Workpiece auxiliary installation system and production line

Abstract

The present invention belongs to the field of workpiece auxiliary installation, and discloses a workpiece auxiliary installation system and a production line. The workpiece auxiliary installation system can install and fix the workpiece installation part of the workpiece that has been mutually aligned and the mating installation part of the installation mating structure, and includes: a vision guiding tooling for presenting the mating installation part in the vision blind area with a visual feature that satisfies a preset relative position relationship therewith; a vision recognition device for determining the actual position information of the mating installation part according to the visual feature and the preset relative position relationship; and an automatic installation device, which communicates with the vision recognition device and is used to automatically install and fix the corresponding mating installation part and the workpiece installation part according to the actual position information. Through the present invention, the to-be-installed position in the vision blind area can be accurately recognized, and the automatic installation of the mating installation part in the vision blind area and the workpiece installation part aligned therewith can be realized, thereby saving manpower and greatly improving the installation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece auxiliary installation, and specifically, to a workpiece auxiliary installation system and a production line. Background Art

[0002] At present, for some workpieces with installation parts in the visual blind area, it is impossible to achieve automatic installation by means of visual recognition equipment. For example, in a construction machinery with a slewing function, its slewing bearing needs to be installed on a bearing installation seat protruding from the top end face of the chassis. When installing the two, it is necessary to pre-align the end face blind hole at the bottom end face of the slewing bearing with the installation seat through hole on the bearing installation seat, and then use bolts and other connecting parts to sequentially pass through the installation seat through hole and the end face blind hole from bottom to top. Since the end face blind hole cannot be observed from above, when installing the connecting parts, only the through position can be judged through the installation seat through hole, but the space between the top end face of the chassis and the installation seat through hole is narrow, and common visual recognition equipment cannot reach into it to accurately identify the position of the installation seat through hole, so it is impossible to achieve automatic installation by means of visual recognition equipment.

[0003] Therefore, in the actual installation process, generally, the position of the installation seat through hole is roughly determined by manual touch, and then the connecting parts are manually installed. However, due to the large number of connecting parts, it will cause a large workload, high labor intensity, and low installation efficiency. Summary of the Invention

[0004] In view of the above at least one defect or deficiency of the prior art, the present invention provides a workpiece auxiliary installation system and a production line, which can accurately identify the position to be installed in the visual blind area and realize automatic workpiece installation to save manpower and improve installation efficiency.

[0005] To achieve the above object, the first aspect of the present invention provides a workpiece auxiliary installation system, which can install and fix the workpiece installation part of the workpiece and the mating installation part of the mating installation structure that have been mutually aligned, and includes:

[0006] A visual guiding tooling for presenting the mating installation part in the visual blind area with a visual feature that satisfies a preset relative position relationship therewith;

[0007] A visual recognition device for determining the actual position information of the mating installation part according to the visual feature and the preset relative position relationship; and

[0008] An automatic installation device, which communicates with the visual recognition device and is used to automatically install and fix the corresponding mating installation part and the workpiece installation part according to the actual position information.

[0009] Optionally, the workpiece auxiliary installation system includes a plurality of the visual guiding toolings, and the plurality of visual guiding toolings are configured to present some of the mating installation parts in the visual blind area one by one with a plurality of the visual features; the visual recognition device is configured to determine the actual position information of the plurality of mating installation parts corresponding to the plurality of visual features one by one, and determine the actual position information of the remaining mating installation parts according to the pre-recorded model information of the installation mating structure and the plurality of actual position information; the automatic installation device is configured to automatically install and fix all the workpiece installation parts and the mating installation parts that have been aligned with each other according to all the actual position information.

