substrate loading device

Abstract

This utility model discloses a substrate loading device, belonging to the field of automation equipment technology. The substrate loading device includes a loading mechanism, an incoming material inspection mechanism, and an NG unloading mechanism. The loading mechanism is used for automatic product loading, the incoming material inspection mechanism is used to detect whether the product has defects, and the NG unloading mechanism is used to unload and recycle the defective products detected by the incoming material inspection mechanism and the empty trays after loading. The incoming material inspection mechanism includes a tray transfer assembly, an incoming material inspection station, a height sensor, and a first camera. The product is transported to the incoming material inspection station via the tray transfer assembly, and the presence of defects is determined by measuring with the height sensor and capturing images with the first camera. The incoming material inspection mechanism of this utility model integrates a non-contact height sensor and a high-resolution first camera, significantly improving the automation level and accuracy of incoming material inspection.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology, and in particular relates to a substrate feeding device. Background Technology

[0002] The automatic feeding mechanism is the core module for achieving fully automated 3D printing. During the printing process, defects or abnormalities in the product itself and inconsistencies in the product feeding position can easily affect the 3D printing effect and the production efficiency and capacity of the equipment. For example, it can lead to longer alignment scanning time and increased material scrap rate due to printing interruptions caused by poor incoming materials.

[0003] In the prior art, invention patent CN 118954072 A discloses a feeding device for LCD screen panel production, which includes a machine base, an automatic feeding mechanism, a first transfer robot, a correction mechanism, a second transfer robot, a first translational conveying mechanism, a barcode scanning mechanism, a third transfer robot, a second translational conveying mechanism, and a labeling mechanism, all respectively mounted on the machine base. The automatic feeding mechanism includes a feeding station and a return station, with conveyor lines respectively mounted on the feeding station and the return station. A material box containing LCD glass substrates is conveyed to the conveyor line at the feeding station, while empty material boxes flow out through the conveyor line at the return station. The first transfer robot has dual drive ends and can move the material box from the feeding station... The first liquid crystal glass substrate is placed on the calibration mechanism for calibration, and simultaneously, a partition or material box is placed on the conveyor line of the recycling station during the return material pick-up process. The second transfer robot is used to place the calibrated liquid crystal glass substrate on the first translational conveyor mechanism. The first translational conveyor mechanism is used to first place the calibrated liquid crystal glass substrate on the barcode scanning mechanism for scanning, and then send it to the third transfer robot. The third transfer robot is used to place the barcode-scanned liquid crystal glass substrate on the second translational conveyor mechanism. The second translational conveyor mechanism is used to first place the barcode-scanned liquid crystal glass substrate on the labeling mechanism for labeling, and finally send it to the loading waiting station. It is evident that this device cannot achieve automatic detection of incoming good products.

[0004] Therefore, how to develop a substrate loading device that can automatically detect incoming good products is a technical problem that urgently needs to be solved in this field. Utility Model Content

[0005] The present invention aims to provide a substrate feeding device to solve the technical problem that existing substrate feeding devices cannot achieve automatic detection of incoming materials.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A substrate loading device, the device comprising:

[0008] The feeding mechanism is used for automatic product feeding;

[0009] An incoming material inspection mechanism is used to detect whether a product has defects. The incoming material inspection mechanism includes a tray transfer assembly, an incoming material inspection station, a height sensor, and a first camera. The product is transported to the incoming material inspection station by the tray transfer assembly, and the presence of defects is determined by measuring with the height sensor and taking pictures with the first camera.

[0010] The NG unloading mechanism is used to unload and recycle defective products detected by the incoming material inspection mechanism and empty trays after loading.

[0011] Furthermore, the device also includes a fan filter assembly, which is connected to the working chambers of the feeding mechanism, the incoming material detection mechanism, and the NG unloading mechanism, for filtering and purifying the air inside the device.

[0012] Furthermore, the feeding mechanism includes a full tray feeding roller assembly, an empty tray unloading roller assembly, a first tray transport axis, and a second camera. The product is fed through the full tray feeding roller assembly. The first tray transport axis is used to transport the product and transport the empty tray to the empty tray unloading roller assembly. The second camera is used to perform visual photography, positioning, and location recognition of the product, and to provide feedback to the robotic arm for material handling.

[0013] Furthermore, the first tray transport axis includes a tray transport X-axis, an empty tray Z-axis, and a full tray Z-axis. The tray transport X-axis is used to transport the loaded tray to the platform of the empty tray Z-axis. The empty tray Z-axis is used to unload the empty tray onto the empty tray unloading roller assembly. The full tray Z-axis is used to lift the full tray to a specified height, enabling the robot arm to pick up the tray.

