TWI658967B - Automatic high speed filling machine - Google Patents

Abstract

An automatic high-speed tray filling machine includes a base, and the base is provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, a flying shot visual positioning mechanism, and a transfer tray conveying mechanism; the automatic feeding mechanism includes a material Bin, first linear vibration mechanism, bulk material pick-and-place platform, and second linear vibration mechanism; the pick-and-place mechanism includes a pick-and-place mechanism base, mounting base, nozzle selection mechanism, and pick-and-place nozzle group; the auxiliary visual positioning mechanism includes the first A camera and a first image processing unit; the aerial vision positioning mechanism includes a second camera and a second image processing unit; the transfer disk transfer mechanism includes a transfer disk movement mechanism and a transfer disk positioning mechanism; the transfer disk transfer The mechanism is arranged on the moving path of the pick-and-place mechanism, and the pick-and-place mechanism transfers the parts on the bulk material pick-and-place platform to the transfer tray of the transfer tray transfer mechanism.

Description

Automatic high-speed tray filling machine

The invention relates to a fully automatic high-speed disk filling machine.

In the precision assembly operation of electronic equipment parts in the machinery industry, many disordered and disorderly micro parts, such as microchips, are often required to be arranged in an orderly manner to prevent the subsequent processes from being connected quickly and smoothly. The traditional filling work is done manually, with low efficiency and accuracy.

The invention provides a fully automatic high-speed disk filling machine.

In order to achieve the above object, the technical solution adopted by the present invention is: a full-automatic high-speed disk filling machine, including a base, which is provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, and a flying shot visual positioning mechanism. And a transfer disk transfer mechanism, a main coordinate system is defined on the base, the main coordinate system has an X axis, a Y axis, and a Z axis, the X axis and the Y axis are arranged horizontally and perpendicular to each other, and the Z axis is perpendicular to the X-axis and Y-axis; the automatic feeding mechanism includes a silo, a first linear vibration mechanism, a bulk material picking and placing platform, and a second linear vibration mechanism, the first linear vibration mechanism is corresponding to the silo setting, and the second linear vibration The mechanism is arranged corresponding to the bulk material pick-and-place platform, and the discharge opening of the bin is connected to the bulk material pick-and-place platform; the pick-and-place mechanism includes a pick-and-place mechanism base, a mounting seat, a nozzle selection mechanism and a pick-and-place suction mouth Group, defining a first coordinate system on the pick-and-place mechanism, the coordinate system having an X1 axis, a Y1 axis, and a Z1 axis, the X1 axis and the Y1 axis being arranged horizontally and perpendicular to each other, the Z1 axis being perpendicular to the X1 axis and the Y1 axis; the pick-and-place mechanism base is driven by the base drive mechanism to move along the X axis, and the mounting base is driven by the mount-drive mechanism to move along the Y1 axis and is set on the pick-and-place mechanism base. The nozzle group is arranged on the mounting seat; the nozzle selection mechanism includes a lower pressure plate, a nozzle selection block and a selection block base, the lower pressure plate is disposed directly above the nozzle selection block, and the lower pressure plate is driven by a lower pressure plate driving mechanism Set along the Z1 axis, the nozzle selection block moves along the Z1 axis and is set on the selection block base. The selection block base is driven by the selection block base drive mechanism to move along the X1 axis, and the nozzle selects The trajectory of the block on the X1 axis covers the size of the pick and place nozzle group on the X1 axis; the pick and place nozzle group includes multiple pick and place nozzles, and multiple pick and place nozzles are in the X1 axis direction Arranged side by side, each pick and place nozzle is moved along the Z1 axis relative to the base, and each pick and place The nozzle is rotated around the Z axis, and a return spring is provided along the Z1 axis. The size of the nozzle selection block in the X1 axis direction is smaller than or equal to each pick and place nozzle in the X1 axis direction. The size of the lower pressure plate in the X1 axis direction covers the pick-and-place nozzle group; the auxiliary visual positioning mechanism includes a first camera and a first image processing unit, and the first camera corresponds to the bulk material pick-and-place platform The first camera is used to obtain a picture on the bulk material pick-and-place platform; the aerial photography positioning mechanism includes a second camera and a second image processing unit, and the aerial photography positioning mechanism is provided in the movement of the retrieval mechanism On the path, the second camera is used to obtain a picture of the part on the acting end of the pick-and-place nozzle; a second coordinate system is defined on the transfer disk transfer mechanism, and the second coordinate system has an X2 axis, a Y2 axis, and a Z2 axis , The X2 axis and the Y2 axis are arranged horizontally and perpendicular to each other, and the Z2 axis is vertical On the X2 axis and the Y2 axis, the transfer disk transfer mechanism includes a transfer disk movement mechanism and a transfer disk positioning mechanism, the transfer disk movement mechanism includes a bracket and a transfer disk drive mechanism, and the transfer disk drive mechanism functions In the Y2 axis direction, the bracket is positioned relative to the base. The bracket is provided with a transfer disk guide corresponding to the transfer disk. The transfer disk guide is arranged along the Y2 axis. The transfer disk drive mechanism is used for the transfer disk drive mechanism. When the transfer disk is moved to a designated position, the transfer disk positioning mechanism is used to position the transfer disk on the bracket; the transfer disk transfer mechanism is provided on the movement path of the pick-and-place mechanism, and the aerial vision The positioning mechanism is located between the bulk material pick-and-place platform and the transfer plate transfer mechanism, and the pick-and-place mechanism transfers parts on the bulk material pick-and-place platform to the transfer plate of the transfer plate transfer mechanism.