[0010] Optionally, the workpiece includes a plurality of the workpiece installation parts arranged in an annular shape, the installation mating structure includes a plurality of mating installation parts arranged in an annular shape and capable of being aligned with the plurality of workpiece installation parts one by one, and the model information includes the relative position information between any two of all the mating installation parts; the visual guiding toolings include a first visual guiding tooling, a second visual guiding tooling, and a third visual guiding tooling configured to present any three of the mating installation parts in the visual blind area one by one with three of the visual features; the visual recognition device is configured as:

[0011] Generate three actual position information corresponding to the three visual features one by one;

[0012] Determine the center position information of the circumscribed circle where the corresponding three mating installation parts are located according to the three actual position information;

[0013] Determine the actual position information of the remaining mating installation parts according to the three actual position information, all the relative position information, and the center position information.

[0014] Optionally, the visual feature is a structural feature formed on the visual guiding tooling; and / or, the visual feature is a non-structural feature generated by the visual guiding tooling.

[0015] Optionally, in the usage state of the visual guiding tooling, the visual feature and the corresponding workpiece installation part and mating installation part are aligned in sequence along a linear direction; or, in the usage state of the visual guiding tooling, the visual feature is arranged in a dislocation manner with the workpiece installation part and the mating installation part that have been aligned with each other.

[0016] Optionally, the visual guiding tooling includes a tooling external connection structure detachably connected to the workpiece and / or the installation mating structure.

[0017] Optionally, the tooling external connection structure is used to detachably connect the mating installation part.

[0018] Optionally, the visual guiding tooling includes a tooling identification structure that is fixedly arranged with the external structure of the tooling and serves as the visual feature.

[0019] Optionally, the automatic installation device includes at least one of an automatic threading device, an automatic welding device, and an automatic gluing device.

[0020] Optionally, the workpiece auxiliary installation system further includes:

[0021] A pre-positioning device for pre-positioning the workpiece on the installation and mating structure so that the workpiece installation part to be installed and fixed is aligned with the mating installation part.

[0022] Optionally, the workpiece auxiliary installation system further includes:

[0023] A transfer device for transferring the workpiece assembly between different workstations.

[0024] Optionally, the workpiece is a slewing bearing, the workpiece installation part is an end face blind hole formed on the end face of the slewing bearing, the installation and mating structure is a support mounting seat, and the mating installation part is a mounting seat through hole formed on the support mounting seat.

[0025] The second aspect of the present invention provides a production line, which includes the above-mentioned workpiece auxiliary installation system.

[0026] When installing and fixing the mating installation part of the workpiece installation part and the installation and mating structure that have been aligned with each other, by using the visual guiding tooling, the mating installation part in the visual blind area can be presented with visual features, and the visual features and the mating installation part in the visual blind area satisfy a preset relative position relationship. Therefore, by using a visual recognition device to recognize the visual features and performing calculations according to the preset relative position relationship, the actual position information of the mating installation part can be accurately obtained. The automatic installation device can automatically install and fix the mating installation part in the visual blind area and the workpiece installation part aligned with it according to the actual position information, thereby saving manpower and greatly improving the installation efficiency.

[0027] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used to explain the present invention together with the following specific implementation manners, but do not constitute a limitation to the present invention. In the drawings:

[0029] Figure 1 It is a schematic diagram when a visual guiding tooling in a specific implementation manner of the present invention is in use;

[0030] Figure 2 is the top view of Figure 1 ;

[0031] Figure 3 is the sectional view A-A of Figure 2 ;

[0032] Figure 4 is the schematic diagram of the vision guiding tooling in Figure 1 ;

[0033] Figure 5 is the sectional view of the vision guiding tooling in Figure 4 ;

[0034] Description of reference numerals:

