A vision-based speaker dispensing robot

Abstract

The invention belongs to the technical field of loudspeaker glue dispensing, specifically a vision-based loudspeaker glue dispensing robot, comprising a conveyor belt mechanism and an electric control box, wherein the electric control box is located at the lower side of the conveyor belt mechanism, and a mounting plate is fixedly connected to a frame on the edge of the upper surface of the conveyor belt mechanism by screws, thereby replacing the previous manual glue dispensing station, realizing automatic swinging and loading of loudspeaker materials, accurate glue dispensing after automatic position recognition by an industrial CCD detection camera, and automatic unloading of loudspeaker materials, thereby greatly improving production efficiency; guiding the feed through a feed guide plate and a discharge guide plate, clamping and blocking the incoming material through a discharge blocking cylinder, a glue dispensing clamping cylinder, and an incoming material blocking cylinder, so that separate glue dispensing operations can be performed between each loudspeaker; through the setting of the industrial CCD detection camera, the glue dispensing position of the loudspeaker can be located, and through the setting of the glue dispensing mechanism, the loudspeaker can be automatically glued.

Description

Technical Field

[0001] The invention relates to the technical field of loudspeaker glue dispensing, and in particular to a loudspeaker glue dispensing robot based on vision. Background Art

[0002] Speakers are also called "horns". They are a very common electroacoustic transducer device, which can be found in electronic and electrical equipment that make sound. Speakers are transducers that convert electrical signals into acoustic signals, and the performance of speakers has a great impact on the sound quality. Speakers are the weakest device in audio equipment, but they are also the most important component for sound effects. There are many types of speakers, and their prices vary greatly. Audio electrical energy vibrates the cone or diaphragm through electromagnetic, piezoelectric or electrostatic effects, and resonates (resonates) with the surrounding air to produce sound.

[0003] In the production process of speakers, the voice coil leads need to be manually arranged first, and then the solder joints and slots of the leads need to be manually glued and UV cured to protect the solder joints and fix the positions of the leads. Since the glue is toxic to a certain extent, it causes damage to the workers' bodies, directly increases the personnel mobility of the workstation, and also affects the quality of the product and normal production. Therefore, it is urgent to design a visual glue dispensing robot that can be placed on the existing assembly line to replace manual glue dispensing. Summary of the invention

[0004] The purpose of the present invention is to provide a vision-based speaker dispensing robot to solve the problem that the glue mentioned in the above background technology has certain toxicity, causes damage to the workers' bodies, directly increases the personnel mobility at the work station, and also affects the quality of the product and normal production.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vision-based speaker dispensing robot, comprising a conveyor belt mechanism and an electric control box, the electric control box is located at the lower side of the conveyor belt mechanism, a mounting plate is fixedly connected to the frame at the edge of the upper surface of the conveyor belt mechanism by screws, the mounting plate spans the conveyor belt mechanism, and the left and right sides of the lower surface of the mounting plate are respectively connected with a discharging guide plate and a feeding guide plate by screws, the positions of the discharging guide plate and the feeding guide plate correspond to each other and are connected to each other, a transverse cylinder is laterally installed on the right rear side of the upper surface of the mounting plate, the left end of the telescopic rod of the transverse cylinder is connected to a slider by screws, the lower side of the slider is clamped on the slide rail, the slide rail is fixedly connected to the mounting plate by screws, a shift cylinder is fixedly installed on the upper side of the slider by screws, and the front end of the telescopic rod of the shift cylinder is fixedly connected to A shift fork is connected, the bottom front end of the shift fork is located at the lower side of the discharge guide plate, and a dispensing clamping cylinder and a discharge blocking cylinder are respectively fixedly installed on the left and right sides of the front wall of the discharge guide plate by screws, the rear ends of the telescopic rods of the dispensing clamping cylinder and the discharge blocking cylinder are fixedly connected with blocking push blocks by screws, and the blocking push blocks are located on the inner wall of the discharge guide plate, and the middle part of the upper surface of the discharge guide plate is longitudinally fixedly connected with the incoming material blocking cylinder by screws, and the bottom end of the telescopic rod of the incoming material blocking cylinder is fixedly connected with a block, and a photoelectric detection switch is provided in the middle part of the inner wall of the discharge guide plate, and the photoelectric detection switch is located on the right side of the incoming material blocking cylinder, a radial servo slide is radially installed on the upper surface of the mounting plate, a transverse servo slide is transversely installed on the radial servo slide, and an industrial CCD detection camera and a dispensing mechanism are installed on the lower left end of the transverse servo slide.

