An attitude correction device

Abstract

This utility model relates to a posture correction device, comprising: a correction unit and an image acquisition unit disposed directly above the correction unit; the correction unit includes: an X-axis translation module, a Y-axis translation module, a Z-axis translation module, an angle adjustment module, and an adsorption module; the X-axis translation module, Y-axis translation module, and Z-axis translation module are arranged sequentially along the vertical direction; the angle adjustment module is mounted on the X-axis translation module; the adsorption module is supported on the angle adjustment module; the adsorption module is used to adsorb and fix the product or the fixture supporting the product; the axial direction of the angle adjustment module is aligned with the Z-axis direction, and the angle adjustment module is used to drive the adsorption module to swing within a preset angle range. This solution has a compact structure and high correction accuracy.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering, and in particular to an attitude correction device. Background Technology

[0002] Pad printing machines, as an important printing equipment, are widely used in modern manufacturing. They are suitable for surface printing and decoration of various materials such as plastics, toys, glass, metals, ceramics, electronics, and IC packaging. This indirect, concave pad printing technology, with its unique advantages, has become one of the mainstream methods for printing and decorating various object surfaces.

[0003] In traditional pad printing processes, jigs are typically used to hold and hold the materials to be printed. The original purpose of these jigs was to fix the materials in place, maintaining a relatively stable position during printing to ensure the accuracy of the printed patterns or text. However, in actual production environments, pad printing faces numerous challenges.

[0004] On the one hand, during the material handling and transfer process, factors such as the precision limitations of the conveying equipment, mechanical vibration, and subtle differences in operator skill can cause deviations in the initial position of the material within the fixture. Even under ideal equipment operating conditions, long-term use will cause wear and tear on the conveying components, further exacerbating the accumulation of this positional deviation. For example, in the pad printing process of toy manufacturing, a large number of toy parts are transferred via conveyor belts. The vibration of the conveyor belt and the slight differences in friction between the toy and the conveyor belt can cause the toy to deviate from its expected position when it arrives at the pad printing station.

[0005] On the other hand, positional errors are also unavoidable during the movement of the pad printing head. The movement of the pad printing head relies on complex mechanical transmission and control systems. Although modern mechanical manufacturing and control technologies are constantly improving, problems such as the machining accuracy of mechanical parts, assembly errors, and thermal deformation during operation still exist. These factors cause slight changes in the contact position and angle between the pad printing head and the material surface with each printing press. Taking pad printing of electronic components as an example, due to the small size of electronic components and the extremely high requirements for printing accuracy, even a tiny positional deviation of the pad printing head can cause the printed pattern to deviate from the component surface, thus affecting product quality. Utility Model Content

[0006] The purpose of this invention is to provide an attitude correction device.

[0007] To achieve the above-mentioned utility model objectives, this utility model provides an attitude correction device, comprising: a correction unit, an image acquisition unit disposed directly above the correction unit, and a data processing and control unit connected to the correction unit and the image acquisition unit respectively;

[0008] The correction unit includes: an X-axis translation module, a Y-axis translation module, a Z-axis translation module, an angle adjustment module, and an adsorption module;

[0009] Along the vertical direction, the X-axis translation module, Y-axis translation module, and Z-axis translation module are arranged sequentially;

[0010] The angle adjustment module is mounted on the X-axis translation module;

[0011] The adsorption module is supported on the angle adjustment module;

[0012] The adsorption module is used to adsorb and fix the product or the fixture supporting the product.

[0013] The axial direction of the angle adjustment module is aligned with the Z-axis direction, and the angle adjustment module is used to drive the adsorption module to swing within a preset angle range.

[0014] According to one aspect of the present invention, the angle adjustment module includes: an adjustment drive motor and a transmission mechanism connected to the rotating shaft of the adjustment drive motor;

[0015] The adjustment drive motor and the transmission mechanism are respectively connected to the upper and lower sides of the X-axis translation module;

[0016] The transmission mechanism is provided with a rotation input end and a rotation output end;

[0017] The output shaft of the adjustment drive motor is connected to the rotation input end.

[0018] According to one aspect of the present invention, the transmission mechanism is provided with a swing limiter and a limit sensor;

[0019] The swing limiting member is coaxially arranged with the rotation output end of the transmission mechanism;

[0020] The swing limiting member has at least one extension portion, and a swing indicator is provided at the end of the extension portion;

[0021] The limit sensor is set in two intervals to limit the preset angle range that the angle adjustment module can move based on the swing indicator and the limit sensor.

[0022] According to one aspect of the present invention, the adsorption module includes: a connecting seat, a hollow adsorption structure coaxially disposed with the connecting seat, and a quick-connect connector disposed on the side of the connecting seat;

[0023] The connector is provided with a hollow connection channel for connecting the quick connector and the hollow adsorption structure;

[0024] The connecting seat is detachably connected to the rotating output end and / or the swing limiting member.

[0025] According to one aspect of the present invention, the X-axis translation module includes: an X-axis platform, an X-axis guide rail disposed on the lower side of the X-axis platform, an X-axis drive for driving the X-axis platform to reciprocate along the X-axis direction, and an X-axis limit sensor for limiting the movement range of the X-axis platform;

[0026] The X-axis drive is arranged side by side with the X-axis platform;

[0027] An X-axis movement indicator is provided on the side of the X-axis platform away from the X-axis drive;

[0028] The X-axis limit sensor is set in two intervals to limit the range of motion of the X-axis platform based on the X-axis movement indicator and the X-axis limit sensor.