The relevant content in the above technical solution is explained as follows: In the above solution, the auxiliary visual positioning mechanism is the existing technology, and those skilled in the art can design relevant mechanisms and programs according to actual needs to obtain the bulk material on the bulk material pick-and-place platform through the first camera. The distribution of the image is processed by the first image processing unit to identify that it is not oppressed, overlapped (only the top part can be taken when overlapping), or front / reverse (for parts with front and back requirements when placed) (It is necessary to identify the front and back sides), and simultaneously obtain the center of the part, pick and place the suction nozzle to the center of the part, and suck up the part; the aerial photography visual positioning mechanism is the prior art, and those skilled in the art can design related mechanisms according to actual needs And program, in the process of the pick-and-place mechanism picking up parts from the bulk pick-and-place platform and moving to the transfer tray transfer mechanism, the second camera acquires the state of the parts sucked on each pick-up nozzle (including the first coordinate system Horizontal coordinates, ie X1, Y1, and angle), and according to the position corresponding to the part on the transfer tray, pick and place the nozzle X1 axis, and a rotational movement about axis Y1 Z1 axis, the control unit switches between various coordinate systems, adjustment of the final position and angle of the nozzle reclaiming on the part to match the corresponding position on the transfer disks.

In the above solution, the number of the pick-and-place mechanism, the aerial vision positioning mechanism and the transfer disk transfer mechanism The quantity is two, which are respectively arranged on both sides of the auxiliary visual positioning mechanism; the pick-and-place mechanisms on both sides take turns to pick up parts, while the pick-and-place mechanism on one side picks up the parts, and the pick-and-place mechanism on the other side has high work efficiency.

In the above solution, the second light source is a ring light source.

In the above solution, a finite bit structure is provided on the guide rail corresponding to the transfer disk in the Z2 axis direction.

In the above solution, the transfer disk positioning mechanism includes a compaction block, and the compaction block and the limit element structure are relatively movably disposed in the Z-axis direction. In the assembled state, the transfer disc is located between the compaction block and the limit element. Between structures.

In the above solution, the transfer disk positioning mechanism includes a compaction block, and the compaction block and the limit element structure are relatively movably disposed in the Z2 axis direction. In the assembled state, the transfer disc is located between the compaction block and the limit element. Between structures.

In the above solution, the bracket is movably arranged along the Y2 axis direction, and a bracket driving mechanism is correspondingly provided.

In the above scheme, the transfer disk driving mechanism includes a servo motor, a synchronous wheel, a timing belt, and a transfer disk hook. The output shaft of the servo motor is drivingly connected to the rotation shaft of the synchronous wheel. The synchronous belt is tensioned on the synchronous wheel and transferred. The disc claw is positioned relative to the timing belt; the transfer disc is provided with a claw hole or a claw groove corresponding to the claw of the transfer disc.