[0006] Preferably, the inner width of the feed guide plate is gradually narrowed along the conveying direction of the conveyor belt mechanism.

[0007] Preferably, the rear side wall of the blocking push block and the right surface of the blocking block are both bonded with rubber pads via adhesive.

[0008] Preferably, the glue dispensing mechanism comprises a glue pressure barrel and a glue dispensing outlet, the glue pressure barrel and the glue dispensing outlet are connected by a pipeline, and a suction pump is installed on the pipeline.

[0009] Preferably, a flow valve is provided on the pipeline between the glue pressure barrel and the glue dispensing outlet.

[0010] Preferably, the channels inside the discharge guide plate and the feed guide plate are parallel to the transmission direction of the conveyor belt mechanism.

[0011] Preferably, a movable groove is opened on the left side of the upper surface of the mounting plate, and the shift fork passes through the movable groove.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1) Replace the previous manual dispensing station, realize automatic material placement and loading of speaker materials, use industrial CCD detection camera to automatically identify the position and then accurately dispense glue, and automatically unload speaker materials, thereby greatly improving production efficiency;

[0014] 2) The feed guide plate and the discharge guide plate are used to guide the feed material, and the discharge blocking cylinder, the dispensing clamping cylinder, and the incoming material blocking cylinder are used to clamp and block the incoming material, so that each speaker can be separately dispensed;

[0015] 3) Through the setting of the industrial CCD detection camera, the dispensing position of the speaker can be located, and through the setting of the dispensing mechanism, the speaker can be automatically dispensed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 A top view of the present invention;

[0018] Figure 3 It is a structural schematic diagram of the mounting plate of the present invention.

[0019] In the figure: 1 conveyor belt mechanism, 2 electric control box, 3 mounting plate, 4 feed guide plate, 5 discharge guide plate, 6 transverse cylinder, 7 slider, 8 slide rail, 9 shift cylinder, 10 fork, 11 discharge blocking cylinder, 12 glue dispensing clamping cylinder, 13 incoming material blocking cylinder, 14 radial servo slide, 15 transverse servo slide, 16 industrial CCD detection camera, 17 glue dispensing mechanism. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] Example:

[0023] See also Figure 1-3, the present invention provides a technical solution: a vision-based speaker dispensing robot, comprising a conveyor belt mechanism 1 and an electric control box 2, the electric control box 2 is located at the lower side of the conveyor belt mechanism 1, the conveyor belt mechanism 1 transmits the speaker to be processed from right to left, and the electric control box 2 supplies power to the electrical appliances of the device;

[0024] The frame on the upper surface edge of the conveyor belt mechanism 1 is fixedly connected with a mounting plate 3 by screws. The mounting plate 3 spans the conveyor belt mechanism 1. The left and right sides of the lower surface of the mounting plate 3 are respectively connected with a discharge guide plate 5 and a feed guide plate 4 by screws. The discharge guide plate 5 and the feed guide plate 4 correspond to each other and are interconnected. After the worker arranges the wires of the speaker, he places it on the conveyor belt mechanism 1 and flows from right to left. The speaker is guided by the discharge guide plate 5 and the feed guide plate 4 so that the speaker passes between the discharge guide plate 5 and the feed guide plate 4.

[0025] A traverse cylinder 6 is transversely installed on the right rear side of the upper surface of the mounting plate 3. The left end of the telescopic rod of the traverse cylinder 6 is connected to a slider 7 by screws. The lower side of the slider 7 is clamped on a slide rail 8. The slide rail 8 is fixedly connected to the mounting plate 3 by screws. The traverse cylinder 6 can drive the slider 7 to move transversely on the slide rail 8, so that the slider 7 can drive the structure thereon to move transversely.