[0029] According to one aspect of the present invention, the X-axis drive includes: a first X-bearing housing, a second X-bearing housing, an X-axis connecting block, an X-axis driver, and an X-axis lead screw and nut assembly;

[0030] The first X bearing housing and the second X bearing housing are spaced apart;

[0031] The X-axis lead screw and nut assembly are rotatably connected to the first X bearing housing and the second X bearing housing, respectively.

[0032] The X-axis driver is fixedly connected to the first X-bearing housing and is rotatably connected to the X-axis lead screw and nut pair.

[0033] The X-axis connecting block is located between the first X-bearing seat and the second X-bearing seat, and the X-axis connecting block is connected to the X-axis platform and the nut of the X-axis lead screw nut pair respectively;

[0034] The first X bearing housing includes: a first housing body, and a first support connection portion disposed on the upper side of the first housing body;

[0035] There are two first support connection parts spaced apart. The X-axis driver is connected to one of the first support connection parts, and the other first support connection part is rotatably connected to the X-axis lead screw and nut pair.

[0036] According to one aspect of the present invention, the Y-axis translation module includes: a Y-axis platform, a Y-axis guide rail disposed on the lower side of the Y-axis platform, a Y-axis drive for driving the Y-axis platform to reciprocate along the Y-axis direction, and a Y-axis limit sensor for limiting the movement range of the Y-axis platform;

[0037] The Y-axis drive is located below the Y-axis platform;

[0038] A Y-axis movement indicator is provided on the side of the Y-axis platform near the Y-axis drive;

[0039] The Y-axis limit sensor is set in two intervals to limit the range of motion of the Y-axis platform based on the Y-axis movement indicator and the Y-axis limit sensor;

[0040] The X-axis guide rail and the X-axis drive are connected to the upper side of the Y-axis platform;

[0041] The X-axis limit sensor is located on the circumferential side of the Y-axis platform.

[0042] According to one aspect of the present invention, the Y-axis drive includes: a first Y-bearing housing, a second Y-bearing housing, a Y-axis connecting block, a Y-axis driver, and a Y-axis lead screw and nut assembly;

[0043] The first Y-bearing housing and the second Y-bearing housing are spaced apart;

[0044] The Y-axis lead screw and nut assembly are rotatably connected to the first Y bearing housing and the second Y bearing housing, respectively.

[0045] The Y-axis driver is fixedly connected to the first Y-bearing housing and is rotatably connected to the Y-axis lead screw and nut pair.

[0046] The Y-axis connecting block is located between the first Y-bearing seat and the second Y-bearing seat, and the Y-axis connecting block is connected to the nuts of the Y-axis platform and the Y-axis lead screw nut pair respectively;

[0047] The first Y-bearing housing includes: a second housing body, and a second support connection portion disposed on the upper side of the second housing body;

[0048] There are two second support connection parts spaced apart. The Y-axis driver is connected to one of the second support connection parts, and the other second support connection part is rotatably connected to the Y-axis lead screw and nut pair.

[0049] According to one aspect of the present invention, the Z-axis translation module includes: a mounting support, a Z-axis assembly slidably connected to the mounting support, a Z-axis drive for driving the Z-axis assembly to reciprocate along the Z-axis direction, and a Z-axis limit sensor for limiting the range of movement of the Z-axis assembly.

[0050] The Z-axis assembly includes: a Z-axis platform, a Z-axis guide rail, and a Z-axis movement indicator;

[0051] The Z-axis platform includes: a horizontal support section and a vertical connecting section;

[0052] The horizontal support and the vertical connecting parts are connected perpendicularly to each other at their ends to form an L-shaped structure.

[0053] The Z-axis guide rail is used to connect the vertical connecting part and the mounting support;

[0054] The Z-axis drive is connected to the vertical connecting part and the mounting support respectively;

[0055] The Z-axis movement indicator is disposed on the circumferential side of the vertical connection part;

[0056] The Z-axis limit sensor is set in two intervals to limit the range of motion of the Z-axis platform based on the Z-axis movement indicator and the Z-axis limit sensor.

[0057] The horizontal support extends in a direction away from the mounting support;

[0058] The Y-axis platform is mounted on the upper side of the horizontal support based on the Y-axis guide rail;

[0059] The Y-axis drive is installed on the lower side of the horizontal support, and the horizontal support is provided with a clearance notch for the Y-axis connecting block to pass through and connect to the Y-axis platform;

[0060] The Y-axis limit sensor is installed on the circumferential side of the horizontal support.

[0061] According to one aspect of the present invention, the Z-axis drive includes: a first Z-bearing housing, a second Z-bearing housing, a Z-axis connecting block, a Z-axis driver, and a Z-axis lead screw and nut assembly;

[0062] The first Z bearing housing and the second Z bearing housing are spaced apart;

[0063] The Z-axis lead screw and nut assembly are rotatably connected to the first Z-bearing housing and the second Z-bearing housing, respectively.

[0064] The Z-axis driver is fixedly connected to the first Z-bearing housing and is rotatably connected to the Z-axis lead screw and nut pair.

[0065] The Z-axis connecting block is located between the first Z-bearing seat and the second Z-bearing seat, and the Z-axis connecting block is connected to the vertical connecting part and the nut of the Z-axis lead screw nut pair respectively;

[0066] The first Z bearing housing includes: a third housing body, and a third support connection portion disposed on the upper side of the third housing body;

[0067] There are two third support connection parts at intervals, wherein the Z-axis driver is connected to one of the third support connection parts, and the other third support connection part is rotatably connected to the Z-axis lead screw and nut pair.

