Material tape feeding detection device and detection method

Abstract

The application discloses a material belt feeding detection device and a detection method, and relates to the technical field of machining. The material belt feeding detection device comprises a bearing mechanism, a first camera detection mechanism, a first material taking mechanism, an adjusting mechanism and a second material taking mechanism. The first camera detection mechanism can detect a plurality of workpieces located at a first station. The first material taking mechanism can independently drive a suction end to move up and down and rotate around a vertical axis according to the detection result of the first camera detection mechanism. The distance between two adjacent second stations is less than or greater than the distance between two adjacent suction ends. The adjusting mechanism can move in a first direction according to the detection result of the first camera detection mechanism, so that any second station moves below any suction end. The adjusting mechanism controls the distance and position of each movement in the first direction. The first material taking mechanism independently drives the suction end to rotate around the vertical axis before moving downward, and has good adaptability.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a material feeding detection device and detection method. Background Technology

[0002] In automated production, strip materials are widely used as carriers for electronic components, connector terminals, and small metal structural parts. To improve transportation efficiency and material utilization, multiple workpieces are usually arranged at equal intervals on the strip. In the production line, robotic arms using grippers or nozzles are typically used to transfer them. However, since the workpieces on the strip are nuts or other small components, the spacing between adjacent workpieces is usually quite close. The robotic arm structure itself is relatively large, and the spacing between workpieces on the strip is usually much smaller than the spacing between the grippers or nozzles of multiple parallel robotic arms. Furthermore, during handling and unloading, slight offsets or angular deflections of workpieces on the strip are unavoidable. This makes it difficult for multiple parallel robotic arms to directly transfer multiple workpieces side by side; they can only pick them up one by one from the strip, resulting in low picking efficiency. Moreover, if the robotic arms pick up workpieces with slight offsets or angular deflections, it may affect subsequent processing steps. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a material feeding detection device that is well adapted to situations where workpieces deviate or angularly deflect on the material belt.

[0004] This application also proposes a detection method for a material feeding detection device that can be applied to the material feeding detection device.

[0005] To achieve the above objectives, a first aspect of the present invention provides a strip feeding and detection device, comprising a carrying mechanism, a first camera detection mechanism, a first picking mechanism, an adjusting mechanism, and a second picking mechanism; the carrying mechanism is used to carry a strip with multiple workpieces; the top of the carrying mechanism has a first station for placing a portion of the strip; the first camera detection mechanism is located on one side of the carrying mechanism and is capable of detecting multiple workpieces located at the first station; the first picking mechanism has multiple suction ends arranged sequentially at intervals along a first direction; the first picking mechanism is electrically connected to the first camera detection mechanism and is capable of independently driving the suction ends to move up and down and rotate around a vertical axis according to the detection result of the first camera detection mechanism. The first material handling mechanism can pick up workpieces through the suction end; an adjustment mechanism is located below the first material handling mechanism; the top of the adjustment mechanism has a plurality of second workstations arranged sequentially at intervals along a first direction, the second workstations being used to place workpieces; the distance between two adjacent second workstations is less than or greater than the distance between two adjacent suction ends; the adjustment mechanism is electrically connected to the first camera detection mechanism and can move along the first direction according to the detection result of the first camera detection mechanism, so that any second workstation moves to below any suction end; the second material handling mechanism is located on one side of the adjustment mechanism and the carrying mechanism, and can pick up the workpiece located at the first workstation and move it to the second workstation.

[0006] Furthermore, the adjustment mechanism includes an adjustment drive and a suction platform; the suction platform is located below the suction end of the first material handling mechanism; multiple second stations are all disposed on top of the suction platform; the adjustment drive is connected to the suction platform and electrically connected to the first camera detection mechanism; the adjustment drive can drive the suction platform to move along a first direction according to the detection result of the first camera detection mechanism, so that any second station moves to below any of the suction ends.

[0007] Furthermore, the suction stage includes a stage body and a second vacuum adsorption structure; the adjustment drive is connected to the stage body; the second station is located at the top of the stage body, and the top of the stage body is provided with a plurality of second suction holes, which are respectively located at the plurality of second stations, and the second vacuum adsorption structure is connected to the plurality of second suction holes.

