A fully automatic precision assembly equipment based on visual inspection and control method thereof

Abstract

The present invention discloses a fully automatic precision assembly equipment based on visual inspection. This fully automatic precision assembly equipment based on visual inspection, after placing a support on a clamping component and before placing a stacking component, photographs and records the angle and position of the support on the clamping component and the area on the support where the stacking component is placed by a first shooting unit, then clamps and transports the stacking component by a second feeding mechanism so that it can be photographed by the second shooting unit, and records the angle and position of the stacking component at this time, and obtains the distance that the stacking component needs to move to the support and the angle that needs to be adjusted, finally fine-tunes the angle of the stacking component by a second driving component, and transports the stacking component by a second three-axis manipulator so that the stacking component is accurately moved to the support, so that the two are accurately assembled. Compared with the existing manual or semi-automatic mechanical equipment that assembles the two, the equipment has higher assembly accuracy and stronger stability, thereby improving the qualified rate of the product.

Description

Technical Field

[0001] The present invention relates to the technical field of precision assembly equipment, and in particular to a fully automatic precision assembly equipment based on visual inspection and a control method thereof. Background Art

[0002] Precision assembly parts usually include two or more accessories for assembly and fixation. As the accessories are generally very small, any positional error will cause the installed product to be unqualified and unusable. In addition, due to the relatively small size of precision components, this error is invisible to the naked eye and problems will only be discovered during subsequent assembly and use. Therefore, high precision is required during its assembly.

[0003] For example, when assembling the pile and the buckle in glasses, they need to be precisely positioned and then locked and fixed with screws.

[0004] Currently, manual or semi-automatic mechanical equipment is used to assemble the two, which has the following problems: (1) The assembly accuracy is low and the stability is poor, which leads to errors in the assembly position and low product qualification rate; (2) The production efficiency of manual or semi-automatic mechanical equipment is low and the labor intensity is high. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a fully automatic precision assembly device based on visual inspection and a control method thereof, which can improve assembly accuracy, product qualification rate and productivity.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a fully automatic precision assembly device based on visual inspection and a control method thereof, which are used to assemble precision assembly parts, wherein the precision assembly parts include a plurality of support parts and stacking parts stacked from bottom to top, and the fully automatic precision assembly device includes a machine platform and further includes:

[0007] The clamping mechanism comprises at least one clamping assembly, each of which is processed sequentially and cyclically by a first feeding mechanism, a second feeding mechanism and a locking mechanism;

[0008] A first feeding mechanism, used for grabbing a single support member and placing it on the clamping assembly, wherein the support member is provided with a first locking hole;

[0009] The second loading mechanism is used to grab and place the stacked pieces, including a second grabbing piece, a second driving piece and a second three-axis manipulator, wherein the second driving piece drives the second grabbing piece to rotate in a vertical direction, and the second driving piece cooperates with the second three-axis manipulator to grab the stacked pieces at different positions and angles, and the stacked pieces are provided with a second locking hole adapted to the first locking hole;

[0010] A first photographing unit, located above the clamping assembly, is used to photograph an image of a support member fixed on the clamping assembly;

[0011] A second photographing unit is used to photograph the image of the grasped stacked piece, wherein after the first photographing unit photographs the image of the support on the clamping assembly, the second feeding mechanism grasps a single stacked piece and photographs it through the second photographing unit, and places it on the support on the clamping assembly so that it is precisely aligned with the area on the support where the stacked piece is placed;

[0012] The locking mechanism is used to grab the locking member and pass it through the second locking hole and the first locking hole to lock and fix the precisely aligned supporting member and stacking member.

[0013] Preferably, a rotating plate is rotatably provided on the machine platform, and four clamping components are evenly distributed in a circular shape on the rotating plate. A collecting box is provided on the machine platform for collecting supporting parts and stacking parts that are locked and fixed together. The first feeding mechanism, the second feeding mechanism, the locking mechanism and the collecting box correspond to a clamping component respectively.

