CN114920000A

CN114920000A - Conveying device, mechanical equipment and control method of conveying device

Info

Publication number: CN114920000A
Application number: CN202210428765.XA
Authority: CN
Inventors: 王浩
Original assignee: Goertek Techology Co Ltd
Current assignee: Goertek Techology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-08-19

Abstract

The invention discloses a conveying device, mechanical equipment and a control method of the conveying device. The transfer mechanism is used for transferring products; the vision module is arranged on the transfer mechanism; the controller is used for acquiring standard position information of a standard product mounting position and acquiring standard parameter information of the transfer mechanism corresponding to the standard position information through the vision module; acquiring current position information of a current product installation position through the visual module, and comparing and analyzing the current position information and the standard position information to obtain a position deviation value; and correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism to move according to the actual parameter information. According to the technical scheme, the debugging precision of the material taking and placing point position of the carrying device can be improved, and the labor intensity of workers is reduced.

Description

Conveying device, mechanical equipment and control method of conveying device

Technical Field

The present invention relates to the field of material handling technologies, and in particular, to a handling apparatus, a machine device using the handling apparatus, and a control method of the handling apparatus.

Background

In many machines (for example, processing equipment, testing equipment, etc.), in order to improve the processing efficiency or the testing efficiency of products, the machines are generally configured to include a machine body for processing or testing the products, and a carrying device for carrying the products to and/or from the machine body. Wherein after the mechanical equipment is used for a period of time, the equipment body is often required to be disassembled from the mechanical equipment for maintenance, and then reassembled and installed into the mechanical equipment. At this time, since there is usually a certain gap between the positioning structures that are paired and positioned in the up-down direction (i.e., in the Z-axis direction), the assembling is facilitated, so that the installation position of the device body, which is set at the time of factory shipment, is easily shifted on the horizontal plane (i.e., on the XY plane) after the device body is remounted, and thus the product installation position set on the device body is also shifted on the XY plane. In other words, the current product placement position on the device body deviates from the standard product placement position. So make handling device when leaving the factory correspond the standard parameter that standard product settled the position and set up and just can't try again to be used for this current product to settle the position, lead to the equipment body to dismantle at every turn and repack and all need get the material point position and carry out debugging again on XY plane to handling device's getting, also revise standard parameter promptly to follow-up can be accurate remove to current product settled the position and get material and/or blowing work.

In the related art, the work of debugging the material taking and placing point of the carrying device on the equipment body is mainly completed manually. Specifically, when the manual control carrying device gradually moves to the position above the material taking position and/or the material placing position on the deviated equipment body, whether the position of the carrying device is aligned with the material taking position and/or the material placing position on the equipment body is observed, and the debugging work can not be completed until the position of the carrying device is aligned and the current position parameters are reserved. In the debugging process, because the debugging is usually performed by non-professional debugging personnel after leaving a factory, and the operating space of mechanical equipment is limited, the operator cannot observe the debugging alignment condition of the material taking position and/or the material placing position right above the equipment body, and can only observe and adjust from the side or other angles. At this time, the difficulty of debugging is greatly increased, and the debugging accuracy is low. Simultaneously, the position of repeatedly observing handling device and setting up on the equipment body in the debugging process gets the material level and/or whether the material level of putting is aligned and also can lead to the debugging time overlength. That is, adopt artifical manual getting the blowing position to debug handling device on the equipment body, reduce the debugging precision easily, also increased workman's intensity of labour simultaneously.

Disclosure of Invention

The invention mainly aims to provide a conveying device, aiming at improving the debugging precision of the material taking and placing point positions of the conveying device and reducing the labor intensity of workers.

To achieve the above object, the present invention provides a conveying apparatus comprising:

the transfer mechanism is used for transferring products;

the vision module is arranged on the transfer mechanism; and

the controller is used for acquiring standard position information of a standard product mounting position and acquiring standard parameter information of the transfer mechanism corresponding to the standard position information through the vision module; acquiring current position information of a current product installation position through the visual module, and comparing and analyzing the current position information and the standard position information to obtain a position deviation value; and correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism to move according to the actual parameter information.

Optionally, the transferring mechanism includes a first driving member, a second driving member, a third driving member, and a picking member;

defining the handling device has X axle direction, Y axle direction and Z axle direction, the second driving piece connect in first driving piece to can be driven by first driving piece and slide along X axle direction, the third driving piece connect in the second driving piece to can be driven by the second driving piece and slide along Z axle direction, pick up the piece with the vision module group all locates the third driving piece, and can be driven by the third driving piece and slide along Y axle direction.

Optionally, the number of the picking members is two, and the transferring mechanism further includes a fourth driving member, and the fourth driving member is connected to the third driving member and can be driven by the third driving member to slide along the Y-axis direction; the two picking pieces are connected to the fourth driving piece and can be driven by the fourth driving piece to rotate around an axis parallel to the Z-axis direction;

the carrying device further comprises a supporting frame, the supporting frame comprises a first frame body and two second frame bodies, the first frame body extends along the X-axis direction, the two second frame bodies are connected to two ends of the first frame body in the X-axis direction and extend along the Z-axis direction, and the first driving piece is mounted on the first frame body;

and/or the picking member is a vacuum suction nozzle.

