CN115743816A - Automatic loading and unloading device for chip packaging tube based on visual guidance - Google Patents

Abstract

The invention relates to the field of chip labeling, in particular to an automatic feeding and discharging device for a chip packaging tube based on visual guidance. The device comprises a device main body, wherein a movable mounting table is arranged on the device main body, a material pipe placing part for placing tube pipes is vertically arranged on the upper surface of the movable mounting table through a first mounting frame, and the material pipe placing part sequentially forms a feeding section, a sequencing section and a discharging section from top to bottom; the material pipe placing part is provided with a pushing assembly along one side of the tube pipe in the width direction, the other side of the tube pipe placing part is provided with a material distributing assembly and a picking and placing assembly for picking and placing the tube pipe, the pushing assembly is used for pushing the material pipe at the discharging section to a material distributing area of the material distributing assembly, and the material distributing area is covered in a picking and placing range of the picking and placing assembly. The device main body can form a set of complete automatic feeding and discharging process for tube tubes through the tube placing part arranged at the movable mounting table, the pushing assembly, the material distributing assembly and the taking and placing assembly; has high automation degree.

Description

Automatic loading and unloading device for chip packaging tube based on visual guidance

Technical Field

The invention relates to the field of chip labeling, in particular to an automatic feeding and discharging device for a chip packaging tube based on visual guidance.

Background

The packaging form of the chip is various, and tube packaging is generally adopted. When the chip packaged through the tube is pasted with the mark, the tube pipe loading material packaged with the chip enters the tube pipe placing area, then the tube pipes are discharged one by one from the tube pipe placing area, and then the chip packaged in the tube pipe is used for pasting the mark on the client equipment.

In the existing labeling mode, a manual labeling mode is usually adopted, and bar code information at product equipment needs to be compared manually to perform labeling. The manual labeling mode is easy to cause labeling error and needs to consume more manual resources, so that an automatic feeding and discharging labeling device is needed to improve labeling accuracy and labeling efficiency.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an automatic loading and unloading device for a chip packaging tube based on visual guidance.

The automatic chip packaging tube loading and unloading device based on visual guidance comprises a device main body, wherein a movable mounting table is arranged on the device main body, a material tube placing part for placing tube tubes is vertically arranged on the upper surface of the movable mounting table through a first mounting frame, and the material tube placing part sequentially forms a feeding section, an ordering section and a discharging section from top to bottom; the tube placing part is provided with a pushing assembly along one side of the width direction of the tube, the other side of the tube placing part is provided with a material distributing assembly and a picking and placing assembly for picking and placing the tube, the pushing assembly is used for pushing the tube at the discharging section to a material distributing area of the material distributing assembly, and the material distributing area is covered in a picking and placing range of the picking and placing assembly; the picking and placing assembly comprises a multi-axis manipulator and a clamping assembly arranged at the movable tail end of the multi-axis manipulator, and the clamping assembly comprises a visual inspection assembly and a suction assembly.

The device main body can form a set of complete automatic feeding and discharging flow for tube tubes through the tube placing part arranged at the movable mounting table, the pushing assembly, the material distributing assembly and the taking and placing assembly; the automatic labeling machine has higher automation degree, can better improve the feeding and discharging efficiency and the labeling accuracy, and has higher practical value and economic value.

Preferably, the feeding section comprises a tube hopper with a wide upper part and a narrow lower part, and the narrow section of the tube hopper is provided with a material pipe passage which only allows a single tube to pass through; the lower end of the tube hopper is respectively connected with a first plate body and a second plate body which are vertical to the mounting platform along the two sides of the tube pipe in the length direction, and the first plate body and the second plate body are fixedly mounted on the mounting platform through a fixing seat; a sorting section which is communicated with the material pipe passage and used for stacking and sorting the tube pipes and a discharging section which is used for matching with the pushing assembly to discharge materials are sequentially formed between the first plate body and the second plate body from top to bottom; the lateral wall department that first plate body and second plate body faced each other all is equipped with the relative spacing riser that sets up, and spacing riser sets up between the upper and lower both ends of sequencing section along vertical direction.