[0014] Furthermore, the incoming material inspection mechanism also includes a Plasma cleaning component, a mirror suction cup, a flip suction cup, and an ion air bar; the Plasma cleaning component includes a Plasma cleaning unit and an ozone extraction pipeline, the Plasma cleaning unit cleans the product, especially the printing area, and at the same time uses the ozone extraction pipeline to remove the ozone generated during the cleaning process; the flip suction cup is a partitioned suction cup, used for adsorbing products of different sizes.

[0015] Furthermore, the unloading mechanism includes a tray transfer platform, a second tray transport shaft, and a tray stack. The second tray transport shaft transports the trays to the tray transfer platform. The tray transfer platform transports the trays that are found to be defective by the incoming material inspection mechanism and the empty trays after loading to the area below the tray stack. The lifting cylinder at the bottom of the tray transfer platform is used to lift the trays into the tray stack.

[0016] Furthermore, the second tray transport axis includes a tray transport Y-axis and an empty tray gripping Z-axis. The tray transport Y-axis is used to grip a full tray and transport it to the tray transfer platform, and the empty tray gripping Z-axis is used to grip an empty tray and transport it to the tray transfer platform.

[0017] Furthermore, the tray stack is equipped with a color sensor to identify and distinguish between empty and full trays.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) Significantly improve the automation level and accuracy of incoming material inspection: The incoming material inspection mechanism integrates a non-contact height sensor and a high-resolution first camera. Through the collaborative work of the two, the mechanism can accurately determine whether the product is warped or deformed, and automatically determine whether the product has appearance damage, structural defects or foreign object contamination based on image photography and intelligent recognition. This fundamentally prevents unplanned interruptions in the subsequent precision printing process caused by defective incoming materials, which helps to improve the overall yield of the loaded products and ensure the work efficiency of the subsequent printing production process.

[0020] (2) Automatic feeding is possible: The NG feeding mechanism and the incoming material inspection mechanism work together. The NG feeding mechanism can be used to feed and recycle defective products detected by the incoming material inspection mechanism and empty trays after feeding. The operation is simple and convenient. At the same time, the color sensor is used to identify and distinguish between empty trays and full trays, realizing efficient, orderly and automated separation and recycling of NG materials and trays on the production line. This not only simplifies the operation process and reduces labor costs, but also optimizes material management and avoids the risk of mixing materials.

[0021] (3) Adopt advanced plasma cleaning technology to ensure product surface cleanliness: The Plasma cleaning component is used to clean the product surface. This technology uses high-energy active particles (such as ions and free radicals) to efficiently remove organic pollutants, oil films, oxides and dust particles from the product surface, effectively improving the product surface performance and reducing the risk of the product being contaminated by impurity particles or operation during loading, handling and waiting for printing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the substrate loading mechanism;

[0023] Figure 2 This is a schematic diagram of the feeding mechanism;

[0024] Figure 3 This is a structural diagram of one side of the incoming material inspection mechanism;

[0025] Figure 4 This is a schematic diagram of the structure on the other side of the incoming material inspection mechanism;

[0026] Figure 5 This is a schematic diagram of the structure of the flip-over suction cup;

[0027] Figure 6 This is a schematic diagram of the NG feeding mechanism;

[0028] Figure 7 This is a schematic diagram of the suction cup gripper structure;

[0029] Explanation of reference numerals in the attached diagram: Loading mechanism -1, Full Tray loading roller assembly -11, Empty Tray unloading roller assembly -12, Second camera -13, Tray handling X-axis -14, Empty Tray Z-axis -15, Full Tray Z-axis -16, Planar light source -17, Incoming material inspection mechanism -2, Tray transfer assembly -21, Incoming material inspection station -22, Height sensor -23, First camera -24, Plasma cleaning assembly -25, Mirror suction cup -26, Flip suction cup -27, Ionizing air bar -28, NG unloading mechanism -3, Tray transfer platform -31, Tray stack -32, Tray handling Y-axis -33, Empty Tray gripping Z-axis -34, Fan filter assembly -4, Suction cup gripper -5, Positioning camera -51, Product gripper -52, Rotary motor -53. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0031] As described in the background section of this utility model, the automatic feeding mechanism is the core module for achieving fully automated 3D printing. During the printing process, defects and abnormalities in the product itself, as well as inconsistencies in the product feeding position, can easily affect the 3D printing effect and the production efficiency and capacity of the equipment. For example, it can lead to longer alignment scanning times and increased material scrap rates due to printing interruptions caused by defective incoming materials. Therefore, a fully automatic feeding mechanism is necessary. This mechanism uses a six-axis robotic arm to remove the substrate from the tray before printing, and after scanning and binding, it uses a vision camera to identify defects on the product surface to screen out abnormal incoming products. Then, it uses Plasma cleaning and other processes to clean the product surface. Finally, it uses a vision camera to guide the precise feeding process to improve the printing yield.