[0068] According to one embodiment of the present invention, the structure of this embodiment is compact and has the advantage of high calibration accuracy.

[0069] According to one aspect of this utility model, by arranging the X-axis drive and the X-axis platform side by side, the vertical height of the X-axis translation module is effectively reduced. This results in a smaller vertical space occupation by the X-axis translation module, which is more beneficial for reducing the overall height of the correction unit and makes it easier to install under the product carrier platform, ensuring its ease of use.

[0070] According to one aspect of this utility model, the first X-bearing housing described above, by using a unified first housing body to install the X-axis driver and the X-axis lead screw nut pair, can effectively ensure the coaxial accuracy of the connection position between the X-axis driver and the X-axis lead screw nut pair, which is more beneficial to ensuring the operating accuracy and stability of this solution.

[0071] According to one aspect of this utility model, by placing the Y-axis drive below the Y-axis platform, the space below can be effectively utilized, thereby effectively suppressing the horizontal dimension of the solution. This is more beneficial for reducing the overall size of the solution, making the structure compact and easier to arrange in narrow spaces, and making the installation of the solution more convenient. Attached Figure Description

[0072] Figure 1 This is a structural diagram of an attitude correction device according to one embodiment of the present invention;

[0073] Figure 2 This is a perspective view of the correction unit according to one embodiment of the present invention;

[0074] Figure 3 This is a partial side view of the correction unit according to one embodiment of the present invention;

[0075] Figure 4 This is a front view of the correction unit according to one embodiment of the present invention. Detailed Implementation

[0076] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0077] In describing embodiments of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this utility model.

[0078] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

[0079] like Figure 1 As shown, according to one embodiment of the present invention, a posture correction device includes: a correction unit 1, an image acquisition unit 2 disposed directly above the correction unit 1, and a data processing and control unit connected to both the correction unit 1 and the image acquisition unit 2. The correction unit 1 and the image acquisition unit 2 are spaced apart, allowing a product carrier platform (e.g., a disc-shaped platform) to be arranged between them. Furthermore, a product workstation or fixture workstation can be provided on the product carrier platform, with the image acquisition unit 2 positioned above and below it. Both the correction unit 1 and the image acquisition unit 2 are opposite to the product workstation or fixture workstation on the product carrier platform, enabling posture correction of the product or fixture mounted on the platform after the product carrier platform has rotated into position.

[0080] In this embodiment, the image acquisition unit 2 has at least one CCD camera for acquiring images to perform complete image acquisition of the product or product fixture; wherein, in order to adapt to the corresponding visual acquisition range, the CCD camera is set in an array of multiple, such as two, three, four, etc., depending on the specific adaptation scenario.

[0081] Combination Figure 1 and Figure 2As shown, in this embodiment, the correction unit 1 includes: an X-axis translation module 11, a Y-axis translation module 12, a Z-axis translation module 13, an angle adjustment module 14, and an adsorption module 15; wherein, along the vertical direction, the X-axis translation module 11, the Y-axis translation module 12, and the Z-axis translation module 13 are arranged sequentially; the Z-axis translation module 13 is the supporting unit of the entire unit, so as to realize the position adjustment of the X-axis translation module 11, the Y-axis translation module 12, the angle adjustment module 14, and the adsorption module 15 in the Z-axis direction (i.e., the vertical direction). Further, the angle adjustment module 14 is mounted on the X-axis translation module 11; the adsorption module 15 is supported on the angle adjustment module 14; wherein, the adsorption module 15 is used to adsorb and fix the product or the fixture supporting the product. Therefore, based on the adsorption effect of the adsorption module 15, the X-axis translation module 11, Y-axis translation module 12, and Z-axis translation module 13 can achieve three-dimensional driving to achieve the corresponding displacement adjustment. Specifically, the Z-axis translation module 13 lifts the product or fixture, and then the X-axis translation module 11 and Y-axis translation module 12 adjust the position of the product or fixture in the horizontal direction.

[0082] Furthermore, the axial direction of the angle adjustment module 14 is aligned with the Z-axis direction, and the angle adjustment module 14 is used to drive the adsorption module 15 to swing within a preset angle range. Thus, under the driving action of the angle adjustment module 14, the rotation angle of the product or fixture can be adjusted to achieve accurate adjustment of the position and angle of the product or fixture.

[0083] Combination Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the angle adjustment module 14 includes: an adjustment drive motor 141, and a transmission mechanism 142 connected to the rotating shaft of the adjustment drive motor 141; wherein, the adjustment drive motor 141 and the transmission mechanism 142 are respectively connected to the upper and lower sides of the X-axis translation module 11; the transmission mechanism 142 is provided with a rotation input end 1421 and a rotation output end 1422; furthermore, the output shaft of the adjustment drive motor 141 is connected to the rotation input end 1421.

[0084] like Figure 2As shown, according to one embodiment of the present invention, the transmission mechanism 142 is provided with a swing limiting member 1423 and a limit sensor 1424; wherein, the swing limiting member 1423 is coaxially arranged with the rotation output end 1422 of the transmission mechanism 142. In this embodiment, the swing limiting member 1423 has at least one extension portion 1423a, and a swing indicator 1423b is provided at the end of the extension portion 1423a; furthermore, two limit sensors 1424 are arranged at intervals to limit the preset angle range of the angle adjustment module 14 based on the swing indicator 1423b and the limit sensor 1424.