The first plate body and the second plate body can better limit the two ends of the tube in the length direction; simultaneously, can carry on spacingly to tube width direction's ascending both sides better through the spacing riser of locating first plate body and second plate body department. Therefore, the position stability of the tube pipe at the sequencing section can be better ensured through the common matching of the first plate body, the second plate body and the limiting vertical plate; thereby can avoid effectively breaking away from the material pipe because of the tube and place the portion and influence the circumstances that unloading flow normally goes on of going up.

Preferably, the pushing assembly comprises a pushing assembly and a lifting assembly; the pushing assembly comprises two pushing blocks arranged on the upper surface of the first mounting frame and a cylinder guide rail assembly used for driving the two pushing blocks to move, the two pushing blocks are symmetrically arranged on two sides of the material pipe close to the middle part in the length direction, and the pushing blocks move along the width direction of the material pipe through the cylinder guide rail assembly; the upper portions of the push blocks are provided with through grooves for placing, which are formed by extending the material pipes in the length direction, the through grooves for placing on the upper portions of the two push blocks are matched together to form a first placing area for placing the material pipes, and when the push blocks drive the material pipes to move to the limit positions in the moving direction, the positions of the material pipes form positions to be lifted, which are used for being matched with the lifting assembly.

The tube pushing device can stably drive the tube to move through the pushing block, and the placing through groove arranged at the pushing block can ensure that the length direction of the tube can be kept stable and can not deviate relative to the original position when the tube moves along the width direction of the pushing block along with the pushing block.

Preferably, the cylinder guide rail assembly comprises two linear guide rails which are arranged on the lower surface of the first mounting frame and are arranged along the moving direction of the push block, a slide block which is arranged on the linear guide rails and is in sliding fit with the linear guide rails, and a pushing cylinder which is used for driving the slide block to move; the piston rod of the pushing cylinder is connected with the sliding block and the pushing block through the first connecting plate.

The pushing cylinder can control the sliding block and the pushing block to move stably through the piston rod, so that the tube is pushed out through the pushing block, and meanwhile, the moving process and the return stroke of the piston rod of the pushing cylinder are fixed, and the tube at the discharging section can be pushed out one by one stably and continuously.

Preferably, the lifting assembly comprises a lifting cylinder arranged at the lower surface of the first mounting frame and positioned at the lower side of the position to be lifted and a pressing cylinder arranged at the second wrench body through a second connecting plate and positioned at the upper side of the position to be lifted, and the two lifting cylinders are symmetrically arranged at two sides of the tube at the position to be lifted, which are close to the middle part in the length direction; piston rods of the two lifting cylinders move along the up-and-down direction; the piston rod of the lifting cylinder is connected with a lifting block, a notch for placing a material pipe is formed in the lifting block, and when the lifting cylinder drives the lifting block to move upwards through the piston rod, the notches of the two lifting blocks are matched together to form a second placing area for placing a tube; the piston rod of the pressing cylinder moves along the up-and-down direction, and the piston rod of the pressing cylinder is connected with a pressure plate.

The tube pipe positioning device can better ensure the positioning stability of the tube pipe at the notch of the lifting block through the lifting block and the pressing plate, thereby better matching with a subsequent material distributing assembly to distribute materials.

Preferably, the material distribution assembly comprises two transmission belts which are arranged along the width direction of the tube at the material tube placing part and are in synchronous transmission, and the two transmission belts are symmetrically arranged on two sides, close to the middle part, of the tube at the material tube placing part in the length direction through a second mounting frame; one end of the flow belt in the transmission direction is positioned below the second placing area; two drive belt department equipartitions have been put a plurality of anchor clamps of placing, place anchor clamps department and form along the material pipe and place the clamping area of portion tube length direction, place anchor clamps along drive belt direction evenly distributed, two drive belt department correspond the common cooperation of the anchor clamps of placing of position and form the position of placing that is used for placing the tube.

The tube picking and placing device can enable the tube tubes to form a sequence at intervals along the transmission direction of the transmission belt through the transmission belt, so that the tube picking and placing device can be better matched with a subsequent picking and placing assembly to pick and place.

Preferably, the multi-axis manipulator comprises a fixed support arranged at the movable mounting table and a movable base movably connected to the fixed support; the movable seat comprises a first movable arm rotating around the vertical direction, and a second movable arm and a third movable arm respectively rotating around two vertical direction axes in the horizontal plane; the first movable arm is connected to the upper part of the fixed support through a first joint, the second movable arm is movably connected to one side, close to the material distribution area, of the first movable arm through a second joint, and the third movable arm is movably connected to the upper part of the second movable arm through a third joint; the mobile end is located at an end of the third movable arm distal to the third joint.