[0008] Furthermore, the first material handling mechanism includes a plurality of first suction components arranged at intervals along a first direction; the first suction component includes a first up-and-down driving member, a rotating member, and a first suction member; the bottom end of the first suction member is the suction end, and the first suction member can suction the workpiece through the suction end; the rotating member is connected to the first suction member and can drive the first suction member to rotate around a vertical axis; the first up-and-down driving member is connected to the rotating member and can drive the rotating member to move in the vertical direction.

[0009] Furthermore, it also includes a second camera detection mechanism; the second camera detection mechanism is located on one side of the adjustment mechanism; the first material handling mechanism also includes a first horizontal drive member; the first horizontal drive member is connected to the first vertical drive member and can drive the first vertical drive member to move, so as to move the first suction member above the second camera detection mechanism; the first material handling mechanism is electrically connected to the second camera detection mechanism and can independently drive the suction end to rotate around the vertical axis according to the detection result of the second camera detection mechanism.

[0010] Furthermore, the second material handling mechanism includes a second horizontal drive member, a second vertical drive member, and a second suction member; the second horizontal drive member is connected to the second vertical drive member and can drive the second vertical drive member to move to one side of the bearing mechanism and one side of the adjusting mechanism; the second vertical drive member is connected to the second suction member and can drive the second suction member to move in the vertical direction; the second suction member can pick up the workpiece located at the first station and move it to the second station.

[0011] Furthermore, the second material handling mechanism also includes a first connecting member; the second suction member is movably disposed on the second up-down driving member along a first direction, and the first connecting member detachably connects the second suction member and the second up-down driving member; the first camera detection mechanism includes a first camera detection module, a first support frame, and a second connecting member; the first camera detection module is movably disposed on the first support frame along a first direction, and the second connecting member detachably connects the first camera detection module and the first support frame.

[0012] Furthermore, it also includes a feeding mechanism and a pulling mechanism; the feeding mechanism is located on one side of the supporting mechanism and is capable of feeding out a strip of material with multiple workpieces; the supporting mechanism is used to support the strip of material with multiple workpieces fed out by the feeding mechanism; the pulling mechanism is located on one side of the supporting mechanism and is electrically connected to the first camera detection mechanism; the pulling mechanism is capable of intermittently pulling the strip of material on the supporting mechanism according to the detection results of the first camera detection mechanism.

[0013] A detection method for a material feeding detection device according to a second aspect embodiment of the present invention includes the following steps:

[0014] S1. A conveyor belt carrying multiple workpieces is supported by a support mechanism;

[0015] S2. The position of multiple workpieces on the material belt section of the first station of the carrier mechanism and the distance between the multiple workpieces are obtained by visual inspection through the first camera inspection mechanism to obtain the inspection results;

[0016] S3. The second material handling mechanism picks up multiple workpieces located at the first station and moves them to multiple second stations of the adjusting mechanism respectively.

[0017] S4. According to the detection results of the first camera detection mechanism, the adjustment mechanism moves the multiple second stations one by one along the first direction to below the multiple suction ends of the first material handling mechanism. The first material handling mechanism can independently drive the suction ends to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism, and control the suction ends to pick up the workpiece.

[0018] Furthermore, the adjustment mechanism moves multiple second stations one by one along the first direction to below multiple suction ends of the first material handling mechanism according to the detection results of the first camera detection mechanism. The first material handling mechanism can independently drive the first suction component to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism, and control the suction end to pick up the workpiece. The method also includes the following steps:

[0019] Based on the positions between the multiple suction ends and the multiple second workstations, the initial position of the adjustment mechanism is preset, and based on the initial position, the interval distance between the multiple suction ends and the interval distance between the multiple second workstations, the preset moving distance of the adjustment mechanism is preset.

[0020] Control the adjustment mechanism to move to the initial position;

[0021] The control adjustment mechanism moves multiple times. Before each movement, the preset movement distance is increased, decreased, or kept unchanged based on the position of the workpieces at the multiple first stations detected by the first camera detection mechanism to obtain the actual movement distance. The control adjustment mechanism moves according to the actual movement distance. After each movement, at least one workpiece is positioned opposite to one suction end. Based on the position of the workpieces at the multiple first stations detected by the first camera detection mechanism, the first material handling mechanism independently drives the corresponding suction end to rotate around the vertical axis and move downward. Then, the suction end is controlled to pick up the corresponding workpiece and move upward.