[0014] Preferably, a material discharge assembly is provided on one side of each of the clamping assemblies for guiding the support members and stacking members locked and fixed together on the clamping assemblies into the collection box.

[0015] Preferably, a lifting assembly is provided under each clamping assembly, and the lifting assembly is connected with an ejector pin. Each ejector pin movably passes through a clamping assembly, and the cross-sectional size of the ejector pin is smaller than the orifice size of the first locking hole and the second locking hole.

[0016] Preferably, the first feeding mechanism includes a first vibration plate, a first three-axis manipulator, a first grabbing member and a third shooting unit. The third shooting unit is located above the first vibration plate and is used to shoot the support member facing upward in the first vibration plate. The first three-axis manipulator drives the first grabbing member to move and grab the support member facing upward in the first vibration plate.

[0017] Preferably, the first feeding mechanism further comprises a fourth photographing unit for photographing an image of the grasped support member.

[0018] Preferably, the first feeding mechanism further comprises a first driving member, which is used to drive the first grabbing member to rotate to grab the supporting members at different positions and angles in the first vibration plate.

[0019] Preferably, the second loading mechanism includes a second vibration plate and a fifth shooting unit, the second three-axis manipulator drives the second grabbing member to move to grab the stacked members facing upward on the second vibration plate and place them on the support member on the clamping assembly, and the fifth shooting unit is located above the second vibration plate and is used to shoot the stacked members facing upward in the second vibration plate.

[0020] A control method for a fully automatic precision assembly device based on visual inspection is provided, and the method applies the fully automatic precision assembly device based on visual inspection, and comprises the following steps:

[0021] One: by controlling the first feeding mechanism, a single support member is grabbed and placed on a clamping assembly located in the first feeding area, and the position of the support member is fixed by the clamping assembly;

[0022] Second, the first shooting unit is used to shoot images of each support member fixed on the clamping assembly at different angles and positions, and at the same time, a position X of any point in the region where the stacked member is placed on the support member shot at this time is defined as the end point;

[0023] 3. Then, the second loading mechanism is controlled to grab a single stacked piece, and then the second shooting unit is used to shoot the piece to obtain the position and angle of the stacked piece at this time. A point X' on the stacked piece shot at this time is defined as the starting point. When the stacked piece moves to the area on the support where the stacked piece is placed, X and X' coincide.

[0024] Fourth, the stacking member is driven by the second driving member to perform fine adjustment of the angle, so that the finely adjusted stacking member is parallel to the position where the stacking member is placed on the supporting member;

[0025] Fifth: Determine the distance between the starting point X' and the end point X at this time, and finally drive the stacking member to move and place it on the support member through the second feeding mechanism to ensure that the stacking member and the support member, as well as the second locking hole on the stacking member and the first locking hole on the support member are accurately aligned;

[0026] Sixth: Finally, the locking member is grasped by controlling the locking mechanism to pass through the second locking hole and the first locking hole to lock and fix the aligned supporting member and stacking member;

[0027] Seven: Remove the support members and stacking members fixed by the locking members on the clamping assembly, and repeat the above steps one to six to achieve uninterrupted and continuous processing and fixing of the support members and stacking members.

[0028] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0029] The present invention, after placing the support on the clamping assembly and before placing the stacking piece, uses the first shooting unit to shoot and record the angle and position of the support on the clamping assembly and the area on the support where the stacking piece is placed, and then uses the second feeding mechanism to clamp and transport the stacking piece so that it can be photographed by the second shooting unit, and records the angle and position of the stacking piece at this time, so as to obtain the distance that the stacking piece needs to move to the support and the angle that needs to be adjusted, and finally fine-tune the angle of the stacking piece through the second driving member, and transport the stacking piece through the second three-axis manipulator so that the stacking piece is accurately moved to the support, so that the two are accurately assembled. Compared with the existing manual or semi-automatic mechanical equipment to assemble the two, the equipment has higher assembly accuracy and stronger stability, thereby improving the qualified rate of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic structural diagram of the first feeding mechanism of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the second feeding mechanism of the present invention;