According to the invention, the first movable arm, the second movable arm and the third movable arm of the multi-axis manipulator can ensure that the clamping assembly has a sufficient movable range under the driving of the multi-axis manipulator, so that the whole picking and placing range of the picking and placing assembly can cover the material distribution area. Therefore, the whole clamping process and the subsequent labeling work can be better ensured to be smoothly carried out through the flexibly movable manipulator.

Preferably, the visual detection assembly and the suction assembly are respectively arranged at the moving tail end of the multi-axis manipulator through the manipulator block and the gripper, and the suction position of the suction assembly is covered in the detection range of the visual detection assembly.

The invention can detect the tube sucked by the suction component in real time through the visual detection component, thereby quickly determining the labeling position corresponding to the tube, and further better improving the accuracy and efficiency of labeling work.

Preferably, the visual inspection assembly comprises a mounting seat and a visual inspection camera fixed on the upper part of the mounting seat, the visual inspection camera comprises a camera body and a shooting lens, the camera body is fixedly arranged on the upper surface of the mounting seat, and the shooting lens is arranged on the outer wall of one side, close to the suction assembly, of the camera body; the axis of the shooting lens is vertical to the suction component, and the lens of the visual inspection camera faces one side of the suction component.

In the working process of the visual detection assembly, after the suction assembly sucks the tube from the material distribution area, the camera main body starts to work, and the shooting lens scans and shoots the tube and uploads shooting data to a computer; after the data are processed by the computer, the labeling position corresponding to the tube can be obtained, so that the subsequent labeling work can be better carried out by matching with the multi-axis manipulator.

Preferably, the suction assembly comprises a suction cup mounting plate arranged at the gripper, and the suction cup mounting plate does not interfere with other components of the multi-axis manipulator when moving along with a third movable arm at the multi-axis manipulator; the sucker mounting plates are symmetrically provided with sucker mounting holes along two sides of the length direction; the sucking disc mounting holes on the two sides are respectively provided with a vacuum sucking disc, and a suction nozzle of the vacuum sucking disc is arranged on one side far away from the gripper; the suction nozzles of the vacuum suction cups on the two sides are matched together to form a suction position for sucking the material pipe, and the suction position is parallel to the suction cup mounting plate.

When the suction assembly moves along with the multi-axis manipulator after completing suction, the tube can preferably keep the original relative position with the suction assembly; thereby make the tube avoid appearing breaking away from the condition appearance that absorbs the subassembly effectively, have higher stability.

Drawings

FIG. 1 is a schematic view of the structure of a device main body in embodiment 1;

FIG. 2 is a schematic structural view of the main body of the device in accordance with embodiment 1 from another perspective;

FIG. 3 is an enlarged schematic view of FIG. 1 at A;

FIG. 4 is a schematic structural view of the material pipe placing part, a second connecting plate and a pressing cylinder in FIG. 1;

FIG. 5 is a schematic view of the pushing assembly of FIG. 2;

FIG. 6 is a schematic view of the lift cylinder and lift block of FIG. 3;

FIG. 7 is a schematic view of the structure of the pressing cylinder and the pressing plate in FIG. 3;

FIG. 8 is a schematic view of the construction of the dispensing assembly of FIG. 1;

fig. 9 is a schematic structural view of the multi-axis robot of fig. 1;

fig. 10 is a schematic structural view of the grasping assembly in fig. 1.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not restrictive.

Example 1

As shown in fig. 1 to 10, the present embodiment provides an automatic loading and unloading apparatus for chip package tube based on visual guidance, including an apparatus main body 100, a movable mounting table 110 is disposed at the apparatus main body 100, a material tube placing portion 120 for placing tube tubes is vertically disposed at an upper surface of the movable mounting table 110 through a first mounting frame 130, and the material tube placing portion 120 sequentially forms a feeding section, an ordering section, and a discharging section from top to bottom; the tube placing part 120 is provided with a pushing component on one side along the width direction of the tube, and the other side is provided with a material distributing component 140 and a taking and placing component for taking and placing the tube, wherein the pushing component is used for pushing the tube at the discharging section to the material distributing area of the material distributing component 140, and the material distributing area is covered in the taking and placing range of the taking and placing component; the pick-and-place assembly comprises a multi-axis manipulator 150 and a clamping assembly 160 arranged at the moving end 155 of the multi-axis manipulator 150, wherein the clamping assembly 160 comprises a visual inspection assembly and an absorption assembly.

