CN-121990380-A - Center rotary type detection multilayer material stacking equipment

CN121990380ACN 121990380 ACN121990380 ACN 121990380ACN-121990380-A

Abstract

The invention relates to a multilayer material stacking device for central rotary detection, which belongs to the technical field of industrial automation and comprises a vibration isolation table, a visual identification module, a stacking adjustment module, an angle detection module and a sensor array module. The stacking adjustment module is used for grabbing and adjusting the material position and the posture of the objects and realizing stacking, the rotary bearing platform of the sensor array module drives the objects to rotate, and the spiral sensor array synchronously detects the outline of the inner hole. According to the invention, the angle detection module is used for measuring the pitching angle of the material, the center rotation type detection is used for realizing the in-situ measurement of the center position of the material, and the stacking adjustment module is used for adjusting the pose based on the measurement result. The device integrates the detection function in the stacking process, eliminates the secondary positioning error of the traditional separate process detection mode, and realizes the high-precision stacking of the multi-layer materials.

Inventors

MA FULEI
ZHOU XIANG
JIANG XUNWEI
WANG MOHAN
SONG BIYING

Assignees

西安电子科技大学

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. A multi-layer material stacking apparatus for center-turn detection, comprising: the visual identification module is arranged above the equipment and is used for acquiring two-dimensional image information of a central hole of the materials to be stacked; The stacking adjustment module is arranged on one side of the vibration isolation table and comprises a feeding platform, a grabbing unit and a plurality of lifting units, wherein the grabbing unit is arranged on the feeding platform and is used for grabbing materials to be stacked; the lifting units are arranged at intervals and respectively connected with the feeding platform and used for driving the feeding platform to move up and down along a second direction, and the first direction and the second direction are mutually perpendicular; the lifting units are also used for driving the feeding platform to deflect according to the plane detection result so as to adjust the angle pose of the materials to be stacked; The sensor array module is arranged on the other side of the vibration isolation table and comprises a rotary bearing platform and a spiral sensor array, wherein the stacking adjustment module stacks the materials to be stacked on the rotary bearing platform, and the rotary bearing platform is used for driving the materials to be stacked to revolve around the center; The stacking adjustment module is further used for adjusting the angle pose or the horizontal position of the materials to be stacked according to the rotation detection result.
2. The center-turn type inspection multi-layer material stacking apparatus according to claim 1, wherein the feeding platform includes a floating portion, a fixed portion, and a feeding unit, a guiding unit, and an alignment stage disposed between the floating portion and the fixed portion; The fixed part is fixedly connected with a plurality of lifting units, and the feeding unit and the guiding unit extend along the first direction and are arranged at intervals and used for driving the floating part to move along the first direction relative to the fixed part; the alignment table is used for driving the floating part to move along a third direction relative to the fixed part so as to adjust the horizontal position of the materials to be stacked; the first direction, the second direction and the third direction are perpendicular to each other.
3. The center-turn inspection multilayer material stacking apparatus of claim 1, wherein the gripping unit comprises a plurality of linear pushers distributed along a circumferential array, and each of the linear pushers has a degree of freedom to move in a radial direction of the circumferential array in which it is located.
4. The center-turn type inspection multi-layer material stacking apparatus according to claim 1, wherein the output ends of the plurality of lifting units are connected to the lower surface of the feeding platform by a hinge mechanism.
5. The center-turn type inspection multi-layer material stacking apparatus of claim 1, wherein the angle inspection module comprises an angle elevation unit and a plurality of displacement sensors; The angle lifting unit is used for driving the plurality of displacement sensors to lift along the second direction, the plurality of displacement sensors are distributed along a circumferential array, and the detection ends of the plurality of displacement sensors are uniformly distributed on the same installation plane and are used for acquiring distance information between the detection ends and the surfaces of the materials to be stacked; the plane detection result is obtained according to distance information acquired by the displacement sensors and is used for determining the plane angle of the materials to be stacked.
6. The center-turn type detection multi-layer material stacking device according to claim 1, wherein the rotary bearing platform comprises an air-floating rotary table and a material platform, the material to be stacked is stacked on the material platform, the material platform is arranged on the air-floating rotary table, and the material platform and the material to be stacked on the material platform are driven to rotate around the center through the air-floating rotary table.
7. The center-turn detection multilayer material stacking apparatus of claim 6, wherein the helical sensor array comprises a pillar and a plurality of sensors sequentially distributed along a helix on an outer periphery of the pillar.
8. The center-turn detected multilayer material stacking apparatus of claim 7, wherein the sensor array module further comprises a multi-axis adjustment station on which the spiral sensor array is fixedly disposed by the support posts, the multi-axis adjustment station for adjusting a spatial pose of the spiral sensor array relative to a rotational axis of the rotary load bearing platform.
9. The center-turn type detected multilayer material stacking device according to claim 1, further comprising a loading module arranged below the stacking adjustment module for conveying the material to be stacked onto a feeding platform of the stacking adjustment module in the first direction or in the second direction.
10. The center-turn detected multilayer material stacking apparatus of claim 1, further comprising a pose control module electrically connected to the visual recognition module, the stacking adjustment module, the angle detection module, and the sensor array module, respectively; the pose control module comprises an image processing unit and a motion control unit, wherein the image processing unit is used for acquiring two-dimensional image information of the center hole of the materials to be stacked; the motion control unit is used for coordinating the expansion and contraction amounts of the lifting units according to the two-dimensional image information, the plane detection result and the rotation detection result, and driving the feeding platform to deflect, so that the materials to be stacked are driven to adjust the angle and the pose.

