TWM562821U - Full-automatic high-speed disc filling machine - Google Patents

Abstract

The utility model relates to a full-automatic high-speed filling machine, comprising a base, which is provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, a flying visual positioning mechanism and a transfer tray conveying mechanism; the automatic feeding mechanism comprises materials a warehouse, a first linear vibration mechanism, a bulk material pick-and-place platform and a second linear vibration mechanism; the pick-and-place mechanism is provided with a plurality of pick-and-place nozzles; the auxiliary vision positioning mechanism comprises a first camera and a first image processing unit, first The camera is configured to acquire a picture on the bulk material pick-and-place platform; the flying picture visual positioning mechanism includes a second camera and a second image processing unit, and the flying visual positioning mechanism is disposed on the moving path of the pick-and-place mechanism; the transfer tray The transport mechanism includes a transfer tray moving mechanism and a transfer tray positioning mechanism; the transfer tray transport mechanism is disposed on a movement path of the pick-and-place mechanism, and the pick-and-place mechanism transfers the components on the bulk material pick-and-place platform to the transfer On the transfer tray of the disc transport mechanism.

Description

Fully automatic high speed filling machine

This creation is about a fully automatic high speed filling machine.

In the precision assembly of electronic equipment parts in the machinery industry, it is often necessary to arrange many disorderly and small parts, such as micro-chips, in an orderly manner to prevent the subsequent processes from being quickly and smoothly connected. The traditional filling work is done manually, with low efficiency and precision.

This creation provides a fully automatic high speed filling machine.

In order to achieve the above objectives, the technical solution adopted by the present invention is: a fully automatic high-speed filling machine, comprising a base, the base is provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, and a flying visual positioning mechanism. And a transfer tray transport mechanism, on which a primary coordinate system is defined, the primary coordinate system having an X-axis, a Y-axis, and a Z-axis, the X-axis and the Y-axis being horizontally arranged and perpendicular to each other, the Z-axis being perpendicular to the The X-axis and the Y-axis; the automatic feeding mechanism comprises a silo, a first linear vibrating mechanism, a bulk material pick-and-place platform and a second linear vibrating mechanism, the first linear vibrating mechanism corresponding to the silo setting, the second linear vibrating The mechanism is disposed corresponding to the bulk material pick-and-place platform, and the discharge port of the silo is engaged with the bulk material pick-and-place platform; the pick-and-place mechanism is moved relative to the base along the X-axis and the Z-axis direction, a first coordinate system is defined on the pick-and-place mechanism, the first coordinate system has an X1 axis, a Y1 axis, and a Z1 axis, and the X1 axis and the The Y1 axis is horizontally arranged and perpendicular to each other. The Z1 axis is perpendicular to the X1 axis and the Y1 axis. The pick and place mechanism is provided with a plurality of pick and place nozzles, and each pick and place nozzle is along the X1 axis, the Y1 axis and the Z1 axis movement setting, each of the pick-and-place nozzles is arranged to rotate around the Z1 axis; the auxiliary vision positioning mechanism comprises a first camera and a first image processing unit, the first camera is corresponding to the bulk material pick-and-place platform, the first The camera is configured to acquire a picture on the bulk material pick-and-place platform; the fly-behind visual positioning mechanism includes a second camera and a second image processing unit, wherein the flying-eye visual positioning mechanism is disposed on a moving path of the pick-and-place mechanism; a second coordinate system is defined on the transfer tray transport mechanism, the second coordinate system has an X2 axis, a Y2 axis and a Z2 axis, the X2 axis and the Y2 axis are horizontally arranged and perpendicular to each other, the Z2 axis being perpendicular to the X2 axis and the The Y2 axis, the transfer tray transport mechanism includes a transfer tray moving mechanism and a transfer tray positioning mechanism, the transfer tray moving mechanism includes a bracket and a transfer tray drive mechanism, and the transfer tray drive mechanism acts on the Y2-axis direction, Positioning the bracket relative to the base, the A support rail is disposed on the bracket corresponding to the transfer tray, the guide rail is arranged along a Y2 axis direction, and the transfer tray drive mechanism is configured to move the transfer tray to a designated position, and the transfer tray positioning mechanism is used for the transfer tray Positioned on the bracket; the transfer tray transport mechanism is disposed on the moving path of the pick-and-place mechanism, the fly-photo visual positioning mechanism is located between the bulk pick-and-place platform and the transfer tray transport mechanism, and the pick-and-place mechanism The components on the bulk pick-and-place platform are transferred to the transfer tray of the transfer tray transport mechanism.

