Dual-arm multi-vision collaborative robot 3D dispensing and mounting detection integrated system

Abstract

The application relates to a 3D dispensing and mounting detection integrated system based on a dual-arm multi-vision cooperative robot, and belongs to the field of intelligent robots; a sensor tooling table is horizontally arranged on the upper surface of a workbench; a sensor detection table is arranged on one side of the sensor tooling table; a detection robot arm position corresponds to the sensor tooling table; a shock absorber tooling table and a chip placement position are adjacently arranged on the upper surface of the workbench; a dispensing robot arm is installed on one side of the shock absorber tooling table; a dispensing device is installed at the top end of the dispensing robot arm; a multi-vision visual assembly and a height sensor position correspond to the dispensing robot arm; a glue cleaning device is installed on one side of the shock absorber tooling table; the application realizes accurate positioning of parts and accurate detection of dispensing effect through the visual assembly, can effectively improve the production speed of products, and guarantees the qualified quality of products; moreover, the system guarantees stable taking and placing of the parts through the mechanical clamps driven by the robot and the air cylinder, realizes steady execution of the overall process, and improves the flexibility and cooperation of assembly.

Description

Technical Field

[0001] This invention belongs to the field of intelligent robots and relates to an integrated 3D dispensing, mounting and inspection system based on a dual-arm multi-view collaborative robot. Background Technology

[0002] In the contemporary industrial technology revolution, industrial production is increasingly moving towards flexible automation. Flexible robots can quickly adjust the production system according to changes in manufacturing tasks and product types, significantly reducing production costs and production cycles. They have become an important component of the modern industrial technology revolution and occupy an increasingly important position in modern industry, especially in the multi-variety, small-batch military equipment manufacturing industry and the 3C industry.

[0003] In sensor manufacturing, particularly within the 3C industry, industrial automation is urgently needed. Aerospace sensors and 3C components are diverse, small in size, and demanding. In general automated dispensing and bonding equipment, the accuracy of single-mechanical positioning is insufficient to meet practical requirements; machine vision recognition is necessary to ensure operational stability. Traditional industrial robots have limited functionality, and when additional functions are needed to adapt to changes in the environment, expansion of functional modules is difficult, resulting in low flexibility. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an integrated 3D dispensing, mounting and inspection system based on a dual-arm multi-view collaborative robot. The system achieves precise positioning of parts and accurate detection of dispensing effect through vision components, which can effectively improve the production speed of products and ensure the quality of products. Moreover, the system ensures stable picking and placing of parts by using a mechanical gripper driven by a cylinder driven by the robot, realizing the steady execution of the overall process and improving the flexibility and collaboration of assembly.

[0005] The solution of the present invention is:

[0006] The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot includes an inspection robot arm, a worktable, a multi-view vision component, a dispensing robot arm, a dispensing device, a sensor inspection table, a sensor fixture table, a glue removal device, a height sensor, a shock absorber fixture table, and a chip placement area.

[0007] The system comprises the following components: a horizontally placed workbench; a horizontally positioned sensor fixture on the upper surface of the workbench; a sensor detection station on one side of the sensor fixture; a detection robotic arm mounted on the workbench, corresponding to the sensor fixture; a shock absorber fixture and a chip placement area placed adjacent to each other on the upper surface of the workbench; a dispensing robotic arm mounted on one side of the shock absorber fixture; a dispensing device mounted on the top of the dispensing robotic arm; a multi-view vision component and a height sensor mounted on the workbench, corresponding to the dispensing robotic arm; and a glue removal device mounted on one side of the shock absorber fixture.

[0008] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the sensor fixture is a 32-position fixture, which can accommodate up to 32 external sensors.

[0009] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the shock absorber fixture is used to place external shock absorbers; the chip placement area is used to place external chips.

[0010] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, a multi-functional module is installed at the top of the inspection robot arm. The multi-functional module is used to clamp external sensors from the sensor fixture table and place them on the sensor inspection table, and to perform surface inspection on the external sensors placed on the sensor inspection table.