[0085] In this embodiment, two limit sensors 1424 are arranged around the transmission mechanism 142, thereby enabling the detection of the angle deflection limit by moving the swing indicator 1423b to the position of the limit sensor 1424.

[0086] In this embodiment, in order to ensure the structural symmetry of the swing limiter 1423, extension portions 1423a can be symmetrically provided on opposite sides of the swing limiter 1423, so that a swing indicator 1423b can be provided on any one of the extension portions 1423a. This not only effectively ensures the convenience of its installation, but also makes its mass distribution symmetrical, which is beneficial to ensuring the balance of the rotation adjustment angle process.

[0087] In this embodiment, the limit sensor 1424 can be a photoelectric sensor or a contact switch, etc. Correspondingly, the swing indicator 1423b can be set as a sheet metal structural component, which includes: a first connecting plate and a first pointer connected to the first connecting plate; wherein, the first pointer and the first connecting plate are perpendicular to each other to form an L-shaped structure, so that the first connecting plate can be directly connected to the upper end of the extension portion 1423a by a threaded connector, and the first pointer is arranged downward, so that when the first pointer is in the position of the limit sensor 1424, it can block or abut against the limit sensor 1424, thereby causing it to output a corresponding detection signal.

[0088] Combination Figure 2 and Figure 4As shown, according to one embodiment of the present invention, the adsorption module 15 includes: a connecting seat 151, a hollow adsorption structure 152 coaxially disposed with the connecting seat 151, and a quick connector 153 disposed on the side of the connecting seat 151; wherein, the connecting seat 151 is provided with a hollow connecting channel for connecting the quick connector 153 and the hollow adsorption structure 152; in this embodiment, the connecting seat 151 is detachably connected to the rotating output end 1422 and / or the swing limiting member 1423. In this embodiment, the hollow adsorption structure 152 can be configured as a hollow cylindrical structure, thereby achieving communication with the connecting channel on the connecting seat 151 through the hollow portion. Furthermore, the end of the hollow adsorption structure 152 away from the connecting seat 151 can be configured as a radially enlarged structure to ensure the contact area at its adsorption contact position, which is more beneficial for improving the stability and reliability of adsorption.

[0089] Furthermore, the hollow adsorption structure 152 is detachably connected to the connecting seat 151, thereby allowing for easy replacement of hollow adsorption structures 152 of different lengths and thicknesses to adapt to different products or fixtures, improving the flexibility of the structure. Of course, the radially enlarged end of the hollow adsorption structure 152 can also be made detachable, allowing for the installation of end structures of different sizes, further expanding the flexibility of the structure.

[0090] like Figure 2 As shown, according to one embodiment of the present invention, the X-axis translation module 11 includes: an X-axis platform 111, an X-axis guide rail 112 disposed on the lower side of the X-axis platform 111, an X-axis drive 113 for driving the X-axis platform 111 to reciprocate along the X-axis direction, and an X-axis limit sensor 114 for limiting the movement range of the X-axis platform 111; wherein, the X-axis drive 113 and the X-axis platform 111 are arranged side by side. In this embodiment, an X-axis movement indicator 111a is disposed on the side of the X-axis platform 111 away from the X-axis drive 113; furthermore, two X-axis limit sensors 114 are disposed at intervals to limit the movable range of the X-axis platform 111 based on the X-axis movement indicator 111a and the X-axis limit sensors 114.

[0091] By setting up the X-axis drive 113 and the X-axis platform 111 side by side, this solution effectively reduces the vertical height of the X-axis translation module 11. This results in the X-axis translation module 11 occupying less space in the vertical direction, which is more beneficial for reducing the overall height of the correction unit 1. This allows it to be installed more conveniently under the product carrier platform, ensuring its ease of use.

[0092] In this embodiment, the X-axis limit sensor 114 can be a photoelectric sensor or a contact switch, etc. Correspondingly, the X-axis movement indicator 111a can be set as a sheet metal structural component, which includes: a second connecting plate and a second pointer connected to the second connecting plate; wherein, the second pointer and the second connecting plate are perpendicular to each other to form an L-shaped structure, so that the second connecting plate can be directly connected to the upper side of the X-axis platform 111 by a threaded connector, and the second pointer is arranged downward, so that when the second pointer is in the position of the X-axis limit sensor 114, it can block or abut against the X-axis limit sensor 114, thereby causing it to output a corresponding detection signal.

[0093] like Figure 2 As shown, according to one embodiment of the present invention, the X-axis drive 113 includes: a first X-bearing housing 113a, a second X-bearing housing 113b, an X-axis connecting block 113c, an X-axis driver 113d, and an X-axis lead screw and nut assembly 113e; wherein the first X-bearing housing 113a and the second X-bearing housing 113b are spaced apart; furthermore, the X-axis lead screw and nut assembly 113e is rotatably connected to the first X-bearing housing 113a and the second X-bearing housing 113b respectively; the X-axis driver 113d is fixedly connected to the first X-bearing housing 113a, and is rotatably connected to the X-axis lead screw and nut assembly 113e. In this embodiment, the X-axis connecting block 113c is located between the first X-bearing housing 113a and the second X-bearing housing 113b, and the X-axis connecting block 113c is connected to the nuts of the X-axis platform 111 and the X-axis lead screw and nut assembly 113e respectively.

[0094] In this embodiment, the first X-bearing housing 113a includes: a first housing 113a1, and a first support connection part 113a2 disposed on the upper side of the first housing 113a1; wherein, two first support connection parts 113a2 are disposed at intervals, wherein the X-axis driver 113d is connected to one of the first support connection parts 113a2, and the other first support connection part 113a2 is rotatably connected to the X-axis lead screw nut pair 113e.

