the device further includes a feeding module disposed below the stacking adjustment module, which is used to transport the material to be stacked along the first direction or along the second direction to the feeding platform of the stacking adjustment module.

[0014] In one embodiment of the present invention, the multi-layer material stacking device with center rotation detection further includes a pose control module, which is electrically connected to the vision recognition module, the stacking adjustment module, the angle detection module, and the sensor array module, respectively. The pose control module includes an image processing unit and a motion control unit. The image processing unit is used to acquire two-dimensional image information of the center hole of the material to be stacked. The motion control unit is used to coordinate the extension and retraction of multiple lifting units based on the two-dimensional image information, the plane detection result, and the rotation detection result, driving the feed platform to deflect, thereby causing the material to be stacked to undergo angle and pose adjustment.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention relates to a multi-layer material stacking device with a center-rotating detection system. The stacking adjustment module, through its feeding platform and multiple lifting units, enables horizontal feeding and vertical lifting and angle adjustment of the material. The angle detection module performs planar detection of the material's placement, providing a basis for angle leveling. The sensor array module drives the material to rotate via a rotating support platform and simultaneously scans the inner hole wall contour using a spiral sensor array, achieving in-situ high-precision measurement of the material's center position. This invention directly integrates the inner hole detection function into the stacking station, enabling center detection and correction based on the inner hole wall during the stacking process. This completely avoids the secondary positioning errors caused by the need to transport components to independent detection equipment in traditional methods, thus improving production efficiency and product yield.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the axial structure of a multi-layer material stacking device with a central rotary detection provided in an embodiment of the present invention; Figure 2 This is a front view of the structure of the multi-layer material stacking device with center rotary detection provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the stacking adjustment module provided in an embodiment of the present invention; Figure 4 This is a top view of the gripping unit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the angle detection module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the sensor array module provided in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the working principle of the sensor array module provided in this embodiment of the invention; Figure 8 This is a detection result diagram of the sensor array module provided in an embodiment of the present invention.

[0018] Reference numerals: 1-Vision recognition module; 2-Stacking adjustment module; 21-Feeding platform; 211-Floating part; 212-Fixed part; 213-Feeding unit; 214-Guiding unit; 215-Alignment stage; 22-Gripping unit; 23-Lifting unit; 3-Angle detection module; 31-Angle lifting unit; 32-Displacement sensor; 4-Sensor array module; 41-Rotating bearing platform; 411-Air-floating turntable; 412-Material platform; 42-Spiral sensor array; 421-Support column; 422-Sensor; 43-Multi-axis adjustment stage; 431-Positioning measurement unit; 4311-Collimation component; 4312-Reflection component; 432-Positioning adjustment unit; 4321-Rotating stage; 4322-Displacement stage; 5-Vibration isolation stage; 6-Feeding module. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following describes in detail a multi-layer material stacking device with a central rotary detection according to the present invention, in conjunction with the accompanying drawings and specific embodiments.

[0020] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a more in-depth and concrete understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the technical solutions of the present invention.

[0021] Example 1 like Figures 1 to 8 As shown, Figure 1 This is a schematic diagram of the axial structure of a multi-layer material stacking device with a central rotary detection provided in an embodiment of the present invention; Figure 2 This is a front view of the structure of the multi-layer material stacking device with center rotary detection provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the stacking adjustment module provided in an embodiment of the present invention; Figure 4 This is a top view of the gripping unit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the angle detection module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the sensor array module provided in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating the working principle of the sensor array module provided in this embodiment of the invention; Figure 8 This is a detection result diagram of the sensor array module provided in an embodiment of the present invention.