Specifically, when the device main body 100 in this embodiment is used, the movable mounting table 110 is first moved to a labeling position where a chip is required to be loaded and unloaded and labeled, then the tube tubes with the chips packaged therein are placed into the tube placing portion 120 through the loading section one by one, and after the tube tubes are placed into the tube placing portion 120, tube sequences are sequentially formed in the sequencing section from top to bottom due to the action of gravity. At this time, the position of the tube at the lowest side of the tube sequence is the discharging section.

Further, the pushing assembly located on one side of the width direction of the tube pushes out the tube located at the discharging section along the width direction. At this time, the tube tubes pushed out by the separating assembly 140 are sequentially arranged at the separating region so as to be conveniently sucked by the pick-and-place assembly and to be subsequently labeled. Then, the multi-axis manipulator 150 in the picking and placing assembly drives the clamping assembly 160 to clamp the tube at the material distribution area one by one, and during the clamping process, the visual inspection assembly can visually inspect the tube clamped by the clamping assembly 160 to determine the corresponding client device for the subsequent labeling work.

Compared with the prior art, the apparatus main body 100 of the present embodiment can form a complete set of automatic feeding and discharging processes for tube tubes by the tube placing portion 120, the pushing assembly, the material distributing assembly 140 and the taking and placing assembly disposed at the movable mounting table 110; the automatic labeling machine has higher automation degree, can better improve the feeding and discharging efficiency and the labeling accuracy, and has higher practical value and economic value.

Further, the aforementioned feed section includes a tube hopper 121 having a wide upper part and a narrow lower part, and the narrow section of the tube hopper 121 is formed with a tube passage allowing only a single tube to pass therethrough; the lower end of the tube hopper 121 is connected with a first plate 122 and a second plate 123 perpendicular to the mounting platform 110 along the two sides of the tube in the length direction, and the first plate 122 and the second plate 123 are fixedly mounted on the mounting platform 110 through a fixing seat 124; a sequencing section which is communicated with the material pipe passage and used for stacking and sequencing the tube pipes and a discharging section which is used for matching with the pushing assembly to discharge materials are sequentially formed between the first plate body 122 and the second plate body 123 from top to bottom; lateral wall department that first plate body 122 and second plate body 123 faced each other all is equipped with relative spacing riser 125 that sets up, and spacing riser 125 sets up between the upper and lower both ends of sequencing section along vertical direction.

Specifically, through the tube hopper with the wide upper part and the narrow lower part, a user can more conveniently put the tube into the feeding section; and because the tube hopper adopts a structure with a wide upper part and a narrow lower part, the tube pipe naturally falls down to enter the sequencing section through the material pipe passage under the action of gravity after entering the tube hopper. In addition, the first plate body and the second plate body can better limit the two ends of the tube in the length direction; meanwhile, the two sides of the tube in the width direction can be better limited by the limiting risers 125 arranged at the first plate body and the second plate body. Therefore, the position stability of the tube in the sequencing section can be better ensured by the common matching of the first plate body, the second plate body and the limiting vertical plate 125; thereby can avoid effectively breaking away from the normal condition of going on of unloading flow on the material pipe portion 120 and influence because of the tube. In addition, spacing riser 125 does not have the influence to the tube that is located ejection of compact department, so ejection of compact department tube can be followed its width direction and normally moved to can cooperate the propelling movement subassembly to be released.

The pushing assembly comprises a pushing assembly 210 and a lifting assembly; the pushing assembly 210 comprises two pushing blocks 215 arranged on the upper surface of the first mounting frame 130 and a cylinder guide rail assembly for driving the two pushing blocks 215 to move, the two pushing blocks 215 are symmetrically arranged on two sides of the material pipe close to the middle part in the length direction, and the pushing blocks 215 move along the width direction of the material pipe through the cylinder guide rail assembly; the upper portion of ejector pad 215 is formed with and extends the logical groove 2151 of placing that forms along material pipe length direction, and the logical groove 2151 of placing of two ejector pad 215 upper portions department cooperates jointly to form the first region of placing that is used for placing the material pipe, and when ejector pad 215 drove the material pipe and moves to extreme position along the direction of movement, the position that the material pipe was located formed and is used for waiting to lift the position with the cooperation of lifting unit.

