A visual positioning flexible swing tray machine

Abstract

The utility model discloses a flexible swing tray machine of visual positioning relates to swing tray machine related technical field, including the unloading mechanism, material taking mechanism and the tray mechanism of setting down in proper order on the workstation, the left and right ends of tray mechanism still are equipped with the material feeding tray mechanism and the unloading tray mechanism, still include visual system and control system, the visual system includes positioning device, appearance detection device and state detection device, the control system is used for controlling each mechanism and system coordinated operation. The utility model mainly is through the height integration automation production, and its core work flow is material loading - visual positioning - material - appearance detection - accurate placement - full tray off line, and the whole process is by control system unified scheduling, and visual system provides the basis for decision, realizes from the full automation operation of the neat arrangement in the material tray in the disorderly material. Its main role is to replace the traditional manual operation, and the production efficiency, the placement consistency and product quality are improved greatly, especially suitable for the automation packaging and assembly process of precision electronic components, medical instruments, small hardware parts and the like.

Description

Technical Field

[0001] This utility model relates to the technical field of plate-stacking machines, specifically a flexible plate-stacking machine with visual positioning. Background Technology

[0002] In niche sectors such as chips and 3C electronic components, there are thousands of product models, ranging in size from 0.8 mm to 16 mm. After completing electrical performance testing, these products are usually scattered in bulk. The traditional method is for workers to manually place each product into its corresponding tray before it flows to the next process. However, manual tray placement has the following drawbacks: The components are small in size and difficult to distinguish between the front and back, requiring extremely high placement accuracy. Manual labor is too slow to keep up with the pace of large-scale production.

[0003] In recent years, some flexible tray-loading machines with vision positioning have appeared on the market, but their compatibility is still limited, and they can only handle a few fixed models. Although they integrate vision and robotics technologies, the camera is mostly installed at the discharge port and is only used to detect defects in finished products, rather than solving the problem of accurate feeding of bulk materials. In addition, the commonly used automatic tray-loading machines usually have the following disadvantages: Poor compatibility, unable to support multiple models, requiring equipment replacement when changing models; It has a narrow range of applications, limited to only a few specific devices; The detection logic is placed at the end, only checking for defects in finished products, and does not provide any substantial help to the front-end tray arrangement process; Therefore, there is an urgent need to design a new tray-stacking machine to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a flexible tray-stacking machine with visual positioning, aiming to solve the aforementioned technical problems. This invention primarily utilizes highly integrated automated production. Its core workflow includes feeding, visual positioning, material gripping, appearance inspection, precise placement, and full tray unloading. The entire process is uniformly scheduled by a control system, with the vision system providing decision-making support. This achieves fully automated operation, transforming messy materials into neatly arranged trays. Its main function is to replace traditional manual labor, significantly improving production efficiency, placement consistency, and product quality. It is particularly suitable for the automated packaging and assembly processes of precision electronic components, medical devices, and small hardware parts.

[0005] To achieve the above objectives, this utility model employs the following technical solution: A visual positioning flexible tray-loading machine includes a feeding mechanism, a picking mechanism, and a tray-carrying mechanism arranged sequentially on a worktable. The feeding mechanism is used to release and disperse materials, the picking mechanism is used to place materials onto a tray, and the tray-carrying mechanism is used to transfer the tray. The left and right ends of the tray mechanism are also provided with a loading tray mechanism and a unloading tray mechanism. The loading tray mechanism is used to load an empty tray onto the tray mechanism, and the unloading tray mechanism is used to collect a full tray from the tray mechanism. It also includes a vision system and a control system. The vision system includes a positioning device, an appearance inspection device, and a status inspection device. The positioning device is installed above the feeding mechanism to detect the position and status of the material. The appearance inspection device is installed on the worktable between the picking mechanism and the tray-carrying mechanism to detect the appearance of the material. The status inspection device is located above the tray-carrying mechanism to detect the status of the material placed on the tray. The control system is electrically connected to the feeding mechanism, picking mechanism, tray-carrying mechanism, tray-loading mechanism, tray-unloading mechanism, and vision system to control the coordinated operation of each mechanism and system.

[0006] Preferably, the feeding mechanism includes a storage bin, a vibrating chute, and a flexible vibrating plate. The storage bin is fixed inside the machine housing, with its upper port located on the outer side of the upper end of the machine housing. An openable dust cover is provided at the upper port, and the feeding port of the storage bin is located above the vibrating chute. The bottom of the vibrating chute is equipped with a linear vibrator, which is fixed on the worktable. The discharge end of the vibrating chute is connected to the flexible vibrating plate, so that the material falls directly from the vibrating chute onto the flexible vibrating plate. The flexible vibratory plate is fixed on the worktable.