Optionally, the carrying device further comprises a control panel, and the control panel is electrically connected to the controller;

and/or, the handling device still includes the alarm, alarm electric connection in the controller.

The invention also proposes a mechanical device comprising:

the equipment body, be formed with the product installation position that is used for placing the product on the equipment body: and

the carrying device comprises a transferring mechanism, a vision module and a controller, wherein the transferring mechanism is used for transferring products; the vision module is arranged on the transfer mechanism; the controller is used for acquiring standard position information of a standard product mounting position and acquiring standard parameter information of the transfer mechanism corresponding to the standard position information through the vision module; acquiring current position information of a current product installation position through the visual module, and comparing and analyzing the current position information and the standard position information to obtain a position deviation value; and correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism to move according to the actual parameter information.

Optionally, the number of the apparatus bodies is multiple, the apparatus bodies are distributed in two rows and respectively disposed on two opposite sides of the first driving member of the carrying device, and at least two apparatus bodies in each row are sequentially disposed along the X-axis direction of the carrying device;

each all be formed with two at least on the equipment body product is installed the position, two at least product is installed the position and is in handling device's Z axle direction is the interval setting.

The present invention also provides a method for controlling a transport apparatus including a transfer mechanism, the method comprising:

acquiring standard position information of a standard product mounting position and standard parameter information of the transfer mechanism corresponding to the standard position information;

acquiring current position information of a current product installation position, and comparing and analyzing the current position information and the standard position information to obtain a position deviation value;

and correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism to move according to the actual parameter information.

Optionally, the step of obtaining the standard position information of the standard product installation site and the standard parameter information of the transfer mechanism corresponding to the standard position information includes the following steps:

controlling the transfer mechanism to drive the vision module to move to the standard product mounting position for photographing to obtain a vision image of the standard product mounting position, and analyzing according to the vision image of the standard product mounting position to obtain the standard position information;

and controlling the transfer mechanism to move to the standard product mounting position, and taking the current parameter information of the transfer mechanism as the standard parameter information.

Optionally, after the step of controlling the transfer mechanism to drive the vision module to move to the standard product installation position for photographing to obtain the vision image of the standard product installation position, and analyzing the vision image of the standard product installation position to obtain the standard position information, the method further includes the following steps:

and driving the vision module to move to the standard product mounting position by the transfer mechanism, and storing the current parameter information of the transfer mechanism as a fixed photographing position.

Optionally, in the step of obtaining current location information of the product installation location, and comparing and analyzing the current location information and the standard location information to obtain a location deviation value, the method includes the following steps:

controlling the transfer mechanism to drive the vision module to move to the fixed photographing position to photograph the current product placement position to obtain a vision image of the current product placement position, and analyzing the vision image of the current product placement position to obtain the current position information;

and calculating and analyzing the current position information and the standard position information to obtain the position deviation value.

Optionally, after the step of correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism to move according to the actual parameter information, the method further includes:

acquiring a current placement image of the product in the current product placement position;

comparing the current placement image of the product with the standard placement image of the product to obtain a similarity value of the current placement image of the product and the standard placement image of the product;

and comparing and analyzing the similarity value with a preset similarity value, and judging whether the product is accurately placed in the current station.

Optionally, after the step of determining whether the product is accurately placed in the current station according to the similarity value, the method for controlling the handling device further includes the following steps:

and when the similarity value is smaller than a preset similarity value, controlling an alarm to give an alarm.

When the carrying device provided by the technical scheme is used in cooperation with the equipment body provided with the product mounting position, the carrying device comprises the vision module and the controller, so that before delivery or initial use, a professional debugging person can debug and store material taking and placing points (namely the material taking and placing points for material taking and/or the material taking points for material taking) of the carrying device on the equipment body as a calibration template. Specifically, the controller can control the visual module to photograph the standard product position on the equipment body, so as to obtain the visual image of the standard product installation position, and then the standard position information of the standard product installation position (for example, the position point of the central point of the standard product installation position in the visual image) can be obtained according to the visual image of the standard product installation position and stored. Meanwhile, a professional debugger can control the transfer mechanism of the carrying device to transfer the product to the standard product installation position through controlling the controller, and the controller can take parameter information of the transfer mechanism at the moment as standard parameter information corresponding to standard position information of the standard product installation position. That is, the carrying device controls the transfer mechanism to move according to the standard parameter information, so that the transfer mechanism can be ensured to accurately transfer the product to the standard product placement position, and certainly, the transfer mechanism can be ensured to accurately move to the standard product placement position to take out the product.