[0011] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the multifunctional module includes a first quick-change device, a mechanical gripper, a suction nozzle, a color camera, and a light source. The first quick-change device is a cuboid frame structure. It connects to the top of the inspection robot arm and facilitates the replacement of the multifunctional module. The mechanical gripper is horizontally positioned on one side of the first quick-change device; the suction nozzle is horizontally positioned on the other side; the color camera is vertically positioned at the center of the top of the first quick-change device; and the light source is positioned on the top of the first quick-change device and surrounds the color camera in a square shape.

[0012] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the working process of the multi-functional module is as follows:

[0013] The multifunctional module is moved to the sensor fixture by the inspection robot arm; the external sensor to be inspected is picked up by the mechanical gripper and placed on the sensor inspection table, and the mechanical gripper is released; the suction nozzle is switched to tighten and fix the external sensor to be inspected; the light source illuminates the surface of the external sensor to be inspected, and the surface of the external sensor to be inspected is inspected by the color camera.

[0014] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the dispensing device operates as follows:

[0015] The dispensing robot arm moves the dispensing device above the external shock absorber; the dispensing device applies adhesive to the upper surface of the external shock absorber; the mechanical gripper picks up the external chip and places it on the upper surface of the external shock absorber, thus bonding the external chip to the external shock absorber.

[0016] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the dispensing device moves under the drive of the dispensing robotic arm. The horizontal position of the dispensing device is measured and monitored through a multi-view vision component, and the height position of the dispensing device is measured and detected through a height sensor.

[0017] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, the dispensing device includes a second quick-change device, a pressure pen, and a dispensing syringe; wherein, the second quick-change device is a frame structure; the second quick-change device is connected to the top of the dispensing robotic arm; the pressure pen and the dispensing syringe are vertically and parallelly installed on both sides of the second quick-change device.

[0018] In the aforementioned integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot, a pressure pen is used for dispensing high-viscosity liquids; a dispensing syringe is used for dispensing low-viscosity liquids; when the adhesive in the pressure pen or dispensing syringe is used up, a cleaning device is used to clean the inner cavity of the pressure pen or dispensing syringe.

[0019] The advantages of this invention compared to the prior art are:

[0020] (1) This invention moves the multifunctional module to the sensor fixture table by a detection robotic arm; the external sensor to be tested is picked up by a mechanical gripper and placed on the sensor detection table, and the mechanical gripper is released; the suction nozzle is switched to clamp and fix the external sensor to be tested; the light source illuminates the surface of the external sensor to be tested, and the color camera detects the surface of the external sensor to be tested; the vision component enables precise positioning of the parts and precise detection of the dispensing effect, which can effectively improve the production speed of the product and ensure the qualified quality of the product.

[0021] (2) The present invention moves the dispensing device to the top of the external shock absorber by a dispensing robot arm; the dispensing device (5) applies glue to the upper surface of the external shock absorber; the external chip is picked up by a mechanical gripper and placed on the upper surface of the external shock absorber to achieve the bonding of the external chip to the external shock absorber.

[0022] (3) The pressure pen of the present invention is used for dispensing high viscosity liquids; the dispensing syringe is used for dispensing low viscosity liquids; when the glue in the pressure pen or dispensing syringe is used up, the glue cleaning device is used to clean the inner cavity of the pressure pen or dispensing syringe.

[0023] (4) The system of the present invention uses a robot-driven cylinder-driven mechanical gripper to ensure stable picking and placing of parts, realize the steady execution of the overall process, and improve the flexibility and collaboration of assembly. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall 3D dispensing, mounting, and inspection integrated system of the present invention;

[0025] Figure 2 This is a schematic diagram of the workbench of the present invention;

[0026] Figure 3 This is a schematic diagram of the multifunctional module structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the dispensing device of the present invention. Detailed Implementation

[0028] The present invention will be further described below with reference to the embodiments.

[0029] This invention provides an integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot. The system uses vision components to achieve precise positioning of parts and accurate detection of dispensing effects, which can effectively improve the production speed and ensure product quality. Moreover, the system uses a robot-driven, cylinder-driven mechanical gripper to ensure stable picking and placing of parts, enabling the steady execution of the overall process and improving the flexibility and collaboration of assembly.

