Multi-view camera assembly equipment and assembly method thereof

Abstract

The invention provides multi-view camera assembly equipment and an assembly method thereof, and belongs to the field of camera assembly. The equipment is composed of a main body plate, a first transportation area, an operation area and a second transportation area, in the first transportation area, a first mounting plate is connected with the main body plate, a clamping plate is slidably connected to the first mounting plate by means of a first screw rod sliding table and a plurality of groups of first sliding rails, and lens feeding and preliminary detection are completed through a clamping assembly and the like; a fixing assembly of the operation area is connected with the main body plate through multiple sets of second lead screw sliding tables and used for installing a lens seat body, and a mechanical arm is matched with a visual recognition camera to achieve lens taking and glue dispensing operation; the detection assembly of the second transportation area detects the assembled finished product; according to the equipment, through all parts in the first transportation area, the operation area and the second transportation area, automatic assembly of the multi-view camera is achieved, and the assembly efficiency is effectively improved; meanwhile, human factor interference is reduced, the lens abrasion risk is reduced, and the product quality stability is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of camera assembly, and more specifically, particularly relates to a multi-camera assembly device and an assembly method thereof. Background Art

[0002] Cameras are key visual devices widely used in various fields, especially in today's automotive industry. They are often used as the eyes of intelligent driving systems to help vehicles identify road conditions, monitor the surrounding environment, and help realize automatic driving and assisted driving functions, thereby improving driving safety and convenience. Cameras are usually composed of core components such as lenses, lens mounts, and image sensors. In order to better ensure the comprehensiveness, accuracy, and high definition of image acquisition, multi-cameras are often used.

[0003] In the production process of the camera, the lens and the lens group need to be assembled first, which is a critical step. The lens is the core component for capturing light, and the matching accuracy with the lens mount will directly affect the image quality. A multi-group camera means that there are more than two lens mounting positions on the lens mount, and more than two lenses are installed on the lens mount. Multiple lenses can simultaneously capture images from different angles to achieve a wider field of view. However, the traditional camera assembly method usually adopts manual assembly, which has low efficiency and high labor costs, and easily leads to a lengthened production cycle. At the same time, during the assembly process, it is easily affected by human factors, resulting in uneven product quality and difficulty in achieving a uniform high standard. Moreover, during the assembly process, improper operation may also cause wear on the lens, affecting the imaging effect of the camera. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a multi-camera assembly device and an assembly method thereof, so as to solve the technical problems in the prior art that the traditional manual assembly of multi-cameras is low in efficiency, high in cost, and has a long production cycle; at the same time, it is also easily affected by human factors, resulting in unstable product quality and easily worn lenses affecting imaging effects.

[0005] The purpose and effect of a multi-camera assembly device and an assembly method thereof of the present invention are achieved by the following specific technical means: A multi-eye camera assembly device, comprising a main body plate and a first transport area, an operating area and a second transport area arranged above the main body plate, wherein a first mounting plate and a clamping plate are arranged in the first transport area, the first mounting plate is connected to the main body plate, and the clamping plate is slidably connected to the first mounting plate through a first screw slide and a plurality of first slide rails; a plurality of clamping assemblies are arranged on the clamping plate, a positioning plate is clamped on the clamping plate through a plurality of clamping assemblies, a plurality of positioning frames are clamped on the positioning plate, and a lens body is clamped in the positioning frame; a fixing assembly is arranged in the operating area, the fixing assembly is slidably connected to the main body plate, and a plurality of lens seat bodies are mounted on the fixing assembly; a supporting frame is arranged on the main body plate, a visual recognition camera is arranged at the bottom of the supporting frame, and mechanical arms are arranged on both sides, a picking assembly is arranged on one group, and a glue dispenser is arranged on the other group; a detection assembly is arranged in the second transport area, and the assembled finished product can be moved to the bottom of the detection assembly through the second transport area, and a collection box is also arranged under the main body plate.

[0006] According to a preferred embodiment, the working area is located between the first transport area and the second transport area, the first transport area is divided into a loading area, a detection area, a feeding area and a unloading area, the clamping plate moves between the loading area, the detection area, the feeding area and the unloading area, and the feeding area is located within the working range of the robotic arm; in the loading area, a fixed frame is provided on one side of the main plate, a loading conveyor belt and a loading plate are provided above the fixed frame, one end of the loading conveyor belt is in contact with one side of the loading plate, and the positioning plate can be placed on the loading plate; one side of the clamping plate can be in contact with the loading plate, a plurality of groups of first magnetic strips are provided on the clamping plate, and a first magnetic strip that can contact with the first magnetic strip is provided on the loading plate A second magnetic strip is docked with the first magnetic strip, and a magnetic track is formed by docking the first magnetic strip with the second magnetic strip, and the clamping plate can contact the magnetic track; a plurality of groups of second slide rails are arranged on the first mounting plate, and a first electric slider is slidably arranged on the second slide rail, a loading rack is arranged above the first mounting plate, the loading rack is connected with the plurality of first electric sliders, a plurality of groups of loading rods are arranged on the loading rack, one end of the loading rod is provided with a hook shape, and the loading plate corresponds to the loading rod and has a plurality of groups of passage grooves, one end of the loading rod is clamped in the passage groove, and is located at one end of the passage groove close to the loading conveyor belt, and contacts with one side of the clamping plate.

[0007] According to a preferred embodiment, the clamping assembly includes multiple groups of clamping card plates and moving blocks, multiple groups of positioning members are arranged above the clamping plates, multiple groups of the clamping card plates are located between the multiple groups of the positioning members, and the clamping card plates and the positioning members are rotatably connected; the moving block is located between the multiple groups of the clamping card plates, positioning holes are provided on the clamping card plates, and positioning grooves are provided on the moving block, the positioning grooves are arranged obliquely, and the positioning bolts pass through the positioning grooves and are clamped in the positioning holes; multiple groups of third slide rails are arranged on the clamping plates, and the moving block and the third slide rails are slidably connected, and the A first electric cylinder is provided at both ends of the clamping plate, the shaft end of the first electric cylinder is connected to the moving block, a rubber block is provided at the bottom of the clamping card plate, and it is indirectly in contact with the positioning plate through the rubber block, and the positioning plate is clamped between multiple groups of the clamping card plates and the clamping plate; multiple groups of limit buckles are rotatably provided on one side of the clamping plate, and a flip spring is provided between the two, and the positioning plate is clamped between the clamping plate and the limit buckle; multiple groups of pressing pieces are also provided on the first mounting plate, and the pressing pieces are located in the unloading area, and arc surfaces are provided on the pressing pieces and the limit buckles.

[0008] According to a preferred embodiment, a mounting bracket and a mounting seat are provided in the detection area, both of which are detachably connected to the first mounting plate, the mounting seat is located between multiple groups of the first slide rails, parallel light tubes are provided at the bottom of the mounting bracket, and multiple groups of image sensors are provided on the mounting seat, the number of the multiple groups of image sensors is consistent with the number of the multiple groups of lens bodies, and the image sensors are located directly below the parallel light tubes; multiple groups of photoelectric sensors are provided above the first mounting plate, which are respectively located in the loading area and the feeding area, one side of one group of the photoelectric sensors is provided with multiple groups of first assembly frames, and multiple groups of laser sensors are provided above the first mounting plate, the laser sensors are clamped on the first assembly frame and are located in the feeding area; the clamping plate and the positioning plate are provided with multiple groups of through hole grooves corresponding to the image sensors, and multiple groups of through grooves are provided corresponding to the laser sensors, and light transmission paths are formed through the through hole grooves and the through grooves.