In the above solution, the X1 axis is arranged parallel to the X axis, the Y1 axis is arranged parallel to the Y axis, and the Z1 axis is arranged parallel to the Z axis; in practical applications, the two coordinate systems may not be arranged in parallel.

In the above scheme, the X2 axis is arranged parallel to the X axis, the Y2 axis is arranged parallel to the Y axis, and the Z2 axis is arranged parallel to the Z axis; in practical applications, the two coordinate systems may not be arranged in parallel.

In the above solution, the transfer plate is provided with a correction mark, and the system can identify the position accuracy of the transfer plate according to the correction mark to perform compensation calculations in the main coordinate system for its position. If the position accuracy of the transfer plate can be guaranteed, It is not necessary to set the correction flag.

In the above solution, the driving mechanism of the lower pressing plate includes a motor, and the output shaft of the motor is horizontally arranged. A driving roller is eccentrically arranged on the output shaft of the motor. The lower pressing plate is provided with a pressing hole corresponding to the driving roller. The pressing hole is long.孔 结构。 Hole structure.

In the above solution, the selection block base driving mechanism includes a motor, a timing belt, and a timing wheel. The timing belt is tensioned on the timing wheel. The output shaft of the motor is drivingly connected to the timing wheel. The selection block base is positioned at On the timing belt.

In the above solution, the pick-and-place nozzles are arranged in an array, and the nozzle selection block base and the pick-and-place nozzle group are relatively movable in the X1 axis direction, and corresponding to the nozzle selection block base or pick-and-place nozzle The group is also provided with a guide rail in the X1 axis direction and a corresponding driving mechanism.

In the above solution, the pick-and-place nozzle is disposed on a nozzle substrate along the Z1 axis, and the nozzle substrate is positioned relative to the mounting base.

In the above solution, a lower platen guide rail in the Z1 axis direction is provided corresponding to the lower platen, and the lower platen is movably disposed on the lower platen rail.

In the above solution, a translation guide is provided corresponding to the selection block base, and the selection block base is movably disposed on the translation guide.

In the above solution, the base is provided with a mounting base rail along the Y1 axis direction corresponding to the mounting base, and the mounting base is movably disposed on the mounting base rail.

In the above solution, a base rail is provided along the X1 axis direction corresponding to the base, and the base is movably disposed on the base rail.

In the above solution, the pick-and-place nozzle is driven to rotate around the Z axis by a rotation driving mechanism.

The working principle and advantages of the present invention: The present invention adopts linear vibration feeding, the feeding process is uninterrupted, and the linear vibration feeding is highly adaptable, and can be universally used for parts of different specifications; the auxiliary visual positioning mechanism obtains bulk material through the first camera The distribution of the bulk material on the platform is processed by the first image processing unit to identify that it is not oppressed When stacking, you can only take the part that is on the top), or the front / reverse (for parts with front and back requirements when placing, you need to identify the front and back), and at the same time get the center of the part, and pick and place the suction nozzle to the part Center, sucking up the parts; the principle of picking and placing the nozzle is: the lower platen driving mechanism drives the lower platen to move along the Z1 axis. When the lower platen moves downwards, the lower platen forces the suction nozzle selection block to move downwards. The nozzle selection block presses down the corresponding pick-and-place nozzle to pick and place the parts. After picking and placing the parts, the lower platen drive mechanism drives the lower platen to move upwards, and the pick-and-place nozzle moves up; the movement of the base and the mounting seat respectively drives the pick-and-place The movement of the nozzle on the X1 axis and Y1 axis to adjust the position of the acting end of the pick-and-place nozzle; the base of the selection block is moved on the X1 axis to select different pick-and-place nozzles; During the process of sucking parts from the bulk material picking platform and moving to the transfer tray transfer mechanism, the second camera acquires the state of the parts sucked by each picking nozzle (including the horizontal coordinates on the first coordinate system, that is, X1 , Y1, and Degrees), and then according to the position corresponding to the part on the transfer tray, pick and place the suction nozzle through the X1 axis, Y1 axis movement and rotation around the Z1 axis to adjust the position and angle of the part on the suction nozzle to match the movement The position on the carrier plate; the present invention can perform high-precision alignment of parts and high-speed disk filling operations. The present invention adopts pick-and-place nozzles to pick and place parts, and is particularly suitable for the entire row of precision parts that are not resistant to vibration and friction. The pick-and-place mechanism is provided with a plurality of pick-and-place nozzles, which can suck multiple parts at one time, and complete the filling of multiple parts within one round-trip cycle of the pick-and-place mechanism. The work efficiency is high, and the present invention is provided with multiple pick-and-place suction nozzles. Mouth, multiple pick-and-place nozzles share a set of drive mechanism and pick-and-place nozzle selection mechanism, which has a compact structure, a novel concept, and strong applicability.