[0095] By using the first X-bearing housing 113a configured above, the X-axis driver 113d and the X-axis lead screw nut pair 113e can be installed using a unified first housing 113a1. This effectively ensures the coaxial accuracy of the connection position between the X-axis driver 113d and the X-axis lead screw nut pair 113e, which is more beneficial to ensuring the operating accuracy and stability of this solution.

[0096] like Figure 2As shown, according to one embodiment of the present invention, the Y-axis translation module 12 includes: a Y-axis platform 121, a Y-axis guide rail 122 disposed below the Y-axis platform 121, a Y-axis drive 123 for driving the Y-axis platform 121 to reciprocate along the Y-axis direction, and a Y-axis limit sensor 124 for limiting the movement range of the Y-axis platform 121. In this embodiment, the Y-axis drive 123 is disposed below the Y-axis platform 121; a Y-axis movement indicator 121a is disposed on the side of the Y-axis platform 121 near the Y-axis drive 123; furthermore, two Y-axis limit sensors 124 are disposed at intervals to limit the movable range of the Y-axis platform 121 based on the Y-axis movement indicator 121a and the Y-axis limit sensor 124. In this embodiment, the Y-axis drive 123 is disposed below the side of the Y-axis platform 121 away from the mounting support 131 of the Z-axis translation module 13 to avoid structural interference during operation.

[0097] By setting the Y-axis drive 123 below the Y-axis platform 121, this solution can effectively utilize the empty space below, thus effectively suppressing the horizontal dimension of the solution. This is more beneficial for reducing the overall size of the solution, making the structure compact and easier to arrange in narrow spaces, and making the installation of the solution more convenient.

[0098] In this embodiment, the X-axis guide rail 112 and the X-axis drive 113 are connected to the upper side of the Y-axis platform 121; the X-axis limit sensor 114 is disposed on the circumferential side of the Y-axis platform 121; wherein, the positions of the X-axis limit sensor 114 and the X-axis movement indicator 111a are matched, which will not be described in detail here.

[0099] In this embodiment, the Y-axis limit sensor 124 can be a photoelectric sensor or a contact switch, etc. Correspondingly, the Y-axis movement indicator 121a can be set as a sheet metal structural component, which includes: a third connecting plate and a third pointer connected to the third connecting plate; wherein, the third pointer and the third connecting plate are perpendicular to each other to form an L-shaped structure, so that the third connecting plate can be directly connected to the upper side of the Y-axis platform 121 by a threaded connector, and the third pointer is arranged downward, so that when the third pointer is in the position of the Y-axis limit sensor 124, it can block or abut against the Y-axis limit sensor 124, thereby causing it to output a corresponding detection signal.

[0100] Combination Figure 2 and Figure 4As shown, according to one embodiment of the present invention, the Y-axis drive 123 includes: a first Y-bearing housing 123a, a second Y-bearing housing 123b, a Y-axis connecting block 123c, a Y-axis driver 123d, and a Y-axis lead screw and nut assembly 123e; wherein the first Y-bearing housing 123a and the second Y-bearing housing 123b are spaced apart. In this embodiment, the Y-axis lead screw and nut assembly 123e is rotatably connected to the first Y-bearing housing 123a and the second Y-bearing housing 123b respectively; the Y-axis driver 123d is fixedly connected to the first Y-bearing housing 123a and rotatably connected to the Y-axis lead screw and nut assembly 123e. In this embodiment, the Y-axis connecting block 123c is located between the first Y-bearing housing 123a and the second Y-bearing housing 123b, and the Y-axis connecting block 123c is connected to the nuts of the Y-axis platform 121 and the Y-axis lead screw and nut assembly 123e respectively.

[0101] In this embodiment, the first Y-bearing housing 123a includes: a second housing 123a1, and a second support connection portion 123a2 disposed on the upper side of the second housing 123a1; wherein, two second support connection portions 123a2 are disposed at intervals, wherein the Y-axis driver 123d is connected to one of the second support connection portions 123a2, and the other second support connection portion 123a2 is rotatably connected to the Y-axis lead screw nut pair 123e.

[0102] By using the first Y-bearing housing 123a configured above, and employing a unified second housing 123a1 to install the Y-axis driver 123d and the Y-axis lead screw nut pair 123e, the coaxial accuracy of the connection position between the Y-axis driver 123d and the Y-axis lead screw nut pair 123e can be effectively guaranteed, which is more beneficial to ensuring the operating accuracy and stability of this solution.

[0103] Combination Figure 2 , Figure 3 and Figure 4As shown, according to one embodiment of the present invention, the Z-axis translation module 13 includes: a mounting support 131, a Z-axis assembly 132 slidably connected to the mounting support 131, a Z-axis drive 133 for driving the Z-axis assembly 132 to reciprocate along the Z-axis direction, and a Z-axis limit sensor 134 for limiting the movement range of the Z-axis assembly 132. In this embodiment, the Z-axis assembly 132 includes: a Z-axis platform 132a, a Z-axis guide rail 132b, and a Z-axis movement indicator 132c; wherein, the Z-axis platform 132a includes: a horizontal support portion 132a1 and a vertical connecting portion 132a2; specifically, the horizontal support portion 132a1 and the vertical connecting portion 132a2 are connected perpendicularly to each other at their ends to form an L-shaped structure; to further ensure the connection accuracy and reliability of the horizontal support portion 132a1 and the vertical connecting portion 132a2, a reinforcing rib can be further provided between the horizontal support portion 132a1 and the vertical connecting portion 132a2 to effectively ensure the structural accuracy and reliability of the Z-axis platform 132a.