[0030] A 3D dispensing, mounting, and inspection integrated system based on a dual-arm, multi-view collaborative robot, such as... Figure 1 , Figure 2 As shown, it specifically includes a detection robot arm 1, a worktable 2, a multi-view vision component 3, a dispensing robot arm 4, a dispensing device 5, a sensor detection table 7, a sensor fixture table 8, a glue removal device 9, a height sensor 10, a shock absorber fixture table 12, and a chip placement area 13.

[0031] The workbench 2 is placed horizontally; the sensor fixture 8 is horizontally set on the upper surface of the workbench 2; the sensor detection table 7 is set on one side of the sensor fixture 8; the detection robot arm 1 is installed on the workbench 2 and its position corresponds to the sensor fixture 8; the shock absorber fixture 12 and the chip placement area 13 are placed adjacent to each other on the upper surface of the workbench 2; the dispensing robot arm 4 is installed on one side of the shock absorber fixture 12; the dispensing device 5 is installed at the top of the dispensing robot arm 4; the multi-view vision component 3 and the height sensor 10 are installed on the workbench 2 and their positions correspond to the dispensing robot arm 4; and the adhesive removal device 9 is installed on one side of the shock absorber fixture 12.

[0032] In this invention, the sensor fixture 8 is a 32-bit fixture, capable of holding up to 32 external sensors. Sensors that do not require testing wait in other fixtures. The shock absorber fixture 12 is used to hold external shock absorbers; the chip placement area 13 is used to hold external chips.

[0033] The top of the inspection robot arm 1 is equipped with a multi-functional module; the multi-functional module is used to clamp the external sensor from the sensor fixture 8 and place it on the sensor inspection table 7, and the multi-functional module is used to perform surface inspection on the external sensor placed on the sensor inspection table 7.

[0034] like Figure 3 As shown, the multifunctional module includes a first quick-change device 19, a mechanical gripper 18, a suction nozzle 20, a color camera 21, and a light source 22. The first quick-change device 19 is a cuboid frame structure. The first quick-change device 19 docks with the top of the inspection robot arm 1, and the multifunctional module can be replaced through the first quick-change device 19. The mechanical gripper 18 is horizontally arranged on one side of the first quick-change device 19. The suction nozzle 20 is horizontally arranged on the other side of the first quick-change device 19. The color camera 21 is vertically arranged at the top center of the first quick-change device 19. The light source 22 is arranged on the top of the first quick-change device 19 and surrounds the color camera 21 in a square shape.

[0035] The working process of the multi-functional module is as follows:

[0036] The multifunctional module is moved to the sensor fixture 8 by the inspection robot arm 1; the external sensor to be inspected is picked up by the mechanical gripper 18 and placed on the sensor inspection table 7, and the mechanical gripper 18 is released; the suction nozzle 20 is switched to clamp and fix the external sensor to be inspected; the light source 22 illuminates the surface of the external sensor to be inspected, and the color camera 21 detects the surface of the external sensor to be inspected.

[0037] The working process of the dispensing device 5 is as follows:

[0038] The dispensing robot arm 4 moves the dispensing device 5 above the external shock absorber; the dispensing device 5 applies adhesive to the upper surface of the external shock absorber; the mechanical gripper 18 picks up the external chip and places it on the upper surface of the external shock absorber, thus bonding the external chip to the external shock absorber. During the movement of the dispensing device 5 driven by the dispensing robot arm 4, the horizontal position of the dispensing device 5 is measured and monitored by the multi-view vision component 3; the height position of the dispensing device 5 is measured and detected by the height sensor 10.

[0039] like Figure 4 As shown, the dispensing device 5 includes a second quick-change device 17, a pressure pen 14, and a dispensing syringe 16; wherein, the second quick-change device 17 is a frame structure; the second quick-change device 17 is connected to the top of the dispensing robotic arm 4; the pressure pen 14 and the dispensing syringe 16 are vertically and parallelly installed on both sides of the second quick-change device 17.