[0032] like Figure 1 As shown, this utility model provides a substrate loading device, including a loading mechanism 1, an incoming material detection mechanism 2, an NG unloading mechanism 3, and a fan filter assembly 4; wherein, the loading mechanism 1 is used for automatic product loading, the incoming material detection mechanism 2 is used for detecting whether the product has defects; the NG unloading mechanism 3 is used for unloading and recycling the defective products detected by the incoming material detection mechanism 2 and the empty trays after loading, and the fan filter assembly 4 is connected to the working chambers of the loading mechanism 1, the incoming material detection mechanism 2, and the NG unloading mechanism 3, and is used to filter and purify the air inside the substrate loading device.

[0033] In some specific embodiments, the substrate loading device is provided with an outer cover, which may be made of aluminum profile and acrylic, ensuring both strength and visibility of the device.

[0034] like Figure 2As shown, the feeding mechanism 1 includes a full tray feeding roller assembly 11, an empty tray unloading roller assembly 12, a first tray transport shaft, and a second camera 13. Products are fed through the full tray feeding roller assembly 11. The first tray transport shaft is used for product transport and to move empty trays to the empty tray unloading roller assembly 12. The full tray feeding roller assembly 11 automatically transfers full trays to the inner port of the equipment for feeding. The empty tray unloading roller assembly 12 automatically transfers empty trays after feeding to the outer port of the equipment. The second camera 13 performs visual imaging, positioning, and location recognition of the product, and provides feedback to the robotic arm for material handling. The second camera 13 is located directly above the port of the full tray feeding roller assembly 11 and fixed to a planar light source 17. The planar light source 17 provides sufficient brightness for the second camera 13, ensuring the accuracy of its recognition. The first tray transport axis includes a tray transport X-axis 14, an empty tray Z-axis 15, and a full tray Z-axis 16. The tray transport X-axis 14 is used to pick up the loaded trays and place them onto the platform of the empty tray Z-axis 15. The empty tray Z-axis 15 is used to unload the empty trays onto the empty tray unloading roller assembly 12. The tray stacking height can be adjusted to be consistent during the transport process of the tray transport X-axis 14. The full tray Z-axis 16 is used to lift the full trays to a specified height to enable the robot arm to pick up the trays.

[0035] In some specific embodiments, the robotic arm interacting with the feeding mechanism 1 is a six-axis robotic arm, which is connected to a suction cup gripper 5, the structure of which is as follows: Figure 7 As shown, the robot includes a positioning camera 51, a product gripper 52, and a rotary motor 53. The positioning camera 51 is used to confirm the position after the robot arm has completed its movement. The product gripper 52 uses a vacuum suction cup to pick up the product, and it can also pick up products of a large size by adjusting the spacing. The rotary motor 53 is used to drive the product gripper 52 to rotate at 90°, 180°, 270° or other arbitrary angles.

[0036] like Figure 3 and Figure 4 As shown, the incoming material inspection mechanism includes a tray transfer assembly 21, an incoming material inspection station 22, a height sensor 23, and a first camera 24. The product is transported to the incoming material inspection station 22 via the tray transfer assembly 21, and the presence of defects (such as warping or damage) is determined by measuring with the height sensor 23 and taking pictures with the first camera 24. The tray transfer assembly 21 is used to transfer the product to the incoming material inspection station 22 and the Plasma cleaning station.

[0037] In addition, the incoming material inspection mechanism 2 also includes a Plasma cleaning component 25, a mirror suction cup 26, a flip suction cup 27, and an ionizer 28. The Plasma cleaning component 25 includes a Plasma cleaning unit and an ozone extraction pipeline. The Plasma cleaning unit is used to clean the product, especially focusing on the printed area to increase the adhesion of the printing material. Simultaneously, the ozone extraction pipeline removes the ozone generated during the cleaning process. The mirror suction cup 26 is used to carry the product for barcode scanning and binding, enabling Plasma cleaning and incoming material inspection. The flip suction cup 27 is a partitioned suction cup (structure as shown in the image). Figure 5 As shown), it is used for adsorption of products of different sizes. The ion wind bar 28 is used to provide charged ion wind, which can neutralize the charged ions on the components and protect the products from static electricity damage.