[0022] Compared with the prior art, the present invention has the following advantages: In the embodiments of the present invention, the carrying mechanism carries a strip of material with multiple workpieces. The first camera detection mechanism can detect multiple workpieces on the strip located at the first station of the carrying mechanism, and can detect the positional offset and rotation degree of the workpieces at the first station. The second picking mechanism picks up and moves the workpieces located at the first station to the second station. The adjustment mechanism can move along the first direction according to the detection results, so that multiple second stations move one by one below the multiple suction ends of the first picking mechanism, so that the first picking mechanism can pick up multiple workpieces located at the second station one by one, with high picking efficiency, and the second stations and suction ends with different intervals can be adapted to each other. When the workpieces on the strip show a slight offset in the first direction, the adjustment mechanism can control the distance and position of each movement along the first direction according to the detection results of the first camera detection mechanism, with good adaptability. When the workpieces on the strip show angular deflection, the first picking mechanism can independently drive the suction end to rotate around the vertical axis before moving downward according to the detection results of the first camera detection mechanism, with good adaptability. Attached Figure Description

[0023] To more clearly illustrate the technology in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the material feeding and detection device of the present invention;

[0025] Figure 2 This is a schematic diagram of the adjustment mechanism of the material feeding and detection device of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the first material handling mechanism of the material feeding and detection device of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the first camera detection mechanism of the material feeding detection device of the present invention;

[0028] Figure 5 This is a schematic diagram of the supporting mechanism and the unloading mechanism of the material feeding and detection device of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the second material handling mechanism of the material feeding and detection device of the present invention;

[0030] Figure 7 This is a schematic flowchart of the detection method for the material feeding detection device of the present invention.

[0031] Reference numerals: 10 for strip; 20 for workpiece; 100 for bearing mechanism; 101 for first station; 200 for first camera detection mechanism; 210 for first camera detection module; 220 for first support frame; 300 for first material handling mechanism; 301 for suction end; 310 for first suction assembly; 311 for first up-down drive; 312 for rotating component; 313 for first suction component; 320 for first horizontal drive; 400 for adjusting mechanism; 401 for second station; 410 for adjusting drive; 420 for suction table; 421 for table body; 422 for second suction hole; 500 for second material handling mechanism; 510 for second horizontal drive; 520 for second up-down drive; 530 for second suction component; 600 for second camera detection mechanism; 700 for unloading mechanism. Detailed Implementation

[0032] The technology of this embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiment is one embodiment of the present invention, and not all embodiments thereof. Based on this embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] Furthermore, if the embodiments of the present invention involve descriptions such as "first" or "second", such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0035] Please see Figures 1 to 7 The embodiments of the present invention provide a material belt feeding detection device and detection method.

[0036] Please see Figures 1 to 6According to a first aspect embodiment of the present invention, the material feeding and detection device includes a carrying mechanism 100, a first camera detection mechanism 200, a first picking mechanism 300, an adjusting mechanism 400, and a second picking mechanism 500. The carrying mechanism 100 is used to carry a material strip 10 with a plurality of workpieces 20. The top of the carrying mechanism 100 has a first station 101 for placing a portion of the material strip 10. The first camera detection mechanism 200 is located on one side of the carrying mechanism 100 and is capable of detecting the plurality of workpieces 20 located at the first station 101. The first picking mechanism 300 has a plurality of suction ends 301 arranged sequentially at intervals along a first direction. The first picking mechanism 300 is electrically connected to the first camera detection mechanism 200 and is capable of independently driving the suction ends 301 to move up and down and rotate vertically according to the detection result of the first camera detection mechanism 200. The axis rotates; the first material handling mechanism 300 can pick up the workpiece 20 through the suction end 301; the adjustment mechanism 400 is located below the first material handling mechanism 300; the top of the adjustment mechanism 400 has a plurality of second workstations 401 arranged sequentially and spaced apart along the first direction, the second workstations 401 being used to place the workpiece 20; the distance between two adjacent second workstations 401 is less than or greater than the distance between two adjacent suction ends 301; the adjustment mechanism 400 is electrically connected to the first camera detection mechanism 200, and can move along the first direction according to the detection result of the first camera detection mechanism 200, so that any second workstation 401 moves to below any suction end 301; the second material handling mechanism 500 is located on one side of the adjustment mechanism 400 and the carrying mechanism 100, and can pick up the workpiece 20 located on the first workstation 101 and move it to the second workstation 401.