[0009] According to a preferred embodiment, a mounting bracket and a mounting seat are provided in the detection area, both of which are detachably connected to the first mounting plate, the mounting seat is located between multiple groups of the first slide rails, parallel lamp tubes and light shields are provided at the bottom of the mounting bracket, and the parallel lamp tubes are located in the light shield; multiple groups of image sensors are provided on the mounting seat, the number of the multiple groups of image sensors is consistent with the number of the multiple groups of lens bodies, the image sensors are located directly below the parallel lamp tubes, multiple groups of light shielding sleeves are provided on the mounting seat, and the image sensors are located in the light shielding sleeves; the first mounting plate There are multiple groups of photoelectric sensors arranged above, which are respectively located in the loading area and the feeding area, one side of one group of the photoelectric sensors is provided with multiple groups of second assembly frames, and multiple groups of visual recognition modules are arranged above the first mounting plate, the visual recognition module is clamped on the second assembly frame and is located in the feeding area, and an identification block recognizable by the visual recognition module is arranged at the bottom of the positioning frame; the clamping plate and the positioning plate are provided with multiple groups of through hole grooves corresponding to the image sensors, and multiple groups of through grooves are provided corresponding to the visual recognition modules, and light-transmitting paths are formed through the through hole grooves and the through grooves.

[0010] According to a preferred embodiment, the fixed component includes a fixed table, a plurality of groups of second screw slides are arranged on the main body plate, the fixed table is connected to the plurality of groups of the second screw slides, the second screw slides are divided into a working area and a material changing area, the working area is close to the robotic arm and is within the operating range of the robotic arm; a plurality of groups of limit blocks are arranged on the fixed table, two or more placement areas are formed by the plurality of groups of limit blocks, the lens holder body is placed in the placement area and clamped between the plurality of groups of limit blocks; a plurality of groups of suction cups are arranged on the fixed table, the suction cups are located in the placement area, the top of the suction cups are in contact with the bottom of the lens holder body, a fixed plate is arranged at the bottom of the fixed table, a vacuum generator is arranged on the fixed plate, and the vacuum generator is connected to the plurality of groups of suction cups through a conduit.

[0011] According to a preferred embodiment, the picking component includes a picking frame and multiple groups of electromagnets, the picking frame is installed on the mechanical arm close to the first transport area, the picking frame is provided with a fourth slide rail, and multiple groups of second electric sliders are slidably provided on the fourth slide rail, and multiple groups of sliding rods are also provided on the picking frame, and rings are provided on both sides of the second electric slider, and the rings are sleeved on the sliding rods; multiple groups of connecting frames are provided on one side of the picking frame, the connecting frame is installed on the second electric slider, and the electromagnet is installed at the bottom of the connecting frame; two groups of magnetic points are provided at the bottom of the electromagnet, and the positioning frame and the positioning plate are provided with multiple groups of magnetic plates corresponding to the magnetic points; a second electric cylinder is provided on the connecting frame, and a pressing block is provided at the shaft end of the second electric cylinder passing through the connecting frame and the electromagnet, the pressing block is made of rubber, and an arc-shaped groove is provided at the bottom of the pressing block, and the arc shape of the arc-shaped groove is consistent with the arc shape of the top of the lens body.

[0012] According to a preferred embodiment, a second mounting plate is provided in the second transport area, and a plurality of groups of feeding conveyor belts and detection conveyor belts are provided above the second mounting plate, the plurality of groups of feeding conveyor belts and the detection conveyor belts are arranged in a straight line, and the detection conveyor belt is located between the plurality of groups of feeding conveyor belts and is in end-to-end contact with each other; the feeding conveyor belt is installed on the second mounting plate, and a plurality of groups of third electric cylinders are provided below the second mounting plate, and the shaft ends of the third electric cylinders pass through the second mounting plate and are connected with the detection conveyor belt; a discharge conveyor belt is provided on one side of one group of the feeding conveyor belts, and the discharge conveyor belt is installed on the second mounting plate, and the discharge conveyor belt is vertically distributed with the feeding conveyor belt, and the discharge conveyor belt is higher than the feeding conveyor belt; a connecting bracket is also provided above the second mounting plate, and the connecting bracket is located on one side of the detection conveyor belt and close to the end of the detection conveyor belt away from the working area, and a photoelectric sensor is installed on the connecting bracket; the detection component is installed on the second mounting plate and is located above the detection conveyor belt.

[0013] According to a preferred embodiment, the detection component includes a detection bracket and multiple groups of arc-shaped slide rails, the detection bracket is arranged in a ring shape, the detection bracket is mounted on the second mounting plate, the detection conveyor belt is located at the center of the detection bracket, multiple groups of arc-shaped slide rails are installed on the detection bracket, and multiple groups of arc-shaped slide rails are butted end to end to form an annular slide rail, a third electric slider is slidably arranged on the annular slide rail, the third electric slider is arranged in an arc shape, and the arc is consistent with the arc of the arc slide rail; a visual detection probe is installed on the third electric slider, a slot is opened on the arc slide rail, a light bar is clamped in the slot, a protective cover is arranged above the detection bracket, and the arc-shaped slide rail and the third electric slider are both located in the protective cover.