[0033] Figure 4 It is a schematic diagram of the locking mechanism structure of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the clamping assembly, the lifting assembly and the rotating plate of the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0036] Figure 7 This is a schematic diagram of the structure of the pile head and the ring buckle when they are assembled and placed;

[0037] Wherein: 1. machine platform; 2. first feeding mechanism; 21. first vibration plate; 22. first three-axis manipulator; 23. first material grabbing member; 24. third shooting unit; 25. fourth shooting unit; 26. first driving member; 3. second feeding mechanism; 31. second vibration plate; 32. second three-axis manipulator; 33. second material grabbing member; 34. fifth shooting unit; 35. second driving member; 4. locking mechanism; 41. material plate; 42. third three-axis manipulator; 43. third material grabbing member; 5. clamping assembly; 6. collecting box; 7. lifting assembly; 8. rotating plate; 9. first shooting unit; 10. second shooting unit; 11. supporting platform; 12. moving platform; 13. clamping plate. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments. However, the following embodiments are only preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments are conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments are all commercially available unless otherwise specified.

[0039] like Figure 1-Figure 7 As shown, the present invention provides a fully automatic precision assembly device based on visual inspection, which is used for assembling precision assembly parts, wherein the precision assembly parts include a plurality of support parts and stacking parts stacked from bottom to top (herein, the pile head and loop assembly combination in the assembly of glasses is used as an example for explanation), and the fully automatic precision assembly device includes a machine 1, and also includes: a clamping mechanism, a first feeding mechanism 2, a second feeding mechanism 3, a first shooting unit 9, a second shooting unit 10 and a locking mechanism 4;

[0040] like Figure 1 and Figure 5 As shown, the clamping mechanism includes at least one clamping assembly 5, each clamping assembly 5 is processed by the first feeding mechanism 2, the second feeding mechanism 3 and the locking mechanism 4 in sequence and in a cycle, and a sensor is provided on one side of each clamping assembly 5 for sensing the support member after it is placed on the clamping assembly 5 so that the clamping assembly 5 fixes it;

[0041] like Figure 1 , Figure 2 and Figure 7 As shown, the first feeding mechanism 2 is used to grab a single support member and place it on the clamping assembly 5, and a first locking hole is opened on the support member;

[0042] Specifically, the first feeding mechanism 2 includes a first vibration disk 21, a first three-axis manipulator 22, a first material grabbing member 23 and a third shooting unit 24. The third shooting unit 24 is located above the first vibration disk 21 and is used to shoot the support member facing upward in the first vibration disk 21. The first three-axis manipulator 22 drives the first material grabbing member 23 to move and grab the support member facing upward in the first vibration disk 21 (the pile head is defined as the support member, the loop is a stacking member, the top surface of the pile head is provided with a concave surface for placing the loop as the front side, and the second locking hole of the loop is adapted to the first locking hole to facilitate the insertion of the locking member as the front side);

[0043] The first vibration plate 21 continuously vibrates so that the pile heads of the materials in the first vibration plate 21 can be picked up one by one facing upwards;

[0044] like Figure 2As shown, the first feeding mechanism 2 further includes a fourth shooting unit 25, which is used to shoot an image of the grasped support member and record the position of the first locking hole on the support member at this time, so as to record the distance between the support member and the subsequent ejector pin, so as to facilitate the subsequent accurate transportation of the support member by the first three-axis manipulator 22;

[0045] like Figure 2 As shown, the first feeding mechanism 2 further includes a first driving member 26, which is used to drive the first grabbing member 23 to rotate to grab the support members at different positions and angles in the first vibration plate 21, and can rotate back to the original position after rotating to grab the support member, so that the position of the support member on the clamping assembly 5 is roughly the same each time the support member is placed on the clamping assembly 5;