The relevant content in the above technical solutions is explained as follows:

1. In the above solution, the auxiliary visual positioning mechanism is prior art, and those skilled in the art can design related institutions and programs according to actual needs, and obtain the distribution of bulk materials on the bulk material pick-and-place platform through the first camera, and pass the first image. Processing unit processing to identify that it is not stressed, Overlap (only the uppermost part can be taken when overlapping), or front/reverse (for the parts with positive and negative requirements when placing, you need to identify the front and back), and at the same time get the center of the part, pick and place The mouth is attracted to the center of the component, and the component is sucked up; the flying visual positioning mechanism is prior art, and those skilled in the art can design the relevant mechanism and program according to actual needs, and the pick-and-place mechanism absorbs from the bulk material pick-and-place platform. During the movement of the component rearward transfer tray transport mechanism, the second camera acquires the state of the components sucked on each of the take-up nozzles (including the level coordinates on the first coordinate system, namely, X1, Y1, and angle). Then, according to the position corresponding to the component on the transfer tray, the movement of the suction nozzle through the X1 axis and the Y1 axis and the rotation around the Z1 axis, the control unit finally adjusts the reclaiming by converting between the coordinate systems. The position and angle of the components on the nozzle to match the corresponding position on the transfer tray.

2. In the above solution, the number of the pick-and-place mechanism, the flying visual positioning mechanism and the transfer tray transport mechanism are both two, respectively arranged on both sides of the auxiliary visual positioning mechanism; the pick-and-place mechanisms on both sides take turns to take the parts, high working efficiency.

3. In the above solution, the second light source is an annular light source.

4. In the above solution, the guide rail has a finite bit structure disposed in the Z2 axis direction corresponding to the transfer tray.

5. In the above solution, the transfer tray positioning mechanism includes a pressing block, and the pressing block and the limiting element structure are relatively movable in the Z-axis direction. In the assembled state, the transfer tray is located at the pressing block and the limit. Between bit structures.

6. In the above solution, the transfer tray positioning mechanism comprises a pressing block, and the pressing block and the limiting element structure are relatively movable in the Z2 axis direction. In the assembled state, the transfer tray is located in the pressing block and the limit. Between bit structures.

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

8. In the above solution, the transfer disk drive mechanism comprises a servo motor, a synchronous wheel, a timing belt and a transfer tray claw. The output shaft of the servo motor is connected with the rotation shaft of the synchronous wheel, and the timing belt is tensioned on the synchronous wheel. The transfer tray hook is positioned relative to the timing belt; the transfer tray has a hook hole or a hook groove corresponding to the transfer tray hook.

9. In the above solution, the X1 axis is set parallel to the X axis, the Y1 axis is parallel to the Y axis, and the Z1 axis is parallel to the Z axis; in practical applications, the two coordinate systems may also be arranged in parallel.

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

11. In the above solution, the transfer tray is provided with a correction mark, and the system can identify the position accuracy of the transfer tray according to the correction mark, and perform compensation calculation for the position in the main coordinate system, if the position of the transfer tray can be ensured. Accuracy, you can also not set the correction mark.

The working principle and advantages of this creation: the creation adopts linear vibration feeding, the feeding process is uninterrupted, and the linear vibration feeding adaptability is strong, and can be commonly used for different parts; the auxiliary visual positioning mechanism acquires the bulk material pick-and-place platform through the first camera. The distribution of the bulk material is processed by the first image processing unit to identify that it is not pressed or overlapped (only the uppermost part can be taken when overlapping), or the front/back side (for the front and back sides when placed) For the required parts, it is necessary to identify the front and back sides), and at the same time, obtain the center of the parts, and the pick-and-place nozzles are attracted to the center of the parts to suck the parts; the flying-point visual positioning mechanism is in the pick-and-place mechanism from the bulk material. During the process of picking up the components on the pick-and-place platform and moving to the transfer tray transport mechanism, the second camera acquires the state of the components sucked on each of the take-up nozzles (including the level coordinate on the first coordinate system, ie, X1, Y1, and angle), according to the position corresponding to the component on the transfer tray, the movement of the pick-and-place nozzle through the X1 axis, the Y1 axis, and the rotation around the Z1 axis, adjust the position of the components on the take-up nozzle and Angle to match the position on the transfer tray; this creation can carry out high-precision alignment of parts and high-speed filling operation. This creation uses pick-and-place nozzles to pick up and place parts, especially suitable for the whole column not resistant to vibration and friction. For precision parts, each pick-and-place mechanism of the creation has a plurality of pick-and-place nozzles, which can take multiple parts at one time, and complete the filling of multiple parts in one round-trip cycle of the pick-and-place mechanism, and the work efficiency is high. .