[0037] In this embodiment of the invention, the carrying mechanism 100 carries a strip 10 with multiple workpieces 20. The first camera detection mechanism 200 can detect the multiple workpieces 20 on the strip 10 at the first station 101 of the carrying mechanism 100, and can detect the positional offset and rotation degree of the workpieces 20 at the first station 101. The second picking mechanism 500 picks up and moves the workpieces 20 on the first station 101 to the second station 401. The adjusting mechanism 400 can move along the first direction according to the detection results, so that the multiple second stations 401 move one by one to below the multiple suction ends 301 of the first picking mechanism 300, so that the first picking mechanism 300... The first picking mechanism 300 can pick up multiple workpieces 20 located on the second station 401 one by one, which has high material picking efficiency and allows the second station 401 and the suction end 301 with different interval distances to be adapted to each other. When the workpiece 20 appears to have a slight deviation in the first direction on the material belt 10, the adjustment mechanism 400 can control the distance and position of each movement along the first direction according to the detection result of the first camera detection mechanism 200, which has good adaptability. When the workpiece 20 has an angular deflection on the material belt 10, the first picking mechanism 300 can independently drive the suction end 301 to rotate around the vertical axis before moving downward according to the detection result of the first camera detection mechanism 200, which has good adaptability.

[0038] Reference Figure 1 and Figure 2 In some embodiments of the present invention, the adjustment mechanism 400 includes an adjustment drive 410 and a suction table 420; the suction table 420 is located below the suction end 301 of the first material handling mechanism 300; a plurality of second stations 401 are disposed on the top of the suction table 420; the adjustment drive 410 is connected to the suction table 420 and electrically connected to the first camera detection mechanism 200; the adjustment drive 410 can drive the suction table 420 to move along a first direction according to the detection result of the first camera detection mechanism 200, so that any second station 401 moves to below any suction end 301.

[0039] The second material handling mechanism 500 can pick up the workpiece 20 located on the first station 101 and move it to the suction table 420, and place it on the second station 401 of the suction table 420; the adjusting drive 410 can drive the suction table 420 to move along the first direction, so that the multiple second stations 401 move one by one to below the multiple suction ends 301.

[0040] Specifically, the adjusting drive 410 can drive the suction table 420 to move along the first direction, so that one of the second stations 401 of the suction table 420 moves below one of the suction ends 301. The first picking mechanism 300 drives the suction end 301 to move downward. After the suction end 301 picks up the workpiece 20 on the second station 401, the adjusting drive 410 continues to drive the suction table 420 to move along the first direction, so that the other second station 401 of the suction table 420 moves below the other suction end 301. The first picking mechanism 300 drives the suction end 301 to move downward. The suction end 301 picks up the workpiece 20 on the second station 401. This process is repeated until the workpieces 20 located on the multiple second stations 401 are picked up by the multiple suction ends 301.

[0041] Specifically, multiple second workstations 401 are arranged sequentially along the first direction, and multiple suction ends 301 are arranged at intervals along the first direction. The order of the multiple second workstations 401 and the multiple suction ends 301 along the second direction corresponds one to one.

[0042] Specifically, the adjusting drive component 410 can be a lead screw module or other drive structure capable of driving the suction table 420 to move along the first direction, such as a slider rail drive structure and a screw drive structure.

[0043] Reference Figure 1 and Figure 2 In some embodiments of the present invention, the suction platform 420 includes a platform body 421 and a second vacuum adsorption structure; the adjusting drive 410 is connected to the platform body 421; the second station 401 is disposed on the top of the platform body 421, and the top of the platform body 421 is provided with a plurality of second suction holes 422, the plurality of second suction holes 422 are respectively located at a plurality of second stations 401, and the second vacuum adsorption structure is connected to the plurality of second suction holes 422.

[0044] After the second material handling mechanism 500 picks up the workpiece 20 from the first station 101, it is placed on the second station 401. The workpiece 20 is at least partially covered by the second suction hole 422 located at the second station 401. The second vacuum adsorption structure is connected to multiple second suction holes 422 so that a vacuum can be generated at the second suction hole 422 to adsorb the workpiece 20 onto the platform 421.

[0045] Specifically, the second vacuum adsorption structure can be a vacuum generator.

[0046] Reference Figures 1 to 3In some embodiments of the present invention, the first material handling mechanism 300 includes a plurality of first suction components 310 arranged sequentially at intervals along a first direction; the first suction component 310 includes a first up-down driving member 311, a rotating member 312 and a first suction member 313; the bottom end of the first suction member 313 is a suction end 301, and the first suction member 313 can suction the workpiece 20 through the suction end 301; the rotating member 312 is connected to the first suction member 313 and can drive the first suction member 313 to rotate around a vertical axis; the first up-down driving member 311 is connected to the rotating member 312 and can drive the rotating member 312 to move in the vertical direction.