[0007] Preferably, the material handling mechanism includes a material handling robot, an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The material handling robot is a suction cup robot, which is fixed on the output end of the Z-axis moving module. The Z-axis moving module is mounted on the slide of the Y-axis moving module. One end of the Y-axis moving module is fixed on the slide of the X-axis moving module, and the other end is fixed on the slide of the slide rail.

[0008] Preferably, the pallet mechanism includes a material suction cup plate, a vertical moving module, and a horizontal moving module. The material suction cup plate is installed on the output end of the vertical moving module, and the vertical moving module drives the material suction cup plate to move up and down. The vertical moving module is fixedly installed on the slide of the horizontal moving module, and the horizontal moving module is fixed on the worktable.

[0009] Preferably, the up-and-down moving module includes up-and-down cylinders, the ends of which are fixedly connected to the up-and-down moving base. The up-and-down moving base is slidably mounted on a sliding rail, which is fixed to the up-and-down fixed base. The up-and-down fixed base is fixed to the slide block of the left-and-right moving module, and the other end of the up-and-down cylinder is fixed to the up-and-down fixed base.

[0010] Preferably, the feeding tray mechanism includes two sets of symmetrically arranged upper tray seats, the upper tray seats are fixed on the worktable, and the upper tray seats are provided with two sets of L-shaped limiting plate seats. The four sets of L-shaped limiting plate seats are symmetrically arranged in pairs to form the feeding tray position. The upper tray seat is provided with a tray cylinder in the middle, and the output end of the tray cylinder is provided with an L-shaped support plate, which can extend and retract towards the upper tray position; The L-shaped limiting plate seat is equipped with a material tray sensor at the bottom to sense whether there is a material tray.

[0011] Preferably, the feeding tray mechanism includes two sets of symmetrically arranged lower tray seats, the lower tray seats are fixed on the worktable, and the lower tray seats are provided with two sets of L-shaped limiting plate seats. The four sets of L-shaped limiting plate seats are symmetrically arranged in pairs to form the feeding tray position. The lower plate base is also provided with a tray rotating plate in the middle. The bottom of the tray rotating plate is rotatably mounted on a rotating rod. The two ends of the rotating rod are fixed on a rotating seat, and the rotating seat is fixed on the lower plate base. A reset torsion spring is provided between the tray rotating plate and the rotating rod. The reset torsion spring is fitted on the rotating rod, with one end abutting against the bottom surface of the tray rotating plate and the other end abutting against the lower plate seat. An L-shaped limiting seat is also provided above the pallet turntable. One end of the L-shaped limiting seat is fixed to the lower plate seat, and the other end extends outward and is provided above the pallet turntable to determine the rotation angle of the pallet turntable. The upper part of the L-shaped limiting plate seat is provided with a material tray sensor for sensing the stacking height of the material trays.

[0012] Preferably, a feeding structure is further provided between the feeding tray mechanism and the unloading tray mechanism, and the feeding tray mechanism, the feeding structure and the unloading tray mechanism are arranged on the same plane, and the carrier tray mechanism is located below the feeding structure; The feeding structure includes a first bearing plate seat and a second bearing plate seat fixed on the workbench. A pallet movement channel is provided between the first bearing plate seat and the second bearing plate seat. A longitudinal limiting rod is fixed on both the first bearing plate seat and the second bearing plate seat. A transverse limiting rod is fixed on the outer side of both ends of the longitudinal limiting rod. The longitudinal limiting rod and the transverse limiting rod of the first bearing plate seat and the second bearing plate seat form a limiting plate position. The longitudinal limiting rod and the transverse limiting rod are provided with adjustment and fixing holes on the fixing positions of the first bearing seat and the second bearing seat, respectively. The first or second bearing plate is also equipped with a material sensor.

[0013] Preferably, the positioning device, appearance inspection device, and status detection device all use a CCD smart camera. The positioning device is fixedly installed inside the chassis, the appearance inspection device is fixedly installed on the workbench, and the status detection device is fixedly installed inside the chassis.

[0014] Preferably, the control system includes a control panel, control buttons, and indicator lights. The control panel and control buttons are mounted on the outside of the chassis, and the indicator lights are mounted on the top of the chassis.