[0022] In this embodiment, a multi-layer material stacking device with a center-rotating detection system includes: a vision recognition module 1, a stacking adjustment module 2, an angle detection module 3, a sensor array module 4, a vibration isolation table 5, and a feeding module 6. The vision recognition module 1 is located above the device and is used to acquire two-dimensional image information of the center hole of the material to be stacked. The stacking adjustment module 2 is located on one side of the vibration isolation table 5 and includes a feeding platform 21, a gripping unit 22, and multiple lifting units 23. The gripping unit 22 is located on the feeding platform 21 and is used to grip the material to be stacked. The feeding platform 21 is used to drive the gripping unit 22 to feed along a first direction. The multiple lifting units 23 are spaced apart and connected to the feeding platform 21 respectively, and are used to drive the feeding platform 21 to move up and down along a second direction. The angle detection module 6... The measurement module 3 is used to perform planar detection on the grasped material to be stacked and obtain the planar detection result; multiple lifting units 23 are also used to drive the feed platform 21 to deflect according to the planar detection result, so as to adjust the angle and pose of the material to be stacked; the sensor array module 4 is set on the other side of the vibration isolation table 5, including a rotating bearing platform 41 and a spiral sensor array 42. The stacking adjustment module 2 stacks the material to be stacked on the rotating bearing platform 41, and the rotating bearing platform 41 is used to drive the material to be stacked to rotate around the center; the spiral sensor array 42 is used to detect the inner wall contour of the center hole of the material to be stacked during the rotation process and obtain the rotation detection result; the stacking adjustment module 2 is also used to adjust the angle and pose or horizontal position of the material to be stacked according to the rotation detection result.

[0023] In an optional embodiment, the feeding platform 21 includes a floating part 211, a fixed part 212, and a feeding unit 213, a guiding unit 214, and an alignment platform 215 disposed between the floating part 211 and the fixed part 212. Specifically, the fixed part 212 is fixedly connected to multiple lifting units 23. The feeding unit 213 and the guiding unit 214 both extend along a first direction and are spaced apart, used to drive the floating part 211 to move relative to the fixed part 212 in the first direction. The alignment platform 215 is used to drive the floating part 211 to move relative to the fixed part 212 in a third direction to adjust the horizontal position of the material to be stacked. The loading module 6 is disposed below the stacking adjustment module 2 and is used to transport the material to be stacked to the feeding platform 21 of the stacking adjustment module 2 along the first direction or along the second direction.

[0024] It should be noted that the first direction, the second direction, and the third direction are mutually perpendicular. For example, the first direction and the third direction are two mutually perpendicular directions (X, Y) on a horizontal plane, and the second direction is a vertical direction (Z). In this way, the two-dimensional image information (X, Y coordinates of the center hole) of the material to be stacked is obtained by the vision recognition module 1, and it is used as the center alignment reference in the subsequent stacking process. The two-dimensional image information is re-obtained during each stacking to ensure that the center alignment requirement is still met when the last layer of material to be stacked is placed.

[0025] In an optional embodiment, the gripping unit 22 includes a plurality of linear push rods distributed in a circumferential array, each linear push rod having a degree of freedom to move radially along the circumferential array in which it is located. Exemplarily, the linear push rods may be pneumatically driven, with gripper structures connected to their front ends. The plurality of linear push rods and their front-end gripper structures move towards each other to clamp the outer periphery of the material to be stacked, thus achieving gripping; similarly, the plurality of linear push rods and their front-end gripper structures move away from each other to release and place the material to be stacked.

[0026] In an optional embodiment, the multi-layer material stacking device with center rotation detection of the present invention further includes a pose control module, which is electrically connected to the vision recognition module 1, the stacking adjustment module 2, the angle detection module 3, and the sensor array module 4, respectively. The pose control module includes an image processing unit and a motion control unit. The image processing unit is used to acquire two-dimensional image information of the center hole of the material to be stacked. The motion control unit is used to coordinate the extension and retraction of multiple lifting units 23 according to the two-dimensional image information, the plane detection result, and the rotation detection result, and drive the feed platform 21 to deflect, thereby driving the material to be stacked to perform angle and pose adjustment.

[0027] For example, each lifting unit 23 is equipped with a servo drive motor, and the output ends of multiple lifting units 23 are connected to the lower surface of the feeding platform 21 through a hinge mechanism to support and drive the feeding platform 21 to move up and down in the second direction. In addition, based on the planar detection results or rotation detection results, i.e. the angular pose of the material to be stacked, the feeding platform 21 can be driven to rotate around the second or third direction by coordinating the extension and retraction of multiple lifting units 23, thereby causing the material to be stacked on it to adjust its angular pose.