[0014] A multi-camera assembly method, using the multi-camera assembly device described above, comprises the following steps: Step 1: Equipment initialization and preparation; The components of the first transport area, the operating area, and the second transport area are returned to their initial positions. The clamping plate in the first transport area is moved to the loading area by the action of the first screw slide and the first slide rail. The clamping plate contacts one end of the loading conveyor belt, and the other end of the loading conveyor belt is connected to other unloading equipment or docked with the previous process. The lens body is mounted in the positioning frame in advance, and the positioning frame with the lens body mounted is mounted on the positioning plate. The positioning plate with the lens body mounted is transported to the loading plate by the loading conveyor belt. The positioning plate will slide from the loading conveyor belt to the loading plate by the action of gravity and inertia, and stop when it contacts the second magnetic strip. Step 2: Loading and preliminary inspection of the lens body; Start the driving device of the first transport area, so that the clamping plate moves to the loading area on the first mounting plate through the first screw slide and multiple groups of first slide rails. At this time, the loading conveyor belt starts to move the positioning plate to the waiting area on the loading plate; the first electric slider starts, and the movement of the first electric slider drives the loading rack to move. One end of the loading rod on the loading rack is set to a hook shape, so as to drive the positioning plate to move together during the movement until the positioning plate moves to the clamping plate; after the positioning plate is in place, the first electric cylinder starts, and the shaft end contracts to drive the moving block to move backward, so that the vertical clamping card is parallel and contacts with the positioning plate, thereby realizing the positioning operation of the positioning plate; then, the clamping plate moves to the detection area, the parallel lamp tubes at the bottom of the mounting bracket light up, and the multiple groups of image sensors on the mounting seat detect the lens body in the positioning frame, and the light will converge on the focal plane of the lens to form an image. The image sensor is used to receive and record the image formed by the lens. By analyzing the imaging situation on the image sensor, the relevant parameters of the focal length of the lens can be calculated; the photoelectric sensors located in the loading area and the feeding area above the first mounting plate are used to monitor the material position; Step 3: Prepare and fix the lens mount body; In the working area, the fixed component is moved to the material changing area through multiple sets of second screw slides, and the lens holder body is placed in the placement area of ​​the fixed table. The lens holder body is limited by multiple sets of limit blocks so that it is stuck between the limit blocks. At the same time, the vacuum generator on the fixed plate at the bottom of the fixed table is connected to the multiple sets of suction cups through the conduit. The vacuum generator is started to make the top of the suction cup contact with the bottom of the lens holder body to fix the lens holder body, and then the fixed component is moved to the working area; the setting of multiple sets of placement areas can fix the assembly of multiple sets of lens holder bodies at the same time, and then cooperate with the picking components. When assembling a multi-eye camera, multiple sets of lens bodies can be installed on the lens holder body; when assembling a monocular camera, multiple lens holder bodies can be assembled at the same time, thereby realizing multi-station assembly operations; Step 4: Grasp and assemble the lens body; The robotic arms on both sides of the support frame are started, and the picking components on the robotic arms near the first transport area work. The multiple sets of electromagnets on the picking frame are moved to the top of the positioning frame of the corresponding lens body through the second electric slider on the fourth slide rail. The magnetic suction points at the bottom of the electromagnets are adsorbed with the magnetic suction plates on the positioning frame. By setting multiple sets of second electric sliders and multiple sets of electromagnets, it is possible to pick up multiple lens bodies at the same time; the laser sensor above the first mounting plate can sense the position of the positioning frame on the positioning plate, thereby determining the position of the lens body; the robotic arm equipped with the dispensing machine is running, and the lens holder body on the fixed component is scanned in all directions by the visual recognition camera to obtain the lens The installation position of the head body is determined by squeezing glue at the corresponding position through the glue dispenser. The mechanical arm moves the positioning frame with the lens body to the top of the lens holder body, and slowly moves the positioning frame to the lens holder body, so that the positioning frame and the lens body are in contact with the lens holder body, and the lens body is accurately located at the glue dispensing position; at the same time, the second electric cylinder on the connecting frame pushes the pressing block, which is made of rubber. The arc groove at the bottom is consistent with the arc shape of the top of the lens body, and the lens body is pressed and fixed. At the same time, when the second electric cylinder is extended, the mechanical arm moves upward, thereby squeezing the lens body out of the positioning frame, completing the preliminary assembly of the lens body and the lens holder body; Step 5: Cutting the positioning plate; When the lens bodies on the positioning plate are assembled, the laser sensor contacts the positioning plate without a positioning frame, and the clamping plate moves to the unloading area. The limit buckle opens through the contact between the pressing piece and the limit buckle, and the restriction on the positioning plate is released; at the same time, the shaft end of the first electric cylinder extends out, and the clamping plate rotates to a vertical state, which also releases the restriction on the positioning plate; the robotic arm picks up the component, adsorbs the positioning plate, places the positioning plate in the collection box, and moves the clamping plate to the loading area to perform a new step of clamping plate loading operation; Step 6: Finished product transportation and testing; After the lens body and the lens holder body are assembled, the fixed assembly is moved to the material changing area, and the lens holder body with the assembled lens body is taken out and placed on the unloading conveyor in the second transport area, and transported to the feeding conveyor below through the unloading conveyor, and then transported to the inspection conveyor through the feeding conveyor. The inspection conveyor is controlled to rise and fall by multiple groups of third electric cylinders under the second mounting plate to raise the finished product. The junction between the lens body and the lens holder body is parallel to the visual inspection probe. The third electric slider drives the visual inspection probe to move on the annular slide rail formed by the end-to-end docking of multiple groups of arc slide rails to perform all-round inspection of the finished product. The light bar on the arc slide rail provides lighting, and the protective cover above the inspection bracket prevents external interference. After the inspection is completed, the inspection conveyor is lowered to be parallel to the feeding conveyor, and transported to the receiving area or the next process through the feeding conveyor.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention integrates the first transport area, the operating area, and the second transport area through the main body plate to achieve efficient assembly of multi-eye cameras. The first transport area completes the lens loading and preliminary inspection in an orderly manner through the first mounting plate, the clamping plate, multiple groups of clamping components, the positioning plate and the positioning frame. The fixed components of the operating area, its fixed platform is equipped with multiple groups of limit blocks to form multiple placement areas, and combined with the picking components and the dispensing machine on the robot arm, multi-station assembly is achieved. When assembling a multi-eye camera, multiple lens bodies can be taken at the same time, and the multiple lens bodies can be installed on the lens holder body to complete the assembly of multiple groups of cameras; when assembling a monocular camera, multiple lens holder bodies can also be installed at the same time, and multiple lens bodies can be installed on multiple lens holder bodies respectively, so as to improve the assembly efficiency and solve the problems of low efficiency, high cost and long production cycle of traditional manual assembly. At the same time, the full automation operation reduces the interference of human factors, reduces the risk of lens wear, and ensures the stability of product quality.

[0016] 2. In the inspection area of ​​the first transport area, parallel lamps and image sensors are used to detect the lens body. The parallel lamps emit parallel light rays, which pass through the lens to be inspected and form a clear image on the image sensor based on the principle that light rays form images on the focal plane of the lens. The device performs a comprehensive analysis of the images collected by the image sensor and calculates key parameters such as the focal length, aberration, and distortion of the lens. Based on these parameters, lens bodies that do not meet the standards can be effectively identified, and defective lenses can be intercepted at this stage to ensure that the quality of lenses entering the subsequent assembly stages meets strict standards. At the same time, laser sensors also play an important role in this area. By emitting laser beams and receiving reflected light signals, it can accurately sense the position of the positioning frame and accurately determine the actual position of the lens body. It provides an extremely accurate coordinate reference for the subsequent assembly process. During the assembly process, robotic arms and other equipment can install the lens body on the lens mount based on the coordinates provided by the laser sensor, laying the foundation for improving the final imaging effect of the multi-eye camera.

[0017] 3. Multiple sets of conveyor belts and inspection components set up in the second transport area jointly construct the finished product inspection process. The feeding conveyor belt and the inspection conveyor belt work together to quickly transport the assembled finished products from the work area to the bottom of the inspection component in a stable and uniform manner. When the finished product arrives at the designated position, the third electric cylinder under the second mounting plate starts to operate, slowly lifting the inspection conveyor belt upward until the connection between the lens body and the lens holder body of the finished product is parallel to the visual inspection probe, providing an ideal position condition for subsequent inspection work. Inside the inspection component, the annular inspection bracket is matched with multiple sets of arc-shaped slide rails to form an annular slide rail structure. The third electric slider drives the visual inspection probe to move smoothly along the slide rail. During the inspection process, the light bar in the slot on the arc-shaped slide rail emits uniform and bright light, which not only illuminates every detail of the finished product, but also enhances the feature recognition of the gap between the lens body and the lens holder body and the surface of the lens body through reasonable light reflection and refraction, so that the visual inspection probe can clearly capture the subtle details. The visual inspection probe can perform 360-degree inspection on the finished product. It can not only effectively detect whether the gap between the lens body and the lens mount body meets the standards, but also sensitively detect defects on the lens body that affect the imaging quality, such as scratches, stains, tiny bubbles, etc., to ensure the quality of the finished product of the multi-eye camera in all aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention after assembly; Figure 2 It is a schematic diagram of the structure after the present invention is split; Figure 3 This is a schematic diagram of the structure of the first transport area after being split according to the first embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of the clamping assembly after being disassembled; Figure 5 This is a schematic diagram of the structure of the first transport area after being split according to the second embodiment of the present invention; Figure 6 It is a schematic diagram of the structure after the fixed component of the present invention is disassembled; Figure 7 It is a schematic diagram of the structure after the taking component of the present invention is disassembled; Figure 8 This is a schematic diagram of the structure of the second transport area after it is split; Fig. 9 It is a schematic diagram of the structure after the detection components are split; Fig.10 yes Figure 2 A partial enlarged view of area a in the middle; Fig.11 yes Figure 8 A partial enlarged view of area b; Fig.12 It is a flowchart of the steps of a multi-camera assembly method; Fig.13 It is a block diagram of the control system's principles for detecting and sensing objects.