1‧‧‧ base

2‧‧‧Automatic feeding mechanism

21‧‧‧ silo

22‧‧‧The first linear vibration mechanism

23‧‧‧Feeding channel

24‧‧‧Bulk material pick-up platform

25‧‧‧Second linear vibration mechanism

3‧‧‧Pick-and-place institutions

31‧‧‧ base

311‧‧‧Mounting rail

312‧‧‧base guide

32‧‧‧Mount

321‧‧‧ Lower platen

3211‧‧‧Lower plate guide

3212‧‧‧Press down hole

322‧‧‧Drive roller

323‧‧‧Nozzle selection block

324‧‧‧Select Block Base

3241‧‧‧translation guide

325‧‧‧First motor

3251‧‧‧Synchronous wheel

3252‧‧‧Synchronous Belt

326‧‧‧Second motor

33‧‧‧ Pick and place nozzle

331‧‧‧Nozzle substrate

34‧‧‧Flying sensor

41‧‧‧first camera

42‧‧‧ the first light source

51‧‧‧Second camera

52‧‧‧second light source

6‧‧‧ transfer disk transfer mechanism

61‧‧‧ transfer disk

62‧‧‧ Bracket

63‧‧‧Tightening block

64‧‧‧ transfer plate hook

65‧‧‧ Hook bracket

66‧‧‧Synchronous Belt

67‧‧‧Synchronous wheel

68‧‧‧Servo motor

Figure 1 is a perspective view of the structure of the whole machine of the present invention; Fig. 2 is a perspective view of an automatic feeding mechanism according to an embodiment of the present invention; Fig. 3 is a perspective view of a state of a picking and placing mechanism according to an embodiment of the present invention; Fig. 4 is a perspective view of a state 2 of a picking and placing mechanism according to an embodiment of the present invention; The exploded view of the pick-and-place mechanism in the embodiment; FIG. 6 is the exploded view of the nozzle selection mechanism in the embodiment of the present invention; FIG. 7 is the perspective view of the transfer disk positioning mechanism in the embodiment of the present invention; Institutional perspective view.

The present invention is further described below with reference to the drawings and embodiments. Embodiments: Refer to Figs. 1 to 8, a fully automatic high-speed tray filling machine includes a base 1, and automatic feeding is provided on the base 1. A mechanism 2, a pick-and-place mechanism 3, an auxiliary visual positioning mechanism, a flying shot visual positioning mechanism, and a transfer disk transfer mechanism 6. A main coordinate system is defined on the base 1, and the main coordinate system has an X axis, a Y axis, and a Z axis. The X and Y axes are arranged horizontally and perpendicular to each other, and the Z axis is perpendicular to the X and Y axes.

The automatic feeding mechanism 2 includes a silo 21, a first linear vibration mechanism 22, a feeding channel 23, a bulk material picking and placing platform 24, and a second linear vibration mechanism 25. The discharge port of the silo 21 is connected to the feeding channel 23, and the first A linear vibration mechanism 22 is provided corresponding to the silo 21 and the feeding channel 23, and a second linear vibration mechanism 25 is provided corresponding to the bulk material taking and placing platform 24. The discharge opening of the silo 21 passes through the feeding channel 23 and the bulk material taking and placing platform. 24 connections.

The pick-and-place mechanism includes a base 31, a mounting base 32, a nozzle selection mechanism and a pick-and-place nozzle group; a first coordinate system is defined on the pick-and-place mechanism, and the coordinate system has an X1 axis, a Y1 axis, and a Z1 axis, X1 axis and Y1 axis are arranged horizontally and perpendicular to each other, and Z1 axis is perpendicular to X1 axis and Y1 axis.