It can be understood that, during the use of the device main body 100 in the embodiment, the tube at the discharging section naturally falls on the first placing area at the two pushing blocks 215 due to the gravity, and when the two pushing blocks 215 move along the width direction of the tube under the driving of the cylinder guide rail assembly, the tube moves out of the discharging section along with the pushing blocks 215 to the position to be lifted. The tube can be stably driven to move by the push block 215, and the placing through groove 2151 arranged at the push block 215 can ensure that the tube can be kept stable in the length direction and cannot be deviated relative to the original position when the tube moves along the width direction of the push block 215.

The cylinder guide rail assembly comprises two linear guide rails 212 arranged on the lower surface of the first mounting frame 130 and arranged along the moving direction of the push block 215, a slide block 213 arranged on the linear guide rails 212 and in sliding fit with the linear guide rails, and a push cylinder 211 for driving the slide block 213 to move; the piston rod of the pushing cylinder 211 is connected to the slider 213 and the pushing block 215 through the first connecting plate 214.

Specifically, the push cylinder 211 can stably control the movement of the slide block 213 and the push block 215 through the piston rod, so that the tube can be pushed out through the push block 215, and meanwhile, the piston rod of the push cylinder 211 is fixed in the moving process and the return stroke, so that the tube at the discharge section can be stably and continuously pushed out one by one.

The lifting assembly comprises a lifting cylinder 310 which is arranged on the lower surface of the first mounting frame 130 and is positioned on the lower side of the position to be lifted, and a pressing cylinder 320 which is arranged on the second wrench body through a second connecting plate 410 and is positioned on the upper side of the position to be lifted, and the two lifting cylinders 310 are symmetrically arranged on two sides, close to the middle part, of the tube at the position to be lifted in the length direction; the piston rods of the two lifting cylinders 310 move in the up-and-down direction; the piston rod of the lifting cylinder 310 is connected with a lifting block 610, a notch 611 for placing a material pipe is formed at the lifting block 610, and when the lifting cylinder 310 drives the lifting block 610 to move upwards through the piston rod, the notches 611 of the two lifting blocks 610 are matched together to form a second placing area for placing a tube pipe; the piston rod of the pressing cylinder 320 moves up and down, and the piston rod of the pressing cylinder 320 is connected with a pressure plate 710.

Specifically, when the aforementioned pushing block 215 drives the tube to reach the position to be lifted, the lifting cylinder 310 located at the lower side of the lifting position drives the lifting block 610 to move upward through the piston rod; the lift block 610 lifts the tube up and disengages the tube from the push block 215; when the tube is disengaged from the pushing block 215, the cylinder guide assembly can control the pushing block 215 to retract so as to repeat the pushing process. Meanwhile, the notch 611 at the lifting block 610 can better position the tube, so that the tube can be effectively prevented from falling or deviating when moving upwards along with the lifting block 610. While the tube lifting block 610 moves upwards, the pressing cylinder 320 drives the pressing plate 710 to move downwards through the piston rod to press the tube at the lifting block 610.

It will be appreciated that the lifting block 610 and the platen 710 can preferably ensure the positioning stability of the tube at the notch 611 of the lifting block 610, so as to better match the subsequent material distribution assembly 140 for material distribution.

Further, the material distributing assembly 140 includes two belts 141 arranged along the width direction of the tube at the tube placing part 120 and driven synchronously, and the two belts 141 are symmetrically disposed at two sides of the tube at the tube placing part 120 near the middle part in the length direction of the tube through the second mounting frame 142; one end of the flow belt in the transmission direction is positioned below the second placing area; a plurality of placing fixtures 143 are arranged at two driving belts 141, the placing fixtures 143 form a clamping area along the length direction of the tube at the tube placing part 120, the placing fixtures 143 are evenly distributed along the transmission direction of the driving belts 141, and the placing fixtures 143 at the corresponding positions of the two driving belts 141 cooperate together to form a placing position for placing the tube.