[0019] In the figure, the corresponding relationship between the component names and the figure numbers is as follows: 11. Main plate; 12. Clamping plate; 13. Support frame; 14. Visual recognition camera; 15. Robotic arm; 201. First mounting plate; 202. First screw slide; 203. First slide rail; 204. Fixed frame; 205. Feeding conveyor belt; 206. Feeding plate; 207. First magnetic strip; 208. Second magnetic strip; 209. Second slide rail; 210. First electric slider; 211. Feeding frame; 212. Feeding rod; 213. Passing groove; 214, clamping card plate; 215, moving block; 216, positioning member; 217, positioning groove; 218, third slide rail; 219, first electric cylinder; 220, limit buckle; 221, pressing member; 31, positioning plate; 32, positioning frame; 33, second screw slide; 34, through hole groove; 35, through groove; 41, lens body; 42, lens seat body; 43, dispensing machine; 501, mounting bracket; 502, mounting seat; 503 , parallel lamp; 504, image sensor; 505, photoelectric sensor; 506, first assembly rack; 507, laser sensor; 508, light shield; 509, light shielding sleeve; 510, second assembly rack; 511, visual recognition module; 601, fixed table; 602, limit block; 603, suction cup; 604, fixed plate; 605, vacuum generator; 606, take-up rack; 607, electromagnet; 608, fourth slide rail; 609, The second electric slider; 610, the sliding rod; 611, the connecting frame; 612, the second electric cylinder; 613, the pressing block; 701, the second mounting plate; 702, the feeding conveyor belt; 703, the detection conveyor belt; 704, the third electric cylinder; 705, the unloading conveyor belt; 706, the connecting bracket; 707, the detection bracket; 708, the arc slide rail; 709, the third electric slider; 710, the visual detection probe; 711, the light bar; 712, the protective cover. DETAILED DESCRIPTION

[0020] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but cannot be used to limit the scope of protection of the present invention.

[0021] Example 1: Figures 1 to 13As shown, the present invention provides a multi-eye camera assembly device, including a main body plate 11, which builds a stable infrastructure for the entire device, and a first transport area, an operating area and a second transport area are arranged above the main body plate 11. The operating area is located in the middle of the first transport area and the second transport area, and the three areas cooperate with each other to jointly complete the assembly process of the multi-eye camera. In the first transport area, there are a first mounting plate 201 and a clamping plate 12. The first mounting plate 201 is connected to the main body plate 11, providing a stable support for the installation and operation of subsequent components. The clamping plate 12 is slidably connected to the first mounting plate 201 through a first screw slide 202 and a plurality of first slide rails 203. The first screw slide 202 can drive the clamping plate 12 to move, and the plurality of first slide rails 203 ensure the stability of the clamping plate 12 when moving. Multiple groups of clamping components are arranged on the clamping plate 12, and the positioning plate 31 is clamped between the clamping plate 12 and the plurality of clamping components. Multiple groups of positioning frames 32 are fixed on the positioning plate 31 in a straight line with equal spacing, and the lens body 41 is fixed in the positioning frame 32, so that the lens body 41 will not shake or shift easily during transportation; a limited slot is provided in the positioning frame 32, and a rubber sleeve is provided in the limited slot, and the lens body 41 is fixed in the rubber sleeve, which plays a role in protecting the lens body 41 and also plays a role in fixing the lens body 41. A fixed component is provided in the working area, and the fixed component is connected to the main plate 11 through multiple groups of second screw slides 33, and can be flexibly moved. Multiple groups of lens seat bodies 42 are installed on the fixed component, waiting to be combined with the lens body 41 in the subsequent assembly process. The support frame 13 provided on the main plate 11 and the visual recognition camera 14 provided at the bottom of the support frame 13 are facing the fixed component below, and can observe the lens seat body 42 on the fixed component. The visual recognition camera 14 can adopt the Keyence CV-X100 visual recognition camera. The main body plate 11 is also provided with a plurality of groups of mechanical arms 15, which are respectively located on both sides of the support frame 13. One group of the mechanical arms 15 is equipped with a picking component, which can realize the grabbing operation of the lens body 41; the other group of the mechanical arms 15 is provided with a glue dispenser 43, which is used to apply glue to the lens seat body 42 during assembly. When the lens body 41 and the lens seat 42 are assembled, the finished product will be placed in the second transport area. The second transport area is provided with a detection component, and the finished product can be moved under the detection component for further inspection. A collection box is also provided under the main body plate 11, and the collection box is located within the operating range of the mechanical arm 15 close to the first transport area. The collection box is used to collect the empty positioning plates 31 after loading, so as to facilitate subsequent continued use; at the same time, the entire equipment is connected to the external control system, and the operating status of each part of the equipment is fed back to the control system in real time through a stable data transmission line.The operator can view the situation intuitively on the control terminal, and then remotely control the start and stop of the equipment and adjust the operating parameters of each component according to the actual situation, such as adjusting the moving speed of the robot arm 15, setting the telescopic stroke of the electric cylinder, etc., to ensure that the equipment completes the multi-camera assembly task efficiently and orderly.

[0022] like Figures 2 to 4 , Fig.10 As shown, the first transport area is divided into four parts: the loading area, the detection area, the feeding area and the unloading area. Among them, the clamping plate 12 undertakes the important task of moving between these four areas, and moves the lens body 41 between these four areas. The feeding area is within the effective operating range of the robot 15, which provides convenience for the subsequent use of materials. A fixed frame 204 is provided on one side of the main plate 11 of the loading area, and a loading conveyor belt 205 and a loading plate 206 are arranged above the fixed frame 204. The loading conveyor belt 205 is used to transport the positioning plate 31 with the lens body 41 installed in advance to the loading plate 206, waiting for the next step of operation. One side of the clamping plate 12 can contact the loading plate 206. When the two are close, the multiple groups of first magnetic strips 207 on the clamping plate 12 interact with the corresponding second magnetic strips 208 on the loading plate 206. The first magnetic strip 207 and the second magnetic strip 208 are successfully docked, thereby forming a magnetic track. The clamping plate 12 can move smoothly along this magnetic track, which improves the efficiency of material transmission. A plurality of second slide rails 209 are arranged on the first mounting plate 201, and a slidable first electric slider 210 is installed on the second slide rail 209. The first electric slider 210 can move along the second slide rail 209, and the loading rack 211 above the first mounting plate 201 is connected to the plurality of first electric sliders 210. The loading rack 211 is equipped with a plurality of loading rods 212, one end of which is hook-shaped, and the loading plate 206 is provided with a plurality of passage slots 213 corresponding to the loading rods 212. The hook-shaped end of the loading rod 212 is stuck in the passage slot 213, and is located at one end of the passage slot 213 close to the loading conveyor belt 205, and is in contact with one side of the clamping plate 12. When the first electric slider 210 drives the loading rack 211 to move, the loading rod 212 can push the positioning plate 31, so that it can move smoothly from the passage slot 213 to the clamping plate 12. The whole process is smoothly connected, providing stable material transportation guarantee for the loading link of the multi-eye camera assembly.