The base 31 is driven by a base driving mechanism to move along the X axis, and the mounting base 32 is driven to move along the Y1 axis by a mounting base driving mechanism. The base 32 is provided with a plurality of pick-and-place nozzles. 33.

The nozzle selection mechanism includes a lower pressure plate 321, a nozzle selection block 323, and a selection block base 324. The lower pressure plate 321 is disposed directly above the nozzle selection block 323. The lower pressure plate 321 is driven to move along the Z1 axis by a lower pressure plate driving mechanism. The nozzle selection block 323 moves along the Z1 axis and is set on the selection block base 324. The selection block base 324 is driven by the selection block base driving mechanism to move along the X1 axis. The nozzle selection block 323 is located on the X axis. The running trajectory above covers the size of the pick-and-place nozzle group on the X1 axis, that is, the nozzle selection block 323 can select all the pick-and-place nozzles 3.

The pick-and-place nozzle group includes a plurality of pick-and-place nozzles 33, and a plurality of pick-and-place nozzles 33 are arranged side by side in the X1 axis direction, and each pick-and-place nozzle 33 is moved along the Z1 axis relative to the base 31. A reset spring is provided along the Z axis. The size of the nozzle selection block 323 in the X1 axis direction is smaller than or equal to the size of each pick and place nozzle 33 in the X1 axis direction. The lower pressure plate 321 is at X1. The size in the axial direction covers the pick-and-place nozzle group, and the lower pressing plate 321 can force the nozzle selection block 323 to contact all the pick-and-place nozzles 33.

The upper and lower pressing plate driving mechanism includes a second motor 326, and the output shaft of the second motor 326 is horizontally arranged. The output shaft of the second motor 326 is eccentrically provided with a driving roller 322. The lower pressing plate 321 is provided with a bottom The pressure hole 3212 is a long hole structure, and the length direction of the long hole structure is horizontally arranged.

A lower platen guide rail 3211 in the Z1 axis direction is provided corresponding to the lower platen 321, and the lower platen 321 is movably disposed on the lower platen guide rail 3211.

A translation guide 3241 is provided corresponding to the selection block base 324, and the selection block base 324 is movably disposed on the translation guide 3241.

The selection block base driving mechanism includes a first motor 325, a timing belt 3252, and a timing wheel 3251. The timing belt 3252 is tensioned on the timing wheel 3251. The output shaft of the first motor 325 is drivingly connected to the timing wheel 3251. The selection The block base 324 is positioned on the timing belt 3252.

A mounting base rail 311 along the Y1 axis direction is provided on the base 1 corresponding to the mounting base 32, and the mounting base 32 is movably disposed on the mounting base rail 311.

A base rail 312 is provided along the X-axis direction corresponding to the base 31, and the base 31 is movably disposed on the base rail 312.

The pick-and-place nozzle 33 is driven to rotate around the Z1 axis by a rotation drive mechanism.

The nozzle selection block 323 has a roller structure.

The pick-and-place nozzle 33 is moved along a Z1 axis and disposed on a nozzle substrate 331, and the nozzle substrate 331 is positioned relative to the mounting base 32.

The lower platen driving mechanism drives the lower platen 321 to move along the Z1 axis. When the lower platen 321 moves downward, the lower platen 321 forces the nozzle selection block 323 to move downward, and the nozzle selection block 323 pushes the corresponding pick-and-place nozzle 33 down. After picking and placing parts, the lower platen driving mechanism drives the lower platen 321 to move upwards, and the picking nozzle 33 moves up; the movement of the base 31 and the mounting base 32 respectively drives the picking nozzle 33 on the X1 axis and Y1 The axis moves to adjust the position of the pick-and-place nozzle 33; the selection block base 324 moves on the X1 axis to select different pick-and-place nozzles 33, and each pick-and-place nozzle 33 picks and places parts one by one.

When each of the pick-and-place suction nozzles 33 sucks parts, the pick-and-place mechanism 3 moves along the X-axis transfer tray 61.

The auxiliary visual positioning mechanism includes a first camera 41 and a first image processing unit. The first camera 41 is provided corresponding to the bulk material pick-and-place platform 24, and the first camera 41 is used to obtain a picture on the bulk material pick-and-place platform 24.