[0015] The flexible tray-stacking machine with visual positioning of this invention has the following beneficial effects: This utility model features a flexible tray-loading machine with visual positioning. It is equipped with a multi-axis material handling robot, an adjustable tray mechanism, and a flexible vibration feeding device. This allows the utility model to be applicable to various types of electronic components of different sizes, enabling rapid component changeover and effectively overcoming the limitation of existing equipment that can only handle a few specific models. This utility model is a flexible tray-stacking machine with visual positioning. The vision system includes a positioning device, an appearance inspection device, and a status inspection device, which respectively realize material positioning, appearance inspection, and placement status inspection. It not only ensures the accurate grasping and placement of bulk materials, but also puts the quality judgment forward to the tray-stacking stage, which greatly reduces the risk of misplacement, omission, and defective products flowing into subsequent processes. This utility model is a flexible tray-loading machine with visual positioning. The equipment integrates an automatic feeding tray and unloading tray mechanism, combined with a multi-module coordinated control material picking and tray loading mechanism, to realize full-process automation from bulk material feeding, visual positioning, precise tray loading to full tray output, effectively replacing manual operation and effectively matching the production needs of large-scale and high-speed production. This utility model of a flexible tray-slab machine with visual positioning, through the organic combination of cylinders, modules, sensors and intelligent control system, can maintain high repeatability and stability of positioning even when the equipment is running at high speed. It also has functions such as detection of the presence or absence of trays and monitoring of stacking height, which further ensures the reliability of continuous operation of the equipment. This utility model features a flexible tray-stacking machine with visual positioning. The control system is equipped with a control screen, status indicator lights, and control buttons, providing clear operation guidance and real-time status feedback. This reduces the learning and usage threshold for operators and facilitates daily maintenance and troubleshooting. This invention relates to a visual positioning flexible tray-stacking machine. The control system integrates intelligent sensors and pneumatic components, enabling the various functional modules to operate in an orderly and coordinated manner. This greatly improves the overall performance of the tray-stacking machine, meets the wide range of applicable needs for various types of devices, and significantly reduces the reliance on manual operation, thereby significantly improving production efficiency and quality control. Attached Figure Description

[0016] Figure 1 This is an overall schematic diagram of the flexible tray-spinning machine with visual positioning according to this utility model. Figure 2 This is a schematic diagram of the internal structure of the flexible tray-spinning machine with visual positioning according to this utility model. Figure 1 ; Figure 3This is a schematic diagram of the internal structure of the flexible tray-spinning machine with visual positioning according to this utility model. Figure 2 ; Figure 4 This is a schematic diagram of the feeding mechanism of the flexible tray-loading machine with visual positioning according to this utility model; Figure 5 This is a schematic diagram of the material handling mechanism of the flexible tray-loading machine with visual positioning according to this utility model; Figure 6 This is a schematic diagram of the tray mechanism and feeding structure of the flexible tray-loading machine with visual positioning according to this utility model; Figure 7 This is a schematic diagram of the feeding tray mechanism of the flexible tray-swivel machine with visual positioning according to this utility model; Figure 8 This is a schematic diagram of the feeding tray mechanism of the flexible swivel tray machine with visual positioning according to this utility model.

[0017] The diagram shows the following components: 1. Chassis; 101. Workbench; 2. Unloading mechanism; 201. Storage bin; 202. Vibrating feeder; 203. Flexible vibrating plate; 204. Linear vibrator; 3. Picking mechanism; 301. Picking robot; 302. X-axis moving module; 303. Y-axis moving module; 304. Z-axis moving module; 4. Carrying tray mechanism; 401. Carrying suction cup plate; 402. Up-down moving module; 403. Left-right moving module; 5. Loading tray mechanism; 501. Upper tray base; 502. L-shaped pallet; 503. Loading tray position; 504. Tray cylinder; 6. Unloading tray machine. 7. Loading Structure; 601. Lower Plate Seat; 602. Unloading Plate Position; 603. Pallet Rotating Plate; 604. L-shaped Limiting Seat; 7. Loading Structure; 701. First Plate Seat; 702. Second Plate Seat; 703. Carrying Tray Movement Channel; 704. Longitudinal Limiting Rod; 705. Lateral Limiting Rod; 706. Limiting Plate Position; 707. Adjustment Fixing Hole; 8. Vision System; 801. Positioning Device; 802. Appearance Inspection Device; 803. Status Detection Device; 9. Control System; 901. Control Panel; 902. Control Buttons; 903. Indicator Light; 10. Material Tray Sensor; 11. L-shaped Limiting Seat. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of this utility model, the product of this utility model will be further described in detail below with reference to the embodiments and accompanying drawings.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] like Figure 1 , Figure 2 and Figure 3 As shown, a flexible tray-loading machine with visual positioning includes a feeding mechanism 2, a picking mechanism 3, and a tray-carrying mechanism 4 arranged sequentially on a worktable 101. The feeding mechanism 2 is used to release and disperse materials, the picking mechanism 3 is used to place materials onto a tray, and the tray-carrying mechanism 4 is used to transfer the tray. The tray-carrying mechanism 4 also has a loading tray mechanism 5 and a unloading tray mechanism 6 at its left and right ends. The loading tray mechanism 5 is used to load empty trays onto the tray-carrying mechanism 4, and the unloading tray mechanism 6 is used to collect full trays from the tray-carrying mechanism 4. The machine also includes a vision system 8 and a control system 9. The vision system 8 includes a positioning device 801. The system includes an appearance inspection device 802 and a status inspection device 803. The positioning device 801 is installed above the feeding mechanism 2 to detect the position and status of the material. The appearance inspection device 802 is installed on the workbench 101 between the picking mechanism 3 and the tray mechanism 4 to detect the appearance of the material. The status inspection device 803 is installed above the tray mechanism 4 to detect the status of the material placed on the tray. The control system 9 is electrically connected to the feeding mechanism 2, the picking mechanism 3, the tray mechanism 4, the loading tray mechanism 5, the unloading tray mechanism 6, and the vision system 8 to control the coordinated operation of each mechanism and system.