1‧‧‧Base

2‧‧‧Automatic feeding mechanism

21‧‧‧ silo

22‧‧‧First linear vibration mechanism

23‧‧‧Feeding channel

24‧‧‧Bulk material pick-and-place platform

25‧‧‧Second linear vibration mechanism

3‧‧‧ pick-and-place mechanism

31‧‧‧ Mounting

32‧‧‧Receiving nozzles

33‧‧‧ Flying sensor unit

41‧‧‧First camera

42‧‧‧First light source

51‧‧‧second camera

52‧‧‧second light source

6‧‧‧Transfer tray transfer mechanism

61‧‧‧Transfer tray

62‧‧‧ bracket

63‧‧‧Crimping block

64‧‧‧Transfer tray claws

65‧‧‧ hook bracket

66‧‧‧Synchronous belt

67‧‧‧Synchronous wheel

68‧‧‧Servo motor

1 is a perspective view of the structure of the whole machine; FIG. 2 is a perspective view of the automatic feeding mechanism of the present embodiment; FIG. 3 is a perspective view of the pick-and-place mechanism of the present embodiment; A perspective view of the mechanism; Fig. 5 is a perspective view of the drive mechanism of the transfer tray of the present embodiment.

The creation is further described below in conjunction with the drawings and embodiments:

Example:

Referring to Figures 1 to 5, a fully automatic high-speed padding machine includes a base 1 on which an automatic feeding mechanism 2, a pick-and-place mechanism 3, an auxiliary visual positioning mechanism, and a flying visual positioning mechanism are disposed. And a transfer tray transfer mechanism 6, on which a primary coordinate system having an X-axis, a Y-axis, and a Z-axis, the X-axis and the Y-axis are horizontally arranged and perpendicular to each other, and the Z-axis is perpendicular to the X-axis. With the Y axis.

The automatic feeding mechanism 2 includes a silo 21, a first linear vibrating mechanism 22, a feeding passage 23, a bulk material pick-and-place platform 24, and a second linear vibrating mechanism 25. The discharge port of the silo 21 is connected with the feeding passage 23, A linear vibration mechanism 22 is disposed corresponding to the silo 21 and the feed channel 23, The two linear vibrating mechanism 25 is disposed corresponding to the bulk material pick-and-place platform 24, and the discharge port of the silo 21 is engaged with the bulk material pick-and-place platform 24 through the feeding passage 23.

The pick-and-place mechanism is disposed in the X-axis and the Z-axis direction with respect to the base, and defines a first coordinate system on the pick-and-place mechanism 3, the first coordinate system has an X1 axis, a Y1 axis, and a Z1 axis, and the X1 axis and the Y1 axis The shafts are horizontally arranged and perpendicular to each other, and the Z1 axis is perpendicular to the X1 axis and the Y1 axis. The pick and place mechanism 3 includes a mounting seat 31. The mounting seat 31 is provided with a plurality of pick-and-place nozzles 32 and a flying sensor unit 33. The suction nozzle 32 is disposed to move along the X1 axis, the Y1 axis, and the Z1 axis, and at the same time, each of the pick and place nozzles 32 is rotated about the Z1 axis.

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

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

A second coordinate system is defined on the transfer tray transport 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 horizontally arranged and perpendicular to each other, and the Z2 axis is perpendicular to the X2 axis and the Y2 axis. The transfer tray transport mechanism 6 includes a transfer tray moving mechanism and a transfer tray positioning mechanism. The transfer tray moving mechanism includes a bracket and a transfer tray drive mechanism. The transfer tray drive mechanism acts on the Y2-axis direction. The bracket 62 With respect to the positioning arrangement of the base 1, the bracket 62 is provided with a guide rail corresponding to the transfer tray 61, and the guide rail is arranged along the Y2 axis direction, and the transfer tray drive mechanism is used for moving the transfer tray 61 to a designated position, the shift A carrier positioning mechanism is used to position the transfer tray 61 on the bracket 62.

The transfer tray transport mechanism 6 is disposed on the moving path of the pick-and-place mechanism 3, and the fly-eye visual positioning mechanism is located between the bulk pick-and-place platform 24 and the transfer tray transport mechanism 6, and the pick-and-place mechanism 3 The components on the bulk pick-and-place platform 24 are transferred to the transfer tray 61 of the transfer tray transport mechanism 6.