The flying shot visual positioning mechanism includes a second camera 51 and a second image processing unit. The flying shot visual positioning mechanism is disposed on a moving path of the pick-and-place mechanism 3.

A second coordinate system is defined on the transfer disk transfer mechanism 6. The second coordinate system has an X2 axis, a Y2 axis, and a Z2 axis. The X2 axis and the Y2 axis are arranged horizontally and perpendicular to each other. The Z2 axis is perpendicular to the X2 axis and the Y2 axis. The transfer disc transfer mechanism 6 includes a transfer disc movement mechanism and a transfer disc positioning mechanism. The transfer disc movement mechanism includes a bracket and a transfer disc drive mechanism. The transfer disc drive mechanism acts in the Y2-axis direction, and the bracket 62 Positioned relative to the base 1, a guide rail is provided on the bracket 62 corresponding to the transfer tray 61, and the guide rail is arranged along the Y2 axis direction. The transfer disk drive mechanism is used to move the transfer tray 61 to a specified position. The tray positioning mechanism is used for positioning the transfer tray 61 on the bracket 62.

The transfer disk transfer mechanism 6 is disposed on the moving path of the pick-and-place mechanism 3. The aerial photography positioning mechanism is located between the bulk material pick-and-place platform 24 and the transfer disk transfer mechanism 6. The pick-and-place mechanism 3 transfers bulk material The parts on the pick-and-place platform 24 are transferred to the transfer tray 61 of the transfer tray transfer mechanism 6.

The number of the pick-and-place mechanism 3, the aerial vision positioning mechanism, and the transfer disk transfer mechanism 6 are two, and they are symmetrically disposed on both sides of the auxiliary vision positioning mechanism, respectively.

The auxiliary visual positioning mechanism further includes a first light source 42. The first light source 42 is a strip-shaped light source. The first light source 42 is irradiated on the bulk material pick-up platform 24.

The aerial photography visual positioning mechanism further includes a second light source 52, which is a ring-shaped light source, and the second light source 52 and the second camera 51 are located above and below the active end of the pick-and-place nozzle 32, respectively.

A finite bit junction is provided on the guide rail corresponding to the transfer plate 61 in the Z2 axis direction The guide rails are two oppositely arranged guide grooves provided on the bracket. The transfer tray 61 is inserted in the guide grooves. The upper and lower sidewalls of the guide grooves realize the transfer of the tray 61 in the Z2 axis direction. Limit.

The transfer disk positioning mechanism includes a pressing block 63, and the pressing block 63 and the limit element structure are relatively movably disposed in the Z2 axis direction. In the assembled state, the transfer disk 61 is located on the pressing block 63 and the limit element. Between the structures, when the transfer tray 61 is moved in place on the bracket 62, the pressing block 63 rises to press the transfer tray 61 against the guide rail of the bracket to realize the positioning of the transfer tray 61.

The bracket 62 is movably arranged along the Y2 axis direction, and a bracket driving mechanism is correspondingly provided. The bracket driving mechanism may be a servo motor, a screw nut mechanism, an air cylinder, etc., as long as the bracket 62 can be driven to move along the Y2 axis.

The transfer disk driving mechanism includes a servo motor 68, two synchronous wheels 67, a synchronous belt 66, and a transfer disk hook 64. The output shaft of the servo motor 68 is drivingly connected to the rotation shaft of one of the synchronous wheels 67, and the synchronous belt 66 is tensioned. On the two synchronous wheels 67, the transfer tray claw 64 is positioned relative to the timing belt 66 through the hook bracket 65; the transfer disk 61 is provided with a hook hole or The claw groove; the servo motor 68 rotates to drive the synchronous wheel 67 to rotate, thereby driving the timing belt 66 and driving the transfer disk hook 64 to move.