[0035] 100 Vision guiding tooling 200 Workpiece

[0036] 300 Installation and mating structure

[0037] 101 Tooling bracket 102 Tooling external connection structure

[0038] 103 Tooling identification structure 201 Slewing bearing

[0039] 301 Support mounting seat

[0040] 101a First rod body 101b Second rod body

[0041] 101c Connecting rod body 101d Positioning pin

[0042] 101e Rod body bump 102a Tooling pin

[0043] 103a Tooling identification hole 201a End face blind hole

[0044] 301a Mounting seat through hole Detailed implementation manners

[0045] The following further elaborates on the detailed implementation manners of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the detailed implementation manners described herein are only for the purpose of illustration and explanation of the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0046] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0047] In the embodiments of the present invention, unless otherwise stated, the orientation terms such as "upper, lower, top, bottom" generally refer to the directions shown in the drawings or the relative positional relationship of each component in the vertical, perpendicular or gravitational direction.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0049] Referring to Figures 1 to 5 , a first exemplary embodiment of the present invention provides a workpiece auxiliary installation system that can install and fix the workpiece installation part of the workpiece 200 that has been aligned with each other and the mating installation part of the installation mating structure 300. For example, the workpiece 200 can be a slewing bearing 201 in a construction machinery with a slewing function, the workpiece installation part is an end face blind hole 201a on the end face of the slewing bearing 201, the installation mating structure 300 can be a support mounting seat 301, and the mating installation part is a mounting seat through hole 301a on the support mounting seat 301. During installation, first place the slewing bearing 201 on the support mounting seat 301 (for example, hoist the slewing bearing 201 onto the support mounting seat 301), align the end face blind hole 201a with the mounting seat through hole 301a, and then use the workpiece auxiliary installation system of this exemplary embodiment to automatically sequentially pass through-connecting parts such as bolts through the mounting seat through hole 301a and the end face blind hole 201a to install and fix the slewing bearing 201 and the support mounting seat 301.

[0050] Of course, the workpiece auxiliary installation system of this exemplary embodiment is not limited to being applied to the above-mentioned installation working conditions, and is also applicable to processes such as welding and gluing. Therefore, the automatic installation equipment can be an automatic through-connecting equipment, an automatic welding equipment, an automatic gluing equipment, etc. When it is necessary to use a combination of multiple processes to install and fix the workpiece installation part and the mating installation part, multiple types of automatic installation equipment can be combined and set.

[0051] The workpiece auxiliary installation system specifically includes a vision guiding tooling 100, a vision recognition device, and an automatic installation device. For a mating installation part that is in a vision blind area and cannot be directly recognized by adjusting the position of the vision recognition device, the vision guiding tooling 100 can first present it with a visual feature, and the visual feature satisfies a preset relative position relationship with the mating installation part in the vision blind area, and the preset relative position relationship is pre-stored in the vision recognition device. The so-called visual feature refers to a feature that the vision recognition device can directly recognize by adjusting its own position. By recognizing the visual feature through the vision recognition device and performing calculations according to the preset relative position relationship, the actual position information of the mating installation part can be accurately obtained. Then, using the automatic installation device that communicates with the vision recognition device, the corresponding mating installation part and the workpiece installation part can be automatically installed and fixed according to the actual position information, that is, the automatic installation and fixing of the mating installation part in the vision blind area and the workpiece installation part aligned with it can be realized, thereby saving manpower, reducing the workload of operators, reducing labor intensity, and greatly improving the installation efficiency and production benefits.

[0052] When there are multiple sets of mating installation parts and workpiece installation parts to be installed and fixed between the workpiece 200 and the installation mating structure 300, the continuous (or synchronous) and automatic installation of multiple sets of mating installation parts and workpiece installation parts can be achieved through the following embodiments.

[0053] Specifically, multiple vision guiding toolings 100 are arranged in the workpiece auxiliary installation system, and the multiple vision guiding toolings 100 can respectively present some of the mating installation parts in the vision blind area with multiple visual features in a one-to-one correspondence.

[0054] According to the foregoing principle, the vision recognition device can first determine the actual position information of multiple mating installation parts corresponding to the multiple visual features one by one. As for the actual position information of the remaining mating installation parts, the model information of the installation mating structure 300 can be pre-entered into the vision recognition device, so that the vision recognition device can make a further determination based on the model information of the installation mating structure 300 and the actual position information of the multiple determined mating installation parts. In other words, to determine the actual position information of all the mating installation parts in the vision blind area, it is not necessary to first present all the mating installation parts with visual features one by one. Instead, only by pre-storing the model information of the installation mating structure 300 in the vision recognition device, the vision recognition device can obtain the relative position relationship of all the mating installation parts from this model information, and then further determine the actual position information of the remaining mating installation parts based on the actual position information of the multiple determined mating installation parts and this model information.

