Waste rejecting device based on visual positioning guidance

Abstract

The utility model relates to a waste rejecting device based on visual positioning guidance. The waste rejecting device comprises a rack; the driving mechanism comprises a two-shaft servo driving mechanism arranged on the machine frame and a movable frame connected to the output end of the two-shaft servo driving mechanism, and a conveying space allowing a to-be-rejected waste belt to penetrate through is formed between the movable frame and the machine frame; the winding mechanism comprises a winding disc and an unwinding disc which are rotationally connected to the movable frame. The waste removing mechanism comprises a pressing rod capable of being close to or away from the conveying space, and the pressing rod can abut against the medium belt. Through the arrangement, the medium tape keeps proper tension, and the using amount of the adhesive tape is saved through the cooperation of the winding disc, the unwinding disc and the pressing rod.

Description

Technical Field

[0001] The utility model relates to the field of waste rejection devices, in particular to a waste rejection device based on visual positioning guidance. Background Art

[0002] In a material belt production line, such as the material belt in the existing 3C production line, generally after production, there will be some unqualified products on the material belt, and the unqualified products need to be rejected so that the products on the material belt can be used normally. Therefore, a rejection device is used.

[0003] When the bonding force between the product and the material strip is weak, adhesion is generally used to remove the waste and take out the material. During the rejection process, traditional devices may not be able to accurately locate the area to be rejected and can only reject at a fixed position, and there is a large area of ​​accidental injury. This leads to unstable rejection and cannot meet the rejection needs of some small products. In addition, the media (tape, etc.) used in the rejection process are seriously wasted. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the problems in the prior art that waste can only be rejected at a fixed position, there is a large area of ​​accidental injury, and the media (tape, etc.) used in the waste rejection process is wasted very seriously, thereby providing a waste rejection device based on visual positioning guidance.

[0005] In order to solve the above technical problems, the utility model provides a waste rejection device based on visual positioning guidance, comprising:

[0006] frame;

[0007] The driving mechanism comprises: a two-axis servo driving mechanism arranged on the frame, and a movable frame connected to the output end of the two-axis servo driving mechanism, wherein a transmission space for the waste material belt to be removed to pass through is formed between the movable frame and the frame;

[0008] The winding mechanism comprises: a winding reel and an unwinding reel respectively rotatably connected to the movable frame, a first motor and a second motor respectively connected to the winding reel and the unwinding reel at output ends, and a medium belt having two ends respectively wound around the winding reel and the unwinding reel;

[0009] The reject mechanism comprises a pressure rod which can be moved close to or away from the transmission space, and the pressure rod can abut against the media belt.

[0010] In one embodiment of the utility model, the pressure rod is arranged on one side of the waste material belt to be rejected, and a visual component is arranged on the other side of the waste material belt to be rejected, which includes: a visual camera arranged on the other side of the waste material belt to be rejected, and a light source arranged between the visual camera and the material belt.

[0011] In one embodiment of the utility model, the frame is also provided with a limiting assembly, and the limiting assembly includes: a waste rejection platform arranged on the frame, a pressure plate movably arranged on one side of the waste rejection platform, and a first driving cylinder connected to the pressure plate, and the waste rejection platform and the pressure plate are respectively arranged on both sides of the transmission space.

[0012] In one embodiment of the utility model, the two-axis drive assembly includes a first drive member driving along a first direction, and a second drive member connected to the output end of the first drive member, the second drive member drives along a second direction, and the second direction is perpendicular to the plane where the first direction is located.

[0013] In one embodiment of the utility model, there are at least two groups of pressure plates, at least two groups of pressure plates are respectively arranged on both sides of the viewing window along the second direction, each group of pressure plates includes at least two lower pressure members, and at least two lower pressure members are arranged on both sides of the viewing window along the first direction.

[0014] In one embodiment of the utility model, the movable frame is provided with a second driving cylinder, the pressure rod is connected to the output end of the second driving cylinder, the pressure rod moves along a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the transmission space extends along the first direction.

[0015] In an embodiment of the present invention, the movable frame is rotatably connected to at least two rotating shafts, and the medium belt is sequentially wound around at least two of the rotating shafts.

[0016] In one embodiment of the utility model, a reducer is arranged between the winding disk and the first motor, and the second motor is a servo torque motor.

[0017] In one embodiment of the utility model, the waste rejection platform is provided with a viewing window, the viewing window, the light source and the visual camera are coaxially arranged, and the light source is provided with a light channel for the reflected light of the waste material strip to be rejected to pass through.

[0018] In one embodiment of the utility model, the movable frame is provided with a support body along the third direction, the support body is movably connected to a slide seat, the slide seat is slidably connected to the support body along the third direction, one end of the slide seat is connected to a pressure rod and the other end is connected to the second driving cylinder.

[0019] The above technical solution of the utility model has the following advantages compared with the prior art:

[0020] The utility model discloses a waste rejection device based on visual positioning guidance, which drives the winding mechanism and the waste rejection mechanism to move synchronously through a two-axis servo drive mechanism. The material belt passes through the transmission space and reaches the waste rejection position. The pressure rod is pressed down to make the medium belt move downward close to the material belt to be rejected, thereby absorbing the waste products. The winding disk and the unwinding disk are respectively rotatably connected to the movable frame through a rotating shaft and can rotate under the drive of the first motor and the second motor. The first motor and the second motor respectively drive the winding disk and the unwinding disk to keep the medium belt at appropriate tension, and the use of tape is saved through the cooperation of the winding disk, the unwinding disk and the pressure rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0022] Figure 1 It is a three-dimensional diagram of the waste rejection device of the utility model;

[0023] Figure 2 It is a structural schematic diagram of the waste rejection mechanism of the utility model;

[0024] Figure 3 It is a structural schematic diagram of the detection mechanism of the utility model;

[0025] Figure 4 It is a schematic diagram of the positions of the pressing plate and the material belt of the utility model;

[0026] Figure 5 It is a three-dimensional diagram of the back side of the waste rejection device of the utility model.

[0027] Explanation of the reference numerals in the drawings in the specification: 1. Frame; 2. Two-axis servo drive mechanism; 201. First drive member; 202. Second drive member; 3. Movable frame; 4. Unwinding reel; 5. Rewinding reel; 6. Medium belt; 7. Rotating shaft; 8. Belt for waste material to be removed; 9. Visual camera; 10. Light source; 11. Limiting plate; 12. Second motor; 13. First motor; 14. Second drive cylinder; 15. Sliding seat; 16. Pressing rod; 17. First drive cylinder; 18. Waste removal platform; 19. Viewing window; 20. Pressing plate; 21. Lower pressing member; 22. Reducer. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0029] Example

[0030] Reference Figure 1-5As shown, the utility model is a waste rejection device based on visual positioning guidance, comprising:

[0031] Rack 1;

[0032] The driving mechanism comprises: a two-axis servo driving mechanism 2 arranged on the frame 1, a movable frame 3 connected to the output end of the two-axis servo driving mechanism 2, and a transmission space for the waste material belt 8 to be removed to pass through is formed between the movable frame 3 and the frame 1;

[0033] The winding mechanism includes: a winding reel 5 and an unwinding reel 4 which are rotatably connected to the movable frame 3, a first motor 13 and a second motor 12 whose output ends are respectively connected to the winding reel 5 and the unwinding reel 4, and a medium belt 6 whose two ends are respectively wound around the winding reel 5 and the unwinding reel 4;

[0034] The reject mechanism comprises a pressure rod 16 which can be moved close to or away from the transfer space, and the pressure rod 16 can abut against the media belt 6 .

[0035] The utility model discloses a waste rejection device based on visual positioning guidance, which drives the winding mechanism and the waste rejection mechanism to move synchronously through a two-axis servo drive mechanism 2. The material belt passes through the transmission space and reaches the waste rejection position. The pressure rod 16 presses down to make the medium belt 6 move downward close to the waste belt 8 to be rejected, thereby absorbing the waste products. The winding disk 5 and the unwinding disk 4 are respectively rotatably connected to the movable frame 3 through the rotating shaft 7, and can rotate under the drive of the first motor 13 and the second motor 12. The first motor 13 and the second motor 12 respectively drive the winding disk 5 and the unwinding disk 4 to keep the medium belt 6 at an appropriate tension, and can move in the plane area for waste rejection, thereby improving the waste rejection accuracy and saving the use of tape through the cooperation of the winding disk 5, the unwinding disk 4 and the pressure rod 16.

[0036] The pressure bar 16 is arranged on one side of the waste belt 8 to be rejected, and a visual component is arranged on the other side of the waste belt 8 to be rejected, which includes: a visual camera 9 arranged on the other side of the waste belt 8 to be rejected, and a light source 10 arranged between the visual camera 9 and the belt. The pressure bar 16 is installed on one side of the waste belt through a fixed bracket. During the movement of the waste belt, the medium belt 6 is pressed against the conveyor belt by physical pressure. In this embodiment, the medium belt 6 is an adhesive tape, and the waste on the belt is adhered by the adhesive tape. The light source 10 provides uniform lighting. The visual camera 9 captures the image of the waste belt and transmits these images to the image processing unit in real time. The image processing unit analyzes the received images and identifies the unqualified waste on the waste belt. According to the image processing results, the system issues a control instruction to start the rejection device to remove the identified unqualified waste from the waste belt, thereby realizing the automatic rejection of waste.

[0037] See also Figure 1 , Figure 3 , Figure 5 As shown, the frame 1 is also provided with a limit assembly, which includes: a waste rejection platform 18 arranged on the frame 1, a pressure plate 20 movably arranged on one side of the waste rejection platform 18, and a first driving cylinder 17 connected to the pressure plate 20. The waste rejection platform 18 and the pressure plate 20 are respectively arranged on both sides of the transmission space, and the pressure plate 20 is arranged above the waste rejection platform 18 and can move up and down above the waste rejection platform 18. When the material belt moves to the top of the camera, the waste is identified by the camera, and the pressure plate 20 is used to press down and lock both sides of the material belt, so that the material belt remains stable when the pressure rod 16 is pressed down, thereby improving the waste rejection accuracy.

[0038] See also Figure 5 As shown, the two-axis drive assembly includes a first drive member 201 driven in a first direction, and a second drive member 202 connected to the output end of the first drive member 201, the second drive member 202 is driven in a second direction, the second direction and the plane where the first direction is located are perpendicular, when it is necessary to move in the first direction (X-axis direction), the control system sends a command to the first drive member 201, the first drive member 201 starts and moves along a preset trajectory. The output end of the first drive member 201 drives the second drive member 202 to move together to achieve displacement in the first direction, when it is necessary to move in the second direction (Y-axis direction), the control system sends a command to the second drive member 202, the second drive member 202 starts and moves along a preset trajectory. Since the second drive member 202 is installed on the output end of the first drive member 201, its motion trajectory is independent of the motion trajectory of the first drive member 201. Through the coordinated control of the control system, the first drive member 201 and the second drive member 202 can be started at the same time to achieve a composite motion in the plane.

[0039] See also Figure 4 As shown, there are at least two groups of pressing plates 20, and at least two groups of pressing plates 20 are respectively arranged on both sides of the viewing window 19 along the second direction. Each group of pressing plates 20 includes at least two pressing members 21, and at least two pressing members 21 are arranged on both sides of the viewing window 19 along the first direction. The driving cylinder is installed on the frame 1, and its piston rod is connected to the pressing member 21. The lifting movement of the pressing member 21 is realized by controlling the air pressure change of the cylinder. The control system of the cylinder is linked with the control system of the conveyor belt. When the sensor detects waste, the cylinder drives the pressing member 21 to press down to lock the material belt to the waste rejection platform 18.

[0040] See also Figure 2As shown, the movable frame 3 is provided with a second driving cylinder 14, and the pressure rod 16 is connected to the output end of the second driving cylinder 14. The pressure rod 16 moves along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The transmission space extends along the first direction, the first direction is the front-to-back direction, the second direction is the left-to-right direction, and the third direction is the up-and-down direction. The pressure rod 16 is driven to rise and fall by the second driving cylinder 14.

[0041] See also Figure 1 , Figure 2 As shown, the movable frame 3 is rotatably connected to at least two shafts 7, and the medium belt 6 is sequentially wound around at least two shafts 7. The medium belt 6 is guided by the shafts 7. The positions of the two shafts 7 on both sides of the viewing window 19 keep the medium belt 6 flush above the viewing window 19.

[0042] See also Figure 5 As shown, a reducer 22 is arranged between the winding reel 5 and the first motor 13. The second motor 12 is a servo torque motor. By setting the reducer 22, the tension of the winding reel 5 is greater than the unwinding reel 4, ensuring that the winding shaft will not be reversed when the pressure rod 16 cylinder is pressed down, and only the unwinding shaft is allowed to rotate, thereby avoiding the reverse rotation of the material when collecting waste.

[0043] See also Figure 3 As shown, the waste rejection platform 18 is provided with a viewing window 19, and the viewing window 19, the light source 10 and the visual camera 9 are coaxially arranged. The light source 10 is provided with an optical channel for the reflected light of the waste strip 8 to be rejected to pass through. The viewing window 19 is arranged on the waste rejection platform 18, and is used for the visual camera 9 to observe the waste strip 8 to be rejected. The material of the viewing window 19 is selected from glass or transparent plastic with high light transmittance to ensure that the light emitted by the light source 10 can pass smoothly, and the reflected light can be received by the visual camera 9. The light source 10 is arranged below or to the side of the viewing window 19, and the light source 10 emits light through the optical channel and irradiates the waste strip 8 to be rejected. The light passes through the waste rejection platform 18 through the viewing window 19 and is evenly irradiated on the surface of the strip. The surface of the waste strip 8 to be rejected reflects the light, and the reflected light is received by the visual camera 9 through the optical channel and the viewing window 19. Since the light source 10 and the visual camera 9 are coaxially arranged, the path of the reflected light is straight, which reduces the scattering and loss of light.

[0044] See also Figure 1 As shown, the waste rejection platform 18 is further provided with limiting plates 11 on both sides along the second direction, and the spacing between the limiting plates 11 is adapted to the material belt. In some embodiments, the spacing between the limiting parts on both sides can be adjusted.

[0045] Continue to see Figure 1As shown, the movable frame 3 is provided with a support body along the third direction, the support body is a slide rail, the support body is movably connected with a slide seat 15, the slide seat 15 is slidably connected to the support body along the third direction, one end of the slide seat 15 is connected to a pressure rod 16 and the other end is connected to a second driving cylinder 14. Through the sliding cooperation between the support body and the slide seat 15, the movement accuracy of the pressure rod 16 is improved. After the waste is rejected, the piston rod of the cylinder is retracted, and the slide seat 15 and the pressure rod 16 return to the initial position, waiting for the next waste rejection signal.

[0046] The working principle is as follows: 1. The XY module is responsible for moving the positioning point; 2. The camera is responsible for taking photos to identify the precise position of the target to be rejected, and for re-judging whether the rejection is successful and for alarming, and at the same time correcting the rejection position in real time; 3. The pressure rod 16 cylinder is responsible for quickly pressing down to reject the waste 4. The recycle unwinding shaft is in a rotating state. It can stop after receiving the force. It is responsible for reclaiming the pressure rod 16 cylinder to press down and extend. When the cylinder retracts, if the unwinding shaft tape is not recovered, there will be excess fluffy tape wasted. Therefore, the recycle unwinding shaft is always in a reverse reversal state. After the cylinder retracts, the excess tape will be recycled to the unwinding shaft to save materials; 5. The rewinding shaft, equipped with a reducer 22, is mainly responsible for receiving the waste tape that has been rejected, and controls the spacing of the rejected products at a fixed angle. The reducer 22 can ensure that the rewinding shaft will not be reversed when the pressure rod 16 cylinder is pressed down, and only the unwinding shaft is allowed to rotate;

[0047] Waste rejection device working process:

[0048] 1. First, the camera takes a photo and performs visual processing on the product to calculate whether it needs to be rejected and which product needs to be rejected, and sends the precise XY coordinates of the product to be rejected to the rejection device.

[0049] 2. The reject device controls the XY servo module to move the pressure rod 16 cylinder to the XY position of the product to be rejected according to the received visual XY coordinates.

[0050] 3. The waste rejection device controls the pressure rod 16 cylinder to push the tape down. Since the reel is equipped with a reducer to increase the torque, it can ensure that the used tape will not rewind when the waste rejection rod is pressed down. The unwinding shaft can drive the tape on the unwinding shaft to rotate when the cylinder is pressed down in the torque mode. After touching the product, the cylinder retracts and brings the product back. At the same time, since the unwinding shaft has been reversed in the torque mode, when the cylinder retracts, the excess unused tape that is pushed down by the cylinder will be automatically recovered by the unwinding tape when the cylinder retracts.

[0051] 4. After the cylinder retracts, the unwinding shaft will recycle the excess tape and straighten it. After being tightened, the unwinding shaft will keep it in a straightened state. Then the rewinding shaft will move the fixed position to move the tape of the rejected product one position and move the unused tape to the bottom of the reject rod. This can accurately control the spacing of the rejected products and ensure that the amount of tape is saved to the greatest extent.

[0052] 5. After the waste tape is recycled, the waste rejection device will control the camera to take pictures again to determine whether the product waste rejection is completely successful. If it fails, an alarm will be issued, otherwise the next process will be carried out.

[0053] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A waste rejection device based on visual positioning guidance, characterized in that: include: frame; A drive mechanism, comprising: a two-axis servo drive mechanism disposed on the frame, a movable frame connected to the output end of the two-axis servo drive mechanism, a transmission space for the waste material to be removed to pass through the movable frame and the frame; The winding mechanism comprises: a winding reel and an unwinding reel respectively rotatably connected to the movable frame, a first motor and a second motor respectively connected to the winding reel and the unwinding reel at output ends, and a medium belt having two ends respectively wound around the winding reel and the unwinding reel; The reject mechanism comprises a pressure rod which can be moved close to or away from the transmission space, and the pressure rod can abut against the media belt.

2. According to claim 1, a waste rejection device based on visual positioning guidance is characterized in that: The pressure bar is arranged on one side of the waste material belt to be removed, and a visual component is arranged on the other side of the waste material belt to be removed, which includes: a visual camera arranged on the other side of the waste material belt to be removed, and a light source arranged between the visual camera and the material belt.

3. According to claim 2, a waste rejection device based on visual positioning guidance is characterized in that: The frame is also provided with a limiting assembly, which includes: a waste rejection platform arranged on the frame, a pressure plate movably arranged on one side of the waste rejection platform, and a first driving cylinder connected to the pressure plate. The waste rejection platform and the pressure plate are respectively arranged on both sides of the transmission space.

4. According to claim 1, a waste rejection device based on visual positioning guidance is characterized in that: The two-axis driving assembly includes a first driving member driving along a first direction, and a second driving member connected to an output end of the first driving member, the second driving member driving along a second direction, and the second direction is perpendicular to a plane where the first direction is located.

5. The waste rejection device based on visual positioning guidance according to claim 3 is characterized in that: There are at least two groups of pressing plates, which are respectively arranged on both sides of the viewing window along the second direction. Each group of pressing plates includes at least two pressing members, which are arranged on both sides of the viewing window along the first direction.

6. The waste rejection device based on visual positioning guidance according to claim 4 is characterized in that: The movable frame is provided with a second driving cylinder, the pressure rod is connected to the output end of the second driving cylinder, the pressure rod moves along a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the transmission space extends along the first direction.

7. The waste rejection device based on visual positioning guidance according to claim 1 is characterized in that: The movable frame is rotatably connected to at least two rotating shafts, and the medium belt is sequentially wound around at least two of the rotating shafts.

8. The waste rejection device based on visual positioning guidance according to claim 1 is characterized in that: A speed reducer is arranged between the winding disk and the first motor, and the second motor is a servo torque motor.

9. The waste rejection device based on visual positioning guidance according to claim 3 is characterized in that: The waste rejection platform is provided with a viewing window, the viewing window, the light source and the visual camera are coaxially arranged, and the light source is provided with a light channel for the reflected light of the waste material strip to be rejected to pass through.

10. The waste rejection device based on visual positioning guidance according to claim 1, characterized in that: The movable frame is provided with a support body along the third direction, the support body is movably connected with a slide seat, the slide seat is slidably connected to the support body along the third direction, one end of the slide seat is connected to a pressure rod and the other end is connected to a second driving cylinder.

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