[0104] In this embodiment, the Z-axis guide rail 132b is used to connect the vertical connecting part 132a2 and the mounting support 131; while the Z-axis drive 133 is connected to the vertical connecting part 132a2 and the mounting support 131 respectively; thus, under the driving action of the Z-axis drive 133, the Z-axis platform 132a can be driven to move up and down along the Z-axis direction.

[0105] In this embodiment, the Z-axis movement indicator 132c is disposed on the circumferential side of the vertical connecting part 132a2; two Z-axis limit sensors 134 are spaced apart to limit the range of motion of the Z-axis platform 132a based on the Z-axis movement indicator 132c and the Z-axis limit sensors 134; wherein, the Z-axis limit sensor 134 can be a photoelectric sensor or a contact switch, etc., and correspondingly, the Z-axis movement indicator 132c can be a sheet metal structural component, which includes: a fourth connecting plate and a fourth pointer connected to the fourth connecting plate; wherein, the fourth pointer and the fourth connecting plate are perpendicular to each other to form an L-shaped structure, thereby, the fourth connecting plate can be directly connected to one side of the vertical connecting part 132a2 by a threaded connector, and the fourth pointer will face the direction of the mounting support 131, so that when the fourth pointer is in the position of the Z-axis limit sensor 134, it can block or abut against the Z-axis limit sensor 134, thereby causing it to output a corresponding detection signal.

[0106] Furthermore, the horizontal support portion 132a1 extends in a direction away from the mounting support 131 to avoid interference with the mounting support 131.

[0107] Furthermore, the Y-axis platform 121 is mounted on the upper side of the horizontal support portion 132a1 based on the Y-axis guide rail 122; while the Y-axis drive 123 is mounted on the lower side of the horizontal support portion 132a1, and the horizontal support portion 132a1 is provided with a clearance notch 132a11 for the Y-axis connecting block 123c to pass through and connect to the Y-axis platform 121. Through the above arrangement, the space below the horizontal support portion 132a1 is effectively utilized, making the structure of this utility model more compact.

[0108] Furthermore, the Y-axis limit sensor 124 is installed on the circumferential side of the horizontal support 132a1, and its setting position is matched with the Y-axis movement indicator 121a to fully ensure the accurate limitation of the movement range of the Y-axis platform 121.

[0109] Combination Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the Z-axis drive 133 includes: a first Z-bearing housing, a second Z-bearing housing, a Z-axis connecting block, a Z-axis driver 133a, and a Z-axis lead screw and nut assembly; wherein the first Z-bearing housing and the second Z-bearing housing are spaced apart, and the Z-axis lead screw and nut assembly is rotatably connected to the first Z-bearing housing and the second Z-bearing housing, respectively. In this embodiment, the Z-axis driver 133a is fixedly connected to the first Z-bearing housing and rotatably connected to the Z-axis lead screw and nut assembly; the Z-axis connecting block is located between the first Z-bearing housing and the second Z-bearing housing, and the Z-axis connecting block is connected to the vertical connecting part 132a2 and the nut of the Z-axis lead screw and nut assembly, respectively.

[0110] In this embodiment, the first Z-bearing housing includes: a third housing body, and a third support connection part disposed on the upper side of the third housing body; wherein, two third support connection parts are disposed at intervals, wherein the Z-axis driver 133a is connected to one third support connection part, and the other third support connection part is rotatably connected to the Z-axis lead screw nut pair.

[0111] By using the first Z-bearing housing described above, and employing a unified third housing to install the Z-axis driver 133a and the Z-axis lead screw and nut pair, the coaxial accuracy of the connection position of the Z-axis driver 133a and the Z-axis lead screw and nut pair can be effectively guaranteed, which is more beneficial to ensuring the operating accuracy and stability of this solution.

[0112] According to one embodiment of this utility model, the data processing and control unit is implemented by a combination of embedded vision, PLC device, FPGA device, etc., which will not be described in detail here.

[0113] To further illustrate this scheme, its calibration process will be further illustrated with examples.

[0114] Step 1: Select the size and shape of the hollow adsorption structure 152 corresponding to the target object (such as a product or product fixture) to facilitate stable adsorption of the target object. After replacing and adjusting the hollow adsorption structure 152, connect the quick connector 153 to the external vacuum source pipeline.

[0115] Step 2: The product carrier moves the target object placed on it to the position of the attitude correction device. At this time, the image acquisition unit 2 is above the target object, and the correction unit 1 is below the target object; the target object as a whole is within the field of view of the image acquisition unit 2.

[0116] Step 3: The product carrier platform is locked in position, and the correction unit 1 begins to correct the posture of the target object; wherein, the Z-axis translation module 13 drives the X-axis translation module 11, the Y-axis translation module 12, the angle adjustment module 14 and the adsorption module 15 to move upward as a whole until the adsorption module 15 contacts the lower side of the target object, and the vacuum source is activated to adsorb and fix the target object.

[0117] The Z-axis translation module 13 continues to work, and after lifting the target object to a preset height to get it out of the interference of the structure below, the Z-axis translation module 13 stops working.

[0118] Image acquisition unit 2 acquires images of the target object and sends the acquired images to the data processing and control unit;

[0119] The data processing and control unit performs target object recognition based on the received image to obtain the position offset and angle offset of the target object in a preset coordinate system. Specifically, the obtained position offset is judged based on a preset position offset threshold. If the position offset exceeds the threshold, a corresponding position correction signal is generated. The obtained angle offset is judged based on a preset angle offset threshold. If the angle offset exceeds the threshold, a corresponding angle correction signal is generated.