[0040] The pressure pen 14 is used for dispensing high-viscosity liquids; the dispensing syringe 16 is used for dispensing low-viscosity liquids; when the adhesive in the pressure pen 14 or the dispensing syringe 16 is used up, the adhesive cleaning device 9 cleans the inner cavity of the pressure pen 14 or the dispensing syringe 16.

[0041] In this invention, the vacuum nozzle 20 is used to perform negative pressure suction and fixation on the parts, and the mechanical gripper 18 is used to perform mechanical clamping and fixation on the parts. The servo gripper and vacuum suction cups of different sizes are used to clamp and suck up workpieces of different sizes and fix them.

[0042] The specific testing process is as follows:

[0043] A fixture capable of holding 32 parts is fixedly installed on a mobile fixture table. The parts are installed in a fixed position and moved to a fixed position when the mechanical gripper is in the gripping area, ensuring that the gripper is vertically downward and that the robot's TCP is a fixed value before each gripping. After the parts are gripped, they are placed on a mounting table with a suction nozzle that holds the parts in place. The vacuum nozzle picks up the parts and fixes them in place, ensuring that the position and orientation of the parts are fixed each time a photo is taken.

[0044] Using a color camera to capture images, a fixed reference object is selected in the image to establish a new spatial coordinate system. To ensure that the detection area is correct each time, the coordinates of the reference object are used as the origin of the new spatial coordinate system. The position of the target relative to the reference object remains unchanged, that is, the coordinates and size of the detection area remain unchanged.

[0045] A color extraction tool is used to obtain the target color and the color of the area where the target is located. An appropriate threshold is set; when there is no target, the area is represented by black pixels, and the rest by white pixels. The number of black pixels is then detected. When a target is present, considering changes in ambient light, the number of black pixels is relatively small, ranging from zero to a few hundred; when the target is absent, the number of black pixels can range from several thousand to tens of thousands. The significant difference in these features is used to determine the presence or absence of a target within the detection area.

[0046] After the inspection is completed, the information is transmitted to the robotic arm via network communication. The robotic arm then places the part back in its original position. With this kind of visual inspection and photography, unmanned inspection can be achieved, ensuring the pass rate of the inspection.

[0047] The specific process of gluing is as follows:

[0048] The host computer sends the part number and location to be dispensed via network communication. The robotic arm first performs needle height calibration by lowering the needle to a fixed height using a displacement sensor and comparing the result with the initial value to determine the needle's Z-axis offset.

[0049] The robotic arm, equipped with a dispensing needle, performs visual positioning. A monochrome camera captures images, and a new coordinate system is created using the coordinates of a fixed reference point as the origin. A reasonable range threshold is set to extract the target color. By calculating the average number of pixels in the X and Y directions of the target, the target's length, width, and center point pixel coordinates are obtained. A second image is then taken, and the above process is repeated. By comparing the length, width, and center point coordinates of the two images, the target's XY offset and angular offset are determined.

[0050] The XYZ offset is compensated to the initially set coordinate values. The robotic arm completes the dispensing based on the compensated coordinate values. After dispensing is completed, the left robot takes a picture to visually inspect the dispensing quality. For products with qualified dispensing quality, the chip bonding work is then carried out.

[0051] Before chip bonding, the chip is moved to the vision positioning component on the worktable. Through vision positioning, the XY offset and angular offset of the chip are obtained. The offset values ​​are compensated to the robotic arm, and chip bonding is completed according to the new coordinates.

[0052] After the chip bonding is completed, the left robotic arm takes a visual image of the bonded chip for inspection and saves the image.

[0053] This invention patent uses vision components for precise positioning, which can effectively improve product production efficiency and ensure product quality, greatly increasing the product qualification rate.