[0055] After determining the actual position information of all the mating installation parts, the automatic installation device immediately generates an installation program, so that all the workpiece installation parts and mating installation parts that have been aligned with each other can be automatically installed and fixed.

[0056] In one scenario, the workpiece 200 includes multiple workpiece installation parts arranged in an annular shape, and the installation mating structure 300 includes multiple mating installation parts arranged in an annular shape and capable of being aligned with the multiple workpiece installation parts one by one (such as Figures 1 to 3 the scenario shown), the actual position information of all the mating installation parts can be determined through the following embodiments.

[0057] Specifically, the pre-entered model information of the installation mating structure 300 includes the relative position information between all the mating installation parts in pairs. The vision guiding tooling 100 includes a first vision guiding tooling, a second vision guiding tooling, and a third vision guiding tooling.

[0058] Among them, the first vision guiding tooling, the second vision guiding tooling, and the third vision guiding tooling can respectively present any three mating installation parts in the vision blind area with three visual features in a one-to-one correspondence, and the first vision guiding tooling, the second vision guiding tooling, and the third vision guiding tooling are all in communication with the vision recognition device.

[0059] At this time, the visual recognition device can first generate the actual position information of the three mating installation parts one by one according to the three visual features, and then determine the center position information of the circumcircle where the corresponding three mating installation parts are located according to the three actual position information. Then, according to the three actual position information, all the pre-stored relative position information and the center position information, determine the actual position information of the remaining mating installation parts.

[0060] In the case where the number of mating installation parts in the visual blind area is large, the above embodiments can accurately determine the actual position information of all mating installation parts with a small number of visual guiding toolings 100, with high reliability. When it is necessary to disassemble and assemble the visual guiding tooling 100 during the assembly process, the total time for disassembling and assembling the visual guiding tooling 100 can be saved, the assembly efficiency can be improved, and the number of toolings can be saved, effectively saving the production cost as a whole.

[0061] This exemplary embodiment does not limit the specific presentation form of the visual features.

[0062] Specifically, the visual features can be structural features formed on the visual guiding tooling 100, such as holes, notches, grooves, protrusions, etc. The visual features can also be non-structural features generated by the visual guiding tooling 100. For example, a display is provided in the visual guiding tooling 100, and the images, light spots, etc. displayed on the display are used as visual features; or, a projector is provided in the visual guiding tooling 100, and images, light spots, etc. are projected at a position where the mating installation parts in the visual blind area satisfy a preset relative position relationship through the projector as visual features. Of course, the visual features can also be combined features that combine the structural features formed on the visual guiding tooling 100 and the non-structural features generated by the visual guiding tooling 100.

[0063] On the other hand, this exemplary embodiment does not limit the specific setting of the preset relative position relationship between the foregoing visual features and the mating installation parts.

[0064] Specifically, in a preset relative position relationship, when the visual guiding tooling 100 is in use, the visual features, the corresponding workpiece mounting part, and the mating mounting part are aligned in sequence along a linear direction. In this way, the preset relative position relationship can be simplified to a linear relative position relationship, which has strong intuitiveness, thus simplifying the determination process of the preset relative position relationship. This not only reduces the programming design difficulty but also simplifies the operation of the visual recognition device, especially in scenarios where a large number of visual guiding toolings 100 are required. On the other hand, linear alignment is beneficial to shortening the distance between the visual features and the mating mounting part, enabling the visual features to be as close as possible to the working station or located within the working station to adapt to the visual range of the visual recognition device and improve the practicability of the workpiece auxiliary installation system. In addition, when the visual guiding tooling 100 is provided with a tooling external connection structure 102 (such as a tooling pin 102a) described below and needs to detachably connect the tooling external connection structure 102 to the mating mounting part (such as the mounting seat through hole 301a) of the installation and mating structure 300 during use, due to the requirement of linear alignment between the visual features and the mating mounting part, the size of the visual guiding tooling 100 can be designed relatively small at this time. Thus, from a production perspective, it saves the manufacturing materials of the visual guiding tooling 100, simplifies the structure, saves costs, reduces the processing difficulty, and improves production efficiency.