Description

Center rotary type detection multilayer material stacking equipment Technical Field The invention belongs to the technical field of industrial automation, and particularly relates to a multilayer material stacking device for central rotation type detection. Background In the technical field of industrial automation, multi-layer alignment stacking of materials is a key link in the processes of precision mechanical manufacturing, semiconductor packaging, microelectronic assembly and the like. With the development of industry, requirements on stacking precision and efficiency are increasingly increased, and particularly when large-size and heavy-weight materials are processed, high-precision alignment is difficult to achieve. Currently, a commonly adopted scheme in the industry is a step-by-step operation method combining visual guidance and a manipulator. Specifically, firstly, the central hole characteristics of the surface of the material are identified through a vision system, two-dimensional image coordinates of the central hole characteristics are obtained, and the central hole characteristics are used as a reference to guide a manipulator or an adjusting table to finish grabbing and placing of single-layer materials. However, the visual recognition obtains the central position of the surface of the material orifice, and the inner wall axis of the material central hole is often deviated from the theoretical axis based on the surface feature recognition due to the existence of machining errors, so that the stacking result by only relying on visual positioning is not reliable. Therefore, to ensure true coaxiality of the final stack, after the visually guided stacking is completed, the entire assembly must be transported to another dedicated inspection device (e.g., a three-coordinate measuring machine) for offline inspection of the inside walls of the hole to verify accuracy. However, the components after stacking are affected by vibration, temperature change and secondary positioning deviation in the process of disassembling, carrying and re-clamping to the detection equipment, so that the final detection result cannot truly reflect the real-time state at the end of stacking, and a new error is introduced. Therefore, a solution for in-situ center detection during stacking is needed to eliminate systematic errors due to process separation. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a multi-layer material stacking device for center rotation detection. The technical problems to be solved by the invention are realized by the following technical scheme: The invention provides a multilayer material stacking device for center rotation detection, which comprises a visual identification module, a stacking adjustment module, a sensor array module, a rotary bearing platform and a spiral sensor array, wherein the visual identification module is arranged above the device and is used for acquiring two-dimensional image information of a center hole of a material to be stacked, the stacking adjustment module is arranged on one side of a vibration isolation platform and comprises a feeding platform, a grabbing unit and a plurality of lifting units, the grabbing unit is arranged on the feeding platform and is used for grabbing the material to be stacked, the feeding platform is used for driving the grabbing unit to move in a first direction in a feeding manner, the lifting units are arranged at intervals and are respectively connected with the feeding platform and are used for driving the feeding platform to move in a second direction, the first direction is perpendicular to the second direction, the angle detection module is used for carrying out plane detection on the grabbed material to be stacked to obtain a plane detection result, the sensor array module is further used for driving the feeding platform to deflect according to the plane detection result, the sensor array module is arranged on the other side of the vibration isolation platform, the feeding platform is used for driving the material to be stacked, the stacking adjustment module is used for driving the rotary bearing platform to rotate around the bearing platform to rotate, the position of the material to be stacked, the sensor array is used for carrying the material to be stacked, and the position of the sensor array is rotated around the center of the material to be stacked, and the position is adjusted to be stacked, and the position of the material to be stacked is rotated around the center to be detected. In one embodiment of the invention, the feeding platform comprises a floating part, a fixed part, a feeding unit, a guiding unit and an aligning table, wherein the feeding unit, the guiding unit and the aligning table are arranged between the floating part and the fixed part, the fixed part is fixedly connected with a plurality of lifting units, the feeding unit and the guiding unit extend along th