After the equipment body of the mechanical equipment is used for a period of time, the disassembly maintenance and the reassembly are carried out, so that when the product placement position deviates and the material taking and placing point position of the carrying device needs to be debugged again, a worker can order the carrying device to enter a debugging mode of the material taking and placing point position. Under this debugging mode, the controller can control the vision module and set the position to take a picture to the current product on the equipment body, and then obtains the visual image of current product arrangement position, can later set the position according to the visual image of current product and obtain the standard position information (for example the position point of central point formation of image in the visual image of current product arrangement position) of this current product arrangement position and save. At this time, the controller may perform calculation analysis according to the current position information and the standard position information (for example, based on a computer vision image processing technology, a pixel distance between a position point where a center point of the current product installation position is imaged in the vision image and a position point where a center point of the standard product installation position is imaged in the vision image is obtained through analysis, and then the pixel distance is converted into an actual distance between the center point of the current product installation position and the standard product installation position), so as to obtain a position deviation value between the current position information and the standard position information. And then correcting the standard parameter information of the transfer mechanism according to the position deviation value to obtain actual parameter information (namely, the offset of the current product mounting position on the XY plane is compensated to the X-axis value and/or the Y-axis value in the standard parameter information of the transfer mechanism), and controlling the transfer mechanism to move according to the actual parameter information, so that the debugging of the material taking and placing point position of the carrying device can be automatically completed, and the transfer mechanism of a subsequent carrying device can be ensured to accurately move to the current product mounting position deviating from the standard product mounting position to work when in use. And, should get the in-process of putting the material point position and debugging carrying out handling device, cooperate through controller and vision module and realize automatic debugging, replaced and adopted artifical manual mode of getting to put the material point position and debugging carrying device in the tradition for the possibility that has avoided appearing leading to appearing great debugging error because artifical manual operation is improper, thereby is favorable to improving the precision of getting the material point position and debugging carrying device. Simultaneously, also can make and need not the manual work and carry out limit manual control handling device removal in the similar tradition of debugging in-process, whether the loaded down with trivial details operation of adjusting is put to the material level of putting on observing this handling device's the position and the equipment body in the limit to be favorable to reducing workman's intensity of labour.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a carrying device according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of the handling apparatus of FIG. 1;

FIG. 3 is a schematic flow chart illustrating a control method of a handling apparatus according to a first embodiment of the present invention;

FIG. 4 is a flowchart illustrating a second embodiment of a method for controlling a handling apparatus according to the present invention;

FIG. 5 is a flowchart illustrating a method for controlling a transporting apparatus according to a third embodiment of the present invention;

FIG. 6 is a flowchart illustrating a fourth exemplary embodiment of a method for controlling a carrier apparatus according to the present invention;

FIG. 7 is a flowchart illustrating a fifth embodiment of a method for controlling a carrier apparatus according to the present invention;

fig. 8 is a flowchart illustrating a method for controlling a conveying apparatus according to a sixth embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name(s)
				100	Conveying device	19	The fourth driving part
10	Transfer mechanism	30	Vision module
				11	First driving member	50	Supporting rack
13	Second driving member	51	First frame body
				15	Third driving member	53	Second frame body
17	Picking piece

The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a conveying apparatus 100, which can be applied to a mechanical device, the mechanical device can include a device body formed with a product placement position, and the conveying apparatus 100 can be used for transferring a product onto the product placement position on the device body and/or removing a product on the product placement position. The device body may be a testing device (for example, a device for testing an electronic board), a processing device (for example, a device for punching a product), or a transportation device (for example, a transportation platform for temporarily storing a product), and the like, and the specific type of the device body is not limited in the present application. The product mounting position is arranged, and feeding and/or blanking are required. The product placement position may be in the form of a groove, a bump, or a combination of a plurality of positioning posts. In an embodiment of the invention, the transporting apparatus 100 includes a transferring mechanism 10, a vision module 30 and a controller. The transfer mechanism 10 is used for transferring products; the vision module 30 is arranged on the transferring mechanism 10; the controller is used for acquiring standard position information of a standard product mounting position and acquiring standard parameter information of the transfer mechanism 10 corresponding to the standard position information through the vision module 30; acquiring current position information of a current product installation position through the vision module 30, and comparing and analyzing the current position information and standard position information to obtain a position deviation value; and correcting the standard parameter information of the transfer mechanism 10 according to the position deviation value to obtain actual parameter information, and controlling the transfer mechanism 10 to move according to the actual parameter information.

In an embodiment of the present invention, the transfer mechanism 10 may transfer the product to and/or from the product placement location on the equipment body. The visual module 30 can be used for arranging the position to take a picture to the product on the equipment body, and then can obtain the visual image of the standard product arrangement position before the equipment body leaves the factory or when using for the first time and arrange a position visual image at the current product after dismantling and reinstalling. The controller may be configured to compare and analyze the visual images of the current product placement location and the standard product placement location, obtain a pixel distance between the two in the image, and convert the pixel distance into an actual distance between the two to obtain a position deviation value of the current product placement location with respect to the standard product placement location, so that a subsequent controller may compensate the standard parameter information of the transfer mechanism 10 according to the position deviation value.

When the carrying device 100 of the technical scheme of the invention is used in cooperation with an equipment body provided with a product mounting position, as the carrying device 100 comprises the vision module 30 and the controller, before delivery or initial use, a professional debugger can debug and store a material taking and placing point (namely a material taking point for material taking and/or a material taking point for material taking) of the carrying device 100 on the equipment body as a calibration template. Specifically, the visual module 30 can be controlled by the controller to photograph the standard product position on the device body, so as to obtain the visual image of the standard product placement position, and then the standard position information of the standard product placement position (for example, the position point of the central point image of the standard product placement position in the visual image) can be obtained according to the visual image of the standard product placement position and stored. Meanwhile, a professional debugger can control the transfer mechanism 10 of the carrying device 100 to transfer the product to the standard product installation position by operating the controller, and the controller can use the parameter information of the transfer mechanism 10 at the moment as standard parameter information corresponding to the standard position information of the standard product installation position. That is, the conveying apparatus 100 can ensure that the transfer mechanism 10 can accurately transfer the product to the standard product placement position by controlling the transfer mechanism 10 to move according to the standard parameter information, and certainly, can ensure that the transfer mechanism 10 can accurately move to the standard product placement position to take out the product.