[0026] A shift cylinder 9 is fixedly installed on the upper side of the slider 7 by screws, and a shift fork 10 is fixedly connected to the front end of the telescopic rod of the shift cylinder 9 by screws. The bottom front end of the shift fork 10 is located at the lower side of the discharge guide plate 5. The shift cylinder 9 can drive the shift fork 10 to move forward and backward, so that the shift fork 10 is stuck to the material and moves under the drive of the transverse cylinder 6;

[0027] The left and right sides of the front wall of the discharging guide plate 5 are respectively fixedly installed with a dispensing clamping cylinder 12 and a discharging blocking cylinder 11 by screws, and the rear ends of the telescopic rods of the dispensing clamping cylinder 12 and the discharging blocking cylinder 11 are fixedly connected with blocking push blocks by screws. The telescopic rods of the dispensing clamping cylinder 12 and the discharging blocking cylinder 11 are extended and pushed out through the blocking push blocks, so that the speaker at the location can be clamped and clamped, so that the speaker will not move with the driving of the conveyor belt mechanism 1;

[0028] The blocking push block is located on the inner wall of the material discharging guide plate 5. The middle part of the upper surface of the material discharging guide plate 5 is longitudinally fixedly connected with the incoming material blocking cylinder 13 by screws. The bottom end of the telescopic rod of the incoming material blocking cylinder 13 is fixedly connected with a block. A photoelectric detection switch is arranged in the middle part of the inner wall of the material discharging guide plate 5. The photoelectric detection switch is located on the right side of the incoming material blocking cylinder 13. When a speaker moves over, the photoelectric detection switch is blocked and generates a signal to drive the incoming material blocking cylinder 13 to work. The incoming material blocking cylinder 13 extends through the block to block the speaker.

[0029] A radial servo slide 14 is radially installed on the upper surface of the mounting plate 3, a transverse servo slide 15 is transversely installed on the radial servo slide 14, an industrial CCD detection camera 16 and a glue dispensing mechanism 17 are installed at the lower left end of the transverse servo slide 15, and the radial servo slide 14 and the transverse servo slide 15 form an in-plane mobile driving mechanism, which can drive the industrial CCD detection camera 16 and the glue dispensing mechanism 17 to move within the moving range, thereby facilitating the alignment of the glue dispensing position.

[0030] The inner width of the feed guide plate 4 is gradually narrowed along the transmission direction of the conveyor belt mechanism 1, so as to facilitate the entry of materials and play a guiding role.

[0031] The rear side wall of the blocking push block and the right surface of the blocking block are both bonded with rubber pads through adhesives. The rubber pads provide a buffering effect on the material to avoid damage to the outer wall of the material.

[0032] The glue dispensing mechanism 17 includes a glue pressure barrel and a glue dispensing outlet. The glue pressure barrel and the glue dispensing outlet are connected by a pipeline, and a suction pump is installed on the pipeline. The suction pump sucks the glue in the glue pressure barrel and outputs it to the corresponding glue dispensing point through the glue dispensing outlet.

[0033] A flow valve is provided on the pipeline between the glue pressure barrel and the glue dispensing outlet. By setting the flow valve, the amount of glue output can be controlled.

[0034] The channels inside the discharge guide plate 5 and the feed guide plate 4 are parallel to the conveying direction of the conveyor belt mechanism 1 .

[0035] A movable groove is provided on the left side of the upper surface of the mounting plate 3 , and the shift fork 10 passes through the movable groove, so as to facilitate the normal movement operation of the shift fork 10 .

[0036] Working principle:

[0037] After the workers have arranged the wires of the speakers, they are placed on the conveyor belt mechanism 1 for circulation. The speakers enter through the feed guide plate 4 and are output through the discharge guide plate 5. The guide grooves in the feed guide plate 4 are driven by the conveyor belt mechanism 1 to automatically arrange the speakers in a row, forming a feed channel.

[0038] The discharge blocking cylinder 11 is used to control the speakers to load materials in sequence. After the speaker enters the incoming material blocking cylinder 13 through the feed channel, the photoelectric detection switch of the incoming material blocking cylinder 13 sends a signal, and the speaker in the discharge guide plate 5 is blocked by the block at the bottom of the incoming material blocking cylinder 13. After the speaker at the dispensing clamping cylinder 12 is glued, the shift cylinder 9 pushes the fork 10 forward, so that the fork 10 is stuck on the speaker at the position of the incoming material blocking cylinder 13, and at the same time, the output end of the incoming material blocking cylinder 13 drives the block to rise, and then the traverse cylinder 6 pushes the slider 7 to move left on the slide rail 8. The fork 10 moves left under the drive and drives the speaker on it to move to the dispensing clamping cylinder 12, and the speaker at the dispensing clamping cylinder 12 (which has been glued) is pushed to the conveyor belt mechanism 1 by the fork 10 while loading, realizing the synchronization of loading / unloading, and repeating this cycle.

