Machine vision-based crystal picking machine

Abstract

This utility model discloses a crystal oscillator picking machine based on machine vision, including a right hopper lifting mechanism, a middle conveyor line, a picking mechanism, a vision recognition mechanism, a gripper picking mechanism, and a left hopper lifting mechanism. The middle conveyor line includes a track corresponding to the hopper and a transfer mechanism for transferring the hopper from the right hopper to the track. The gripper picking mechanism is used to remove defective crystal oscillators from the hopper detected by the vision recognition mechanism. The picking mechanism moves the hopper on the track to the vision capture position of the vision recognition mechanism. After the vision recognition mechanism completes the vision capture, the hopper is moved to the picking position of the gripper picking mechanism. After picking, the picking mechanism then moves the hopper into the left hopper. This utility model uses machine vision for automatic screening and picking, which can save labor and improve picking efficiency. This utility model achieves automated picking with high accuracy.

Description

Technical Field

[0001] This utility model relates to the field of crystal oscillator manufacturing technology, and in particular to a crystal oscillator picking machine based on machine vision. Background Technology

[0002] A crystal oscillator consists of a base, a wafer, and a cover plate. The base has slots for mounting the wafer, which is then bonded to the base. Figure 1 As shown. After frequency tuning, the cover plate vacuum-seales the chip within the slot. When manufacturing a crystal oscillator, the chip on the substrate needs to be tuned first, then tested. Once the test is passed and there are no problems, the cover plate is placed on top for encapsulation, resulting in a complete crystal oscillator. A qualified chip is shown below. Figure 1 As shown in (a). Crystal oscillator defects include untuned crystals and missing tuning fork arms. Untuned crystals are shown in (a). Figure 1 As shown in (b), the chip with the missing tuning fork arm is as follows Figure 1 As shown in (c).

[0003] Therefore, after the crystal oscillator is tuned, it is necessary to remove untuned crystals, missing tuning fork arms, etc. The traditional method of removing crystals is manual, which is time-consuming, labor-intensive and prone to errors. Utility Model Content

[0004] The technical problem to be solved by this utility model embodiment is to provide a crystal oscillator picking machine based on machine vision, so as to improve the picking efficiency and accuracy and save labor costs.

[0005] To address the aforementioned technical problems, this utility model proposes a crystal oscillator picking machine based on machine vision, comprising a right hopper lifting mechanism, a middle conveyor line, a picking mechanism, a vision recognition mechanism, a gripper picking mechanism, and a left hopper lifting mechanism.

[0006] The right material box lifting mechanism includes a right material box for holding multiple material trays and a right lift. The right material box is placed on the right lift, and different material trays are switched by lifting the right lift. The left material box lifting mechanism includes a left material box for holding multiple material trays and a left lift. The left material box is placed on the left lift.

[0007] The intermediate production line includes a track corresponding to the material tray and a material transfer mechanism for transferring the material tray in the right material box to the track; the gripper picking mechanism is used to remove defective crystal oscillators in the material tray detected by the visual recognition mechanism.

[0008] The material feeding mechanism is used to move the material tray on the track. The material feeding mechanism moves the material tray on the track to the visual imaging position of the visual recognition mechanism. After the visual recognition mechanism completes the visual imaging, the material tray is moved to the picking position of the gripper picking mechanism. After the picking is completed, the material feeding mechanism moves the material tray into the left material box.

[0009] Furthermore, the material transfer mechanism includes a transfer KK module, a transfer plate lifting cylinder, and a transfer plate. The transfer plate lifting cylinder is located on the transfer KK module, and the transfer plate is located on the transfer plate lifting cylinder. There are two sets of tracks, and the transfer plate is located between the two sets of opposite tracks.

[0010] Furthermore, the material transfer mechanism also includes a positioning detection sensor for detecting whether the transfer plate is in place.

[0011] Furthermore, the feeding mechanism includes a lever linear drive module, a lever lifting cylinder, and a feeding rod. The lever lifting cylinder is mounted on the lever linear drive module, and the feeding rod is mounted on the lever lifting cylinder.

[0012] Furthermore, the feeding mechanism also includes a side-push positioning mechanism for positioning the feeding rod.

[0013] Furthermore, the gripper material handling mechanism includes a first XY module, a lifting cam, and a pneumatic gripper. The lifting cam is located on the first XY module, and the pneumatic gripper is correspondingly located on the lifting cam.

[0014] Furthermore, it also includes a machine base, with a left material box lifting mechanism and a right material box lifting mechanism located on the left and right sides of the machine base, and a central production line located between the left and right material box lifting mechanisms; a gripper material picking mechanism is located to the left of the vision recognition mechanism, and the vision recognition mechanism and the gripper material picking mechanism respectively take pictures and pick up materials from the two sets of material trays on the track.

[0015] Furthermore, the visual recognition mechanism consists of a camera, lens, light source, and a second XY module.

[0016] Furthermore, a defective product box is provided on the side of the track.

[0017] Furthermore, it also includes an industrial control computer, which is electrically connected to the right elevator, the left elevator, the material feeding mechanism, the vision recognition mechanism, the gripper material picking mechanism, and the material transfer mechanism.