[0022] It should be noted that in this embodiment, a feeding tray area, a loading area, and a discharging tray area are arranged horizontally above the tray mechanism 4. The feeding tray area is equipped with a feeding tray mechanism 5, the loading area is equipped with a feeding structure 7, and the discharging tray area is equipped with a discharging tray mechanism 6. The main workflow is as follows: a person manually places bulk materials onto the discharging mechanism 2, which vibrates to disperse the materials. Then, the positioning device 801 detects the specific position and state of the materials, the picking mechanism 3 picks up the materials, and then the materials are transferred to the appearance inspection device 802 for appearance inspection. If the inspection shows that the materials are qualified, they are placed into the material compartment of the tray. If the inspection shows that the materials are defective, they are placed into the defective collection box. This achieves automatic material unloading, positioning, picking, transfer, appearance inspection, and tray loading. As for the material trays, a person manually places stacked empty material trays onto the feeding tray. In the loading area, the loading tray mechanism 5 releases the bottom tray, and the tray carrier mechanism 4 picks up the empty tray and transfers it to the loading structure 7. When the unloading mechanism 3 fills the empty tray, the tray carrier mechanism 4 moves the full tray to the unloading tray area, and the unloading tray mechanism 6 stacks the full trays. When a certain number of trays are stacked, an alarm is triggered, and then manual personnel collect and remove the stacks of full trays. This achieves fully automated loading, unloading, and unloading of empty and full trays. The entire process is uniformly scheduled by the control system 9, and the vision system 8 provides decision-making basis. This realizes fully automated operation from messy materials to neatly arranged trays. The main function of this utility model is to replace traditional manual operation, greatly improve production efficiency, placement consistency and product quality, and is especially suitable for automated packaging and assembly processes of precision electronic components, medical devices, small hardware parts and other products.

[0023] like Figure 3 and Figure 4 As shown, the feeding mechanism 2 includes a storage bin 201, a vibrating feed channel 202, and a flexible vibrating plate 203. The storage bin 201 is fixed inside the machine housing 1, with its upper port located on the outer side of the upper end of the machine housing 1. An openable dust cover is provided at the upper port. The feeding port of the storage bin 201 is located above the vibrating feed channel 202. A linear vibrator 204 is provided at the bottom of the vibrating feed channel 202. The linear vibrator 204 is fixed on the worktable 101. The discharge end of the vibrating feed channel 202 is connected to the flexible vibrating plate 203, so that the material falls directly from the vibrating feed channel 202 onto the flexible vibrating plate 203. The flexible vibrating plate 203 is fixed on the worktable 101.

[0024] It should be noted that in this embodiment, the upper port of the storage bin 201 is fixed to the outside of the chassis 1, and the lower port is connected to the vibrating feed channel 202. The discharge end of the vibrating feed channel 202 is located above the flexible vibrating plate 203, allowing the material to fall directly into the flexible vibrating plate 203. The flexible vibrating plate 203 can be any suitable existing product on the market, depending on the requirements. The storage bin 201 is used to centrally store large quantities of materials to be processed. Its top dust cover can be opened and closed to facilitate centralized feeding and prevent dust contamination. The material flows out slowly from its discharge port under the action of gravity. The vibrating feed channel 202 is located between the storage bin 201 and the flexible vibrating plate 203. When the linear vibrator 204 at its bottom is working, it generates high-frequency micro-amplitude vibration, which drives the material in the feed channel to move forward in a directional and orderly manner, realizing the initial separation and queuing of the material. The flexible vibrating plate 203 receives the material conveyed from the vibrating feed channel 202, and through its own gentle multi-degree-of-freedom micro-vibration, it further disperses the material thoroughly and spreads it evenly over a wide area on its surface, avoiding stacking. This state creates the necessary conditions for the subsequent visual positioning camera to clearly see each material and obtain its precise position and angle.

[0025] like Figure 3 and Figure 5 As shown, the material handling mechanism 3 includes a material handling robot 301, an X-axis moving module 302, a Y-axis moving module 303, and a Z-axis moving module 304. The material handling robot 301 is a suction cup robot. The material handling robot 301 is fixed on the output end of the Z-axis moving module 304. The Z-axis moving module 304 is mounted on the slide of the Y-axis moving module 303. One end of the Y-axis moving module 303 is fixed on the slide of the X-axis moving module 302, and the other end is fixed on the slide of the slide rail.