After the device body of the mechanical device is used for a period of time, the device body is disassembled, maintained and reassembled, so that when the product placement position deviates and the material taking and placing point position of the carrying device 100 needs to be debugged again, a worker can drive the carrying device 100 to enter a debugging mode of the material taking and placing point position. In the debugging mode, the controller may control the visual module 30 to photograph the current product placement position on the device body, so as to obtain a visual image of the current product placement position, and then may obtain standard position information of the current product placement position (for example, a position point of a central point of the current product placement position imaged in the visual image) according to the visual image of the current product placement position and store the standard position information. At this time, the controller may perform calculation analysis according to the current position information and the standard position information (for example, based on a computer vision image processing technology, a pixel distance between a position point where a center point of the current product installation position is imaged in the vision image and a position point where a center point of the standard product installation position is imaged in the vision image is obtained through analysis, and then the pixel distance is converted into an actual distance between the center point of the current product installation position and the standard product installation position), so as to obtain a position deviation value between the current position information and the standard position information. And then, correcting the standard parameter information of the transfer mechanism 10 according to the position deviation value to obtain actual parameter information (that is, the offset of the current product placement position on the XY plane is compensated to the X-axis value and/or the Y-axis value in the standard parameter information of the transfer mechanism 10), and controlling the transfer mechanism 10 to move according to the actual parameter information, so that the debugging of the material pick-and-place point position of the conveying device 100 can be automatically completed, and the transfer mechanism 10 of the subsequent conveying device 100 can be ensured to accurately move to the current product placement position deviating from the standard product placement position to work when in use. In addition, in the process of debugging the material taking and placing point position of the carrying device 100, the controller is matched with the vision module 30 to realize automatic debugging, and the mode of debugging the material taking and placing point position of the carrying device 100 by manual operation in the traditional mode is replaced, so that the possibility of large debugging error caused by improper manual operation is avoided, and the debugging precision of the material taking and placing point position of the carrying device 100 is improved. Meanwhile, the manual control of the carrying device 100 can be carried out without manual work in the debugging process similar to the traditional process, and the complex operation of aligning the position of the carrying device 100 and the material taking and placing position on the equipment body can be observed while the carrying device is in operation, so that the labor intensity of workers can be reduced.

Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the transferring mechanism 10 includes a first driving member 11, a second driving member 13, a third driving member 15, and a picking member 17; the defined carrying device 100 has an X-axis direction, a Y-axis direction and a Z-axis direction, the second driving element 13 is connected to the first driving element 11 and can be driven by the first driving element 11 to slide along the X-axis direction, the third driving element 15 is connected to the second driving element 13 and can be driven by the second driving element 13 to slide along the Z-axis direction, and the picking element 17 and the vision module 30 are both disposed on the third driving element 15 and can be driven by the third driving element 15 to slide along the Y-axis direction.

In the present embodiment, the transfer mechanism 10 is slidable in the X-axis direction by the first driving member 11, slidable in the Y-axis direction by the second driving member 13, and slidable in the Z-axis direction by the third driving member 15. Thus, the transfer mechanism 10 can slide in multiple directions and has diversified moving paths, so that products can be transferred to product installation positions at different positions, and the application scene of the transfer mechanism 10 is improved. In addition, it is well known that: a conventional manipulator generally includes a main body, a first arm rotatably disposed on the main body around a rotation axis parallel to the Z-axis direction, a second arm rotatably disposed on the second arm around a rotation axis parallel to the Z-axis direction, and a gripper disposed below the second arm in a liftable manner. At this moment, this type of manipulator realizes the removal on the XY plane through the rotation of first arm and second arm in the course of the work, and then at every turn when the manipulator need remove to product arrangement position, first arm and second arm all will rotate around respective axis of rotation and place the top just can guarantee that follow-up gripper can snatch the work to product arrangement. That is, an integral structure of the first mechanical arm and the second mechanical arm needs to be rotated above the product mounting position to work. When two product arrangement positions with limited intervals are arranged in the Z-axis direction, the mechanical arm usually cannot enter the space between the two product arrangement positions with limited intervals because the first mechanical arm and the second mechanical arm are higher in overall height in the Z-axis direction. Therefore, the robot in the conventional art can generally be used only for a product placement site having a single layer of the apparatus body, and cannot be used for a product placement site having multiple layers in the Z-axis direction. However, the transfer mechanism 10 in the present application is configured such that the first driving member 11 and the third driving member 15 slide along the X-axis direction and the Y-axis direction respectively to realize movement on the XY plane, so that when the transfer mechanism 10 needs to move to a product installation position each time, the first driving member 11 in the X-axis direction may work on one side of the product installation position instead of on the top of the product installation position, and only the third driving member 15 in the Y-axis direction moves to the top of the product installation position to work, and at this time, the picking member 17 may also be driven to the product installation position to perform accurate work. Therefore, when facing two product installation positions arranged at an interval in the Z-axis direction, the transfer mechanism 10 in the present application is not affected by the overall height of the first driving member 11 and the third driving member 15 in the Z-axis direction, so that the first driving member 11 in the X-axis direction can be controlled to slide on the outer sides of the two product installation positions, and the picking member 17 can be further fed to between the two product installation positions with a limited space only by the third driving member 15 in the Y-axis direction to work. That is, compared with the conventional manipulator, the application scenario of the transfer mechanism 10 in the present application is further expanded, so as to greatly improve the convenience of use. And set up vision module 30 at third driving piece 15 too, make and to drive vision module 30 through this move and carry mechanism 10 and remove to the product and place and shoot and obtain the vision image, so avoided because vision module 30 be fixed the setting in the top of product placement place and with the possibility that the arrival of follow-up picking member 17 bumps to improve handling device 100 security of using. It should be noted that, when the vision module 30 is driven by the transfer mechanism 10 to the standard product placement position for taking a picture, the current parameter information of the current transfer mechanism 10 can be kept as the fixed picture taking position, so that a subsequent worker can still control the transfer mechanism 10 to drive the vision module 30 to move to the fixed picture taking position for taking a picture when the material taking and placing point position of the carrying device 100 needs to be debugged after the device body is disassembled and reassembled, and the accuracy of the position deviation between the current product placement position and the standard product placement position, which is subsequently calculated, can be favorably ensured. Of course, the first driving element 11, the second driving element 13, and the third driving element 15 may be a combination of a ball screw and a linear guide rail, or a combination of a timing belt and a timing pulley, and it is sufficient to ensure that these elements can be formed into a linear module. In the embodiment, the transferring mechanism 10 may include only the first driving member 11 and the second driving member 13, or only the second driving member 13 and the third driving member 15.

Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the number of the picking members 17 is two, and the transferring mechanism 10 further includes a fourth driving member 19, wherein the fourth driving member 19 is connected to the third driving member 15 and can be driven by the third driving member 15 to slide along the Y-axis direction; both picking members 17 are connected to the fourth driving member 19 and can be driven by the fourth driving member 19 to rotate about an axis parallel to the Z-axis direction.

In this embodiment, the four driving members 19 drive the two picking members 17 to rotate, so that the two picking members 17 sequentially move to above the product placement positions. Therefore, when the product arrangement installation position is discharged, the fourth driving part 19 can drive the picking part 17 which is not loaded with the product to move to the product arrangement position, so that the tested or processed product in the product arrangement position can be taken out; the fourth driving member 19 then drives the picking member 17 loaded with the product behind to move to the product seating position to place the product in the product seating position. In this case, the transfer mechanism 10 can complete the operation of taking out the preceding product and putting in the succeeding product in the product placement/mounting position in a short time, which is very continuous, and is advantageous for greatly improving the work efficiency of the conveying device 100. The fourth driving member 19 may be a motor, a rotary cylinder, or the like.

Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the carrying device 100 further includes a supporting frame 50, the supporting frame 50 includes a first frame 51 and two second frames 53, the first frame 51 extends along the X-axis direction, the two second frames 53 are connected to two ends of the first frame 51 in the X-axis direction and both extend along the Z-axis direction, and the first driving element 11 is mounted on the first frame 51.

In the present exemplary embodiment, the support 50 is composed of a first frame 51 and two second frames 53, so that the support 50 substantially forms a portal frame. At this time, the support frame 50 has a good support performance, so that the stability of supporting the transfer mechanism 10 can be ensured. Moreover, so set up support frame 50 and also make it very regular and simple in structure, reduction that can by a wide margin occupy the space, especially when being two rows of equipment bodies that set up side by side, can set up this regular and simple support frame 50 between two rows of equipment bodies to extend the direction of arranging with first support body 51 along a plurality of equipment bodies in each row and place, just can be on the basis that better avoiding support frame 50 and a plurality of equipment bodies to take place to interfere, correspond a plurality of equipment bodies through a handling device 100 and carry out work and improvement work efficiency by a wide margin. The first frame body 51 and the second frame body 53 may be formed by a single cylinder, or may be formed by combining a plurality of cylinders.

Referring to fig. 1 and 2, in an embodiment of the present invention, the picking member 17 is a vacuum nozzle.

In this embodiment, the picking member 17 is set as a vacuum suction nozzle, so that the picking member 17 can perform suction pickup on the product by a vacuum suction manner, thereby reducing the possibility of damaging the surface of the product. Wherein the number of the vacuum suction nozzles can be one, but can also be two or more. It should be noted that the present application is not limited thereto, and in other embodiments, the picking member 17 may also be a clamping jaw to clamp and pick up the product.

In an embodiment of the invention, the carrying device 100 further includes a control panel electrically connected to the controller.

In this embodiment, the operation panel can provide an operation position for the user, so that the user can conveniently input a corresponding control instruction (for example, power on, power off, check the material pick-up and place position, etc.) through the operation panel, and at the same time, the operation panel can better display the working state of the carrying device 100 and the parameter information of the pick-up mechanism, etc.

In an embodiment of the invention, the carrying device 100 further includes an alarm, and the alarm is electrically connected to the controller.

In this embodiment, the alarm is provided, so that when the carrying device 100 is abnormal, the controller can control the alarm to give an alarm, so as to better prompt a worker to give an abnormality, thereby facilitating the worker to timely perform corresponding processing.