[0023] The clamping assembly includes multiple groups of clamping plates 214 and moving blocks 215. Multiple groups of positioning members 216 are distributed above the clamping plate 12. The multiple groups of clamping plates 214 are located between the multiple groups of positioning members 216, and the clamping plates 214 and the positioning members 216 are rotatably connected. The moving block 215 is located in the middle of the multiple groups of clamping plates 214. The clamping plates 214 are provided with positioning holes, and the moving block 215 is provided with positioning grooves 217. The positioning grooves 217 are arranged in an inclined shape. When the positioning bolt passes through the positioning grooves 217 and is clamped in the positioning holes, when the moving block 215 moves forward and backward, the rotation of the clamping plates 214 can be controlled, so that the clamping plates 214 can clamp and fix the positioning plates 31. A plurality of third slide rails 218 are provided on the clamping plate 12, and a sliding connection can be realized between the moving block 215 and the third slide rails 218, so that the moving block 215 can move along the third slide rails 218, thereby ensuring the moving track of the moving block 215. The first electric cylinder 219 is installed at both ends of the clamping plate 12, and the shaft end of the first electric cylinder 219 is connected to the moving block 215. When the first electric cylinder 219 starts working, the extension and contraction of the shaft end can drive the moving block 215 to slide on the third slide rail 218. Since the moving block 215 is connected to the clamping card 214 through a positioning bolt, the movement of the moving block 215 will cause the clamping card 214 to rotate around the positioning member 216, thereby adjusting the position and angle of the clamping card 214. A rubber block is provided at the bottom of the clamping card 214, and when the positioning plate 31 is placed on the clamping plate 12, the rubber block is indirectly in contact with the positioning plate 31. The positioning plate 31 can be stably clamped and hard contact can be avoided to cause damage to the positioning plate 31. The positioning plate 31 is clamped between multiple groups of clamping clamps 214 and the clamping plate 12. Multiple groups of limit buckles 220 are rotatably arranged on one side of the clamping plate 12, and a flip spring is installed between the clamping plate 12 and the limit buckle 220. The positioning plate 31 is clamped between the clamping plate 12 and the limit buckle 220. Under the action of the flip spring, the limit buckle 220 can play a certain role in limiting the positioning plate 31 to prevent it from moving at will. On the first mounting plate 201, multiple groups of pressing members 221 are also arranged. These pressing members 221 are located in the unloading area, and both the pressing members 221 and the limit buckle 220 are provided with arc surfaces. When the clamping plate 12 moves to the unloading area, the pressing piece 221 contacts the limiting buckle 220. The arc surface design makes the contact between the two smoother. The pressing piece 221 can smoothly push the limiting buckle 220 to rotate, thereby releasing the restriction on the positioning plate 31 to facilitate subsequent unloading operations on the positioning plate 31.

[0024] A mounting bracket 501 and a mounting seat 502 are provided in the detection area, and both are combined with the first mounting plate 201 in a detachable connection. This connection form is convenient for subsequent maintenance and component replacement. The mounting seat 502 is located between multiple groups of first slide rails 203. The bottom of the mounting bracket 501 is equipped with a parallel lamp tube 503, which can emit uniform parallel light. Multiple groups of image sensors 504 are provided on the mounting seat 502. The number of these image sensors 504 is consistent with the number of multiple groups of lens bodies 41, and the image sensor 504 is just located directly below the parallel lamp tube 503. When the parallel lamp tube 503 emits light, the light passes through the lens body 41 and forms an image on the image sensor 504, so as to detect the relevant performance of the lens body 41, thereby effectively ensuring the quality of the product, and being able to remove the defective lens body 41 in advance. The image sensor 504 can use the OV5640 image sensor of Howe Technology. Multiple groups of photoelectric sensors 505 are distributed above the first mounting plate 201, which are respectively located in the loading area and the feeding area. The position and state of the material can be monitored in real time by the photoelectric sensor 505. In the loading area, the photoelectric sensor 505 can sense whether the positioning plate 31 has accurately reached the specified position of the loading plate 206. If it is not in place, the equipment can suspend subsequent operations to avoid errors. In the feeding area, it can detect whether the positioning plate 31 has normally entered the operating range of the robot arm 15 to ensure that the grasping and assembly of the lens body 41 proceed smoothly. The photoelectric sensor 505 can adopt the Omron E3Z-T61 photoelectric sensor. Multiple groups of first assembly racks 506 are set on one side of one group of photoelectric sensors 505. There are also multiple groups of laser sensors 507 above the first mounting plate 201. The laser sensor 507 is mounted on the first assembly rack 506 and is located in the feeding area. The laser sensor 507 can detect the material position and other information by emitting a laser beam, and can determine whether there is a lens body 41 on the positioning plate 31; however, when the image sensor 504 detects that the lens body 41 has a defect, the image sensor 504 will transmit a signal to the control system. Even if the laser sensor 507 detects that there is a lens body 41 on the positioning plate 31, the robot 15 can also move the positioning plate 31 to the collection box. The laser sensor 507 can use the Keyence LJ-V7000 laser sensor. In addition, the clamping plate 12 and the positioning plate 31 are provided with multiple groups of through-hole grooves 34 at the position corresponding to the image sensor 504, and multiple groups of through-grooves 35 at the position corresponding to the laser sensor 507. In this way, light can pass through the through-hole grooves 34 and the through-grooves 35, respectively, to form a light transmission path for the image sensor 504 and the laser sensor 507, ensuring that the two sensors can normally obtain relevant information, thereby completing the detection and positioning of the lens body 41 and related materials.

[0025] like Figure 2 , Figure 6As shown, the fixed assembly includes a fixed platform 601, which is connected to multiple groups of second screw slides 33. The second screw slides 33 are divided into a working area and a material changing area. The working area is located close to the mechanical arm 15 and is within the effective operating range of the mechanical arm 15, which provides convenience for subsequent assembly operations. Multiple groups of limit blocks 602 are arranged on the fixed platform 601, and the limit blocks 602 are arranged reasonably to form two or more placement areas. The lens holder body 42 is placed in these placement areas and is clamped between the multiple groups of limit blocks 602 to ensure that the position of the lens holder body 42 on the fixed platform 601 is relatively stable and will not move at will. At the same time, multiple groups of suction cups 603 are also provided on the fixed platform 601, which are located in the placement area, and the top of the suction cup 603 is in contact with the bottom of the lens holder body 42. At the bottom of the fixed platform 601, a fixed plate 604 is installed, and a vacuum generator 605 is provided on the fixed plate 604. The vacuum generator 605 is connected to the plurality of suction cups 603 via a conduit. When the vacuum generator 605 is activated, negative pressure can be generated in the suction cups 603, thereby tightly adsorbing the lens holder body 42, further enhancing the stability of the lens holder body 42 on the fixing platform 601.

[0026] Figure 2 , Figure 7As shown, the pick-up assembly includes a pick-up frame 606 and multiple groups of electromagnets 607. The pick-up frame 606 is installed on the mechanical arm 15 near the first transport area and moves flexibly with the movement of the mechanical arm 15. The pick-up frame 606 is provided with a fourth slide rail 608, and multiple groups of second electric sliders 609 are slidably installed on the fourth slide rail 608. In order to ensure the stability of the second electric slider 609 when moving, multiple groups of sliding rods 610 are also provided on the pick-up frame 606. Both sides of the second electric slider 609 are installed with collars, which are sleeved on the sliding rods 610. In this way, when the second electric slider 609 moves on the fourth slide rail 608, it can move smoothly along the direction of the sliding rod 610. On one side of the pick-up frame 606, multiple groups of connecting frames 611 are provided. The connecting frames 611 are installed on the second electric slider 609, and the electromagnets 607 are installed at the bottom of the connecting frames 611. Two groups of magnetic points are arranged at the bottom of the electromagnet 607, and multiple groups of magnetic plates are arranged at the positions corresponding to the magnetic points of the positioning frame 32 and the positioning plate 31. When the electromagnet 607 is energized, the magnetic points and the magnetic plates attract each other, thereby realizing the taking of the positioning frame 32 or the positioning plate 31. In addition, a second electric cylinder 612 is arranged on the connecting frame 611, and the axial end of the second electric cylinder 612 passes through the connecting frame 611 and is connected to the electromagnet 607, and a pressing block 613 is arranged. The pressing block 613 is made of rubber material, and an arc-shaped groove is arranged at the bottom thereof, and the curvature of the arc-shaped groove is completely consistent with the arc of the top of the lens body 41. When the lens body 41 needs to be taken, the second electric cylinder 612 pushes the pressing block 613, and the pressing block 613 can fit tightly against the top of the lens body 41, assisting the electromagnet 607 to take the lens body 41 more stably, and ensuring that the taking and moving operations of the lens body 41 are carried out smoothly during the assembly process.