[0065] In another preset relative position relationship, when the visual guiding tooling 100 is in use, the visual features are arranged in a misaligned manner with the already mutually aligned workpiece mounting part and the mating mounting part. As long as the preset relative position relationship is clear, the actual position information of the mating mounting part can be determined through the operation of the visual recognition device.

[0066] Therefore, for different installation conditions, an appropriate visual guiding tooling 100 can be adaptively selected to present the mating mounting part in the visual blind area with visual features. The visual guiding tooling 100 has the advantages of strong designability and flexible setting of the preset relative position relationship.

[0067] Furthermore, the specific installation method of the visual guiding tooling 100 is not limited in this exemplary embodiment.

[0068] In one embodiment, the visual guiding tooling 100 may include a tooling external connection structure 102, which is detachably connected to the workpiece 200 and / or the installation and mating structure 300. That is, the visual guiding tooling 100 can be detachably connected to the workpiece 200 through the tooling external connection structure 102, or can be detachably connected to the installation and mating structure 300 through the tooling external connection structure 102, or can be detachably connected to both the workpiece 200 and the installation and mating structure 300 through the tooling external connection structure 102 at the same time.

[0069] In another embodiment, the tooling external connection structure 102 may not be connected to the workpiece 200 and the installation and cooperation structure 300, but fixed through other structures. For example, in the installation condition of the slewing bearing 201 and the bearing mounting seat 301 of the construction machinery with the slewing function described above, the tooling external connection structure 102 can be detachably connected to the top surface of the chassis of the construction machinery, but not connected to the bearing mounting seat 301.

[0070] It should be noted that as long as the vision-guided tooling 100 is installed and fixed for use, the visualized features presented by it and the corresponding mating installation parts always satisfy the preset relative position relationship. In other words, the specific installation method of the vision-guided tooling 100 will not affect this preset relative position relationship, and thus will not affect the accuracy of the vision recognition device to determine the actual position information of the mating installation part.

[0071] In the case where the vision-guided tooling 100 is detachably connected to the installation and cooperation structure 300 through the tooling external connection structure 102, further, the tooling external connection structure 102 can be set to be detachably connected to the mating installation part. In this way, the setting of the preset relative position relationship is only related to the self-features of the vision-guided tooling 100, which can reduce the difficulty of setting the preset relative position relationship. In this case, after the vision recognition device determines the actual position information of the mating installation part, the vision-guided tooling 100 needs to be removed from the mating installation part to avoid affecting the subsequent automatic installation and fixation of the mating installation part and the workpiece installation part aligned with it by the automatic installation device.

[0072] In addition, the vision-guided tooling 100 may include a tooling recognition structure 103 that is fixedly arranged with the tooling external connection structure 102 and serves as a visualized feature. Obviously, this tooling recognition structure 103 is an optional embodiment of the visualized feature formed as a structural feature described above. A more specific vision-guided tooling 100 will be provided based on this embodiment later, and will not be elaborated here for the time being.

[0073] According to the foregoing, before performing the automatic installation and fixation of the workpiece installation part and the mating installation part, it is necessary to first pre-position the workpiece 200 on the installation and cooperation structure 300 so that the workpiece installation part and the mating installation part are aligned with each other. To further expand the function of the workpiece auxiliary installation system, a pre-positioning device can be set in the workpiece auxiliary installation system. This pre-positioning device can pre-position the workpiece 200 on the installation and cooperation structure 300 so that the workpiece installation part to be installed and fixed is aligned with the mating installation part. The specific type of the pre-positioning device is not limited and can be determined according to the actual installation condition, but it needs to have the function of transporting the workpiece 200 and / or the installation and cooperation structure 300. For example, the pre-positioning device can be a hoisting device such as a programmable overhead crane or a truss manipulator, or a walking and transporting device such as an AGV cart or an RGV cart.