The present invention further provides a mechanical device, which includes a device body and a carrying device 100, and the specific structure of the carrying device 100 refers to the above embodiments, and since the mechanical device adopts all technical solutions of all the above embodiments, the mechanical device at least has all beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein. Wherein, be formed with the product setting position that is used for placing the product on the equipment body. The device body may be a testing device (for example, a device for testing an electronic board), a processing device (for example, a device for punching a product), or a transportation device (for example, a transportation platform for temporarily storing a product), and the like, and the specific type of the device body is not limited in the present application. The product installation position is arranged, and the feeding and/or the blanking are required. In addition, the mechanical equipment may further include a frame, and the equipment body may be detachably mounted on the frame, and in this case, the second frame body 53 of the support frame 50 of the carrying device 100 may also be mounted on the frame. The product placement position may be in the form of a groove, a bump, or a combination of a plurality of positioning posts.

In an embodiment of the present invention, the number of the apparatus bodies is plural, the apparatus bodies are distributed in two rows and respectively disposed on two opposite sides of the first driving member 11 of the carrying device 100, and at least two apparatus bodies in each row are sequentially disposed along the X-axis direction of the carrying device 100; at least two product placement positions are formed on each equipment body, and the at least two product placement positions are arranged at intervals in the Z-axis direction of the carrying device 100.

In this embodiment, the plurality of apparatus bodies form two rows, which is convenient for the first frame body 51 of the supporting frame 50 of the carrying device 100 and the first driving member 11 mounted on the first frame body 51 to be better disposed between the two rows of apparatus bodies, so that the carrying device 100 can perform material picking and placing operations corresponding to the two rows of apparatus bodies, thereby greatly improving the working efficiency of the mechanical apparatus. Further, still be formed with on each equipment body and put the position along the Z axle direction and be two at least products that the interval set up for each equipment body all forms the equipment that has multilayer product and put the position, has increased the quantity that the position was put again further to this handling device 100 can correspond more products and put the position, with the work efficiency that further improves mechanical equipment.

Referring to fig. 3, the present invention further provides a method for controlling a conveying apparatus 100, the specific structure of the conveying apparatus 100 may be the conveying apparatus 100 as described above, and referring to fig. 1 and fig. 2, the conveying apparatus 100 includes a transfer mechanism 10, and the method for controlling the conveying apparatus 100 includes the following steps:

step S10, acquiring standard position information of a standard product installation position and standard parameter information of the transfer mechanism 10 corresponding to the standard position information;

step S20, acquiring current position information of a current product installation position, and comparing and analyzing the current position information and standard position information to obtain a position deviation value;

in step S30, the standard parameter information of the transfer mechanism 10 is corrected according to the position deviation value to obtain the actual parameter information, and the transfer mechanism 10 is controlled to move according to the actual parameter information.

In this embodiment, before the equipment body leaves the factory or when the equipment body is used for the first time, a professional debugger can set a corresponding standard template for the carrying device 100. Specifically, the standard position information of the standard product installation position before delivery or during initial use of the device body is obtained, and the standard position information can be used as a standard template of the product installation position. Meanwhile, the parameter information of the standard product installation site, which can be accurately moved by the transfer mechanism 10, can be stored as the standard parameter information. That is, the standard position information and the standard parameter information corresponding to the standard position information are formed in advance in the conveying device 100. Then, after the device body of the mechanical device is used for a period of time and is disassembled, maintained and reassembled, when the product placement position deviates and the material taking and placing point position of the carrying device 100 needs to be debugged again, a worker can order the carrying device 100 to enter a mode for debugging the material taking and placing point position. In the debugging mode, the controller obtains the current position information of the current product installation position, and carries out calculation and analysis according to the current position information and the standard position information to obtain the position deviation value of the current product installation position and the standard position information. And then, the standard parameter information of the transfer mechanism 10 is corrected according to the position deviation value to obtain actual parameter information, and the transfer mechanism 10 is controlled to move according to the actual parameter information, so that the debugging of the material taking and placing point position of the conveying device 100 can be automatically completed, and the transfer mechanism 10 of the subsequent conveying device 100 can be ensured to accurately move to the current product placement position deviating from the standard product placement position to work when in use. At this moment, in the process of debugging the material taking and placing point position of the carrying device 100, automatic debugging is realized through the controller, and the mode of debugging the material taking and placing point position of the carrying device 100 by manual operation in the traditional process is replaced, so that the possibility of large debugging error caused by improper manual operation is avoided, and the debugging precision of the material taking and placing point position of the carrying device 100 is improved. Meanwhile, the manual control of the carrying device 100 can be carried out without manual work in the debugging process similar to the traditional process, and the complex operation of aligning the position of the carrying device 100 and the material taking and placing position on the equipment body can be observed while the carrying device is in operation, so that the labor intensity of workers can be reduced.

Further, referring to fig. 4, in the method for controlling the conveying apparatus 100 according to the above embodiment, in an embodiment of the present invention, the step of obtaining the standard position information of the standard product installation position and the standard parameter information of the transfer mechanism 10 corresponding to the standard position information in step S10 includes the following steps:

step S11, controlling the transfer mechanism 10 to drive the vision module 30 to move to the standard product installation position for photographing to obtain a vision image of the standard product installation position, and analyzing the vision image of the standard product installation position to obtain standard position information;

step S12, the transfer mechanism 10 is controlled to move to the standard product placement position, and the current parameter information of the transfer mechanism 10 is used as the standard parameter information.