[0027] like Figure 2 , Figure 8 , Fig. 9 , Fig.11As shown, a second mounting plate 701 is provided in the second transport area, and a plurality of feeding conveyor belts 702 and detection conveyor belts 703 are provided above the second mounting plate 701. These conveyor belts are arranged in a straight line, and the detection conveyor belt 703 is located between the plurality of feeding conveyor belts 702, and the ends thereof are in contact with each other. The feeding conveyor belts 702 are stably mounted on the second mounting plate 701, and they are responsible for transporting the assembled semi-finished products or finished products from other areas. Under the second mounting plate 701, a plurality of third electric cylinders 704 are neatly arranged, and the shaft ends of the third electric cylinders 704 pass through the second mounting plate 701 and are connected to the detection conveyor belt 703. By extending and retracting the third electric cylinder 704, the height of the detection conveyor belt 703 can be adjusted to meet different detection requirements. On one side of one of the feeding conveyor belts 702, a discharge conveyor belt 705 is also provided. The unloading conveyor belt 705 is also installed on the second mounting plate 701, which is vertically distributed with the feeding conveyor belt 702 and parallel to the second screw slide 33. The height of the unloading conveyor belt 705 is higher than the feeding conveyor belt 702. Such a height difference facilitates the transfer of materials from the unloading conveyor belt 705 to the feeding conveyor belt 702. A connecting bracket 706 is also provided above the second mounting plate 701. The connecting bracket 706 is located on one side of the detection conveyor belt 703 and close to the end of the detection conveyor belt 703 away from the working area. On the connecting bracket 706, a photoelectric sensor 505 is installed. The photoelectric sensor 505 can sense the location information of the material and provide key data support for the subsequent detection process.

[0028] The detection assembly includes a detection bracket 707 and multiple groups of arc slide rails 708. The detection bracket 707 is in a ring shape and is firmly mounted on the second mounting plate 701. The detection conveyor belt 703 is located at the center of the detection bracket 707. Multiple groups of arc slide rails 708 are evenly mounted on the detection bracket 707. These arc slide rails 708 are butted end to end to form an annular slide rail. A third electric slider 709 is slidably arranged on the annular slide rail. The third electric slider 709 is arranged in an arc shape, and its curvature is completely consistent with the curvature of the arc slide rail 708, ensuring smoothness during movement. A visual inspection probe 710 is installed on the third electric slider 709. The visual inspection probe 710 can perform a full range of visual inspection on the products on the detection conveyor belt 703. The visual inspection probe 710 can use a Basler acA2040-180um visual inspection probe. In order to ensure the detection effect, a card slot is provided on the arc slide rail 708, and a light bar 711 is carded in the card slot. The light bar 711 can provide sufficient light to illuminate the inspection area, so that the visual inspection probe 710 can clearly capture the details of the product. In addition, a protective cover 712 is provided above the inspection bracket 707, and the arc-shaped slide rail 708 and the third electric slider 709 are both located in the protective cover 712. The protective cover 712 can effectively block external dust, debris and light interference, creating a stable and reliable environment for the inspection process and ensuring the accuracy of the inspection results. The various components of the entire second transportation area cooperate with each other to jointly complete the transportation and inspection of the multi-eye camera assembly products, providing a strong guarantee for product quality.