[0046] like Figure 1 , Figure 3 and Figure 7 As shown, the second loading mechanism 3 is used to grab and place a single stacked piece, and a second locking hole matching the first locking hole is opened on the stacked piece;

[0047] like Figure 1 and Figure 3 As shown, the second loading mechanism 3 is used to grab and place stacked pieces, and includes a second grabbing piece 33, a second driving piece 35 and a second three-axis manipulator 32. The second driving piece 35 drives the second grabbing piece 33 to rotate in the vertical direction (here, preferably, the central axis of the second driving piece 35 coincides with the central axis of the second grabbing piece 33 and is perpendicular to the horizontal plane). The second driving piece 35 cooperates with the second three-axis manipulator 32 to grab stacked pieces at different positions and angles. A second locking hole adapted to the first locking hole is provided on the stacked piece.

[0048] The second grabbing member 33 can rotate back to the original position after rotating to grab the stacked member, so that the stacked member is roughly parallel to the area on the support member of the clamping assembly 5 where the stacked member is placed, and the angle of the stacked member can be finely adjusted according to the position and angle of the stacked member photographed by the second shooting unit 10 and the angle of the position of the support member photographed by the first shooting unit 9, so as to ensure that the two are accurately aligned and installed;

[0049] Specifically, the second feeding mechanism 3 includes a second vibration plate 31 and a fifth shooting unit 34. The second three-axis manipulator 32 drives the second grabbing member 33 to move and grab the stacked members facing upward on the second vibration plate 31 and place them on the support member on the clamping assembly 5. The fifth shooting unit 34 is located above the second vibration plate 31 and is used to shoot the stacked members facing upward in the second vibration plate 31.

[0050] Since the loop material is very small (the thickness is about half of the pile head thickness, and the length is about one third of the pile head length), a general material grabbing member cannot grab it well. The second material grabbing member 33 here adopts an adsorption material grabbing member (such as a suction nozzle, which is the prior art). In addition, a light shielding sheet is provided on the second material grabbing member 33 for backlighting, so that the subsequent second shooting unit 10 can shoot the loop more clearly.

[0051] In addition, the outer walls of the first shooting unit 9, the third shooting unit 24, and the fifth shooting unit 34 are all provided with light blocking plates for backlighting, so that the first shooting unit 9 can shoot the front of the supporting part (pile head) on the clamping assembly 5, the third shooting unit 24 can shoot the front of the supporting part (pile head) on the first vibration disk 21, and the fifth shooting unit 34 can shoot the front of the stacking part (loop buckle) on the second vibration disk 31 more clearly.

[0052] like Figure 3 As shown, the first shooting unit 9 is located above the clamping assembly 5 and is used to shoot an image of a support member fixed on the clamping assembly 5;

[0053] Each time the support member (small in size and light in weight) is placed on the clamping assembly 5 by the first material grabbing member 23 and the clamping assembly 5 clamps and fixes the support member, the support member will shake slightly, so that the specific position after being fixed on the clamping assembly 5 has a certain deviation, and the image of the support member at this time is captured by the first shooting unit 9 for recording;

[0054] like Figure 3 As shown, the second shooting unit 10 is used to shoot the image of the grabbed stacked piece, wherein after the first shooting unit 9 shoots the image of the support on the clamping assembly 5, the second feeding mechanism 3 grabs a single stacked piece (here, the loop is defined as the stacked piece) and shoots it through the second shooting unit 10, and places it on the support on the clamping assembly 5 so that it is accurately aligned with the area on the support where the stacked piece is placed;

[0055] When the second material grabbing member 33 grabs the stacked member, the grabbing position of the material in the second vibration plate 31 will be different (that is, the contact point between the second material grabbing member 33 and the stacked member is different, so that when the second three-axis manipulator 32 moves to the top of the second shooting unit 10, the distance between the second locking hole on the stacked member and the ejector pin will change slightly). Therefore, in order to ensure the accurate position when the stacked member is placed on the support member later, a second shooting unit 10 is added for shooting, so that it can be completely and accurately aligned with the position on the support member where the stacked member needs to be placed when it is subsequently moved and rotated by a certain angle;