[0054] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A 3D dispensing, mounting, and inspection integrated system based on a dual-arm multi-view collaborative robot, characterized in that: It includes a detection robot arm (1), a worktable (2), a multi-view vision component (3), a dispensing robot arm (4), a dispensing device (5), a sensor detection table (7), a sensor fixture table (8), a glue removal device (9), a height sensor (10), a shock absorber fixture table (12), and a chip placement area (13). Among them, the workbench (2) is placed horizontally; the sensor fixture (8) is set horizontally on the upper surface of the workbench (2); the sensor detection table (7) is set on one side of the sensor fixture (8); the detection robot arm (1) is installed on the workbench (2) and its position corresponds to the sensor fixture (8); the shock absorber fixture (12) and the chip placement area (13) are placed adjacent to each other on the upper surface of the workbench (2); the dispensing robot arm (4) is installed on one side of the shock absorber fixture (12); the dispensing device (5) is installed at the top of the dispensing robot arm (4); the multi-view vision component (3) and the height sensor (10) are installed on the workbench (2) and their positions correspond to the dispensing robot arm (4); the glue removal device (9) is installed on one side of the shock absorber fixture (12). The shock absorber fixture (12) is used to place external shock absorbers; the chip placement area (13) is used to place external chips; The top of the inspection robot arm (1) is equipped with a multi-functional module; the multi-functional module is used to clamp the external sensor from the sensor fixture table (8) and place it on the sensor inspection table (7), and the multi-functional module is used to perform surface inspection on the external sensor placed on the sensor inspection table (7); The multifunctional module includes a first quick-change device (19), a mechanical gripper (18), a suction nozzle (20), a color camera (21), and a light source (22); wherein, the first quick-change device (19) is a cuboid frame structure; the first quick-change device (19) is connected to the top of the detection robot arm (1), and the multifunctional module can be replaced through the first quick-change device (19); the mechanical gripper (18) is horizontally set on one side of the first quick-change device (19); the suction nozzle (20) is horizontally set on the other side of the first quick-change device (19); the color camera (21) is vertically set at the top center of the first quick-change device (19); the light source (22) is set on the top of the first quick-change device (19) and surrounds the outside of the color camera (21) in a square shape; The working process of the multi-functional module is as follows: The multifunctional module is moved to the sensor fixture table (8) by the inspection robot arm (1); the external sensor to be inspected is picked up by the mechanical gripper (18) and placed on the sensor inspection table (7), and the mechanical gripper (18) is released; the suction nozzle (20) is switched to tighten and fix the external sensor to be inspected; the light source (22) illuminates the surface of the external sensor to be inspected, and the color camera (21) detects the surface of the external sensor to be inspected.

2. The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot according to claim 1, characterized in that: The sensor fixture (8) is a 32-bit fixture, which can accommodate up to 32 external sensors.

3. The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot according to claim 2, characterized in that: The working process of the dispensing device (5) is as follows: The dispensing robot arm (4) moves the dispensing device (5) above the external shock absorber; the dispensing device (5) applies glue to the upper surface of the external shock absorber; the mechanical gripper (18) picks up the external chip and places it on the upper surface of the external shock absorber, thereby achieving the bonding of the external chip to the external shock absorber.

4. The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot according to claim 3, characterized in that: During the movement of the dispensing device (5) driven by the dispensing robot arm (4), the horizontal position of the dispensing device (5) is measured and monitored by the multi-view vision component (3); the height position of the dispensing device (5) is measured and detected by the height sensor (10).

5. The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot according to claim 4, characterized in that: The dispensing device (5) includes a second quick-change device (17), a pressure pen (14), and a dispensing syringe (16); wherein, the second quick-change device (17) is a frame structure; the second quick-change device (17) is connected to the top of the dispensing robot arm (4); the pressure pen (14) and the dispensing syringe (16) are vertically and parallelly installed on both sides of the second quick-change device (17).

6. The integrated 3D dispensing, mounting, and inspection system based on a dual-arm multi-view collaborative robot according to claim 5, characterized in that: The pressure pen (14) is used for dispensing high-viscosity liquids; the dispensing syringe (16) is used for dispensing low-viscosity liquids; when the adhesive in the pressure pen (14) or the dispensing syringe (16) is used up, the adhesive is cleaned by the adhesive cleaning device (9).

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