It also includes a transfer tray basket. A transfer tray 61 is loaded in the basket, and is used to transfer the transfer tray 61 to the bracket 62. After the filling of the transfer tray 61 on the bracket 62 is completed, the completed transfer tray is filled. 61 is transferred (can be manually transferred or mechanical automatic transfer for unloading the transfer tray), the transfer tray hook 64 is moved toward the transfer tray 61 by the timing belt 66, and the transfer tray hook 64 reaches the transfer When the corresponding claw hole or claw groove on the disc 61, the transfer disk claw 64 stops moving, the bracket 61 rises, and the transfer disk claw 64 is embedded in the claw hole or claw groove (in this embodiment, Since the claws of the transfer tray hook 64 are arranged downward, the bracket 63 rises to meet the transfer tray hook 64. In practical applications, The claws of the transfer disk claw 64 are arranged upward, the bracket 62 is lowered to meet the transfer disk claw 64, and the same effect can be achieved), the servo motor works, and the transfer disk claw 64 is driven by the timing belt 66. Move away from the transfer tray basket along the guide rail, and move the transfer tray 61 to the designated position. At this time, the bracket 62 is lowered, the transfer tray claw 64 is released from the hook hole or the hook groove, and the pressing block 63 is raised to transfer the load. The tray 61 is pressed on the guide rail of the bracket to realize the positioning of the transfer tray 61.

After the transfer tray 61 is positioned, the parts can be placed and arranged in a regular manner.

The X1 axis is arranged parallel to the X axis, the Y1 axis is arranged parallel to the Y axis, and the Z1 axis is arranged parallel to the Z axis.

The X2 axis is arranged parallel to the X axis, the Y2 axis is arranged parallel to the Y axis, and the Z2 axis is arranged parallel to the Z axis.

Corresponding coordinate axes in each coordinate system are arranged in parallel to facilitate the conversion between the coordinate systems. In practical applications, they may not be arranged in parallel.

The above embodiments are only for explaining the technical concept and characteristics of the present invention, and the purpose thereof is to enable persons familiar with the technology to understand the content of the present invention and implement it accordingly, and shall not limit the protection scope of the present invention. Any equivalent change or modification made according to the spirit and essence of the present invention should be covered by the protection scope of the present invention.

Claims (10)