[0018] The beneficial effects of this utility model are as follows: This utility model uses machine vision for automatic screening and picking, which can save labor and improve the picking efficiency. This utility model realizes the automation of picking and has high picking accuracy. Attached Figure Description

[0019] Figure 1 These are front views of crystal oscillators, where (a) is the front view of a frequency-tuned crystal oscillator, (b) is the front view of an untuned crystal oscillator, and (c) is the front view of a crystal oscillator with a missing tuning fork arm.

[0020] Figure 2 This is a structural diagram of the material tray.

[0021] Figure 3This is a three-dimensional structural diagram of the crystal oscillator picking machine based on machine vision according to an embodiment of the present invention.

[0022] Figure 4 This is a three-dimensional structural diagram of the crystal oscillator picking machine based on machine vision, according to another embodiment of this utility model.

[0023] Figure 5 This is a three-dimensional structural diagram of the left material box lifting mechanism according to an embodiment of the present utility model.

[0024] Figure 6 This is a three-dimensional structural diagram of the intermediate production line according to an embodiment of the present invention.

[0025] Figure 7 This is a top view of the intermediate production line of an embodiment of this utility model.

[0026] Figure 8 This is a three-dimensional structural diagram of the feeding mechanism according to an embodiment of the present utility model.

[0027] Figure 9 This is a three-dimensional structural diagram of the gripper material handling mechanism according to an embodiment of the present utility model.

[0028] Figure 10 This is a three-dimensional structural diagram of the visual recognition mechanism according to an embodiment of the present utility model.

[0029] Explanation of icon numbers

[0030] 1. Frequency tuning traces; 2. Frequency-tuned chip; 3. Base; 4. Untuned chip; 5. Chip with missing tuning fork arm; 6. Slot; 7. Rectangular frame of the tray; 8. Tray; 10. Left tray lifting mechanism; 11. Left tray; 12. Left elevator; 20. Gripper picking mechanism; 21. First XY module; 22. Lifting cam; 23. Pneumatic gripper; 24. Defective product box; 30. Intermediate production line; 31. Track; 32. Transplant KK module; 33. Transplant plate lifting cylinder; 34. Transplant plate; 35. Position detection sensor; 40. Visual recognition mechanism; 41. Camera; 42. Lens; 43. Light source; 44. Second XY module; 50. Industrial computer; 60. Material feeding mechanism; 61. Linear drive module for lever; 62. Lever lifting cylinder; 63. Material feeding lever; 64. Side push positioning mechanism; 70. Frame; 80. Right material box lifting mechanism. Detailed Implementation

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0033] Furthermore, in this utility model, descriptions involving "first," "second," etc., 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. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0034] Please refer to Figures 1-10 The crystal oscillator picking machine based on machine vision according to this utility model includes a right material box lifting mechanism, a middle production line, a material picking mechanism, a visual recognition mechanism, a gripper picking mechanism, and a left material box lifting mechanism.

[0035] The right tray lifting mechanism includes a right tray for holding multiple trays and a right lift. The right tray is placed on the right lift, and the lifting of the right lift switches between different trays, aligning the tray height with the central track. Each tray has multiple slots, such as 768, containing a tuned crystal oscillator (i.e., base + wafer). The tray structure is common knowledge in the art and will not be described in detail here. The right tray lifting mechanism and the left tray lifting mechanism have the same structure. The left tray lifting mechanism includes a left tray for holding multiple trays and a left lift. The left tray is placed on the left lift. The trays inside the left tray are those that have already been selected.

[0036] The intermediate production line includes tracks corresponding to the material trays and a transfer mechanism for moving the material trays from the right material box onto the tracks. The material trays from the right material box are moved from the right side to the track above the intermediate production line. Each time, the transfer mechanism takes a tray containing a crystal oscillator from the right material box and moves the tray to the appropriate position on the track of the intermediate production line.

[0037] The gripper mechanism is used to remove defective crystal oscillators from the tray detected by the visual recognition mechanism.

[0038] The material feeding mechanism is used to move the material tray on the track. The material feeding mechanism moves the material tray on the track to the visual imaging position of the visual recognition mechanism. After the visual recognition mechanism completes the visual imaging, the material tray is moved to the picking position of the gripper picking mechanism. After the picking is completed, the material feeding mechanism moves the material tray into the left material box.

[0039] This invention employs visual imaging to identify the outline shape of the crystal within the base. Crystal oscillators that have undergone laser frequency tuning show ablation marks at the tips of their tuning fork arms, significantly different from untuned crystals. Crystal oscillators with tuning marks are identified as good products through visual imaging, while untuned crystal oscillators and those with missing tuning fork arms are identified as defective and require rejection. After visual identification, the defective crystal oscillators are picked up and transferred to a defective product box by a pneumatic gripper mechanism. The identification principle of the visual recognition mechanism is common knowledge in the field and will not be elaborated here.