[0028] It is understood that the servo drive motor used in the lifting unit 23 of the present invention is equipped with an encoder, which can be used to record its position and adjustment distance.

[0029] Preferably, three lifting units 23 are provided and arranged circumferentially, that is, two lifting units 23 are provided on one side of the feed platform 21 along a third direction, and one lifting unit 23 is provided on the other side. In this way, by coordinating and controlling the extension and retraction of multiple lifting units 23, the feed platform 21 can be deflected. At the same time, when the three lifting units 23 are driven to lift and retract with the same amount of extension and retraction, the gripping unit 22 supported on the feed platform 21 also lifts and retracts accordingly, thereby realizing lifting, lowering or placing.

[0030] In an optional embodiment, the angle detection module 3 includes an angle lifting unit 31 and multiple displacement sensors 32; the angle lifting unit 31 is used to drive the multiple displacement sensors 32 to move up and down along a second direction; the multiple displacement sensors 32 are distributed in a circumferential array, and the detection ends of the multiple displacement sensors 32 are all arranged on the same mounting plane, for obtaining distance information between them and the surface of the material to be stacked; wherein, the plane detection result is obtained based on the distance information obtained by the multiple displacement sensors 32, and is used to determine the plane angle of the material to be stacked.

[0031] In an optional embodiment, the rotating support platform 41 includes an air-floating turntable 411 and a material platform 412; the materials to be stacked are stacked on the material platform 412, which is located on the air-floating turntable 411, and the material platform 412 and the materials to be stacked on it are driven to rotate around the center by the air-floating turntable 411.

[0032] In an optional embodiment, the spiral sensor array 42 includes a support column 421 and multiple sensors 422 sequentially distributed along the outer periphery of the support column 421. By arranging the sensors 422 along the spiral, the distance information of different axial heights and circumferential positions of the inner wall of the central hole of the material to be stacked can be simultaneously collected during a single rotation driven by the air-floating turntable 411. Thus, in a single measurement, distance information is acquired by multiple sensors 422, significantly improving the accuracy and efficiency of center position fitting and reducing measurement errors caused by uneven axial distribution of the multiple sensors 422.

[0033] In an optional embodiment, the sensor array module 4 further includes a multi-axis adjustment stage 43, on which the spiral sensor array 42 is fixedly mounted via its support column 421. The multi-axis adjustment stage 43 is used to adjust the spatial pose of the spiral sensor array 42 relative to the rotation axis of the rotating support platform 41.

[0034] For example, the multi-axis adjustment stage 43 includes a positioning measurement unit 431 and a positioning adjustment unit 432. The positioning measurement unit 431 includes a collimation component 4311 and a reflection component 4312. The collimation component 4311 can be a collimator, with the lower end of the support column 421 fixed to the mounting plate. The reflection component 4312 can be a reflector and is mounted on the bottom of the mounting plate. In this way, the collimator emits a beam of parallel light, which is reflected by the reflector and then received again to obtain the angle of the mounting plate, thereby indirectly measuring the angle of the spiral sensor array 42. The positioning adjustment unit 432 includes a rotary stage 4321 and a displacement stage 4322. The rotary stage 4321 is used to drive the support column 421 of the spiral sensor array 42 to rotate relative to the rotation axis of the rotary support platform 41. The displacement stage 4322 is used to drive the support column 421 of the spiral sensor array 42 to move along a first direction or a third direction, thereby achieving calibration of the spiral sensor array 42. In addition, the angle or position of the spiral sensor array 42 needs to be calibrated by its own multiple sensors 422, and then adjusted by the rotary table 4321 and the displacement table 4322 respectively to ensure the accuracy of the detection results.

[0035] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention will be further explained below in conjunction with a specific application scenario.

[0036] This embodiment provides a multi-layer material stacking device with a center-rotating detection system. The device includes a vision recognition module 1, a stacking adjustment module 2, an angle detection module 3, a sensor array module 4, a feeding module 6, and a posture control module.

[0037] The visual recognition module 1 is fixed above the equipment by a bracket and can use a combination of a high-resolution industrial camera and a telecentric lens to acquire two-dimensional image information of the center hole of the material to be stacked.