[0056] like Figure 1 and Figure 4 As shown, the locking mechanism 4 is used to grab the locking member and pass it through the second locking hole and the first locking hole to lock and fix the precisely aligned support member and stacking member;

[0057] The specific locking mechanism 4 includes a material tray 41, a third three-axis manipulator 42 and a third material grabbing member 43. The third material grabbing member 43 is used to grab the locking member in the material tray 41 (the locking member can be a screw, and the third material grabbing member 43 can rotate to tighten the screw), and then the third three-axis manipulator 42 is used to adjust the movement of the locking member to lock and fix the precisely aligned support members and stacking members;

[0058] like Figure 6 As shown, the clamping assembly 5 includes a support table 11 and a movable table 12 located on both sides of the support table 11 and capable of moving closer to or away from each other. The support table 11 is used to place the support member, and the movable table 12 is provided with a plurality of clamping plates 13 for clamping and fixing the support member and the stacking member;

[0059] By adjusting the two moving tables 12 to move closer to each other, the clamping plates 13 thereon can be moved closer to each other, so that support members and stacking members of different sizes and types can be clamped and fixed.

[0060] like Figure 6 As shown, the clamping plate 13 is detachably mounted on the movable platform 12, and a gasket (not shown) is disposed between the clamping plate 13 and the movable platform 12;

[0061] By increasing the height of the gasket, the height position of the clamp 13 can be adjusted, so as to facilitate the clamping and fixing of support members and stacking members at different heights placed on the support platform 11, and prevent the problem that the height of the support member is higher than the height of the top surface of the clamp 13, thereby preventing the stacking member from being unable to be fixed.

[0062] There are three or four clamping plates 13, one movable platform 12 is provided with one or two clamping plates 13, and another movable platform 12 is provided with two clamping plates 13, and the distance between the two clamping plates 13 on the same movable platform 12 is adjustable;

[0063] like Figure 6 As shown, here, the three clamping plates 13 are used to clamp and fix the pile head as an example. Since the pile head is L-shaped and includes two long strips, one clamping plate 13 is provided on one mobile platform 12, and two clamping plates 13 are provided on the other mobile platform 12. The three positive clamping plates 13 on the two mobile platforms 12 clamp and fix the two long strips of the pile head to limit the position, thereby preventing the pile head from being displaced on the horizontal plane of the support platform 11;

[0064] When the subsequent loop is placed on the pile head, Figure 7 As shown, at this time, one side of the loop is in close contact with the inner wall of the groove on the pile head where the loop is placed, and the other side is flush with the inner wall of the pile head and contacts the clamping plate 13, and is fixed by the clamping plate 13, thereby completing the fixation of the loop.

[0065] The control method of the fully automatic precision assembly equipment based on visual inspection comprises the following steps:

[0066] One: by controlling the first feeding mechanism 2 to grab and place a single support member on the clamping assembly 5 located in the first feeding area, the position of the support member is fixed by the clamping assembly 5;

[0067] Second, the first shooting unit 9 is used to shoot images of each support member fixed on the clamping assembly 5 at different angles and positions (the images are taken when the support member is placed on the clamping assembly 5 and the clamping assembly 5 fixes the support member in step 1, which will cause a certain position offset of the support member on the clamping assembly 5), and at the same time, define any point position X in the area where the stacked member is placed on the support member shot at this time as the end point;

[0068] 3. Then, the second loading mechanism 3 is controlled to grab a single stacked piece, and then the second shooting unit 10 is used to shoot the piece to obtain the position and angle of the stacked piece at this time. A point X' on the stacked piece shot at this time is defined as the starting point. When the stacked piece moves to the area on the support where the stacked piece is placed, X and X' coincide.