[0026] It should be noted that in this embodiment, both the X-axis moving module 302 and the Y-axis moving module 303 are linear moving modules. The Z-axis moving module 304 can be a linear moving module, a push cylinder, or a moving module driven by a servo motor through a synchronous pulley and synchronous belt mechanism. The material handling robot 301, as an end effector, is a suction cup robot that grasps materials by vacuum adsorption. This method does not damage the surface of the material and is suitable for most lightweight, flat objects. Based on the received visual positioning coordinates, it moves to directly above the material, descends and picks up the material, then lifts and moves it to the target position above the tray mechanism 4, and finally breaks the vacuum to release the material, completing one tray-swing action.

[0027] like Figure 3 and Figure 6As shown, the tray mechanism 4 includes a material suction cup plate 401, a vertical moving module 402, and a horizontal moving module 403. The material suction cup plate 401 is mounted on the output end of the vertical moving module 402, and the vertical moving module 402 drives the material suction cup plate 401 to move up and down. The vertical moving module 402 is fixedly mounted on the slide of the horizontal moving module 403, and the horizontal moving module 403 is fixed on the worktable 101. The vertical moving module 402 includes a vertical cylinder, the end of which is fixedly connected to the vertical moving seat. The vertical moving seat is slidably mounted on a sliding rail, which is fixed to a vertical fixed seat. The vertical fixed seat is fixed to the slide of the horizontal moving module 403, and the other end of the vertical cylinder is fixed to the vertical fixed seat.

[0028] It should be noted that in this embodiment, the slide on the left and right moving module 403 is provided with two sets of up and down moving modules 402. Each set of up and down moving modules 402 is provided with a material-carrying suction cup plate 401. The distance between the two sets of material-carrying suction cup plates 401 is equal to the distance between the feeding tray mechanism 5 and the feeding structure 7, as well as the distance between the feeding structure 7 and the unloading tray mechanism 6. This allows the present invention to move an empty material tray from the feeding tray area to the loading area while one set of material-carrying lines moves the empty material tray from the feeding tray area to the loading area, while the other set of material-carrying suction cup plates 401 adsorbs the full material tray of the feeding structure 7 and moves it to the unloading tray area. The material-carrying suction cup plate 401 is equipped with a vacuum suction port, which can be connected to an external suction device to vacuum-adsorb the material tray, firmly adsorbing the empty material tray and preventing the material tray from shifting during movement, ensuring that the placement position is fixed. The up-and-down moving module 402 is used to drive the material-carrying suction cup plate 401 to move up and down. When it is necessary to receive or transfer a material tray, the up-and-down cylinder is activated, pushing the up-and-down moving seat down along the sliding rail, so that the material tray on the material-carrying suction cup plate 401 contacts the support surface of the loading mechanism or unloading mechanism 2 and completes the transfer. After the transfer is completed, the cylinder drives it to rise back to the working height to avoid interference with surrounding mechanisms. The left-and-right moving module 403 is a linear moving module used to drive the entire tray mechanism 4 to move in the horizontal direction, realizing the movement of the material-carrying suction cup plate 401 between the loading tray area, the loading area, and the unloading tray area.

[0029] like Figure 3 and Figure 7As shown, the feeding tray mechanism 5 includes two sets of symmetrically arranged upper tray seats 501. The upper tray seats 501 are fixed on the workbench 101. The upper tray seats 501 are provided with two sets of L-shaped limiting plates 11. The four sets of L-shaped limiting plates 11 are symmetrically arranged in pairs to form feeding tray positions 503. The upper tray seats 501 are provided with a tray cylinder 504 in the middle. The output end of the tray cylinder 504 is provided with an L-shaped support plate 502. The L-shaped support plate 502 can extend and retract towards the feeding tray position 503. A tray sensor 10 is provided at the lower part of one of the L-shaped limiting plates 11 to sense whether there is a tray.

[0030] It should be noted that in this embodiment, a material-carrying mechanism activity space is provided between the two sets of upper tray seats 501. The L-shaped limiting plate seats 11 are arranged symmetrically in pairs to form a vertical material tray channel, which is used to limit and guide a stack of empty material trays to keep them neatly stacked. The L-shaped support plate 502 extends in the normal state to support the entire stack of empty material trays. When the tray-carrying mechanism 4 needs to add a new empty material tray, as the tray-carrying mechanism 4 rises to support the stack of empty material trays, the tray cylinder 504 retracts, driving the L-shaped support plate 502 to be pulled out from the bottom of the material tray. At this time, the bottom empty material tray falls due to loss of support. The material is fed onto the suction plate 401 of the tray mechanism 4. Then, the tray cylinder 504 extends again and supports the gap between the bottom empty tray and the second-to-last empty tray. The tray mechanism 4 then picks up the bottom empty tray and moves it to the loading structure 7 in the tray area. The L-shaped tray 502 supports the remaining empty trays, realizing automatic loading of empty trays. The tray sensor 10 is located at the lower part of the L-shaped limiting plate seat 11 and is used to detect whether there are trays in the tray compartment. If there are no trays, it will alarm the control system 9, prompting that empty trays need to be added manually to avoid the equipment running empty.