[0038] The stacking adjustment module 2 is located on one side of the vibration isolation table 5. First, the gripping unit 22 grips the material to be stacked at the feeding position. After the position is adjusted, the material to be stacked is stacked to the stacking position.

[0039] The stacking adjustment module 2 specifically includes a feeding platform 21, a gripping unit 22, and three lifting units 23. All three lifting units 23 are driven by servo motors and are distributed circumferentially on the vibration isolation table 5. The output end of each lifting unit 23 is connected to the lower surface of the fixed part 212 of the feeding platform 21 via a ball joint mechanism. By controlling the synchronous and equal extension and retraction of the three lifting units 23, the feeding platform 21 can be driven to move up and down in the second direction. By controlling the differential extension and retraction of the three lifting units 23, the entire feeding platform 21 can be deflected around two mutually perpendicular horizontal axes (i.e., around the first direction or the third direction).

[0040] A linear guide rail extending along a first direction is mounted on the fixed part 212 of the feed platform 21, serving as a guide unit 214; the floating part 211 is slidably connected to the guide unit 214 via a linear slider. The feed unit 213, using a ball screw guide rail driven by a servo motor, is mounted on the fixed part 212 and is used to drive the floating part 211 to move linearly along the first direction. The alignment stage 215 is mounted on the lower surface of the floating part 211, and the gripping unit 22 is fixed on the floating part 211. Thus, the gripping unit 22 can achieve two-dimensional planar motion in the horizontal plane (XY plane) under the drive of the feed unit 213 and the alignment stage 215.

[0041] The gripping unit 22 is used to grip and release materials to be stacked. The gripping unit 22 includes three pneumatic push rods evenly distributed in an array along the circumference, and each pneumatic push rod can move radially along the circumference. By controlling the extension and retraction of the end of the pneumatic push rod, it can be made to cooperate with the outer periphery of the materials to be stacked, so as to achieve stable gripping and release.

[0042] The sensor array module 4 is set on one side of the vibration isolation table 5. It includes a rotating bearing platform 41 and a spiral sensor array 42. The rotating bearing platform 41 is set at the stacking position and includes an air-floating turntable 411 and a material platform 412 fixed on its platform. The air-floating turntable 411 can drive the material platform 412 and the stacked materials carried on it to rotate around the center.

[0043] The helical sensor array 42 is fixedly mounted on the multi-axis adjustment stage 43 via a support column 421. The multi-axis adjustment stage 43 is located below the vibration isolation stage 5 and includes two rotary stages 4321 and at least one displacement stage 4322, used to adjust the spatial pose (including horizontal position and pitch angle) of the helical sensor array 42 relative to the rotation axis of the rotating support platform 41 before stacking. Multiple sensors 422, such as laser distance sensors, are sequentially distributed along a spatial helix on the outer surface of the support column 421 of the helical sensor array 42. When the stacked material rotates under the drive of the rotating support platform 41, the helically distributed sensors 422 can synchronously sample the radial distance of its inner hole wall, thereby obtaining the contour information of the inner hole wall of the central hole of the stacked material.

[0044] Angle detection module 3 is fixed on vibration isolation table 5 and includes angle lifting unit 31 and three displacement sensors 32. Angle lifting unit 31 can drive the three displacement sensors 32 to lift synchronously. The detection ends of the three displacement sensors 32 are located in the same horizontal plane and are distributed in a circle. They are used to non-contactly measure the height of three positions on the surface of the material to be stacked, and then calculate the planar angle of the surface of the material to be stacked.

[0045] The feeding module 6 is located below the stacking adjustment module 2 and is used to automatically transport the material to be stacked to the bottom of the stacking adjustment module 2 at the feeding position along the first direction, and to the feeding platform 21 of the stacking adjustment module 2 along the second direction.

[0046] The pose control module (not shown in the figure) includes an image processing unit and a motion control unit. The image processing unit is used to process the images acquired by the vision recognition module 1 and identify the center of the material to be stacked. The motion control unit is used to process the plane detection results of the angle detection module 3, the rotation detection results of the sensor array module 4, and the visual positioning information, generate control commands, coordinate and drive each motion unit of the stacking adjustment module 2 and the rotating bearing platform 41 of the sensor array module 4 to complete the stacking process.