[0069] Fourth, the stacking member is driven by the second driving member 35 to perform fine adjustment of the angle, so that the finely adjusted stacking member is parallel to the position where the stacking member is placed on the supporting member;

[0070] Fifth: determine the distance between the starting point X' and the end point X at this time (calculated by computer, which is the prior art), and finally control the second feeding mechanism 3 to drive the stacking piece to move and place it on the support to place the stacking piece, ensuring that the stacking piece and the support, as well as the second locking hole on the stacking piece and the first locking hole on the support are accurately aligned;

[0071] Sixth: Finally, the locking member is grasped by controlling the locking mechanism 4 to pass through the second locking hole and the first locking hole to lock and fix the aligned supporting member and stacking member;

[0072] Seven: Remove the support members and stacking members fixed by the locking members on the clamping assembly 5, and repeat the above steps 1 to 6 to achieve uninterrupted and continuous processing and fixing of the support members and stacking members.

[0073] like Figure 1-Figure 7 As shown, four clamping assemblies 5 are used as an example for explanation (compared with one to three clamping assemblies 5, the processing efficiency can be improved and the waste of materials caused by using more than four clamping assemblies 5 can be avoided):

[0074] like Figure 1-Figure 5 As shown, a rotating plate 8 is rotatably provided on the machine 1, and four clamping assemblies 5 are evenly distributed in a circular shape on the rotating plate 8. A collecting box 6 is provided on the machine 1 for collecting the supporting members and stacking members that are locked and fixed together. The first feeding mechanism 2, the second feeding mechanism 3, the locking mechanism 4 and the collecting box 6 correspond to one clamping assembly 5 respectively.

[0075] like Figure 1 and Figure 5 As shown, each clamping assembly 5 is provided with a material discharge assembly (not shown) on one side, which is used to guide the support members and stacking members locked and fixed together on the clamping assembly 5 into the collection box 6;

[0076] Here, the unloading component can be set as a blowing component, so that after the subsequent locking component locks and fixes the support component and the stacking component, the clamping component 5 is adjusted to no longer fix the assembled precision assembly, and it is blown into the collection box 6 for collection, thereby completing the automatic unloading work;

[0077] like Figure 5 As shown, a lifting assembly 7 is provided under each clamping assembly 5, and an ejector pin is connected to the lifting assembly 7. Each ejector pin movably penetrates a clamping assembly 5, and the cross-sectional size of the ejector pin is smaller than the opening size of the first locking hole and the second locking hole, so that the support member and the stacking member can be inserted into the ejector pin conveniently;

[0078] By setting the ejector pin, the pile head and the loop buckle can be positioned when they are placed, and the lifting assembly 7 can be adjusted to drive the ejector pin to rise and protrude from the top surface of the clamping assembly 5, so that the subsequent placement of the pile head and the loop buckle is more stable, and the displacement distance of the pile head and the loop buckle when the pile head and the loop buckle are placed and when the clamping assembly 5 fixes them is reduced, so that the placement is more stable. When the pile head and the loop buckle are locked and fixed by the locking member, the lifting assembly 7 can be adjusted to drive the ejector pin to move downward, and the first locking hole and the second locking hole can be flexibly separated, so as to facilitate the subsequent insertion of the locking member.

[0079] Working principle: First, the pile head material and the loop buckle material are placed in the first vibration plate 21 and the second vibration plate 31 respectively, and photographed by the third shooting unit 24 and the fifth shooting unit 34 respectively (when the pile head and the loop buckle have been uniformly placed one by one on the material placing mold, the above-mentioned photographing step can be omitted), so as to facilitate the subsequent grasping of the pile head and the loop buckle facing upward in sequence by the first grasping member 23 and the second grasping member 33;

[0080] Before placing the pile head with the front side facing upwards grasped by the first grasping member 23 into the corresponding clamping assembly 5, the position of the first locking hole on the pile head at this time is recorded by the fourth shooting unit 25, so that the distance between the pile head and the subsequent ejector pin can be known, which is convenient for the subsequent precise transportation by the first three-axis manipulator 22, so that the first locking hole on the pile head can be accurately moved to the ejector pin position;