[0038] like Figure 6 As shown, the NG unloading mechanism 3 includes a tray transfer platform 31, a second tray transport shaft, and a tray stack 32. The second tray transport shaft transports the trays onto the tray transfer platform 31. The tray transfer platform 31 transports the trays with defects detected by the incoming material inspection mechanism 2, as well as empty trays after loading, to below the tray stack 32. A lifting cylinder at the bottom of the tray transfer platform 31 lifts the trays into the tray stack 32. The tray stack 32 contains empty trays and full trays, arranged with empty trays on top and full trays on the bottom. A color sensor is installed on the tray stack 32 to identify and distinguish between empty and full trays. The second tray transport axis includes a tray transport Y-axis 33 and an empty tray gripping Z-axis 34. The tray transport Y-axis 33 is used to grip and transport a full tray onto the tray transfer platform 31, and the empty tray gripping Z-axis 34 is used to grip and transport an empty tray onto the tray transfer platform 31.

[0039] The fan filter assembly 4 is an automatically operating device with air filtration capabilities. It provides clean air to the internal working space of the unit, maintaining the cleanliness of the working chamber and further preventing external impurities or airborne particles and dust from affecting product feeding and subsequent printing processes. This device can precisely adjust the airflow and speed according to actual operational needs. It can also be equipped with an exhaust system to remove waste gas from the working chamber, ensuring a good working environment.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A substrate feeding device characterized by comprising: The device includes: The feeding mechanism (1) is used for automatic product feeding; The incoming material inspection mechanism (2) is used to detect whether the product has defects. The incoming material inspection mechanism includes a tray transfer assembly (21), an incoming material inspection station (22), a height sensor (23), and a first camera (24). The product is transported to the incoming material inspection station (22) through the tray transfer assembly (21), and the product has defects by measuring with the height sensor (23) and taking pictures with the first camera (24). The NG unloading mechanism (3) is used to unload and recycle the defective products detected by the incoming material inspection mechanism (2) and the empty trays after loading.

2. The substrate feeding device according to claim 1, wherein The device also includes a fan filter assembly (4), which is connected to the working chamber of the feeding mechanism (1), the incoming material detection mechanism (2) and the NG unloading mechanism (3) for filtering and purifying the air inside the device.

3. The substrate feeding device according to claim 1, wherein The feeding mechanism (1) includes a full tray feeding roller assembly (11), an empty tray unloading roller assembly (12), a first tray conveying shaft, and a second camera (13). The product is fed through the full tray feeding roller assembly (11). The first tray conveying shaft is used for product handling and to move the empty tray to the empty tray unloading roller assembly (12). The second camera (13) is used for visual photography, positioning, and location recognition of the product, and provides feedback to the robot arm for material handling.

4. The substrate loading device according to claim 3, characterized in that, The first tray transport axis includes a tray transport X-axis (14), an empty tray Z-axis (15), and a full tray Z-axis (16). The tray transport X-axis (14) is used to transport the loaded tray to the platform of the empty tray Z-axis (15). The empty tray Z-axis (15) is used to unload the empty tray onto the empty tray unloading roller assembly (12). The full tray Z-axis (16) is used to lift the full tray to a specified height to realize the robot arm picking up the material.

5. The substrate feeding device according to claim 1, wherein The incoming material inspection mechanism (2) also includes a Plasma cleaning component (25), a mirror suction cup (26), a flip suction cup (27), and an ion air bar (28).

6. The substrate feeding device according to claim 5, wherein The Plasma cleaning assembly (25) includes a Plasma cleaning unit and an ozone extraction line. The Plasma cleaning unit cleans the product while the ozone extraction line removes the ozone generated during the cleaning process.

7. The substrate feeding device according to claim 5, wherein The flip-up suction cup (27) is a partitioned suction cup used for adsorbing products of different sizes.

8. The substrate feeding device according to claim 1, wherein The NG unloading mechanism (3) includes a Tray transfer platform (31), a second Tray transport shaft, and a Tray stack (32). The second Tray transport shaft transports the Trays to the Tray transfer platform (31). The Tray transfer platform (31) transports the Trays with defects detected by the incoming material inspection mechanism (2) and the empty Trays after loading to the bottom of the Tray stack (32). The Trays are lifted into the Tray stack (32) by the lifting cylinder at the bottom of the Tray transfer platform (31).

9. The substrate feeding device according to claim 8, wherein The second tray transport axis includes a tray transport Y-axis (33) and an empty tray gripping Z-axis (34). The tray transport Y-axis (33) is used to grip a full tray and transport it to the tray transfer platform (31). The empty tray gripping Z-axis (34) is used to grip an empty tray and transport it to the tray transfer platform (31).

10. The substrate feeding device according to claim 9, wherein The tray stack (32) is equipped with a color sensor for identifying and distinguishing between empty trays and full trays.

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