[0040] In one implementation, the material transfer mechanism includes a transfer KK module (KK module, also known as an industrial robot or single-axis robot, is a motor-driven mobile platform, composed of a ball screw and a U-shaped linear slide rail, and its slide block is also the drive nut of the ball screw and the guide slider of the linear slide rail), a transfer plate lifting cylinder, and a transfer plate. The transfer plate lifting cylinder is located on the transfer KK module, and the transfer plate is located on the transfer plate lifting cylinder. There are two sets of tracks, and the transfer plate is located between the two sets of opposite tracks.

[0041] In one implementation, the material transfer mechanism also includes a positioning detection sensor for detecting whether the transfer plate is in place.

[0042] In one implementation, the material feeding mechanism includes a linear drive module for a lever, a lever lifting cylinder, and a feeding rod. The lever lifting cylinder is mounted on the linear drive module, and the feeding rod is mounted on the lever lifting cylinder. Preferably, the material feeding mechanism further includes a side-push positioning mechanism for positioning the feeding rod. The feeding rod is used to move the material tray, causing it to slide on the track of the intermediate conveyor line. The feeding rod moves the material tray to the visual imaging position. After the visual imaging is completed, the feeding rod moves the material tray to the pneumatic gripper position of the gripper picking mechanism. After picking up the material, the feeding rod moves the material tray into the left material box.

[0043] In one embodiment, the gripper material handling mechanism includes a first XY module, a lifting cam, and a pneumatic gripper. The lifting cam is disposed on the first XY module, and the pneumatic gripper is disposed on the lifting cam.

[0044] As one implementation, the machine vision-based crystal oscillator picking machine also includes a machine base, with a left and right material box lifting mechanism located on the left and right sides of the machine base, and a central conveyor line positioned between the left and right material box lifting mechanisms. A gripper picking mechanism is located to the left of the vision recognition mechanism. The vision recognition mechanism and the gripper picking mechanism respectively photograph and pick up materials from the two sets of material trays on the track. In this invention, photographing and picking can be performed simultaneously.

[0045] As one implementation method, the visual recognition mechanism consists of a camera, a lens, a light source, and a second XY module.

[0046] As one implementation method, a defective product box is provided on the side of the track.

[0047] As one implementation method, the machine vision-based crystal oscillator picking machine also includes an industrial control computer, which is electrically connected to the right elevator, the left elevator, the picking mechanism, the vision recognition mechanism, the gripper picking mechanism, and the transferring mechanism.

[0048] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A crystal oscillator picking machine based on machine vision, characterized in that, This includes a right material box lifting mechanism, a middle conveyor line, a material feeding mechanism, a vision recognition mechanism, a gripper material picking mechanism, and a left material box lifting mechanism. The right material box lifting mechanism includes a right material box for holding multiple material trays and a right lift. The right material box is placed on the right lift, and different material trays are switched by lifting the right lift. The left material box lifting mechanism includes a left material box for holding multiple material trays and a left lift. The left material box is placed on the left lift. The intermediate production line includes a track corresponding to the material tray and a material transfer mechanism for transferring the material tray in the right material box to the track; the gripper picking mechanism is used to remove defective crystal oscillators in the material tray detected by the visual recognition mechanism. The material feeding mechanism is used to move the material tray on the track and move the material tray on the track to the visual image capture position of the visual recognition mechanism. After the visual recognition mechanism completes the visual image capture, the material tray is moved to the picking position of the gripper picking mechanism. After the picking is completed, the material feeding mechanism then moves the material tray into the left material box.

2. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, The material transfer mechanism includes a transfer KK module, a transfer plate lifting cylinder, and a transfer plate. The transfer plate lifting cylinder is located on the transfer KK module, and the transfer plate is located on the transfer plate lifting cylinder. There are two sets of tracks, and the transfer plate is located between the two sets of opposite tracks.

3. The crystal oscillator picking machine based on machine vision as described in claim 2, characterized in that, The material transfer mechanism also includes a positioning detection sensor for detecting whether the transfer plate is in place.

4. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, The material feeding mechanism includes a lever linear drive module, a lever lifting cylinder, and a feeding rod. The lever lifting cylinder is located on the lever linear drive module, and the feeding rod is located on the lever lifting cylinder.

5. The crystal oscillator picking machine based on machine vision as described in claim 4, characterized in that, The feeding mechanism also includes a side-push positioning mechanism for positioning the feeding rod.

6. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, The gripper material handling mechanism includes a first XY module, a lifting cam, and a pneumatic gripper. The lifting cam is located on the first XY module, and the pneumatic gripper is located on the lifting cam.

7. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, It also includes a machine base, with a left and right material box lifting mechanism located on the left and right sides of the machine base, and a central production line located between the left and right material box lifting mechanisms; a gripper material picking mechanism is located to the left of the vision recognition mechanism, and the vision recognition mechanism and the gripper material picking mechanism respectively take pictures and pick up materials from the two sets of material trays on the track.

8. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, The visual recognition mechanism consists of a camera, lens, light source, and a second XY module.

9. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, A defective material box is provided on the side of the track.

10. The crystal oscillator picking machine based on machine vision as described in claim 1, characterized in that, It also includes an industrial control computer, which is electrically connected to the right elevator, left elevator, material feeding mechanism, vision recognition mechanism, gripper material picking mechanism, and material transfer mechanism.

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