[0081] Subsequently, the pile head is clamped and fixed by the clamping assembly 5, and then the rotating plate 8 is driven to rotate, so that the clamping assembly 5 on which the pile head is fixed is driven to rotate, so that the clamping assembly 5 with the pile head fixed is moved to the second feeding mechanism 3. Each time the pile head is placed on the clamping assembly 5 and in the process of the clamping assembly 5 fixing the pile head, the final position of the pile head each time will have a certain deviation (this deviation is small). The angle and position of the loop buckle area on the pile head fixed on the clamping assembly 5 are photographed and recorded by the first shooting unit 9, and any point position X in the loop buckle area on the pile head photographed at this time is defined as the end point, and the coordinates of this point on the horizontal plane are defined as (X1, Y1);

[0082] Then, the second three-axis manipulator 32 and the second driving member 35 act to make the second grabbing member 33 grab a single loop with the front side facing upward, and then take a picture through the second shooting unit 10 to record the position and angle of the loop at this time, and define a point X' on the stack photographed at this time as the starting point. When the stack moves to the area where the stack is placed on the support, X coincides with X', and the coordinates of this point on the horizontal plane are defined as (X2, Y2), so that the distance between the starting point and the end point X can be known (because the second grabbing member 33 grabs the loop and contacts the loop at different positions each time, the coordinates (X2, Y2) of the starting point X' on the horizontal plane are different, resulting in different distances between the starting point X' and the end point X);

[0083] The images of the support member and the stacking member and the positions of the starting point and the end point are calculated by a computer (which is the prior art), so that the second driving member 35 can be used to drive the ring buckle to rotate a certain angle, and at the same time, the second three-axis manipulator 32 can be adjusted to move accurately, so that the second locking hole on the ring buckle can be accurately moved to the ejector pin position, and the ring buckle can be accurately moved from the starting point to the end point, so that the ring buckle and the pile head can be accurately aligned;

[0084] After alignment, combine Figure 5 and Figure 7 As shown, the pile head and the loop are fixedly placed on the clamping assembly 5 at the same time, and then the rotating plate 8 is driven to rotate, so that the clamping assembly 5 moves to the locking mechanism 4. At this time, the third material grabbing member 43 is used to grab the locking member in the material tray 41, and then the third three-axis manipulator 42 is used to adjust the movement of the locking member to lock and fix the precisely aligned support member and stacking member;

[0085] Finally, the locked and fixed ring buckle and pile head are rotated to the collection box 6, the clamping assembly 5 is adjusted to no longer fix the clamping ring buckle and pile head, and the fixed ring buckle and pile head are blown into the collection box 6 by the blowing assembly for collection;

[0086] Preferably, four clamping assemblies 5 are provided, and the above steps can be repeated to complete the non-stop automatic precision processing of the pile head and the ring buckle. Compared with the traditional manual or semi-automatic mechanical equipment to assemble the two, the assembly accuracy of the equipment is higher and the stability is strong, which can reduce the small position errors during assembly and improve the qualified rate of the product. The fully automatic production improves the production efficiency and avoids the high intensity of manual labor.