[0047] The following provides further explanation of the specific workflow of this invention.

[0048] When the equipment is working, the feeding module 6 first sends the material to be stacked to the feeding platform 21 of the stacking adjustment module 2. The stacking adjustment module 2 then starts to operate: the gripping unit 22 moves to grip the material to be stacked, and the three lifting units 23 work together to adjust the height and angle of the material to be stacked on the feeding platform 21. The feeding unit 213 and the alignment table 215 work together to move the gripped material above the rotating bearing platform 41 (stack position) and then lower it to place it.

[0049] For each layer of materials after the first layer, the following testing and adjustment procedures are performed after initial placement: First, visual recognition module 1 performs visual recognition and positioning. After the feeding module 6 transports the materials to be stacked to the preset feeding position, the visual recognition module 1 acquires an image of the materials. The image processing unit in the pose control module analyzes the image, identifies the surface features of the material's central hole, and calculates its initial two-dimensional position coordinates in the equipment coordinate system. The visual recognition results provide a benchmark for material gripping and initial rough positioning.

[0050] After visual recognition, the angle detection module 3 performs planar posture recognition and leveling. The displacement sensor 32 of the angle detection module 3 descends to measure the height of the surface of the material to be stacked after placement and calculates the planar angle. Subsequently, the stacking adjustment module 2 is raised, and the angle detection module 3 measures and calculates the planar angle again. Based on the difference between the two planar angles, the posture control module controls the three lifting units 23 to perform differential motion to compensate for the pitch angle of the material to be stacked, and then it is placed again.

[0051] Based on visual recognition positioning and angle leveling, the sensor array module 4 can also realize center position recognition based on center rotation, and the accuracy of recognition can be improved by retesting through the spiral sensor array 42 to ensure stacking accuracy.

[0052] The air-floating turntable 411 of the rotating support platform 41 is activated, causing the material platform 412 and the stacked materials on it to rotate at a constant speed for at least one revolution. Simultaneously, multiple sensors 422 of the spiral sensor array 42 synchronously collect the full-circumference radial distance data of the inner wall of the stacked materials and upload it to the pose control module. The pose control module processes the collected data to obtain the actual center coordinates of the inner hole of the material layer and calculates its center deviation from the target center coordinates. If the center deviation exceeds the allowable range, the pose control module generates a command to drive the feed unit 213 and the alignment stage 215 of the stacking adjustment module 2 to adjust the position of the material to be stacked in the horizontal plane. Subsequently, a second detection and judgment are performed until the center deviation meets the accuracy requirements.

[0053] Once the angle and center position meet the requirements, the gripping unit 22 releases the material, completing the stacking of this layer. The stacking adjustment module 2 resets, ready to grip and stack the next layer of material. The above process is repeated until all materials to be stacked are stacked layer by layer from the loading position to the stacking position.

[0054] like Figure 7 and Figure 8 As shown, the air-floating turntable 411 drives the material platform 412 and the stacked materials on it to rotate at a constant speed. At the same time, multiple sensors 422 of the spiral sensor array 42 synchronously detect the distance between the inner walls of the stacked materials. The left figure is an image of the inner wall of the stacked materials obtained by the sensor 422 based on the rotation detection. The right figure is a curve of the inner wall distance as a function of angle obtained by the detection. It can be seen that when the detection value curve of one or more sensors 422 is within the acceptable upper and lower limit threshold curves, it indicates that the multi-layer stacked materials have good center alignment accuracy.

[0055] This invention relates to a multi-layer material stacking device with a center-rotating detection system. The stacking adjustment module, through its feeding platform and multiple lifting units, enables horizontal feeding and vertical lifting and angle adjustment of the material. The angle detection module performs planar detection of the material's placement, providing a basis for angle leveling. The sensor array module drives the material to rotate via a rotating support platform and simultaneously scans the inner hole wall contour using a spiral sensor array, achieving in-situ high-precision measurement of the material's center position. This invention directly integrates the inner hole detection function into the stacking station, enabling center detection and correction based on the inner hole wall during the stacking process. This completely avoids the secondary positioning errors caused by the need to transport components to independent detection equipment in traditional methods, thus improving production efficiency and product yield.