[0031] like Figure 3 and Figure 8 As shown, the unloading tray mechanism 6 includes two symmetrically arranged lower tray seats 601, which are fixed on the worktable 101. Each lower tray seat 601 has two sets of L-shaped limiting plates 11, and the four sets of L-shaped limiting plates 11 are symmetrically arranged in pairs to form unloading tray positions 602. A tray rotating plate 603 is also provided in the middle of the lower tray seat 601. The bottom of the tray rotating plate 603 is rotatably mounted on a rotating rod, both ends of which are fixed to rotating seats. The rotating seats are fixed to the lower tray seat 601. The tray rotating plate 603 and... A reset torsion spring is provided between the rotating rods. The reset torsion spring is fitted onto the rotating rod, with one end abutting against the bottom surface of the tray rotating plate 603 and the other end abutting against the lower plate seat 601. An L-shaped limiting seat 604 is also provided above the tray rotating plate 603. One end of the L-shaped limiting seat 604 is fixed to the lower plate seat 601, and the other end extends outward and is provided above the tray rotating plate 603 to control the rotation angle of the tray rotating plate 603. A tray sensor 10 is provided on the upper part of the L-shaped limiting seat 11 to sense the stacking height of the trays.

[0032] It should be noted that in this embodiment, a material loading mechanism activity space is provided between the two sets of lower tray seats 601. The L-shaped limiting plate seats 11 are arranged symmetrically in pairs to form a vertical material tray channel, which is used to form a stacking channel to limit and guide the falling full material tray. When the tray loading mechanism 4 carries the full material tray to the unloading tray area, the tray loading mechanism 4 adsorbs the full material tray and rises from bottom to top. Then the full material tray presses against the tray rotating plate 603 and rises. Due to the rotating rod at its bottom, the tray rotating plate 603 will rotate downward at an angle, so that the full material tray passes smoothly and is located above the tray rotating plate 603. After the material tray has completely passed, under the action of the return torsion spring, the tray... The rotating plate 603 automatically springs back to the horizontal position, and the loading mechanism places the full pallet on the rotating plate 603, so that the rotating plate 603 supports the full pallet placed by the loading mechanism. Subsequent full pallets will repeat this process to achieve layer-by-layer stacking. The L-shaped limiting seat 604 is a mechanical limiting device used to limit the upward flipping angle of the rotating plate 603 to ensure that it is always in the correct posture to catch the pallet. The pallet sensor 10 is set on the upper part of the L-shaped limiting seat 11 to detect the height of the stacked full pallets. When the stacking height reaches the preset value, a signal is issued to prompt the operator or AGV to come and pick up the whole stack of full pallets, realizing automated turnover.

[0033] like Figure 3 and Figure 6 As shown, a feeding structure 7 is also provided between the feeding tray mechanism 5 and the unloading tray mechanism 6. The feeding tray mechanism 5, the feeding structure 7, and the unloading tray mechanism 6 are arranged on the same plane, and the carrier tray mechanism 4 is located below the feeding structure 7. The feeding structure 7 includes a first carrier tray 701 and a second carrier tray 702 fixed on the worktable 101. A carrier tray movement channel 703 is provided between the first carrier tray 701 and the second carrier tray 702. Both the first carrier tray 701 and the second carrier tray 702 have a carrier tray movement channel 703. A longitudinal limiting rod 704 is fixed, and a transverse limiting rod 705 is fixed to the outer sides of both ends of the longitudinal limiting rod 704. The longitudinal limiting rod 704 and the transverse limiting rod 705 of the first bearing plate seat 701 and the second bearing plate seat 702 form a limiting plate position 706. Adjustment and fixing holes 707 are provided on the fixing positions of the first bearing plate seat 701 and the second bearing plate seat 702 corresponding to the longitudinal limiting rod 704 and the transverse limiting rod 705. A material sensor is also provided on the first bearing plate seat 701 or the second bearing plate seat 702.

[0034] It should be noted that in this embodiment, the feeding structure 7 is located in the loading area and its function is to support the material tray to be loaded. It is located directly in front of the picking mechanism 3, which facilitates the picking mechanism 3 to place the material into the material compartment of the tray. The longitudinal limiting rod 704 and the transverse limiting rod 705 on the first tray seat 701 and the second tray seat 702 together form the tray limiting area to prevent the tray from shifting. The adjusting fixing hole 707 can adjust the position of the limiting rod to adapt to trays of different sizes, which greatly improves the flexibility and versatility of the equipment. The tray movement channel 703 provides the physical space and channel for the tray to move. The material sensor is used to detect whether there is a tray on the track or to detect the position status of the tray, providing a signal for the process control of the control system 9.