[0087] 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 control method for fully automatic precision assembly equipment based on visual inspection, Features: Used for assembling a precision assembly, the precision assembly includes a plurality of support members and stacking members stacked from bottom to top, the support member is provided with a first locking hole, the stacking member is provided with a second locking hole adapted to the first locking hole, the control method includes the following steps: One: by controlling the first loading mechanism (2), a single support member is grabbed and placed on a clamping assembly (5) located in the first loading area, and the position of the support member is fixed by the clamping assembly (5); Second, using the first photographing unit (9) to photograph images of each support member fixed on the clamping assembly (5) at different angles and positions, and defining a position X at any point in the region where the stacked members are placed on the support member photographed at this time as the end point; Three: Then, a single stacked piece is grabbed by controlling the second feeding mechanism (3), the second feeding mechanism (3) comprising a second grabbing piece (33), a second driving piece (35) and a second three-axis manipulator (32), the second driving piece (35) driving the second grabbing piece (33) to rotate in a vertical direction, the second driving piece (35) and the second three-axis manipulator (32) cooperate to grab stacked pieces at different positions and angles, and then the second shooting unit (10) shoots the pieces to obtain the position and angle of the stacked piece at this time, and defines a point X' on the stacked piece shot at this time as the starting point, and when the stacked piece moves to the area on the support where the stacked piece is placed, X and X' coincide; Fourth, the stacking member is driven by the second driving member (35) to perform fine adjustment of the angle, so that the stacking member after fine adjustment is parallel to the position where the stacking member is placed on the supporting member; Fifth, determine the distance between the starting point X' and the end point X at this time, and finally drive the stacking member to move and place it on the support member through the second feeding mechanism (3), ensuring that the stacking member and the support member, as well as the second locking hole on the stacking member and the first locking hole on the support member are accurately aligned; Sixth: Finally, the locking mechanism (4) is controlled to grab the locking member and pass it through the second locking hole and the first locking hole to lock and fix the aligned support member and stacking member; Seven: Remove the support member and the stacking member fixed by the locking member on the clamping assembly (5), and repeat the above steps 1 to 6 to achieve uninterrupted and continuous processing and fixing of the support member and the stacking member.

2. According to claim 1, a control method for fully automatic precision assembly equipment based on visual inspection, Features: The fully automatic precision assembly equipment comprises a machine table (1), a rotating plate (8) is rotatably provided on the machine table (1), four clamping components (5) are evenly distributed in a circular shape on the rotating plate (8), a collecting box (6) is provided on the machine table (1) for collecting supporting parts and stacking parts that are locked and fixed together, and the first feeding mechanism (2), the second feeding mechanism (3), the locking mechanism (4) and the collecting box (6) respectively correspond to a clamping component (5).

3. According to claim 2, a control method for fully automatic precision assembly equipment based on visual inspection, Features: A material discharge assembly is provided on one side of each clamping assembly (5) for guiding the support members and stacking members locked and fixed together on the clamping assembly (5) into the collection box (6).

4. A control method for fully automatic precision assembly equipment based on visual inspection according to any one of claims 1 to 3, Features: A lifting assembly (7) is provided below each clamping assembly (5), and the lifting assembly (7) is connected to a pin. Each pin movably penetrates a clamping assembly (5), and the cross-sectional size of the pin is smaller than the opening size of the first locking hole and the second locking hole.

5. According to claim 1, a control method for fully automatic precision assembly equipment based on visual inspection, Features: The first feeding mechanism (2) comprises a first vibration plate (21), a first three-axis manipulator (22), a first material grabbing member (23) and a third shooting unit (24); the third shooting unit (24) is located above the first vibration plate (21) and is used to shoot a support member facing upward inside the first vibration plate (21); the first three-axis manipulator (22) drives the first material grabbing member (23) to move and grab the support member facing upward inside the first vibration plate (21).

6. A control method for fully automatic precision assembly equipment based on visual inspection according to claim 5, Features: The first feeding mechanism (2) further comprises a fourth photographing unit (25) for photographing an image of the grasped support member.

7. A control method for fully automatic precision assembly equipment based on visual inspection according to claim 5, Features: The first feeding mechanism (2) further comprises a first driving member (26) for driving the first grabbing member (23) to rotate in a vertical direction to grab supporting members at different positions and angles in the first vibration plate (21).

8. According to claim 1, a control method for fully automatic precision assembly equipment based on visual inspection, Features: The second loading mechanism (3) comprises a second vibration plate (31) and a fifth shooting unit (34); the second three-axis manipulator (32) drives the second grabbing member (33) to move and grab the stacked members facing upward on the second vibration plate (31) and place them on a support member on the clamping assembly (5); the fifth shooting unit (34) is located above the second vibration plate (31) and is used to shoot the stacked members facing upward in the second vibration plate (31).

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