[0120] In the correction unit 1, the X-axis translation module 11 and the Y-axis translation module 12 correct the position of the target object under the action of the position correction signal, and the angle adjustment module 14 drives the target object to deflect under the action of the angle correction signal to perform angle correction.

[0121] Image acquisition unit 2 re-acquires images of the target object and sends the acquired images to the data processing and control unit;

[0122] The data processing and control unit identifies the target object based on the received image to obtain the position offset and angle offset of the target object in the preset coordinate system. The position offset and angle offset are respectively judged by threshold. If the threshold is exceeded, the aforementioned correction process is repeated. If the threshold is not exceeded, the correction is determined to be complete.

[0123] Step 4: Once the target object's attitude correction is complete, the X-axis translation module 11 moves downwards until the target object returns to its original position on the product carrier platform. The vacuum source connected to the adsorption module 15 then stops working, and the adsorption module 15 detaches from the target object.

[0124] Step 5: The X-axis translation module 11 continues to move downwards to return to its initial position. The X-axis translation module 11, the Y-axis translation module 12, and the angle adjustment module 14 return to their initial positions, thus waiting for the product carrier to transport the next target object.

[0125] The above content is merely an example of a specific solution of this utility model. For the equipment and structures not described in detail, it should be understood that they are implemented using common equipment and methods already available in the field.

[0126] The above description is merely one solution of this utility model and is not intended to limit it. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A posture correction device, characterized by, include: The calibration unit (1), the image acquisition unit (2) located directly above the calibration unit (1), and the data processing and control unit connected to the calibration unit (1) and the image acquisition unit (2) respectively; The correction unit (1) includes: an X-axis translation module (11), a Y-axis translation module (12), a Z-axis translation module (13), an angle adjustment module (14), and an adsorption module (15); Along the vertical direction, the X-axis translation module (11), Y-axis translation module (12), and Z-axis translation module (13) are arranged sequentially; The angle adjustment module (14) is mounted on the X-axis translation module (11); The adsorption module (15) is supported on the angle adjustment module (14); The adsorption module (15) is used to adsorb and fix the product or the fixture supporting the product; The axial direction of the angle adjustment module (14) is aligned with the Z-axis direction, and the angle adjustment module (14) is used to drive the adsorption module (15) to swing within a preset angle range.

2. The attitude correction device according to claim 1, characterized in that, The angle adjustment module (14) includes: an adjustment drive motor (141) and a transmission mechanism (142) connected to the rotating shaft of the adjustment drive motor (141). The adjustment drive motor (141) and the transmission mechanism (142) are respectively connected to the upper and lower sides of the X-axis translation module (11); The transmission mechanism (142) is provided with a rotation input end (1421) and a rotation output end (1422). The output shaft of the adjustment drive motor (141) is connected to the rotation input end (1421).

3. The attitude correction apparatus according to claim 2, characterized by The transmission mechanism (142) is provided with a swing limiter (1423) and a limit sensor (1424). The swing limiting member (1423) is coaxially arranged with the rotation output end (1422) of the transmission mechanism (142); The swing limiter (1423) has at least one extension (1423a), and a swing indicator (1423b) is provided at the end of the extension (1423a). The limit sensor (1424) is set in two intervals to limit the preset angle range that the angle adjustment module (14) can move based on the swing indicator (1423b) and the limit sensor (1424).

4. The attitude correction apparatus according to claim 3, characterized by The adsorption module (15) includes: a connecting seat (151), a hollow adsorption structure (152) coaxially arranged with the connecting seat (151), and a quick connector (153) arranged on the side of the connecting seat (151). The connector (151) is provided with a hollow connection channel for connecting the quick connector (153) and the hollow adsorption structure (152). The connecting seat (151) is detachably connected to the rotating output end (1422) and / or the swing limiting member (1423).

5. The attitude correction apparatus according to claim 4, characterized by The X-axis translation module (11) includes: an X-axis platform (111), an X-axis guide rail (112) provided on the lower side of the X-axis platform (111), an X-axis drive (113) for driving the X-axis platform (111) to reciprocate along the X-axis direction, and an X-axis limit sensor (114) for limiting the movement range of the X-axis platform (111). The X-axis drive (113) is arranged side by side with the X-axis platform (111); An X-axis movement indicator (111a) is provided on the side of the X-axis platform (111) away from the X-axis drive (113). The X-axis limit sensor (114) is provided in two intervals to limit the range of motion of the X-axis platform (111) based on the X-axis movement indicator (111a) and the X-axis limit sensor (114).

6. The attitude correction device according to claim 5, characterized in that, The X-axis drive (113) includes: a first X-bearing housing (113a), a second X-bearing housing (113b), an X-axis connecting block (113c), an X-axis driver (113d), and an X-axis lead screw and nut assembly (113e). The first X bearing housing (113a) and the second X bearing housing (113b) are spaced apart; The X-axis lead screw nut assembly (113e) is rotatably connected to the first X bearing housing (113a) and the second X bearing housing (113b), respectively; The X-axis driver (113d) is fixedly connected to the first X-bearing housing (113a), and is rotatably connected to the X-axis lead screw nut pair (113e); The X-axis connecting block (113c) is located between the first X-bearing seat (113a) and the second X-bearing seat (113b), and the X-axis connecting block (113c) is connected to the X-axis platform (111) and the nut of the X-axis lead screw nut pair (113e) respectively; The first X bearing housing (113a) includes: a first housing (113a1) and a first support connection portion (113a2) disposed on the upper side of the first housing (113a1). There are two first support connection parts (113a2) spaced apart. The X-axis driver (113d) is connected to one of the first support connection parts (113a2), and the other first support connection part (113a2) is rotatably connected to the X-axis lead screw nut pair (113e).