[0074] In addition, in some installation conditions, system devices such as vision recognition devices and automatic installation devices may be arranged at different workstations. At this time, a transfer device needs to be set in the workpiece auxiliary installation system to transfer the workpiece assembly between different workstations to ensure the complete execution of the installation process. Among them, the workpiece assembly can be a combination of workpiece 200, installation fitting structure 300, and vision guiding tooling 100, or a combination of workpiece 200 and installation fitting structure 300, etc. Under different workstations, the specific composition of the workpiece assembly is different.

[0075] The second exemplary embodiment of the present invention provides a production line, which includes the above-mentioned workpiece auxiliary installation system, and thus also has all the technical effects brought by this workpiece auxiliary installation system, so it will not be repeated here. For example, the production line can be a production line of construction machinery with a slewing function, etc.

[0076] The third exemplary embodiment of the present invention provides a vision guiding tooling 100 with a tooling recognition structure 103 as a visual feature. The vision guiding tooling 100 further includes a tooling bracket 101 and a tooling external connection structure 102, which can be referred to Figure 4 and Figure 5 。

[0077] Specifically, parameters such as the shape and size of the tooling bracket 101 can be adaptively set according to the actual installation conditions. The tooling external connection structure 102 is arranged on the tooling bracket 101 and is used to detachably connect to the mating installation part in the visual blind area. The tooling recognition structure 103 is arranged on the tooling bracket 101 and is fixedly arranged with the tooling external connection structure 102. The tooling recognition structure 103 is used to present as a visual feature in the visible area for the vision recognition device to recognize when the tooling external connection structure 102 is connected to the mating installation part.

[0078] It can be seen that in the vision guiding tooling 100 of this exemplary embodiment, the preset relative position relationship satisfied by the tooling recognition structure 103 as a visual feature and the mating installation part is only related to parameters such as the shape and size of the tooling bracket 101 and the relative position between the tooling recognition structure 103 and the tooling external connection structure 102, that is, the setting of the preset relative position relationship is only related to the self-features of the vision guiding tooling 100. The advantages of this setting have been described above, so it will not be repeated here.

[0079] Furthermore, the tooling identification structure 103 may include a tooling identification hole 103a formed on the tooling bracket 101. The tooling identification hole 103a can be arranged in alignment or misalignment with the mating installation part when the tooling external connection structure 102 is connected and mated with the installation part. For example, for the installation condition of the slewing bearing 201 and the support mounting seat 301 of the aforementioned construction machinery with a slewing function, when the tooling external connection structure 102 is connected to the mounting seat through-hole 301a, the tooling identification hole 103a can be set to be exactly coaxially aligned with the mounting seat through-hole 301a, or can be set to be misaligned with the mounting seat through-hole 301a. Of course, the tooling identification structure 103 may also include different structural features such as notches, grooves, protrusions, etc.

[0080] In addition, the tooling external connection structure 102 may include a tooling pin 102a, and the tooling pin 102a can be detachably inserted into the mating installation hole as the mating installation part. For example, for the installation condition of the slewing bearing 201 and the support mounting seat 301 of the aforementioned construction machinery with a slewing function, the mating installation hole is the mounting seat through-hole 301a. By detachably inserting the tooling pin 102a into the mounting seat through-hole 301a, the quick disassembly and assembly of the vision-guided tooling 100 can be realized, the operation can be simplified, and the installation efficiency of the workpiece 200 and the installation and mating structure 300 can be improved as a whole.

[0081] When the tooling identification structure 103 includes the tooling identification hole 103a and the tooling external connection structure 102 includes the tooling pin 102a, the tooling identification hole 103a and the tooling pin 102a can be coaxially arranged. In this way, when the tooling pin 102a is inserted into the mating installation hole as the mating installation part, the tooling identification hole 103a is coaxially aligned with the mating installation hole.