Specifically, the lifting cylinder 310 drives the lifting block 610 to lift the tube through the piston rod, and then the pushing block 215 is retracted, at this time, the piston rod of the lifting cylinder 310 is retracted to move it downward, and the tube falls on the placing position of the conveyor belt along with the downward movement. Specifically, can make the tube form the sequence along the drive direction interval of drive belt through the drive belt to can cooperate subsequent subassembly of getting to put better and put to get.

In summary, by repeating the above-mentioned process, the tube at the discharging section can fall into the first placing area at the pushing block 215 one by one from the discharging section; then, driven by a pushing cylinder 211, the lifting device reaches a position to be lifted; and then lifted by the lift cylinder 310 and dropped to a second placing area at the lift block 610; finally, the lifting cylinder 310 drives the lifting block 610 to move downwards, and the tube pipes fall into the placing positions of the conveyor belt one by one and form a sequence at the conveyor belt along the transmission direction of the conveyor belt.

The multi-axis robot 150 includes a fixed support 151 mounted at the movable mounting stage 110 and a movable base movably connected at the fixed support 151; the movable base comprises a first movable arm 152 rotating around a vertical direction, and a second movable arm 153 and a third movable arm 154 respectively rotating around two direction axes vertical to each other in a horizontal plane; the first movable arm 152 is connected to the upper part of the fixed support 151 through a first joint, the second movable arm 153 is movably connected to one side of the first movable arm 152 close to the material distribution area through a second joint, and the third movable arm 154 is movably connected to the upper part of the second movable arm 153 through a third joint; the moving end 155 is located at an end of the third movable arm 154 distal to the third joint.

It can be understood that the first movable arm 152, the second movable arm 153 and the third movable arm 154 of the multi-axis manipulator 150 can ensure that the gripping assembly 160 has a sufficient movable range under the driving of the multi-axis manipulator 150, so as to ensure that the entire gripping range of the gripping assembly can cover the material distribution area. Therefore, the whole clamping process and the subsequent labeling work can be better ensured to be smoothly carried out through the flexibly movable manipulator.

The vision inspection assembly and the suction assembly are respectively installed at the moving end 155 of the multi-axis robot 150 through the robot block 161 and the gripper 162, and the suction position of the suction assembly is covered within the inspection range of the vision inspection assembly.

The tube that the visual detection subassembly can absorb the subassembly through the visual detection subassembly of this embodiment detects in real time to can confirm rapidly rather than the corresponding subsides mark position, and then improve the accuracy and the efficiency of subsides mark work better.

Specifically, the visual inspection assembly comprises a mounting base 167 and a visual inspection camera fixed on the upper portion of the mounting base 167, the visual inspection camera comprises a camera body 163 and a shooting lens 164, the camera body 163 is fixedly mounted at the upper surface of the mounting base 167, and the shooting lens 164 is arranged at the outer wall of one side of the camera body 163, which is close to the suction assembly; the axis of the photographing lens 164 is perpendicular to the suction member, and the lens of the vision inspection camera faces the side of the suction member.

Specifically, in the working process of the visual inspection assembly in this embodiment, after the suction assembly sucks the tube from the material distribution area, the camera main body 163 starts to work, and the shooting lens 164 scans and shoots the tube and uploads the shot data to the computer; after the computer processes the data, the labeling position corresponding to the tube can be obtained, so that the computer can better cooperate with the multi-axis manipulator 150 to perform subsequent labeling work.

In addition, the suction assembly includes a suction cup mounting plate 165 provided at the hand grip 162, the suction cup mounting plate 165 not interfering with other components of the multi-axis robot 150 while moving along with the third movable arm 154 at the multi-axis robot 150; the sucker mounting plates 165 are symmetrically provided with sucker mounting holes along both sides in the length direction thereof; the sucking disc mounting holes on the two sides are provided with vacuum sucking discs 166, and the suction nozzles of the vacuum sucking discs 166 are arranged on one side of the far gripper 162; the suction nozzles of the vacuum suction cups 166 on both sides cooperate together to form a suction position for sucking the material pipe, and the suction position is parallel to the suction cup mounting plate 165.

It will be appreciated that the suction and discharge of the tube is preferably accomplished by the vacuum cups 166 located on both lengthwise sides of the cup mounting plate 165 in this embodiment; the suction positions formed by the vacuum chucks 166 on the two sides in a matched mode can be used for sucking and positioning the two sides of the tube in the length direction. Therefore, when the suction component moves along with the multi-axis manipulator 150 after completing suction, the tube can better keep the original relative position with the suction component; thereby effectively avoiding the tube from separating from the suction assembly and having higher stability.