[0047] Multiple first suction components 310 are electrically connected to the first camera detection mechanism 200. The adjusting drive component 410 drives the suction table 420 to move along the first direction, so that multiple second stations 401 of the suction table 420 move one by one to below the multiple first suction components 310.

[0048] After the first material handling mechanism 300 obtains the detection result from the first camera detection mechanism 200, the rotating parts 312 of the multiple first suction components 310 are selected to drive the first suction component 313 to rotate according to the detection result of the first camera detection mechanism 200. In this case, multiple second stations 401 and multiple first suction components 310 are set in a one-to-one correspondence, and the multiple first suction components 310 drive the rotating parts 312 to rotate according to the corresponding workpiece 20.

[0049] The first up-and-down driving component 311 can be a lead screw module, or a slider-rail driving structure, a screw driving structure, or other driving structures; the rotating component 312 can be a rotary motor; the first suction component 313 can be composed of an suction head and a vacuum generator connected to it.

[0050] Reference Figure 1 In some embodiments of the present invention, a second camera detection mechanism 600 is also included; the second camera detection mechanism 600 is located on one side of the adjustment mechanism 400; the first material handling mechanism 300 also includes a first horizontal drive member 320; the first horizontal drive member 320 is connected to the first vertical drive member 311 and can drive the first vertical drive member 311 to move, so as to move the first suction member 313 to above the second camera detection mechanism 600; the first material handling mechanism 300 is electrically connected to the second camera detection mechanism 600 and can independently drive the suction end 301 to rotate around the vertical axis according to the detection result of the second camera detection mechanism 600.

[0051] The first driving member can drive the first up-down driving member 311 to move along the second direction, so as to move the first adsorption member along the first direction to above the second camera detection mechanism 600. The second camera detection mechanism 600 can detect the workpiece 20 adsorbed by the first adsorption component and determine whether the workpiece 20 has a positional deviation. The first material picking mechanism 300 can drive the suction end 301 to rotate around the vertical axis through the rotating member 312 according to the detection result of the second camera detection mechanism 600, so as to adjust the position of the workpiece 20.

[0052] Reference Figure 1 and Figure 6 In some embodiments of the present invention, the second material handling mechanism 500 includes a second horizontal drive member 510, a second vertical drive member 520, and a second suction member 530; the second horizontal drive member 510 is connected to the second vertical drive member 520 and can drive the second vertical drive member 520 to move to one side of the bearing mechanism 100 and one side of the adjusting mechanism 400; the second vertical drive member 520 is connected to the second suction member 530 and can drive the second suction member 530 to move in the vertical direction; the second suction member 530 can pick up the workpiece 20 located on the first station 101 and move it to the second station 401.

[0053] Specifically, the supporting mechanism 100 and the adjusting mechanism 400 are spaced apart in the second direction. The second horizontal driving member 510 drives the second vertical driving member 520 to move along the second direction, so as to move the second suction member 530 along the second direction and move it above the supporting mechanism 100. The second vertical driving member 520 drives the second suction member 530 to move downward, so that the second suction member 530 abuts against and adsorbs the workpiece 20. After the second vertical driving member 520 drives the second suction member 530 to move upward, the second horizontal driving member 510 drives the second vertical driving member 520 to move along the second direction, so as to move the second suction member 530 along the second direction and move it above the adjusting mechanism 400. The second vertical driving member 520 drives the second suction member 530 to move downward, so that the second suction member 530 stops adsorbing the workpiece 20 and places the workpiece 20.

[0054] Specifically, the second horizontal drive member 510 and the second vertical drive member 520 can both be lead screw module structures, and the second suction member 530 can be composed of a suction head and a vacuum generator connected to it.

[0055] Specifically, the second adsorption component is provided with a sliding groove, the second upper and lower drive component 520 is provided with a slider, the second adsorption component is slidably sleeved on the outside of the slider through the sliding groove, the inner side wall of the sliding groove is provided with a second strip groove extending along the first direction, and the slider is provided with a second connecting hole, so that the second adsorption component and the slider can be detachably connected by a bolt connection structure.