[0082] Furthermore, the tooling bracket 101 may include a first rod body 101a and a second rod body 101b arranged in parallel at intervals and a connecting rod body 101c vertically connecting the first rod body 101a and the second rod body 101b. At this time, the tooling identification hole 103a is formed on the first rod body 101a, and the tooling pin 102a is arranged on the second rod body 101b. The vision-guided tooling 100 is integrally in a non-closed frame shape, with a simple structure, a small volume, easy to extend into a narrow space for installation and fixation, and convenient for transportation and storage.

[0083] Furthermore, the second rod body 101b and the connecting rod body 101c can be set to be fixedly connected (for example, integrally formed by machining), and the first rod body 101a and the connecting rod body 101c can be set to be detachably connected. When using the vision guiding tooling 100, by inserting the tooling pin 102a into the mounting hole for fitting, the second rod body 101b and the connecting rod body 101c can be first fixed to the mounting and fitting structure 300 as a whole, and then the first rod body 101a and the connecting rod body 101c can be assembled. Especially for the installation condition of the slewing bearing 201 and the bearing mounting seat 301 of the aforementioned construction machinery with a slewing function, referring to Figure 3 , this embodiment is beneficial to shortening the distance between the first rod body 101a and the second rod body 101b, and even enables the first rod body 101a to fit the top surface of the slewing bearing 201, thereby playing a limiting role on the vision guiding tooling 100, improving its installation stability, avoiding situations such as shaking and displacement that affect the accuracy of the actual position information of the mating mounting hole determined by the vision recognition device, and further improving the reliability of the workpiece auxiliary installation system.

[0084] This embodiment does not limit the specific detachable connection method between the first rod body 101a and the connecting rod body 101c. By way of example, the first rod body 101a can be formed with a first rod body pin hole, the connecting rod body 101c can be formed with a connecting rod body pin hole that is aligned and communicated with the first rod body pin hole, and the tooling bracket 101 can further include a positioning pin 101d that detachably passes through the first rod body pin hole and the connecting rod body pin hole. By detachably passing the positioning pin 101d through the first rod body pin hole and the connecting rod body pin hole, compared with other connection methods, it can better take into account various requirements such as installation strength, installation stability, and quick disassembly and assembly.

[0085] A limiting structure can also be provided between the first rod body 101a and the connecting rod body 101c to enhance the connection stability between the two. For example, one of the first rod body 101a and the connecting rod body 101c can be formed with a rod body convex block 101e and the other can be formed with a rod body groove that is fitted with the rod body convex block 101e. The fitting accuracy between the rod body convex block 101e and the rod body groove is relatively high, and the fitting gap is small, which can effectively prevent the first rod body 101a and the connecting rod body 101c from generating a large relative shake.

[0086] Furthermore, the first rod body 101a and the connecting rod body 101c can form a mortise and tenon fit connection, and one of the first rod body 101a and the connecting rod body 101c is formed with a tenon head as the rod body convex block 101e and the other is formed with a mortise eye as the rod body groove. The mortise and tenon fit connection can limit the disassembly and assembly direction of the first rod body 101a and the connecting rod body 101c, and reduce the degree of freedom of the first rod body 101a, referring to Figure 4, it can prevent the first rod body 101a from being directly removed upward from the connecting rod body 101c, and can reduce the risk of the first rod body 101a falling off the connecting rod body 101c before the installation of the positioning pin 101d.

[0087] The optional implementation manners of the embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation manners. Within the technical concept scope of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0088] In addition, it should be noted that the various specific technical features described in the above specific implementation manners can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the embodiments of the present invention will not separately describe various possible combination manners.