It is easily understood that a person skilled in the art can combine, split, recombine and the like the embodiments of the present application to obtain other embodiments on the basis of one or more embodiments provided by the present application, and the embodiments do not go beyond the protection scope of the present application.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person of ordinary skill in the art should understand that the present invention shall not be limited to the embodiments and the similar structural modes without creative design.

Claims (10)

1. Automatic unloader that goes up of chip package tube of multiaxis manipulator based on vision guide, its characterized in that: the device comprises a device main body (100), wherein a movable mounting table (110) is arranged at the device main body (100), a material pipe placing part (120) for placing tube pipes is vertically arranged on the upper surface of the movable mounting table (110) through a first mounting frame (130), and the material pipe placing part (120) sequentially forms a feeding section, a sequencing section and a discharging section from top to bottom; the tube placing part (120) is provided with a pushing component along one side of the width direction of the tube, the other side of the tube placing part is provided with a material distributing component (140) and a taking and placing component for taking and placing the tube, the pushing component is used for pushing the tube at the discharging section to a material distributing area of the material distributing component (140), and the material distributing area is covered in the taking and placing range of the taking and placing component; the picking and placing assembly comprises a multi-axis manipulator (150) and a clamping assembly (160) arranged at the moving end (155) of the multi-axis manipulator (150), and the clamping assembly (160) comprises a visual inspection assembly and an absorption assembly.

2. The automatic chip packaging tube loading and unloading device based on the vision-guided multi-axis manipulator of claim 1, wherein: the feeding section comprises a tube hopper (121) with a wide upper part and a narrow lower part, and the narrow section of the tube hopper (121) is provided with a material pipe passage which only allows a single tube to pass through; the lower end of the tube hopper (121) is respectively connected with a first plate body (122) and a second plate body (123) which are perpendicular to the mounting platform (110) along the two sides of the tube in the length direction, and the first plate body (122) and the second plate body (123) are fixedly mounted on the mounting platform (110) through a fixing seat (124); a sorting section which is communicated with the material pipe passage and used for stacking and sorting the tube pipes and a discharging section which is used for matching with the pushing assembly to discharge materials are sequentially formed from top to bottom between the first plate body (122) and the second plate body (123); lateral wall department that first plate body (122) and second plate body (123) faced each other all is equipped with relative spacing riser (125) that set up, and spacing riser (125) set up between the upper and lower both ends of section of arranging in order along vertical direction.

3. The automatic loader and unloader of chip package tube of multi-axis manipulator based on vision of claim 2, characterized by: the pushing assembly comprises a pushing assembly (210) and a lifting assembly; the pushing assembly (210) comprises two pushing blocks (215) arranged on the upper surface of the first mounting frame (130) and a cylinder guide rail assembly used for driving the two pushing blocks (215) to move, the two pushing blocks (215) are symmetrically arranged on two sides, close to the middle, of the material pipe in the length direction, and the pushing blocks (215) move in the width direction of the material pipe through the cylinder guide rail assembly; the upper portion of ejector pad (215) is formed with and extends the logical groove (2151) of placing that forms along material pipe length direction, and the logical groove (2151) of placing of two ejector pad (215) upper portions department cooperate jointly to form the first region of placing that is used for placing the material pipe, and when ejector pad (215) drive the material pipe and move to extreme position along the direction of movement, the position that the material pipe was located forms and is used for waiting to lift the position with the cooperation of lifting unit.

4. The automatic loader and unloader of chip package tube of multi-axis manipulator based on vision of claim 3 is characterized in that: the cylinder guide rail assembly comprises two linear guide rails (212) which are arranged on the lower surface of the first mounting frame (130) and are arranged along the moving direction of the push block (215), a slide block (213) which is arranged on the linear guide rails (212) and is in sliding fit with the linear guide rails, and a push cylinder (211) which is used for driving the slide block (213) to move; the piston rod of the pushing cylinder (211) is connected with the sliding block (213) and the pushing block (215) through a first connecting plate (214).