[0039] Under the cooperation of the radial servo slide 14 and the lateral servo slide 15, the industrial CCD inspection camera 16 and the glue dispensing mechanism 17 can move under their movement. The industrial CCD inspection camera 16 moves to the position of the glue dispensing clamping cylinder 12, detects the speaker on the lower side, and identifies the glue dispensing position. Afterwards, the radial servo slide 14 and the lateral servo slide 15 cooperate to move the glue dispensing mechanism 17 to the upper side of the speaker at the glue dispensing clamping cylinder 12, and perform glue dispensing operations on the glue dispensing position of the speaker.

[0040] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vision-based speaker dispensing robot, comprising a conveyor belt mechanism (1) and an electric control box (2), wherein the electric control box (2) is located at the lower side of the conveyor belt mechanism (1), and is characterized in that: A mounting plate (3) is fixedly connected to the frame at the edge of the upper surface of the conveyor belt mechanism (1) by screws. The mounting plate (3) spans the conveyor belt mechanism (1). The left and right sides of the lower surface of the mounting plate (3) are respectively connected to a discharge guide plate (5) and a feed guide plate (4) by screws. The discharge guide plate (5) and the feed guide plate (4) are located in corresponding positions and are connected to each other. A transverse cylinder (6) is transversely installed on the right rear side of the upper surface of the mounting plate (3). The left end of the telescopic rod of the cylinder (6) is connected to a slider (7) by screws, the lower side of the slider (7) is clamped on a slide rail (8), the slide rail (8) is fixedly connected to the mounting plate (3) by screws, the upper side of the slider (7) is fixedly mounted with a shift cylinder (9) by screws, the front end of the telescopic rod of the shift cylinder (9) is fixedly connected to a shift fork (10) by screws, the bottom front end of the shift fork (10) is located at the lower side of the discharge guide plate (5), and the discharge guide plate The left and right sides of the front wall of the dispensing clamping cylinder (12) and the material discharging blocking cylinder (11) are respectively fixedly installed by screws, and the rear ends of the telescopic rods of the dispensing clamping cylinder (12) and the material discharging blocking cylinder (11) are fixedly connected with blocking push blocks by screws. The blocking push blocks are located on the inner wall of the material discharging guide plate (5). The middle part of the upper surface of the material discharging guide plate (5) is longitudinally fixedly connected with the incoming material blocking cylinder (13) by screws. The telescopic rods of the dispensing clamping cylinder (12) and the material discharging blocking cylinder (11) are fixedly connected with the incoming material blocking cylinder (13) by screws. A stopper is fixedly connected to the bottom end of the retracting rod, a photoelectric detection switch is arranged in the middle of the inner wall of the discharge guide plate (5), and the photoelectric detection switch is located on the right side of the incoming material blocking cylinder (13). A radial servo slide (14) is radially mounted on the upper surface of the mounting plate (3), a transverse servo slide (15) is transversely mounted on the radial servo slide (14), and an industrial CCD detection camera (16) and a dispensing mechanism (17) are mounted on the lower left end of the transverse servo slide (15); The inner width of the feed guide plate (4) is gradually narrowed along the transmission direction of the conveyor belt mechanism (1); The rear side wall of the blocking push block and the right surface of the blocking block are both bonded with rubber pads through adhesive; The glue dispensing mechanism (17) comprises a glue pressure barrel and a glue dispensing outlet, the glue pressure barrel and the glue dispensing outlet are connected by a pipeline, and a suction pump is installed on the pipeline; A flow valve is provided on the pipeline between the glue pressure barrel and the glue dispensing outlet; The channels inside the discharge guide plate (5) and the feed guide plate (4) are parallel to the transmission direction of the conveyor belt mechanism (1); A movable groove is provided on the left side of the upper surface of the mounting plate (3), and the shift fork (10) passes through the movable groove.

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