[0056] Reference Figure 1 and Figure 6 In some embodiments of the present invention, the second material handling mechanism 500 further includes a first connecting member; the second suction member 530 is movably disposed on the second up-down driving member 520 along a first direction, and the first connecting member detachably connects the second suction member 530 and the second up-down driving member 520; the first camera detection mechanism 200 includes a first camera detection module 210, a first support frame 220 and a second connecting member; the first camera detection module 210 is movably disposed on the first support frame 220 along a first direction, and the second connecting member detachably connects the first camera detection module 210 and the first support frame 220.

[0057] Since the workpieces 20 are located at different positions on different conveyor belts 10, the first connector can be disassembled. The position of the second suction member 530 can be adjusted by moving the second suction member 530 along the first direction, and then the second connector can be reinstalled so that the second suction member 530 can be adapted to different conveyor belts 10 carrying workpieces 20. Correspondingly, the first camera detection module 210 can be moved along the first direction to adjust the position of the first camera detection module 210 and the second suction member 530 so that the first camera detection module 210 can be adapted to different conveyor belts 10 carrying workpieces 20.

[0058] Specifically, the first camera detection module 210 is provided with a first strip groove extending along a first direction, the first support frame 220 is provided with a first connecting hole, and the first connector is detachably inserted into the first strip groove and the first connecting hole. The first connector can be a bolt connection structure.

[0059] Reference Figure 1 In some embodiments of the present invention, a feeding mechanism 700 and a pulling mechanism are also included; the feeding mechanism 700 is located on one side of the bearing mechanism 100 and is capable of feeding out a strip 10 with a plurality of workpieces 20; specifically, the feeding mechanism 700 is capable of feeding out the strip 10 along a second direction.

[0060] The carrying mechanism 100 is used to carry the material strip 10 with multiple workpieces 20 released by the feeding mechanism 700; the pulling mechanism is located on one side of the carrying mechanism 100 and is electrically connected to the first camera detection mechanism 200; the pulling mechanism can intermittently pull the material strip 10 on the carrying mechanism 100 according to the detection result of the first camera detection mechanism 200; specifically, the pulling mechanism will pull the material strip 10 forward a predetermined distance only after the first camera detection mechanism 200 detects that the second picking mechanism 500 has taken away the workpiece 20 located at the first station 101.

[0061] The adjustment mechanism 400 can move along the first direction according to the detection results, so that multiple second stations 401 move one by one to below multiple suction ends 301 of the first material handling mechanism 300, so that the first material handling mechanism 300 can pick up multiple workpieces 20 located on the second stations 401 one by one, with high material handling efficiency, and the second stations 401 and suction ends 301 with different intervals can be adapted to each other; when the workpiece 20 appears to have a slight deviation in the first direction on the material belt 10, the adjustment mechanism 400 can control the distance and position of each movement along the first direction according to the detection results of the first camera detection mechanism 200, with good adaptability; when the workpiece 20 has an angular deflection on the material belt 10, the first material handling mechanism 300 can independently drive the suction end 301 to rotate around the vertical axis before moving downward according to the detection results of the first camera detection mechanism 200, with good adaptability.

[0062] Reference Figures 1 to 7 According to a second aspect embodiment of the present invention, the detection method for a material feeding detection device can be applied to the material feeding detection device of the first aspect embodiment of the present invention; the detection method for a material feeding detection device includes the following steps:

[0063] S1. The material strip 10 carrying multiple workpieces 20 is carried by the carrying mechanism 100;

[0064] S2. The first camera detection mechanism 200 visually detects and obtains the positions of multiple workpieces 20 on the material belt 10 section located on the first station 101 and the distances between the multiple workpieces 20, so as to obtain the detection results.

[0065] S3. The second material handling mechanism 500 picks up multiple workpieces 20 located on the first station 101 of the bearing mechanism 100 and moves them to multiple second stations 401 of the adjusting mechanism 400 respectively.

[0066] S4. According to the detection results of the first camera detection mechanism 200, the adjustment mechanism 400 moves the multiple second stations 401 one by one along the first direction to below the multiple suction ends 301 of the first material handling mechanism 300. The first material handling mechanism 300 can independently drive the suction ends 301 to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism 200, and control the suction ends 301 to pick up the workpiece 20.

[0067] In some embodiments of the present invention, the adjustment mechanism 400 moves the plurality of second stations 401 one by one along the first direction to below the plurality of suction ends 301 of the first material handling mechanism 300 according to the detection results of the first camera detection mechanism 200. The first material handling mechanism 300 can independently drive the suction component to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism 200, and control the suction end 301 to pick up the workpiece 20.

[0068] Based on the position between the multiple suction ends 301 and the multiple second stations 401, the initial position of the adjustment mechanism 400 is preset, and based on the initial position, the interval distance between the multiple suction ends 301 and the interval distance between the multiple second stations 401, the preset moving distance of the adjustment mechanism 400 is preset.

[0069] The control adjustment mechanism 400 is moved to its initial position;

[0070] The control adjustment mechanism 400 moves multiple times. Before each movement, the preset movement distance is increased, decreased, or kept unchanged according to the position of the workpiece 20 on the multiple first workstations 101 detected by the first camera detection mechanism 200 to obtain the actual movement distance. The control adjustment mechanism 400 moves according to the actual movement distance. After each movement, at least one workpiece 20 is positioned opposite to a suction end 301. According to the position of the workpiece 20 on the multiple first workstations 101 detected by the first camera detection mechanism 200, the control first material handling mechanism 300 independently drives the corresponding suction end 301 to rotate around the vertical axis and move downward. Then, the control suction end 301 picks up the corresponding workpiece 20 and moves upward.

[0071] Specifically, after the adjustment mechanism 400 moves to its initial position, a workpiece 20 can be positioned opposite to a suction end 301.

[0072] Specifically, after the control adjustment mechanism 400 moves according to the actual moving distance each time, the distance that the adjustment mechanism 400 moves next will be adjusted according to the previous actual moving distance and the preset moving distance.

[0073] Specifically, there are two second workstations 401 and two corresponding suction ends 301. When the adjustment mechanism 400 moves to the initial position, a workpiece 20 is positioned opposite to a suction end 301, so the adjustment mechanism 400 only needs to move to the initial position once more.

[0074] The process of moving the control adjustment mechanism 400 to its initial position includes the following steps:

[0075] The control adjustment mechanism 400 is moved to the receiving position; specifically, the adjustment mechanism 400 in the receiving position can cooperate with the second material handling mechanism 500.

[0076] The initial position of the adjustment mechanism 400 is preset based on the material receiving position and the position between the multiple suction ends 301 and the multiple second work stations 401.

[0077] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A material belt feeding detection device, characterized in that, include: A support mechanism for carrying a strip of material with multiple workpieces; The top of the bearing mechanism has a first station for placing the material strip portion; The first camera inspection mechanism is located on one side of the supporting mechanism and is capable of inspecting multiple workpieces located at the first workstation. The first material handling mechanism has multiple suction ends arranged at intervals along a first direction; the first material handling mechanism is electrically connected to the first camera detection mechanism and can independently drive the suction ends to move up and down and rotate around a vertical axis according to the detection results of the first camera detection mechanism; the first material handling mechanism can pick up workpieces through the suction ends. An adjustment mechanism is located below the first material handling mechanism; the top of the adjustment mechanism has a plurality of second workstations arranged sequentially at intervals along a first direction, the second workstations being used to place workpieces; the distance between two adjacent second workstations is less than or greater than the distance between two adjacent suction ends; the adjustment mechanism is electrically connected to the first camera detection mechanism and can move along the first direction according to the detection result of the first camera detection mechanism, so that any second workstation moves to below any suction end; The second material handling mechanism is located on one side of the adjustment mechanism and the carrying mechanism, and is capable of picking up the workpiece located at the first station and moving it to the second station.

2. The material belt feeding detection device according to claim 1, characterized in that, The adjustment mechanism includes an adjustment drive and a suction platform; the suction platform is located below the suction end of the first material handling mechanism; multiple second stations are all located on top of the suction platform; the adjustment drive is connected to the suction platform and electrically connected to the first camera detection mechanism; the adjustment drive can drive the suction platform to move along a first direction according to the detection result of the first camera detection mechanism, so that any second station moves to below any of the suction ends.

3. The material belt feeding detection device according to claim 2, characterized in that, The suction stage includes a stage body and a second vacuum adsorption structure; the adjustment drive is connected to the stage body; the second station is located at the top of the stage body, and the top of the stage body is provided with a plurality of second suction holes, which are respectively located at the plurality of second stations, and the second vacuum adsorption structure is connected to the plurality of second suction holes.