5. The automatic loader and unloader of chip package tube of multi-axis manipulator based on vision of claim 3 is characterized in that: the lifting assembly comprises a lifting cylinder (310) which is arranged at the lower surface of the first mounting frame (130) and is positioned at the lower side of the position to be lifted, and a pressing cylinder (320) which is arranged at the second wrench body through a second connecting plate (410) and is positioned at the upper side of the position to be lifted, and the two lifting cylinders (310) are symmetrically arranged at two sides of a tube at the position to be lifted, which are close to the middle part in the length direction; the piston rods of the two lifting cylinders (310) move along the up-down direction; a piston rod of the lifting cylinder (310) is connected with a lifting block (610), a notch (611) for placing a material pipe is formed in the lifting block (610), and when the lifting cylinder (310) drives the lifting block (610) to move upwards through the piston rod, the notches (611) of the two lifting blocks (610) are matched together to form a second placing area for placing a tube; the piston rod of the pressing cylinder (320) moves up and down, and the piston rod of the pressing cylinder (320) is connected with a pressure plate (710).

6. The automatic chip packaging tube loading and unloading device based on the vision-guided multi-axis manipulator of claim 1, wherein: the material distribution assembly (140) comprises two transmission belts (141) which are arranged along the width direction of the tube at the tube placing part (120) and are in synchronous transmission, and the two transmission belts (141) are symmetrically arranged on two sides, close to the middle part, of the tube at the tube placing part (120) in the length direction of the tube through second mounting frames (142); one end of the flow belt in the transmission direction is positioned below the second placing area; a plurality of placing fixtures (143) are uniformly arranged at the positions of the two transmission belts (141), the placing fixtures (143) form clamping areas along the length direction of the tube at the tube placing part (120), the placing fixtures (143) are uniformly distributed along the transmission direction of the transmission belts (141), and the placing fixtures (143) at the corresponding positions of the two transmission belts (141) are matched together to form placing positions for placing the tube.

7. The automatic chip packaging tube loading and unloading device based on the vision-guided multi-axis manipulator of claim 1, wherein: the multi-axis manipulator (150) comprises a fixed support (151) arranged at the movable mounting table (110) and a movable base movably connected to the fixed support (151); the movable seat comprises a first movable arm (152) rotating around the vertical direction, and a second movable arm (153) and a third movable arm (154) respectively rotating around two direction axes vertical to the horizontal plane; the first movable arm (152) is connected to the upper part of the fixed support (151) through a first joint, the second movable arm (153) is movably connected to one side, close to the material distribution area, of the first movable arm (152) through a second joint, and the third movable arm (154) is movably connected to the upper part of the second movable arm (153) through a third joint; the moving end (155) is located at an end of the third movable arm (154) distal to the third joint.

8. The automatic loader and unloader of chip package tube of multi-axis manipulator based on vision of claim 1, characterized by: the visual detection assembly and the suction assembly are respectively arranged at a moving tail end (155) of the multi-axis manipulator (150) through a manipulator block (161) and a gripper (162), and the suction position of the suction assembly is covered in the detection range of the visual detection assembly.

9. The automatic chip packaging tube loading and unloading device based on the vision-guided multi-axis manipulator of claim 8, wherein: the visual detection assembly comprises a mounting seat (167) and a visual detection camera fixed on the upper part of the mounting seat (167), the visual detection camera comprises a camera body (163) and a shooting lens (164), the camera body (163) is fixedly mounted on the upper surface of the mounting seat (167), and the shooting lens (164) is arranged on the outer wall of one side, close to the suction assembly, of the camera body (163); the axis of the shooting lens (164) is vertical to the suction component, and the lens of the visual inspection camera faces to one side of the suction component.

10. The automatic chip packaging tube loading and unloading device based on the vision-guided multi-axis manipulator of claim 9, wherein: the suction assembly comprises a sucker mounting plate (165) arranged at the gripper (162), and the sucker mounting plate (165) does not interfere with other components of the multi-axis manipulator (150) when moving along with a third movable arm (154) at the multi-axis manipulator (150); the sucker mounting plates (165) are symmetrically provided with sucker mounting holes along two sides of the length direction; the sucking disc mounting holes on the two sides are respectively provided with a vacuum sucking disc (166), and the suction nozzle of the vacuum sucking disc (166) is arranged on one side of the far hand grip (162); the suction nozzles of the vacuum suction cups (166) at the two sides are matched together to form a suction position for sucking the material pipe, and the suction position is parallel to the suction cup mounting plate (165).

Images