In this embodiment, drive visual module 30 through the controller and remove to standard product and place and take a picture and obtain the visual image of standard product and place the position of putting for the controller can be based on computer vision image processing technology and come the standard position information of this standard product of comparatively convenient and accurate acquisition position of putting and save according to the visual image of putting the position when the standard product. Specifically, the method comprises the following steps: the controller, when based on computer vision image processing techniques, may mark as standard position information a position point where a center point of a standard product placement site is imaged in the vision image. Of course, an identification point may be set in the standard product placement site in advance, and then the controller may mark a position point where the identification point of the standard product placement site is imaged in the visual image as standard position information when based on the computer visual image processing technology. Or, a product is accurately placed in the product placement position, and then the controller can indirectly mark the position point where the center point of the product is imaged in the visual image as standard position information of the standard product placement position based on the computer visual image processing technology. And after the standard parameter information is acquired, a professional debugger can control the transfer mechanism 10 to accurately move to the standard product installation position through the controller, and then the current parameter information of the transfer mechanism 10 is recorded and stored as the standard parameter information. However, the step S11 may be performed before the step S12, or may be performed after the step S12, which is not particularly limited in the present application. In addition, it should be noted that, for the acquisition of the standard information position information of the standard product installation site, the controller may control one sliding resistance sensor to abut against the standard product installation site, and mark the current resistance value of the sliding resistance sensor as the standard information position information. At this time, when the current position information of the current product installation position is acquired subsequently, the controller controls the sliding resistance sensor to be abutted against the current product installation position, the resistance value of the sliding resistance sensor at present is marked as the current information position information, and finally, the controller can calculate the resistance value deviation between the resistance value of the sliding resistance sensor at the standard product installation position and the resistance value at the current product installation position, and reflect the position deviation corresponding to the resistance value deviation after passing through the corresponding measuring circuit, so that the position deviation value of the current product installation position and the standard product installation position is obtained.

Further, referring to fig. 5, in an embodiment of the present invention, the method for controlling the conveying apparatus 100 based on the above embodiment further includes, after the step of controlling the transferring mechanism 10 to drive the vision module 30 to move to the standard product placement position for taking a picture to obtain the vision image of the standard product placement position, and obtaining the standard position information according to the vision image analysis of the standard product placement position, the following steps:

step S13, the transferring mechanism 10 drives the vision module 30 to move to the standard product placement position, and the current parameter information of the transferring mechanism 10 is saved as the fixed photographing position.

It is to be understood that since the controller controls the vision module 30 to take a picture of the standard product in step S11 to obtain the standard position information of the standard product placement site based on the obtained visual image, the subsequent acquisition of the current position information of the current product placement site is also based on the analysis of the visual image to reduce errors for the sake of consistency. At this time, when the transferring mechanism 10 drives the vision module 30 to move to the standard product installation position, the current parameter information of the transferring mechanism 10 can be saved as the fixed photographing position. When the current product placement position is photographed subsequently, the vision module 30 can be located at the same position, so that the relative position relationship between the current product placement position and the standard product placement position can be accurately compared in the same image reference system, and the accuracy of the position deviation between the current product placement position and the standard product placement position calculated subsequently can be guaranteed.

Further, referring to fig. 6, in the method for controlling the conveying apparatus 100 according to the above embodiment of the present invention, in an embodiment of the invention, the step S20, in the step of obtaining the current position information of the product placement position and comparing and analyzing the current position information and the standard position information to obtain the position deviation value, includes the following steps:

step S21, controlling the transfer mechanism 10 to drive the vision module 30 to move to the fixed photographing position to photograph the current product placement position to obtain a vision image of the current product placement position, and analyzing the vision image according to the current product placement position to obtain current position information;

and step S22, calculating and analyzing the current position information and the standard position information to obtain a position deviation value.

In this embodiment, similar to the same manner of obtaining the standard position information of the standard product placement position, the controller may drive the vision module 30 to move to the fixed photographing position (i.e., the position where the vision module 30 photographs the standard product placement position) to photograph to obtain the visual image of the current product placement position, so that the controller may also obtain the standard position information of the current product placement position conveniently and accurately based on the computer visual image processing technology according to the visual image of the current product placement position. At the moment, because the comparison analysis is carried out on the visual images of the current product installation position and the standard product installation position, the two are consistent and convenient to compare, and meanwhile, the precision of the comparison result can also be ensured. The calculation and analysis of the current position information and the standard position information by the controller may be: based on a computer visual image processing technology, the pixel distance between a position point of a center point of a current product installation position in a visual image and a position point of a center point of a standard product installation position in the visual image is obtained through analysis, and then the pixel distance is converted into an actual distance between the center point of the current product installation position and a standard product installation position, so that a position deviation value of the current product installation position and the standard product installation position is obtained. The controller can then supplement the positional deviation value to the standard parameter information of the transfer mechanism 10. For example: if the calculated current product installation position is shifted by D1 on the X axis and D2 on the Y axis compared with the standard product, the D1 and D2 can be respectively compensated to the X axis value and the Y axis value in the standard parameter information of the transfer mechanism 10.