4. The material belt feeding detection device according to claim 1, characterized in that, The first material handling mechanism includes a plurality of first suction components arranged at intervals along a first direction; the first suction component includes a first up-and-down driving member, a rotating member, and a first suction member; the bottom end of the first suction member is the suction end, and the first suction member can suction workpieces through the suction end; the rotating member is connected to the first suction member and can drive the first suction member to rotate around a vertical axis; the first up-and-down driving member is connected to the rotating member and can drive the rotating member to move in the vertical direction.

5. The material belt feeding detection device according to claim 4, characterized in that, It also includes a second camera detection mechanism; the second camera detection mechanism is located on one side of the adjustment mechanism; the first material handling mechanism also includes a first horizontal drive member; the first horizontal drive member is connected to the first vertical drive member and can drive the first vertical drive member to move so as to move the first suction member above the second camera detection mechanism; the first material handling mechanism is electrically connected to the second camera detection mechanism and can independently drive the suction end to rotate around the vertical axis according to the detection result of the second camera detection mechanism.

6. The material belt feeding detection device according to claim 1, characterized in that, The second material handling mechanism includes a second horizontal drive member, a second vertical drive member, and a second suction member; the second horizontal drive member is connected to the second vertical drive member and can drive the second vertical drive member to move to one side of the bearing mechanism and one side of the adjusting mechanism; the second vertical drive member is connected to the second suction member and can drive the second suction member to move in the vertical direction; the second suction member can pick up the workpiece located at the first station and move it to the second station.

7. The material belt feeding detection device according to claim 6, characterized in that, The second material handling mechanism further includes a first connecting member; the second suction member is movably disposed on the second up-down driving member along a first direction, and the first connecting member is detachably connected to the second suction member and the second up-down driving member; the first camera detection mechanism includes a first camera detection module, a first support frame and a second connecting member; the first camera detection module is movably disposed on the first support frame along a first direction, and the second connecting member is detachably connected to the first camera detection module and the first support frame.

8. The material belt feeding detection device according to claim 1, characterized in that, It also includes a feeding mechanism and a pulling mechanism; the feeding mechanism is located on one side of the supporting mechanism and is capable of feeding out a strip of material with multiple workpieces; the supporting mechanism is used to support the strip of material with multiple workpieces fed out by the feeding mechanism; the pulling mechanism is located on one side of the supporting mechanism and is electrically connected to the first camera detection mechanism; the pulling mechanism is capable of intermittently pulling the strip of material on the supporting mechanism according to the detection results of the first camera detection mechanism.

9. A detection method for a material belt feeding detection device, characterized in that, It includes the following steps: The conveyor belt carrying multiple workpieces is supported by a support mechanism; The first camera inspection mechanism visually inspects and obtains the positions of multiple workpieces on the material belt section of the first station of the carrier mechanism and the distances between the multiple workpieces to obtain the inspection results; The second material handling mechanism picks up multiple workpieces located at the first station and moves them to multiple second stations of the adjusting mechanism. The adjustment mechanism moves multiple second stations one by one along the first direction to below multiple suction ends of the first material handling mechanism according to the detection results of the first camera detection mechanism. The first material handling mechanism can independently drive the suction ends to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism, and control the suction ends to pick up the workpiece.

10. The detection method for a material belt feeding detection device according to claim 9, characterized in that, The adjustment mechanism moves multiple second stations one by one along the first direction to below multiple suction ends of the first material handling mechanism according to the detection results of the first camera detection mechanism. The first material handling mechanism can independently drive the first suction component to move up and down and rotate around the vertical axis according to the detection results of the first camera detection mechanism, and control the suction end to pick up the workpiece. The mechanism also includes the following steps: Based on the positions between the multiple suction ends and the multiple second workstations, the initial position of the adjustment mechanism is preset, and based on the initial position, the interval distance between the multiple suction ends and the interval distance between the multiple second workstations, the preset moving distance of the adjustment mechanism is preset. Control the adjustment mechanism to move to the initial position; The control adjustment mechanism moves multiple times. Before each movement, the preset movement distance is increased, decreased, or kept unchanged based on the position of the workpieces at the multiple first stations detected by the first camera detection mechanism to obtain the actual movement distance. The control adjustment mechanism moves according to the actual movement distance. After each movement, at least one workpiece is positioned opposite to one suction end. Based on the position of the workpieces at the multiple first stations detected by the first camera detection mechanism, the first material handling mechanism independently drives the corresponding suction end to rotate around the vertical axis and move downward. Then, the suction end is controlled to pick up the corresponding workpiece and move upward.

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