[0029] A multi-camera assembly method, using the multi-camera assembly device described above, comprises the following steps: Step 1: Equipment initialization and preparation; Before the assembly process is officially started, the various components of the first transport area, the operating area, and the second transport area need to be returned to their initial positions one by one; the clamping plate 12 in the first transport area is slowly moved to the loading area by means of the coordinated operation of the first screw slide 202 and the first slide rail 203; at this time, the clamping plate 12 is lightly in contact with one end of the loading conveyor belt 205; the other end of the loading conveyor belt 205 is smoothly connected to other unloading equipment, or naturally docked with the previous step; before this, the lens body 41 needs to be installed and clamped in the positioning frame 32 in advance, and then the positioning frame 32 with the lens body 41 installed is clamped on the positioning plate 31; after preparation, the positioning plate 31 with the lens body 41 installed is transported to the loading plate 206 by relying on the transmission of the loading conveyor belt 205; the positioning plate 31 slides from the loading conveyor belt 205 to the loading plate 206 under the dual action of gravity and inertia, and stops steadily when it contacts the second magnetic strip 208; Step 2: Loading and preliminary inspection of the lens body; When the equipment is initialized, the driving device of the first transport area is started, and driven by it, the clamping plate 12 passes through the first screw slide 202 and multiple sets of first slide rails 203, and moves smoothly to the loading area on the first mounting plate 201; at this moment, the loading conveyor belt 205 is also started, and the positioning plate 31 is moved from the original position to the waiting area specially set on the loading plate 206; then, the first electric slider 210 is started, and its movement drives the loading rack 211 to move together; one end of the loading rod 212 on the loading rack 211 is hook-shaped, and during the movement, the hook-shaped end of the loading rod 212 drives the positioning plate 31 forward together until the positioning plate 31 moves onto the clamping plate 12; after the positioning plate 31 reaches the specified position, the first electric cylinder 219 is started, and its shaft end contracts, pulling the moving block 215 to move backward; This action makes the clamping plate 214, which was originally in a vertical state, gradually parallel and contact with the positioning plate 31, thereby realizing the positioning operation of the positioning plate 31; then, the clamping plate 12 starts to move to the detection area; after arriving at the detection area, the parallel lamp tube 503 at the bottom of the mounting bracket 501 lights up, and the multiple groups of image sensors 504 on the mounting seat 502 begin to detect the lens body 41 in the positioning frame 32; the light passes through the lens body 41 and converges on the focal plane of the lens to form an image, and the image sensor 504 is responsible for receiving and recording these images; by analyzing the image formed on the image sensor 504, the lens focal length and other related parameters can be calculated; at the same time, the photoelectric sensor 505 located in the loading area and the feeding area above the first mounting plate 201 monitors the position information of the material at all times; Step 3: Prepare and fix the lens mount body; In the working area, the fixing assembly is moved to the material changing area with the help of the operation of multiple sets of second screw slides 33; the lens holder body 42 is placed in the placement area of ​​the fixed platform 601, and multiple sets of limit blocks 602 limit the lens holder body 42 so that it is stuck between the limit blocks 602; at the same time, the vacuum generator 605 on the fixing plate 604 at the bottom of the fixed platform 601 is connected to the multiple sets of suction cups 603 through a conduit; after starting the vacuum generator 605, the top of the suction cup 603 contacts the bottom of the lens holder body 42, completing the fixing operation of the lens holder body 42; thereafter, the fixing assembly is moved to the working area; since multiple sets of placement areas are provided on the fixed platform 601, multiple sets of lens holder bodies 42 can be fixed at the same time for subsequent assembly; in conjunction with the picking assembly, when assembling a multi-eye camera, multiple sets of lens bodies 41 can be installed on the lens holder body 42; if a monocular camera is assembled, the lens bodies 41 of multiple lens holder bodies 42 can also be assembled at the same time, realizing efficient assembly operations at multiple stations; Step 4: Grasp and assemble the lens body; The robotic arms 15 located on both sides of the support frame 13 are started, and the picking components on the robotic arms 15 near the first transport area start to work; the multiple groups of electromagnets 607 on the picking frame 606 are moved to the top of the positioning frame 32 corresponding to the lens body 41 through the second electric slider 609 on the fourth slide rail 608; the magnetic points at the bottom of the electromagnet 607 and the magnetic plates on the positioning frame 32 are mutually adsorbed, and by setting multiple groups of second electric sliders 609 and multiple groups of electromagnets 607, it is possible to pick up multiple lens bodies 41 at the same time; the laser sensor 507 above the first mounting plate 201 can sense the position of the positioning frame 32 on the positioning plate 31, thereby determining the position of the lens body 41; the robotic arm 15 equipped with the glue dispenser 43 starts to run, and the lens on the fixed component is identified by the visual recognition camera 14 The seat body 42 performs an all-round scan to obtain the installation position information of the lens body 41; then, the glue dispenser 43 squeezes out glue at the corresponding position; then, the robot arm 15 moves the positioning frame 32 with the lens body 41 to the top of the lens seat body 42, and slowly lowers the positioning frame 32 to make it contact with the lens seat body 42, ensuring that the lens body 41 is accurately located at the glue dispensing position; at the same time, the second electric cylinder 612 on the connecting frame 611 pushes the pressing block 613, which is made of rubber material, and the arc-shaped groove at the bottom is consistent with the arc shape of the top of the lens body 41, pressing and fixing the lens body 41; while the second electric cylinder 612 is extended, the robot arm 15 moves upward, thereby squeezing the lens body 41 out of the positioning frame 32, completing the preliminary assembly of the lens body 41 and the lens seat body 42; Step 5: Cutting the positioning plate; When the lens bodies 41 on the positioning plate 31 are assembled, the laser sensor 507 senses that there is no positioning frame 32 on the positioning plate 31; at this time, the clamping plate 12 moves to the unloading area; in this process, the pressing member 221 contacts the limit buckle 220, and the limit buckle 220 opens, releasing the restriction on the positioning plate 31; at the same time, the shaft end of the first electric cylinder 219 extends out, and the clamping card 214 rotates to a vertical state, which also releases the restriction on the positioning plate 31; the robot arm 15 absorbs the positioning plate 31 by taking the components and places the positioning plate 31 in the collection box; after completing the operation, the clamping plate 12 moves to the loading area again, ready for a new step of loading operation; Step 6: Finished product transportation and testing; After the lens body 41 and the lens holder body 42 are assembled, the fixed assembly is moved to the material changing area, the lens holder body 42 assembled with the lens body 41 is taken out and placed on the unloading conveyor belt 705 in the second transport area; the unloading conveyor belt 705 transports the finished product to the feeding conveyor belt 702 below, and the feeding conveyor belt 702 then transports the finished product to the detection conveyor belt 703; the detection conveyor belt 703 is controlled to rise and fall by multiple sets of third electric cylinders 704 under the second mounting plate 701; when the finished product is transported to the detection conveyor belt 703, the third electric cylinder 704 is started to slowly lift the detection conveyor belt 703 The lens body 41 and the lens holder body 42 rise to make the junction of the lens body 41 and the lens holder body 42 parallel to the visual inspection probe 710; at this time, the third electric slider 709 drives the visual inspection probe 710 to move on the annular slide rail formed by the end-to-end connection of multiple sets of arc-shaped slide rails 708, so as to perform all-round inspection on the finished product; the light bar 711 on the arc-shaped slide rail 708 provides sufficient lighting, and the protective cover 712 above the inspection bracket 707 prevents external interference; after the inspection is completed, the third electric cylinder 704 controls the inspection conveyor belt 703 to descend to be parallel to the feeding conveyor belt 702, and the finished product is transported to the receiving place or the next process through the feeding conveyor belt 702.

[0030] Embodiment 2: Based on the multi-camera assembly device and assembly method provided in Embodiment 1 of the present application, Embodiment 2 of the present application proposes a multi-camera assembly device and assembly method thereof. Embodiment 2 is only a preferred method of Embodiment 1, and the implementation of Embodiment 2 will not affect the independent implementation of Embodiment 1. Embodiment 2 of the present invention will be further described below.

[0031] like Figure 4 , Figure 5As shown, a mounting bracket 501 and a mounting seat 502 are provided in the detection area, and both are combined with the first mounting plate 201 in a detachable connection manner, and this connection form is convenient for subsequent maintenance and component replacement. The mounting seat 502 is located between multiple groups of first slide rails 203, and the bottom of the mounting bracket 501 is equipped with a parallel light tube 503 and a light shield 508. The parallel light tube 503 can emit uniform parallel light, and the parallel light tube 503 is placed inside the light shield 508. The existence of the light shield 508 can effectively reduce the interference of external light, making the light emitted by the parallel light tube 503 more concentrated and stable, and providing suitable lighting conditions for the detection of the lens body 41. The mounting seat 502 is provided with multiple groups of image sensors 504, the number of which is consistent with the number of multiple groups of lens bodies 41, and the image sensors 504 are located just below the parallel lamp tubes 503; when the parallel lamp tubes 503 emit light, the light passes through the lens body 41 and forms an image on the image sensor 504, thereby detecting the relevant performance of the lens body 41. At the same time, the mounting seat 502 is also provided with multiple groups of light shielding sleeves 509, and the image sensors 504 are located in the light shielding sleeves 509. The light shielding sleeves 509 further avoid the influence of surrounding stray light on the image sensors 504, thereby improving the accuracy of the detection results. Multiple groups of photoelectric sensors 505 are distributed above the first mounting plate 201, which are respectively located in the loading area and the feeding area, and multiple groups of first assembly racks 506 are arranged on one side of one group of photoelectric sensors 505. A plurality of visual recognition modules 511 are also arranged above the first mounting plate 201. These visual recognition modules 511 are mounted on the second assembly frame 510 and are located in the feeding area. At the bottom of the positioning frame 32, an identification block that can be identified by the visual recognition module 511 is arranged. When the positioning frame 32 moves to the relevant position of the feeding area along with the clamping plate 12, the visual recognition module 511 can quickly determine the position of the positioning frame 32 through the identification block, and then clarify the position information of the lens body 41, and can judge whether there is a lens body 41 on the positioning plate 31; however, when the image sensor 504 detects that there is a defect in the lens body 41, the image sensor 504 will transmit a signal to the control system, and the visual recognition module 511 will detect that there is a lens body 41 on the positioning plate 31, and the robot arm 15 can also move the positioning plate 31 to the collection box. In addition, the clamping plate 12 and the positioning plate 31 are provided with a plurality of through-hole grooves 34 at the position corresponding to the image sensor 504, and a plurality of through-grooves 35 at the position corresponding to the laser sensor 507. In this way, light can pass through the through hole groove 34 and the through groove 35 to form a light transmission path for the image sensor 504 and the laser sensor 507, respectively, ensuring that the two sensors can normally obtain relevant information, thereby completing the detection and positioning of the lens body 41 and related materials.