An automatic high-speed disk filling machine includes a base, and the base is provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, a flying shot visual positioning mechanism, and a transfer disk transfer mechanism. Define the main coordinate system, which has X axis, Y axis, and Z axis. The X axis and the Y axis are arranged horizontally and perpendicular to each other. The Z axis is perpendicular to the X axis and the Y axis. The automatic feeding mechanism. It includes a silo, a first linear vibration mechanism, a bulk material pick-and-place platform, and a second linear vibration mechanism. The first linear vibration mechanism is set corresponding to the silo, and the second linear vibration mechanism is set corresponding to the bulk material pick-up platform. The discharge opening of the silo is connected to the bulk material pick-and-place platform; the pick-and-place mechanism includes a pick-and-place mechanism base, a mounting seat, a nozzle selection mechanism and a pick-and-place nozzle group. A coordinate system having an X1 axis, a Y1 axis, and a Z1 axis. The X1 axis and the Y1 axis are arranged horizontally and perpendicular to each other. The Z1 axis is perpendicular to the X1 axis and the Y1 axis. The seat driving mechanism is driven to move along the X axis, and the mounting seat is mounted by the mounting seat. The driving mechanism is driven to move along the Y1 axis and is arranged on the base of the pick-and-place mechanism, and the pick-and-place nozzle group is arranged on the mounting base; the nozzle selection mechanism includes a lower pressure plate, a nozzle selection block and a selection block base, The lower pressure plate is disposed directly above the nozzle selection block, and the lower pressure plate is driven by the lower pressure plate driving mechanism to move and set along the Z1 axis. The nozzle selection block is moved along the Z1 axis and is disposed on the selection block base. The block base is driven by the selection block base driving mechanism to move along the X1 axis. The running track of the nozzle selection block on the X1 axis covers the size of the pick-and-place nozzle group on the X1 axis. The mouth group includes multiple pick-and-place nozzles, and multiple pick-and-place nozzles are arranged side by side in the X1 axis direction. Each pick-and-place nozzle is moved along the Z1 axis relative to the base, and each pick-and-place nozzle Rotate around the Z axis and set a return spring that resets upward along the Z1 axis direction. The size of the nozzle selection block in the X1 axis direction is less than or equal to that of each pick and place nozzle in the X1 axis direction. Size, the size of the lower pressure plate in the X1 axis direction covers the pick-and-place nozzle group; the auxiliary The vision-assisted positioning mechanism includes a first camera and a first image processing unit. The first camera corresponds to the bulk material pick-and-place platform. The first camera is used to obtain a picture on the bulk material pick-and-place platform. The positioning mechanism includes a second camera and a second image processing unit. The aerial vision positioning mechanism is disposed on a moving path of the pick-and-place mechanism. The second camera is used to obtain a picture of a part on the acting end of the pick-and-place nozzle; A second coordinate system is defined on the transfer disk transfer mechanism. The second coordinate system has an X2 axis, a Y2 axis, and a Z2 axis. The X2 axis and the Y2 axis are arranged horizontally and perpendicular to each other. The Z2 axis is perpendicular to the X2 axis and The Y2 axis, the transfer disc transfer mechanism includes a transfer disc movement mechanism and a transfer disc positioning mechanism, the transfer disc movement mechanism includes a bracket and a transfer disc drive mechanism, and the transfer disc drive mechanism acts in the Y2 axis direction The bracket is positioned relative to the base. The bracket is provided with a transfer disk guide corresponding to the transfer disk. The transfer disk guide is arranged along the Y2 axis direction. The transfer disk drive mechanism is used to transfer the load. Disk to finger Position, the transfer tray positioning mechanism is used to position the transfer tray on the bracket; the transfer tray transfer mechanism is provided on the movement path of the pick-and-place mechanism, and the flying shot visual positioning mechanism is located on the bulk material pick-and-place platform Between the transfer plate transfer mechanism and the transfer plate transfer mechanism, the pick and place mechanism transfers the parts on the bulk material pick and place platform to the transfer plate of the transfer plate transfer mechanism. For example, the automatic high-speed disk filling machine described in item 1 of the patent scope, wherein the number of the pick-and-place mechanism, the aerial vision positioning mechanism, and the transfer disk transfer mechanism are two, which are respectively set in the auxiliary visual positioning mechanism. On both sides. For example, the full-automatic high-speed tray filling machine according to item 1 of the patent scope, wherein the auxiliary visual positioning mechanism further includes a first light source, the first light source is a strip-shaped light source, and the first light source is irradiated to the bulk material pick-up platform. For example, the full-automatic high-speed disk filling machine according to the first patent application scope, wherein the aerial photography visual positioning mechanism further includes a second light source, the second light source is a ring light source, the second light source and the second camera are respectively located in the Pick and place the nozzle above and below the active end. For example, the full-automatic high-speed disc filling machine according to the first patent application range, wherein the driving mechanism of the lower platen includes a motor, and the output shaft of the motor is horizontally arranged. A driving roller is eccentrically arranged on the output shaft of the motor. Corresponding to the driving roller, a pressing hole is provided, and the pressing hole has a long hole structure. For example, the full-automatic high-speed disk filling machine according to the first patent application range, wherein the selection block base driving mechanism includes a motor, a timing belt and a timing wheel, the timing belt is tensioned on the timing wheel, and the output shaft of the motor Driven by the synchronous wheel, the base of the selection block is positioned on the synchronous belt. For example, the full-automatic high-speed tray filling machine described in item 1 of the patent scope, wherein the bracket is movably arranged along the Y-axis direction, and a bracket driving mechanism is correspondingly provided. For example, the full-automatic high-speed disk filling machine described in the first patent application range, wherein the transfer disk driving mechanism includes a servo motor, a synchronous wheel, a timing belt, and a transfer disk hook, and the output shaft of the servo motor and the The shaft is driven by a transmission shaft, the timing belt is tensioned on the timing wheel, the transfer plate hook is positioned relative to the timing belt; the transfer plate is provided with a hook hole or a hook corresponding to the transfer plate hook groove. For example, the automatic high-speed tray filling machine described in item 1 of the patent scope, wherein the pick-and-place nozzles are arranged in an array, and the nozzle selection block base and the pick-and-place nozzle group are relatively movable in the X1 axis direction. And, corresponding to the nozzle selection block base or the pick-and-place nozzle group, a guide rail in the X1 axis direction and a corresponding driving mechanism are also provided. For example, the automatic high-speed tray filling machine according to item 1 of the patent application range, wherein the pick-and-place nozzle is moved along the Z1 axis and disposed on a nozzle substrate, and the nozzle substrate is positioned relative to the mounting base.