Further, referring to fig. 7, the method for controlling the conveying apparatus 100 according to the above embodiment of the present invention further includes, after the step S30 of correcting the standard parameter information of the transferring mechanism 10 according to the position deviation value to obtain the actual parameter information, and controlling the transferring mechanism 10 to move according to the actual parameter information:

step S40, acquiring a current placement image of a product in a current product placement position;

step S50, comparing the current placement image of the product with the standard placement image of the product to obtain the similarity value of the current placement image and the standard placement image of the product;

and step S60, comparing and analyzing the similarity value with a preset similarity value, and judging whether the product is accurately placed in the current station.

It can be understood that, get at handling device 100 get put the point location debugging and accomplish the back and carry out the use in-process, move the mechanism 10 through moving and carry the product and move when carrying the product and place the position at present, if the controller and/or move the mechanism 10 that moves and break down, can make the unable accurate placing of this product in the position is installed to present product, and then lead to follow-up equipment body to continue to test or processing etc. and all can have the potential safety hazard. Therefore, after the transfer mechanism 10 places the product in the current product placement position each time, the controller may control the vision module 30 to obtain the current placement image of the product in the current product placement position, and compare the current placement image of the product with the standard placement image of the product to obtain a similarity value therebetween, and when the similarity value is smaller than the preset similarity value, it may be determined that the product is not accurately placed in the current station. For example: due to the arrangement of the product on the product arrangement position on the equipment body, the product is usually limited and arranged on the product arrangement position by the positioning column on the product arrangement position penetrating through the positioning hole on the product. Therefore, the controller can control the vision module 30 to photograph the positioning hole of the product, and obtain a vision image of the positioning hole matched with the positioning column. When the positioning column is not displayed in the current placement image or the difference between the image of the positioning column and the image of the positioning column in the standard placement image is large, the product is not accurately placed on the product placement position. The preset similarity value may be set according to a requirement, for example, may be set to 95% or 90%, and the greater the similarity between the current placement image and the standard placement image of the product is compared at the controller, the more accurately the product is placed in the current slave placement position is represented.

Further, referring to fig. 8, based on the control method of the conveying device 100 of the above embodiment, in an embodiment of the present invention, after the step of determining whether the product is accurately placed in the current station according to the similarity value in step S60, the control method of the conveying device 100 further includes the following steps:

step S70, when the similarity value is less than the preset similarity value, the alarm is controlled to give an alarm

In this embodiment, when the similarity value of the current product placement image and the standard placement image is smaller than the preset similarity value, the controller indicates that the product is not accurately placed in place in the current product placement. Therefore, the alarm is sent out by controlling the alarm, so that workers can be reminded timely, and the workers can correspondingly deal with the fault timely. Of course, when the alarm is not arranged, the prompt that the product is not accurately placed in the product placement position can be directly displayed on the control panel.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A handling device, characterized in that it comprises:

the transferring mechanism is used for transferring products;

the visual module is arranged on the transfer mechanism; and

2. The transfer device of claim 1, wherein the transfer mechanism includes a first driving member, a second driving member, a third driving member, and a picking member;

3. The conveying apparatus according to claim 2, wherein the number of the picking members is two, and the transferring mechanism further comprises a fourth driving member connected to the third driving member and capable of being driven by the third driving member to slide in the Y-axis direction; the two picking pieces are connected to the fourth driving piece and can be driven by the fourth driving piece to rotate around an axis parallel to the Z-axis direction;

and/or the picking member is a vacuum suction nozzle.

4. The handling device according to any of claims 1 to 3, further comprising a control panel electrically connected to the controller;

5. A mechanical device, comprising:

a handling device according to any one of claims 1 to 4.

6. The mechanical equipment as claimed in claim 5, wherein the number of the equipment bodies is plural, a plurality of the equipment bodies are distributed in two rows and are respectively arranged on two opposite sides of the first driving member of the carrying device, and at least two of the equipment bodies in each row are sequentially arranged along the X-axis direction of the carrying device;

each all be formed with two at least on the equipment body the position is installed to the product, two at least the position is installed to the product is in handling device's Z axle direction is the interval setting.

7. A method for controlling a conveying apparatus, the conveying apparatus including a transfer mechanism, the method comprising:

8. The method for controlling a conveying apparatus according to claim 7, wherein the step of acquiring the standard position information of the standard product placement position and the standard parameter information of the transfer mechanism corresponding to the standard position information includes the steps of:

9. The method for controlling a carrying device according to claim 8, wherein after the step of controlling the transfer mechanism to drive the vision module to move to the standard product placement position for photographing to obtain the vision image of the standard product placement position, and analyzing the vision image of the standard product placement position to obtain the standard position information, the method further comprises the following steps:

and the transfer mechanism drives the vision module to move to the standard product installation position, and the current parameter information of the transfer mechanism is stored as a fixed photographing position.

10. The method for controlling a conveying apparatus according to claim 9, wherein the step of obtaining current position information of a product placement position and comparing and analyzing the current position information and the standard position information to obtain a position deviation value includes the steps of:

11. The method for controlling a transfer device according to any one of claims 7 to 10, wherein the step of correcting the reference parameter information of the transfer means based on the positional deviation value to obtain actual parameter information and controlling the movement of the transfer means based on the actual parameter information further comprises:

12. The method for controlling a conveying apparatus according to claim 11, wherein after the step of determining whether the product is accurately placed in the current station based on the similarity value, the method for controlling a conveying apparatus further comprises the steps of: