Material visual identification transferring device

Abstract

A material visual identification transferring device comprises an X-direction linear motion module, a Y-direction linear motion module and a work head taking and placing assembly, a first mounting plate is arranged at the output end of the X-direction linear motion module, and a visual detection camera is connected to the first mounting plate; a material tray is arranged at the output end of the Y-direction linear motion module; the working head taking and placing assembly comprises a Z-direction linear motion module, a first motor is arranged at the output end of the Z-direction linear motion module, a second mounting plate is arranged at the output end of the first motor, a second motor is arranged on the second mounting plate, and the second motor is a hollow shaft motor; the front end of a hollow shaft of the second motor is detachably provided with a negative pressure suction nozzle, and the rear end of the hollow shaft of the second motor is connected with a vacuumizing pipe; the periphery of a hollow shaft of the second motor is connected with a rotating disc, a reset notch is formed in the rotating disc, and a groove type photoelectric device used for detecting the position of the reset notch is correspondingly arranged on the second installation plate.

Description

Technical Field

[0001] This utility model relates to the field of automated loading and unloading equipment technology, and in particular to a material visual recognition and transfer device. Background Technology

[0002] In the field of industrial automation, material handling (such as the gripping and transfer of materials like electronic components, precision parts, and pharmaceutical packaging) is one of the core links in the production process.

[0003] In tinning operations, the application of visual recognition technology to identify and locate materials can enable the rapid grabbing of mixed materials, greatly improving the efficiency and accuracy of material transfer and processing.

[0004] However, some materials require multiple angle adjustments or continuous rotations using a rotating shaft during the transfer and processing process, which can easily lead to the continuous accumulation of positioning errors, affecting the accuracy of material transfer and processing, and preventing the full realization of the advantages of visual recognition technology.

[0005] Therefore, in view of the shortcomings of the existing technology, it is necessary to design a material visual recognition and transfer device to solve the above problems.

[0006] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solution of this utility model and facilitating the understanding of those skilled in the art. It should not be assumed that the above content is known to those skilled in the art simply because it has been described in the background section of this utility model. Utility Model Content

[0007] To overcome the shortcomings of the prior art, the present invention aims to disclose a material visual recognition and transfer device for improving the positioning accuracy of material transfer processing.

[0008] This utility model discloses a material visual recognition and transfer device, including an X-axis linear motion module, a Y-axis linear motion module, and a pick-and-place working head assembly, wherein:

[0009] The output end of the X-axis linear motion module is provided with a first mounting plate, and a vision inspection camera is connected to the first mounting plate along the Z-axis direction. The vision inspection camera is used to identify and locate the materials in the material tray.

[0010] The Y-axis linear motion module is located below the X-axis linear motion module, and its output end is equipped with a material tray. Through the linkage between the X-axis linear motion module and the Y-axis linear motion module, the vision inspection camera can perform a full scan of the material tray.

[0011] The pick-and-place working head assembly includes a Z-axis linear motion module mounted on a first mounting plate. The output end of the Z-axis linear motion module is equipped with a first motor, whose shaft is horizontally oriented. The output end of the first motor is mounted on a second mounting plate, on which a second motor is mounted. The second motor is a hollow shaft motor, with its shaft direction perpendicular to that of the first motor. A negative pressure suction nozzle is detachably mounted at the front end of the hollow shaft of the second motor. By linking the X-axis and Y-axis linear motion modules, the negative pressure suction nozzle can be moved above any position on the material tray. The first motor adjusts the angle of the negative pressure suction nozzle, the Z-axis linear motion module drives the negative pressure suction nozzle to lift and lower to pick up and place materials, and the second motor adjusts the angle of the materials, achieving high-precision positioning of the materials in three-dimensional space.

[0012] The hollow shaft of the second motor is connected to a vacuum tube at the rear end to provide suction force for the negative pressure nozzle;

[0013] The hollow shaft of the second motor is connected to a turntable, which has a reset notch. The second mounting plate is equipped with a slotted photoelectric sensor for detecting the position of the reset notch. The second motor can be calibrated in real time during operation to avoid error accumulation caused by continuous rotation.

[0014] Preferred technical solution: An auxiliary light source is provided below the visual inspection camera to improve the accuracy of visual recognition.

[0015] Preferred technical solution: The material pallet is equipped with material placement slots arranged in an array to facilitate positioning.

[0016] Preferred technical solution: The first motor and the second mounting plate are connected by a first reducer.

[0017] Preferred technical solution: A second reducer is also provided between the second motor and the negative pressure nozzle. The second reducer is a hollow shaft reducer. The air shafts of the second motor and the second reducer are connected to form an air passage, which connects the vacuum tube and the negative pressure nozzle.

[0018] Preferred technical solution: The vacuum tube is rotatably connected to the rear end of the hollow shaft of the second motor through a rotary joint, which reduces the impact of the vacuum tube on the operation of the second motor.

[0019] Preferred technical solution: The shaft of the first motor is set along the X-axis or Y-axis direction to facilitate positioning by the control end.

[0020] Preferred technical solution: There are two sets of pick-and-place working head assemblies, which are symmetrically arranged on the first mounting plate, allowing for the simultaneous transfer of multiple materials and improving efficiency.

[0021] Preferred technical solution: The first mounting plate is also provided with a lifting drive along the Z-axis direction. The lower end of the lifting drive is connected to a scraper for scraping off the oxide layer on the liquid surface inside the tin pot, thereby improving the functionality of the device.

[0022] Due to the application of the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows:

[0023] (1) By using a visual inspection camera and auxiliary light source, the position, posture and defects of materials can be accurately identified. Combined with the closed-loop control of the X / Y / Z three-axis linear motion module, high-precision positioning and placement of materials can be achieved.

[0024] (2) The reset notch on the turntable works in conjunction with the slotted photoelectric sensor to perform online calibration during the operation of the pick-up and put-down working head, thus avoiding cumulative errors.

[0025] (3) The negative pressure suction nozzle is detachable and can be adapted to materials of different sizes and shapes, expanding the application scenarios.

[0026] (4) The material placement slots are arranged in an array, and combined with the vision system, they can quickly scan and locate, making them suitable for continuous processing of batch materials.

[0027] (5) The second motor adopts a hollow shaft structure, and the rear end is connected to the vacuum tube through a rotary joint. The air circuit and the motor shaft are integrated to avoid air tube entanglement and ensure stable negative pressure during rotation. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a material visual recognition and transfer device according to the present invention;

[0030] Figure 2 This is an exploded view of the pick-and-place working head assembly in this utility model;

[0031] Figure 3 for Figure 2 A magnified view of a portion of point A in the middle.

[0032] In the attached diagrams above, 1. X-axis linear motion module; 11. First mounting plate; 2. Y-axis linear motion module; 3. Pick-and-place working head assembly; 31. Z-axis linear motion module; 32. First motor; 33. Second mounting plate; 34. Second motor; 35. Negative pressure suction nozzle; 36. Vacuum tube; 37. Turntable; 37a. Reset notch; 38. Slotted photoelectric sensor; 4. Vision inspection camera; 5. Material tray; 51. Material placement slot; 6. Auxiliary light source; 7. Lifting drive; 8. Scraper. Detailed Implementation

[0033] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for the description of embodiments of this application herein. Furthermore, the terms "comprising" and "having," and their synonyms, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0037] Furthermore, the terms "installation," "setting," "equipped with," "connection," "linking," "fitting," and "fitting" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Similarly, "fitting" can mean completely or partially fitted. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Example:

[0040] like Figure 1 As shown, this utility model discloses a material visual recognition and transfer device, including an X-axis linear motion module 1, a Y-axis linear motion module 2, and a pick-and-place working head assembly 3. The main components of this utility model will be described in detail below:

[0041] like Figure 1 , Figure 2 and Figure 3 As shown, the output end of the X-axis linear motion module 1 is provided with a first mounting plate 11. A vision inspection camera 4 is connected to the first mounting plate 11 along the Z-axis direction. An auxiliary light source 6 is provided below the vision inspection camera 4. The vision inspection camera 4 can identify the material type and outline size and position it.

[0042] like Figure 1 , Figure 2 and Figure 3 As shown, the Y-axis linear motion module 2 is located below the X-axis linear motion module 1, and its output end is provided with a material tray 5, on which material placement slots 51 are arranged in an array.

[0043] like Figure 1 , Figure 2 and Figure 3As shown, the pick-and-place working head assembly 3 includes a Z-axis linear motion module 31 mounted on a first mounting plate 11. The output end of the Z-axis linear motion module 31 is equipped with a first motor 32, and the rotation shaft of the first motor 32 is set along the horizontal X-axis direction. The output end of the first motor 32 is connected to a second mounting plate 33 through a first reducer. A second motor 34 is mounted on the second mounting plate 33. The second motor 34 is a hollow shaft motor, and the rotation shaft direction of the second motor 34 is perpendicular to the rotation shaft direction of the first motor 32. A negative pressure suction nozzle 35 is detachably mounted on the front end of the hollow shaft of the second motor 34. A vacuum tube 36 is connected to the rear end of the hollow shaft of the second motor 34. A turntable 37 is connected to the outer periphery of the hollow shaft of the second motor 34. A reset notch 37a is provided on the turntable 37. A slotted photoelectric sensor 38 for detecting the position of the reset notch 37a is correspondingly provided on the second mounting plate 33.

[0044] refer to Figure 1 , Figure 2 and Figure 3 As shown, the usage method and principle of this utility model are described below:

[0045] In use, the material is placed in the material placement trough 51. The X-axis linear motion module 1 and the Y-axis linear motion module 2 move together to place the material below the vision inspection camera 4 and the auxiliary light source 6. The vision inspection camera 4 scans the material to identify the material model and size and locate it.

[0046] The X-axis linear motion module 1, the Y-axis linear motion module 2 and the first motor 32 work together to align the negative pressure suction nozzle 35 with the target material. Then the Z-axis linear motion module 31 descends. When the negative pressure suction nozzle 35 comes into contact with the target material, vacuum adsorption is activated to grab it.

[0047] After the material is picked up, it is moved by the X-axis linear motion module 1, Y-axis linear motion module 2, Z-axis linear motion module 31, first motor 32 and second motor 34. During this process, the second motor 34 can drive the turntable 37 to rotate. The slotted photoelectric sensor 38 identifies the reset notch 37a and performs reset correction to avoid the second motor 34 from accumulating errors due to continuous operation, thereby improving the positioning accuracy of the material and improving the processing quality.

[0048] like Figure 1 , Figure 2 and Figure 3 As shown, a second reducer is further provided between the second motor 34 and the negative pressure suction nozzle 35. The second reducer is a hollow shaft reducer. The air shaft of the second motor 34 and the second reducer are connected to form an air passage. The air passage connects the vacuum tube 36 and the negative pressure suction nozzle 35, improving the stability of the movement of the negative pressure suction nozzle 35, thereby ensuring the stability of the material positioning accuracy.

[0049] like Figure 1 , Figure 2 and Figure 3 As shown, the vacuum tube 36 is further connected to the rear end of the hollow shaft of the second motor 34 via a rotary joint to prevent the vacuum tube 36 from getting tangled during the operation of the second motor 34 and to improve the stability of operation.

[0050] like Figure 1 , Figure 2 and Figure 3 As shown, there are two sets of pick-up and place-up head assemblies 3, which are symmetrically arranged on the first mounting plate 11 to improve work efficiency.

[0051] like Figure 1 , Figure 2 and Figure 3 As shown, the first mounting plate 11 is further provided with a lifting drive 7 along the Z-axis direction. The lower end of the lifting drive 7 is connected to a scraper 8, which can scrape off the oxide layer on the surface of the molten tin in the tin pot, thereby improving its functionality.

[0052] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A material visual recognition and transfer device, comprising an X-axis linear motion module (1), a Y-axis linear motion module (2), and a pick-and-place working head assembly (3), characterized in that: The output end of the X-axis linear motion module (1) is provided with a first mounting plate (11), and a visual inspection camera (4) is connected to the first mounting plate (11) along the Z-axis direction. The Y-axis linear motion module (2) is located below the X-axis linear motion module (1), and its output end is provided with a material tray (5). The pick-and-place working head assembly (3) includes a Z-axis linear motion module (31) mounted on the first mounting plate (11). The output end of the Z-axis linear motion module (31) is provided with a first motor (32), and the shaft of the first motor (32) is set in the horizontal direction. The output end of the first motor (32) is provided with a second mounting plate (33), and the second mounting plate (33) is provided with a second motor (34). The second motor (34) is a hollow shaft motor, and the shaft direction of the second motor (34) is perpendicular to the shaft direction of the first motor (32). The front end of the hollow shaft of the second motor (34) is detachably provided with a negative pressure suction nozzle (35). The rear end of the hollow shaft of the second motor (34) is connected to a vacuum tube (36). The outer periphery of the hollow shaft of the second motor (34) is connected to a turntable (37), and the turntable (37) is provided with a reset notch (37a). The second mounting plate (33) is correspondingly provided with a slotted photoelectric sensor (38) for detecting the position of the reset notch (37a).

2. The material visual recognition and transfer device according to claim 1, characterized in that: An auxiliary light source (6) is provided below the visual inspection camera (4).

3. The material visual recognition and transfer device according to claim 1, characterized in that: The material tray (5) is provided with material placement slots (51) arranged in an array.

4. The material visual recognition and transfer device according to claim 1, characterized in that: The first motor (32) and the second mounting plate (33) are connected by a first reducer.

5. The material visual recognition and transfer device according to claim 1, characterized in that: A second reducer is provided between the second motor (34) and the negative pressure nozzle (35). The second reducer is a hollow shaft reducer. The air shaft of the second motor (34) and the second reducer are connected to form an air passage. The air passage connects the vacuum tube (36) and the negative pressure nozzle (35).

6. The material visual recognition and transfer device according to claim 1, characterized in that: The vacuum tube (36) is rotatably connected to the rear end of the hollow shaft of the second motor (34) via a rotary joint.

7. The material visual recognition and transfer device according to claim 1, characterized in that: The shaft of the first motor (32) is set along the X-axis or Y-axis direction.

8. The material visual recognition and transfer device according to claim 1, characterized in that: There are two sets of the pick-and-place working head assembly (3), and the two sets of pick-and-place working head assemblies (3) are symmetrically arranged on the first mounting plate (11).

9. A material visual recognition and transfer device according to claim 1, characterized in that: The first mounting plate (11) is also provided with a lifting drive (7) along the Z-axis direction, and the lower end of the lifting drive (7) is connected to a scraper (8).

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