[0056] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device comprising said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0057] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A multi-layer material stacking device with a central rotary detection system, characterized in that, include: The vision recognition module, located on top of the device, is used to acquire two-dimensional image information of the center hole of the material to be stacked; A stacking adjustment module, located on one side of a vibration isolation table, includes a feeding platform, a gripping unit, and multiple lifting units. The gripping unit is located on the feeding platform and is used to grip materials to be stacked. The feeding platform is used to drive the gripping unit to feed along a first direction. The multiple lifting units are spaced apart and connected to the feeding platform respectively, and are used to drive the feeding platform to move up and down along a second direction. The first direction is perpendicular to the second direction; An angle detection module is used to perform planar detection on the grasped material to be stacked and obtain a planar detection result; the multiple lifting units are also used to drive the feed platform to deflect according to the planar detection result, so as to adjust the angle and pose of the material to be stacked. The sensor array module, located on the other side of the vibration isolation table, includes a rotating bearing platform and a spiral sensor array. The stacking adjustment module stacks the material to be stacked on the rotating bearing platform, which drives the material to be stacked to rotate around the center. The spiral sensor array is used to detect the inner wall contour of the central hole of the material to be stacked during its rotation to obtain the rotation detection result. The stacking adjustment module is also used to adjust the angle pose or horizontal position of the material to be stacked based on the rotation detection result.

2. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The feeding platform includes a floating part, a fixed part, and a feeding unit, a guiding unit, and a positioning stage disposed between the floating part and the fixed part; The fixed part is fixedly connected to multiple lifting units. The feeding unit and the guiding unit both extend along the first direction and are spaced apart, and are used to drive the floating part to move relative to the fixed part along the first direction. The alignment stage is used to drive the floating part to move relative to the fixed part along a third direction to adjust the horizontal position of the material to be stacked. Wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

3. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The gripping unit includes multiple linear push rods distributed along a circumferential array, and each linear push rod has a degree of freedom to move along the radial direction of the circumferential array in which it is located.

4. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The output ends of the multiple lifting units are all connected to the lower surface of the feed platform via a hinge mechanism.

5. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The angle detection module includes an angle lifting unit and multiple displacement sensors; The angle lifting unit is used to drive the multiple displacement sensors to move up and down along the second direction; Multiple displacement sensors are distributed in a circumferential array, and the detection ends of multiple displacement sensors are arranged on the same mounting plane to obtain distance information between them and the surface of the material to be stacked. The planar detection result is obtained based on the distance information acquired by multiple displacement sensors and is used to determine the planar angle of the materials to be stacked.

6. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The rotating support platform includes an air-floating turntable and a material platform; the materials to be stacked are stacked on the material platform, which is located on the air-floating turntable, and the air-floating turntable drives the material platform and the materials to be stacked on it to rotate around the center.

7. The multi-layer material stacking device with central rotary detection according to claim 6, characterized in that, The spiral sensor array includes a support column and multiple sensors distributed sequentially around the outer periphery of the support column along a spiral line.

8. The multi-layer material stacking device with center rotary detection according to claim 7, characterized in that, The sensor array module further includes a multi-axis adjustment platform. The spiral sensor array is fixedly mounted on the multi-axis adjustment platform via the support column. The multi-axis adjustment platform is used to adjust the spatial orientation of the spiral sensor array relative to the rotation axis of the rotating support platform.

9. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, The device also includes a feeding module, which is located below the stacking adjustment module and is used to transport the material to be stacked along the first direction or along the second direction to the feeding platform of the stacking adjustment module.

10. The multi-layer material stacking device with central rotary detection according to claim 1, characterized in that, It also includes a pose control module, which is electrically connected to the visual recognition module, the stacking adjustment module, the angle detection module and the sensor array module respectively; The pose control module includes an image processing unit and a motion control unit. The image processing unit is used to acquire two-dimensional image information of the center hole of the material to be stacked. The motion control unit is used to coordinate the extension and retraction of multiple lifting units based on the two-dimensional image information, the plane detection result, and the rotation detection result, and drive the feed platform to deflect, thereby causing the material to be stacked to adjust its angle and pose.

Images