The number of the pick-and-place mechanism 3, the flying photographic visual positioning mechanism and the transfer tray transport mechanism 6 are two, and are symmetrically disposed on both sides of the auxiliary visual positioning mechanism.

The auxiliary vision positioning mechanism further includes a first light source 42 that is a strip light source, and the first light source 42 is illuminated by the bulk material pick-and-place platform 24.

The flying photographic positioning mechanism further includes a second light source 52. The second light source 52 is an annular light source, and the second light source 52 and the second camera 51 are respectively located above and below the active end of the pick-and-place nozzle 32.

A finite bit structure is disposed on the guide rail 61 corresponding to the transfer tray 61 in the Z2 axis direction. The guide rail is two oppositely disposed guide grooves formed on the bracket, and the transfer tray 61 is disposed in the guide groove. The upper side wall and the lower side wall of the groove realize the limit of the transfer tray 61 in the Z2 axis direction.

The transfer tray positioning mechanism includes a pressing block 63. The pressing block 63 and the limiting element structure are relatively movable in the Z2 axis direction. In the assembled state, the transfer tray 61 is located at the pressing block 63 and the limiting element. Between the structures, when the transfer tray 61 is moved into position on the bracket 62, the pressing block 63 is raised 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 disposed along the Y2 axis direction, and is provided with a bracket driving mechanism. The bracket driving mechanism may be a servo motor, a screw nut mechanism, a cylinder, or the like, as long as the bracket 62 can be driven to move along the Y2 axis.

The transfer tray drive mechanism includes a servo motor 68, two synchronous wheels 67, a timing belt 66, and a transfer tray hook 64. The output shaft of the servo motor 68 is drivingly coupled to the rotary shaft of one of the synchronous wheels 67, and the timing belt 66 is tensioned. On the two synchronous wheels 67, the transfer tray hooks 65 are positioned by a point of the hook bracket 65 with respect to the timing belt 66; the transfer tray 61 is opened corresponding to the transfer tray hooks 65. There is a claw hole or a 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 tray hook 64 to move.

Also included is a transfer tray, the loading basket is loaded with a transfer tray 61 for transporting the transfer tray 61 to the bracket 62; when the loading tray 61 on the bracket 62 is completed, the completed loading tray is completed. The 61 is transferred (may be a manual transfer or a mechanical automatic transfer of the unloading transfer tray), and the transfer tray hook 65 is moved toward the transfer tray 61 by the timing belt 66, and the transfer tray hook 65 reaches the transfer. When the corresponding claw hole or the claw groove is on the disk 61, the transfer tray hook 65 stops moving, the bracket 61 rises, and the transfer tray hook 65 is embedded in the claw hole or the claw groove (in the embodiment, Since the claws of the transfer tray hooks 65 are disposed downward, the bracket 63 is raised to meet the transfer tray hooks 65. In practical applications, the claws of the transfer tray hooks 65 are arranged upward, and the bracket 62 is lowered to meet the movement. The carrier hook 65 can also achieve the same effect. The servo motor works, and the transfer tray hook 65 moves along the guide rail away from the transfer tray and moves the transfer tray 61 to the designated position. At this time, the bracket 62 is lowered, the transfer tray hook 65 is disengaged from the claw hole or the claw groove, and the pressing block 63 is raised to press the transfer tray 61 at The guide rails of the brackets are used to realize the positioning of the transfer tray 61.

When the transfer tray 61 is positioned, the component placement can be performed.

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

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

The 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 features of the present creation, and the purpose thereof is to It is not possible to limit the scope of protection of this creation by enabling those skilled in the art to understand the content of this creation and implement it accordingly. Equivalent changes or modifications made in accordance with the spirit of this creation shall be covered by the scope of this creation.