7. The attitude correction device according to claim 6, characterized in that, The Y-axis translation module (12) includes: a Y-axis platform (121), a Y-axis guide rail (122) provided on the lower side of the Y-axis platform (121), a Y-axis drive (123) for driving the Y-axis platform (121) to reciprocate along the Y-axis direction, and a Y-axis limit sensor (124) for limiting the movement range of the Y-axis platform (121). The Y-axis drive (123) is located below the Y-axis platform (121); The Y-axis platform (121) is provided with a Y-axis movement indicator (121a) on the side near the Y-axis drive (123). The Y-axis limit sensor (124) is provided in two spaced intervals to limit the range of motion of the Y-axis platform (121) based on the Y-axis movement indicator (121a) and the Y-axis limit sensor (124); The X-axis guide rail (112) and the X-axis drive (113) are connected to the upper side of the Y-axis platform (121); The X-axis limit sensor (114) is disposed on the circumferential side of the Y-axis platform (121).

8. The attitude correction device according to claim 7, characterized in that, The Y-axis drive (123) includes: a first Y-bearing housing (123a), a second Y-bearing housing (123b), a Y-axis connecting block (123c), a Y-axis driver (123d), and a Y-axis lead screw and nut assembly (123e). The first Y bearing housing (123a) and the second Y bearing housing (123b) are spaced apart; The Y-axis lead screw nut assembly (123e) is rotatably connected to the first Y bearing housing (123a) and the second Y bearing housing (123b), respectively; The Y-axis driver (123d) is fixedly connected to the first Y-bearing housing (123a), and is rotatably connected to the Y-axis lead screw and nut assembly (123e); The Y-axis connecting block (123c) is located between the first Y-bearing seat (123a) and the second Y-bearing seat (123b), and the Y-axis connecting block (123c) is connected to the nuts of the Y-axis platform (121) and the Y-axis lead screw nut pair (123e) respectively; The first Y bearing housing (123a) includes: a second housing (123a1) and a second support connection portion (123a2) disposed on the upper side of the second housing (123a1). There are two second support connection parts (123a2) spaced apart, wherein the Y-axis driver (123d) is connected to one of the second support connection parts (123a2), and the other second support connection part (123a2) is rotatably connected to the Y-axis lead screw nut pair (123e).

9. The attitude correction device according to claim 8, characterized in that, The Z-axis translation module (13) includes: a mounting support (131), a Z-axis assembly (132) slidably connected to the mounting support (131), a Z-axis drive (133) for driving the Z-axis assembly (132) to reciprocate along the Z-axis direction, and a Z-axis limit sensor (134) for limiting the range of movement of the Z-axis assembly (132). The Z-axis assembly (132) includes: a Z-axis platform (132a), a Z-axis guide rail (132b), and a Z-axis movement indicator (132c). The Z-axis platform (132a) includes: a horizontal support part (132a1) and a vertical connecting part (132a2). The horizontal support (132a1) and the vertical connecting part (132a2) are connected perpendicularly to each other at their ends to form an L-shaped structure; The Z-axis guide rail (132b) is used to connect the vertical connecting part (132a2) and the mounting support (131). The Z-axis drive (133) is connected to the vertical connecting part (132a2) and the mounting support (131) respectively; The Z-axis movement indicator (132c) is disposed on the circumferential side of the vertical connecting part (132a2); The Z-axis limit sensor (134) is provided in two spaced intervals to limit the range of motion of the Z-axis platform (132a) based on the Z-axis movement indicator (132c) and the Z-axis limit sensor (134); The horizontal support (132a1) extends in a direction away from the mounting support (131); The Y-axis platform (121) is mounted on the upper side of the horizontal support (132a1) based on the Y-axis guide rail (122); The Y-axis drive (123) is installed on the lower side of the horizontal support (132a1), and the horizontal support (132a1) is provided with a clearance notch (132a11) for the Y-axis connecting block (123c) to pass through and connect to the Y-axis platform (121). The Y-axis limit sensor (124) is mounted on the circumferential side of the horizontal support (132a1).

10. The attitude correction device according to claim 9, characterized in that, The Z-axis drive (133) includes: a first Z-bearing housing, a second Z-bearing housing, a Z-axis connecting block, a Z-axis driver (133a), and a Z-axis lead screw and nut assembly; The first Z bearing housing and the second Z bearing housing are spaced apart; The Z-axis lead screw and nut assembly are rotatably connected to the first Z-bearing housing and the second Z-bearing housing, respectively. The Z-axis driver (133a) is fixedly connected to the first Z-bearing housing and is rotatably connected to the Z-axis lead screw and nut pair; The Z-axis connecting block is located between the first Z-bearing seat and the second Z-bearing seat, and the Z-axis connecting block is connected to the vertical connecting part (132a2) and the nut of the Z-axis lead screw nut pair respectively; The first Z bearing housing includes: a third housing body, and a third support connection portion disposed on the upper side of the third housing body; There are two third support connection parts at intervals. The Z-axis driver (133a) is connected to one of the third support connection parts, and the other third support connection part is rotatably connected to the Z-axis lead screw and nut pair.

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