[0035] like Figure 2 As shown, the positioning device 801, appearance inspection device 802, and status inspection device 803 all use CCD smart cameras. The positioning device 801 is fixedly installed inside the chassis 1, the appearance inspection device 802 is fixedly installed on the workbench 101, and the status inspection device 803 is fixedly installed inside the chassis 1. In this embodiment, the positioning device 801 is installed inside the housing 1 above the feeding mechanism 2. It takes pictures of the materials dispersed on the flexible vibrating plate 203, quickly identifies the center coordinates and rotation angle of each material through image processing algorithms, and sends these coordinate data to the control system 9 to guide the picking robot 301 to accurately pick up the materials. The appearance inspection device 802 is installed on the workbench 101 on the picking path. It has an NG product collection box on its side. During the process of the robot picking up the materials, it takes pictures to inspect them and can identify appearance defects such as scratches, damage, stains, and incorrect models. If a defective product is found, the control system 9 will instruct the robot to place it in the NG product collection box. The status detection device 803 is located inside the housing 1 above the feeding structure 7 in the tray area. After the materials are placed on the tray, it takes pictures of the entire tray or a designated point to detect whether the materials are missing, whether the placement position is out of tolerance, whether there is any tilting, and whether the polarity direction is correct, so as to ensure that the final product is a high-quality, error-free product tray.

[0036] like Figure 1As shown, the control system 9 includes a control panel 901, control buttons 902, and indicator lights 903. The control panel 901 and control buttons 902 are mounted on the outside of the chassis 1, and the indicator lights 903 are mounted on the chassis 1. In this embodiment, the control system 9 is used to receive signals from various sensors, cameras, etc., process and make logical judgments, and then issue instructions to various actuators, such as cylinders, motors, vibrators, etc., so that they work together strictly according to a preset program and time sequence. The control panel 901 serves as a human-machine interface, allowing operators to set parameters, start and stop the equipment, view the current status, production data, and fault information. The control buttons 902 provide basic manual operation and emergency control functions, such as emergency stop and reset. The indicator lights 903 use different colors, such as red, yellow, and green, to intuitively display the operating status of the equipment, such as running, standby, and fault alarm, facilitating remote monitoring.

[0037] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Those skilled in the art can readily implement the present utility model according to the accompanying drawings and the above description. However, any modifications, alterations, or equivalent changes made by those skilled in the art without departing from the scope of the present utility model's technical solution, based on the disclosed technical content, are all equivalent embodiments of the present utility model. Furthermore, any equivalent changes, alterations, or evolutions made to the above embodiments based on the essential technology of the present utility model still fall within the technical solution of the present utility model.

Claims

1. A flexible tray-stacking machine with visual positioning, characterized in that: The material includes a feeding mechanism (2), a picking mechanism (3) and a tray mechanism (4) arranged sequentially on a workbench (101). The feeding mechanism (2) is used to release and disperse the material, the picking mechanism (3) is used to place the material onto the tray, and the tray mechanism (4) is used to transfer the tray. The left and right ends of the tray mechanism (4) are also provided with a loading tray mechanism (5) and a unloading tray mechanism (6). The loading tray mechanism (5) is used to load an empty tray onto the tray mechanism (4), and the unloading tray mechanism (6) is used to collect the full tray on the tray mechanism (4). It also includes a vision system (8) and a control system (9). The vision system (8) includes a positioning device (801), an appearance inspection device (802), and a status inspection device (803). The positioning device (801) is installed above the feeding mechanism (2) and is used to detect the position and status of the material. The appearance inspection device (802) is installed on the worktable (101) between the picking mechanism (3) and the tray mechanism (4) and is used to detect the appearance of the material. The status inspection device (803) is set above the tray mechanism (4) and is used to detect the status of the material placed on the tray. The control system (9) is electrically connected to the feeding mechanism (2), the picking mechanism (3), the tray mechanism (4), the loading tray mechanism (5), the unloading tray mechanism (6), and the vision system (8) and is used to control the coordinated operation of each mechanism and system.

2. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The feeding mechanism (2) includes a storage bin (201), a vibrating channel (202) and a flexible vibrating plate (203). The storage bin (201) is fixed inside the machine box (1), and its upper port is located on the outer side of the upper end of the machine box (1). A dust cover that can be opened and closed is provided at the upper port. The feeding port of the storage bin (201) is located above the vibrating channel (202). The bottom of the vibrating chute (202) is provided with a linear vibrator (204), which is fixed on the workbench (101). The discharge end of the vibrating chute (202) is connected to the flexible vibrating plate (203), so that the material falls directly from the vibrating chute (202) onto the flexible vibrating plate (203). The flexible vibratory plate (203) is fixed on the worktable (101).

3. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The material handling mechanism (3) includes a material handling robot (301), an X-axis moving module (302), a Y-axis moving module (303), and a Z-axis moving module (304). The material handling robot (301) is a suction cup robot. The material handling robot (301) is fixed on the output end of the Z-axis moving module (304). The Z-axis moving module (304) is mounted on the slide of the Y-axis moving module (303). One end of the Y-axis moving module (303) is fixed on the slide of the X-axis moving module (302), and the other end is fixed on the slide of the slide rail.

4. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The tray mechanism (4) includes a material suction cup plate (401), a vertical moving module (402), and a horizontal moving module (403). The material suction cup plate (401) is installed on the output end of the vertical moving module (402). The vertical moving module (402) drives the material suction cup plate (401) to move up and down. The vertical moving module (402) is fixedly installed on the slide of the horizontal moving module (403). The horizontal moving module (403) is fixed on the worktable (101).

5. The flexible tray-stacking machine with visual positioning according to claim 4, characterized in that: The up-down moving module (402) includes up-down cylinders. The ends of the up-down cylinders are fixedly connected to the up-down moving seat. The up-down moving seat is slidably mounted on the sliding rail. The sliding rail is fixed on the up-down fixed seat. The up-down fixed seat is fixed on the slide of the left-right moving module (403). The other end of the up-down cylinder is fixed on the up-down fixed seat.

6. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The feeding tray mechanism (5) includes two sets of symmetrically arranged upper tray seats (501). The upper tray seats (501) are fixed on the worktable (101). The upper tray seats (501) are provided with two sets of L-shaped limiting plates (11). The four sets of L-shaped limiting plates (11) are symmetrically arranged in pairs to form feeding tray positions (503). The upper tray seat (501) is provided with a tray cylinder (504) in the middle, and the output end of the tray cylinder (504) is provided with an L-shaped tray (502). The L-shaped tray (502) can extend and retract towards the upper tray position (503). The L-shaped limiting plate seat (11) is provided with a material tray sensor (10) at the bottom to sense whether there is a material tray.

7. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The feeding tray mechanism (6) includes two sets of symmetrically arranged lower tray seats (601). The lower tray seats (601) are fixed on the worktable (101). The lower tray seats (601) are provided with two sets of L-shaped limiting plates (11). The four sets of L-shaped limiting plates (11) are symmetrically arranged in pairs to form feeding tray positions (602). The lower plate base (601) is also provided with a tray rotating plate (603) in the middle. The bottom of the tray rotating plate (603) is rotatably mounted on a rotating rod. The two ends of the rotating rod are fixed on a rotating seat, and the rotating seat is fixed on the lower plate base (601). A reset torsion spring is provided between the tray turn plate (603) and the rotating rod. The reset torsion spring is fitted on the rotating rod, with one end abutting against the bottom surface of the tray turn plate (603) and the other end abutting against the lower tray base (601). An L-shaped limiting seat (604) is also provided above the tray turntable (603). One end of the L-shaped limiting seat (604) is fixed on the lower tray seat (601), and the other end extends outward and is provided above the tray turntable (603) to control the rotation angle of the tray turntable (603). The upper part of the L-shaped limiting plate seat (11) is provided with a material tray sensor (10) for sensing the stacking height of the material trays.

8. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: A feeding structure (7) is also provided between the feeding tray mechanism (5) and the unloading tray mechanism (6). The feeding tray mechanism (5), the feeding structure (7) and the unloading tray mechanism (6) are arranged on the same plane. The carrier tray mechanism (4) is located below the feeding structure (7). The feeding structure (7) includes a first bearing plate seat (701) and a second bearing plate seat (702) fixed on the workbench (101). A pallet movement channel (703) is provided between the first bearing plate seat (701) and the second bearing plate seat (702). A longitudinal limiting rod (704) is fixed on both the first bearing plate seat (701) and the second bearing plate seat (702). A transverse limiting rod (705) is fixed on the outer side of both ends of the longitudinal limiting rod (704). The longitudinal limiting rod (704) and the transverse limiting rod (705) of the first bearing plate seat (701) and the second bearing plate seat (702) form a limiting plate position (706). The first bearing seat (701) and the second bearing seat (702) corresponding to the longitudinal limiting rod (704) and the transverse limiting rod (705) are provided with adjustment fixing holes (707). A material sensor is also provided on the first bearing plate (701) or the second bearing plate (702).

9. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The positioning device (801), appearance inspection device (802) and status inspection device (803) all use CCD smart cameras. The positioning device (801) is fixedly installed inside the chassis (1), the appearance inspection device (802) is fixedly installed on the workbench (101), and the status inspection device (803) is fixedly installed inside the chassis (1).

10. The flexible tray-stacking machine with visual positioning according to claim 1, characterized in that: The control system (9) includes a control panel (901), control buttons (902) and indicator lights (903). The control panel (901) and control buttons (902) are installed on the outside of the chassis (1), and the indicator lights (903) are installed on the chassis (1).

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