Claims (10)

A fully automatic high-speed padding machine comprises: a base provided with an automatic feeding mechanism, a pick-and-place mechanism, an auxiliary visual positioning mechanism, a flying visual positioning mechanism and a transfer tray conveying mechanism on the base Defining a primary coordinate system having an X-axis, a Y-axis, and a Z-axis, the X-axis and the Y-axis are horizontally arranged and perpendicular to each other, the Z-axis being perpendicular to the X-axis and the Y-axis; the automatic feeding The mechanism includes a silo, a first linear vibrating mechanism, a bulk material pick-and-place platform and a second linear vibrating mechanism, wherein the first linear vibrating mechanism is disposed corresponding to the silo, and the second linear vibrating mechanism is disposed corresponding to the bulk material pick-and-place platform. a discharge port of the silo is coupled to the bulk material pick-and-place platform; the pick-and-place mechanism is disposed relative to the base along the X-axis and the Z-axis direction, and a first coordinate system is defined on the pick-and-place mechanism, The first coordinate system has an X1 axis, a Y1 axis and a Z1 axis. The X1 axis and the Y1 axis are horizontally arranged and perpendicular to each other. The Z1 axis is perpendicular to the X1 axis and the Y1 axis, and the pick and place mechanism is provided with a plurality of The nozzle is taken and placed, and each of the pick and place nozzles is moved along the X1 axis, the Y1 axis and the Z1 axis. Each of the pick-and-place nozzles is disposed around the Z1 axis; the auxiliary vision positioning mechanism includes a first camera and a first image processing unit, the first camera is disposed corresponding to the bulk pick-and-place platform, and the first camera is configured to acquire a screen on the bulk material pick-and-place platform; the fly-behind visual positioning mechanism includes a second camera and a second image processing unit, wherein the flying-eye visual positioning mechanism is disposed on a moving path of the pick-and-place mechanism; The second coordinate system has a second coordinate system having an X2 axis, a Y2 axis, and a Z2 axis. The X2 axis and the Y2 axis are horizontally arranged and perpendicular to each other, and the Z2 axis is perpendicular to the X2 axis and the Y2 axis. The transfer tray transport mechanism includes a transfer tray moving mechanism and a transfer tray positioning mechanism, and the transfer tray moving mechanism includes a bracket and a transfer tray drive mechanism, and the transfer tray drive The mechanism acts on the Y2 axis direction, and the bracket is positioned relative to the base, and the bracket is provided with a guide rail corresponding to the transfer tray, the guide rail is arranged along the Y2 axis direction, and the transfer tray drive mechanism is used for shifting Moving the tray to a designated position, the transfer tray positioning mechanism is configured to position the transfer tray on the bracket; the transfer tray transport mechanism is disposed on a moving path of the pick-and-place mechanism, wherein the fly-view visual positioning mechanism is located Between the bulk material pick-and-place platform and the transfer tray transport mechanism, the pick-and-place mechanism transfers the components on the bulk pick-and-place platform to the transfer tray of the transfer tray transport mechanism. The automatic high-speed padding machine of claim 1, wherein the pick-and-place mechanism, the flying-capture visual positioning mechanism, and the transfer tray transport mechanism are both provided in the auxiliary visual positioning mechanism. On both sides. The automatic high-speed padding machine of claim 1, wherein the auxiliary visual positioning mechanism further comprises a first light source, wherein the first light source is a strip light source, and the first light source is irradiated to the bulk material pick-and-place platform. The automatic high-speed padding machine of claim 1, wherein the flying-eye visual positioning mechanism further comprises a second light source, wherein the second light source is an annular light source, and the second light source and the second camera are respectively located Take the top and bottom of the action end of the nozzle. The fully automatic high speed winder of claim 1, wherein the guide rail has a finite bit structure disposed in the Z2 axis direction corresponding to the transfer tray. The automatic high-speed padding machine of claim 5, wherein the transfer disk positioning mechanism comprises a pressing block, and the pressing block and the limiting element structure are relatively movable in the Z2 axis direction, and are assembled. Next, the transfer tray is located between the pressing block and the limiting element structure. The fully automatic high-speed padding machine of claim 1, wherein the bracket is movably disposed along the Y-axis direction, and a bracket driving mechanism is correspondingly disposed. The automatic high-speed padding machine of claim 1, wherein the transfer disk drive mechanism The utility model comprises a servo motor, a synchronous wheel, a timing belt and a transfer tray hook. The output shaft of the servo motor is drivingly connected with the rotating shaft of the synchronous wheel, and the timing belt is tensioned on the synchronous wheel, and the transfer tray claw is opposite to the synchronous wheel The timing belt positioning setting; the loading tray corresponding to the loading tray hook is provided with a claw hole or a claw groove. The fully automatic high speed winder of claim 1, wherein the X1 axis is disposed parallel to the X axis, the Y1 axis is disposed parallel to the Y axis, and the Z1 axis is disposed parallel to the Z axis. The fully automatic high speed winder of claim 1, wherein the X2 axis is disposed parallel to the X axis, the Y2 axis is disposed parallel to the Y axis, and the Z2 axis is disposed parallel to the Z axis.