[0089] Furthermore, any combination can be made between various different implementation manners of the embodiments of the present invention, as long as it does not violate the idea of the embodiments of the present invention, and it should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. An auxiliary workpiece installation system, characterized in that, The workpiece auxiliary installation system is capable of installing and fixing the workpiece installation portion of the workpiece (200) and the matching installation portion of the installation matching structure (300) that have been aligned with each other, and comprises: A visual guidance tool (100) is used to present the matching installation parts in the visual blind area with visual features that satisfy a preset relative position relationship therewith, the visual guidance tool (100) comprising a first visual guidance tool, a second visual guidance tool and a third visual guidance tool for presenting any three matching installation parts in the visual blind area with the three visual features in a one-to-one correspondence; A visual recognition device, used to determine the actual position information of the mating installation portion according to the visual feature and the preset relative position relationship; and An automatic installation device, communicating with the visual recognition device and used to automatically install and fix the corresponding matching installation part and the workpiece installation part according to the actual position information; The visual recognition device is configured as follows: Generating three pieces of actual position information according to the three visualization features in a one-to-one correspondence; Determine the center position information of the circumscribed circles where the three corresponding matching installation parts are located according to the three actual position information; The actual position information of the remaining mating installation parts is determined based on the three actual position information, all relative position information and the circle center position information.

2. The workpiece auxiliary installation system according to claim 1, characterized in that, The workpiece auxiliary installation system comprises a plurality of the visual guidance tools (100), and the plurality of the visual guidance tools (100) are used to present a portion of the matching installation parts in the visual blind area in a one-to-one correspondence with a plurality of the visual features; The visual recognition device is used to determine the actual position information of multiple mating installation parts corresponding to the multiple visual features one by one, and determine the actual position information of the remaining mating installation parts based on the pre-entered model information of the installation mating structure (300) and the multiple actual position information; the automatic installation device is used to automatically install and fix all the workpiece installation parts and the mating installation parts that have been aligned with each other according to all the actual position information.

3. The workpiece auxiliary installation system according to claim 2, characterized in that, The workpiece (200) comprises a plurality of workpiece mounting portions arranged in a circular ring shape, the mounting matching structure (300) comprises a plurality of matching mounting portions arranged in a circular ring shape and capable of being aligned one-to-one with the plurality of workpiece mounting portions, and the model information comprises relative position information between all the matching mounting portions.

4. The workpiece auxiliary installation system according to claim 1, wherein The visual feature is a structural feature formed on the vision-guided tooling (100); and / or the visual feature is a non-structural feature generated by the vision-guided tooling (100).

5. The workpiece auxiliary installation system according to claim 1, characterized in that, When the visual guidance tooling (100) is in use, the visualization feature and the corresponding workpiece mounting portion and the matching mounting portion are aligned in sequence along a linear direction; or, when the visual guidance tooling (100) is in use, the visualization feature and the aligned workpiece mounting portion and the matching mounting portion are offset.

6. The workpiece auxiliary installation system according to claim 1, characterized in that The visual guidance tooling (100) includes a tooling external connection structure (102) detachably connected to the workpiece (200) and / or the installation and mating structure (300).

7. The workpiece auxiliary installation system according to claim 6, wherein The tooling external connection structure (102) is used to detachably connect the mating and installation part.

8. The workpiece auxiliary installation system according to claim 6, characterized in that, The visual guidance tooling (100) includes a tooling identification structure (103) fixedly arranged with the tooling external connection structure (102) and serving as the visualization feature.

9. The workpiece auxiliary installation system according to claim 1, characterized in that The automatic installation device includes at least one of an automatic threading device, an automatic welding device, and an automatic gluing device.

10. The workpiece auxiliary installation system according to claim 1, characterized in that, The workpiece auxiliary installation system further includes: A pre-positioning device for pre-positioning the workpiece (200) on the installation and mating structure (300) so that the workpiece installation part to be installed and fixed is aligned with the mating and installation part.

11. The workpiece auxiliary installation system according to claim 1, characterized in that, The workpiece auxiliary installation system further includes: A transfer device for transferring the workpiece assembly between different workstations.

12. The workpiece auxiliary installation system according to claim 1, characterized in that, The workpiece (200) is a slewing bearing (201), the workpiece installation part is an end face blind hole (201a) formed on the end face of the slewing bearing (201), the installation and mating structure (300) is a support installation seat (301), and the mating and installation part is an installation seat through hole (301a) formed on the support installation seat (301).

13. A production line, characterized in that, The production line includes the workpiece auxiliary installation system according to any one of claims 1 to 12.

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