[0032] The difference between the second embodiment and the first embodiment is that the bottom of the mounting bracket 501 is not only equipped with a parallel light tube 503, but also an additional light shielding hood 508, and the parallel light tube 503 is located in the light shielding hood 508, which can reduce the interference of external light and make the light more concentrated and stable; multiple groups of light shielding sleeves 509 are set on the mounting seat 502, and the image sensor 504 is located in the light shielding sleeve 509, which further avoids the influence of stray light and improves the detection accuracy; the laser sensor 507 is replaced by a visual recognition module 511, which is mounted on the second assembly frame 510 and located in the feeding area, and the bottom of the positioning frame 32 is provided with an identification block that can be recognized by the visual recognition module 511, so as to determine the position of the lens body 41. The remaining conditions are consistent with those of the first embodiment, so this embodiment will not be repeated. The remaining conditions are consistent with those of the first embodiment, so this embodiment will not be repeated.

[0033] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments.

Claims

1. A multi-camera assembly device, comprising a main body plate (11) and a first transport area, an operation area and a second transport area arranged above the main body plate, characterized in that: A first mounting plate (201) and a clamping plate (12) are provided in the first transport area; the first mounting plate (201) is connected to the main plate (11); the clamping plate (12) is slidably connected to the first mounting plate (201) via a first screw slide (202) and a plurality of first slide rails (203); a plurality of clamping assemblies are provided on the clamping plate (12); a positioning plate (31) is clamped on the clamping plate (12) via a plurality of clamping assemblies; a plurality of positioning frames (32) are clamped on the positioning plate (31); and a lens body (41) is clamped in the positioning frame (32). A fixed component is provided in the working area, the fixed component is slidably connected to the main plate (11), and a plurality of lens holder bodies (42) are mounted on the fixed component; a support frame (13) is provided on the main plate (11), a visual recognition camera (14) is provided at the bottom of the support frame (13), and mechanical arms (15) are provided on both sides, one group of which is provided with a picking component, and the other group is provided with a glue dispenser (43); a detection component is provided in the second transport area, and the assembled finished product can be moved to the bottom of the detection component through the second transport area, and a collection box is also provided under the main plate (11).

2. The multi-camera assembly device according to claim 1, characterized in that: The operation area is located between the first transport area and the second transport area. The first transport area is divided into a loading area, a detection area, a feeding area and a unloading area. The clamping plate (12) moves between the loading area, the detection area, the feeding area and the unloading area. The feeding area is located within the operation range of the mechanical arm (15). In the loading area, a fixing frame (204) is provided on one side of the main plate (11). A loading conveyor belt (205) and a loading plate (206) are provided above the fixing frame (204). ), one end of the loading conveyor belt (205) is in contact with one side of the loading plate (206), and the positioning plate (31) can be placed on the loading plate (206); one side of the clamping plate (12) can be in contact with the loading plate (206), and the clamping plate (12) is provided with a plurality of groups of first magnetic strips (207), and the loading plate (206) is provided with a second magnetic strip (208) that can be connected with the first magnetic strip (207), and a magnetic track is formed by connecting the first magnetic strip (207) with the second magnetic strip (208), and the clamping plate (12) can be in contact with the magnetic track; the first mounting plate (201) is provided with a plurality of groups of second slide rails (209), and the second slide rails (209) are slidably provided with a first electric slider (210), and a loading rack (211) is provided above the first mounting plate (201), and the loading rack (211) and the plurality of groups of the first electric sliders (21 0), a plurality of feeding rods (212) are arranged on the feeding rack (211), one end of the feeding rods (212) is provided with a hook shape, the feeding plate (206) is provided with a plurality of passage grooves (213) corresponding to the feeding rods (212), one end of the feeding rods (212) is clamped in the passage groove (213), and is located at one end of the passage groove (213) close to the feeding conveyor belt (205), and contacts with one side of the clamping plate (12).

3. The multi-camera assembly device according to claim 2, characterized in that: The clamping assembly comprises a plurality of groups of clamping plates (214) and moving blocks (215); a plurality of groups of positioning members (216) are arranged above the clamping plate (12); the plurality of groups of clamping plates (214) are located between the plurality of groups of positioning members (216); the clamping plates (214) and the positioning members (216) are rotatably connected; the moving blocks (215) are located between the plurality of groups of clamping plates (214); positioning holes are provided on the clamping plates (214); a positioning groove (217) is provided on the moving blocks (215); the positioning groove (217) is inclined; a positioning bolt passes through the positioning groove (217) and is clamped in the positioning hole; a plurality of groups of third slide rails (218) are arranged on the clamping plate (12); the moving blocks (215) and the third slide rails (218) are slidably connected; the clamping plates (12) are provided with first electric cylinders (219) at both ends, the shaft end of the first electric cylinder (219) is connected to the moving block (215), a rubber block is provided at the bottom of the clamping card plate (214), and the positioning plate (31) is indirectly contacted with the positioning plate (31) through the rubber block, and the positioning plate (31) is clamped between multiple groups of the clamping card plates (214) and the clamping plate (12); multiple groups of limit buckles (220) are rotatably provided on one side of the clamping plate (12), and a flip spring is provided between the two, and the positioning plate (31) is clamped between the clamping plate (12) and the limit buckle (220); multiple groups of pressing members (221) are also provided on the first mounting plate (201), and the pressing members (221) are located in the unloading area, and the pressing members (221) and the limit buckle (220) are both provided with arc surfaces.

4. The multi-camera assembly device according to claim 3, characterized in that: A mounting bracket (501) and a mounting seat (502) are provided in the detection area, both of which are detachably connected to the first mounting plate (201); the mounting seat (502) is located between the plurality of first slide rails (203); a parallel light tube (503) is provided at the bottom of the mounting bracket (501); a plurality of image sensors (504) are provided on the mounting seat (502); the number of the plurality of image sensors (504) is the same as the number of the plurality of lens bodies (41); the image sensors (504) are located directly below the parallel light tubes (503); and a plurality of photoelectric sensors (504) are provided above the first mounting plate (201). 05), respectively located in the loading area and the feeding area, wherein a plurality of first assembly frames (506) are arranged on one side of one group of the photoelectric sensors (505), and a plurality of laser sensors (507) are arranged above the first mounting plate (201), and the laser sensors (507) are clamped on the first assembly frames (506) and located in the feeding area; the clamping plate (12) and the positioning plate (31) are provided with a plurality of through hole grooves (34) corresponding to the image sensors (504), and a plurality of through grooves (35) corresponding to the laser sensors (507), and light transmission paths are formed through the through hole grooves (34) and the through grooves (35).

5. The multi-camera assembly device according to claim 3, characterized in that: A mounting bracket (501) and a mounting seat (502) are provided in the detection area, both of which are detachably connected to the first mounting plate (201); the mounting seat (502) is located between multiple groups of the first slide rails (203); a parallel light tube (503) and a light shield (508) are provided at the bottom of the mounting bracket (501); the parallel light tube (503) is located inside the light shield (508); multiple groups of image sensors (504) are provided on the mounting seat (502); the number of the multiple groups of image sensors (504) is consistent with the number of the multiple groups of lens bodies (41); the image sensors (504) are located directly below the parallel light tubes (503); multiple groups of light shielding sleeves (509) are provided on the mounting seat (502); the image sensors (504) are located inside the light shielding sleeves (509); the first A plurality of groups of photoelectric sensors (505) are arranged above the mounting plate (201) and are respectively located in the loading area and the feeding area; a plurality of groups of second assembly racks (510) are arranged on one side of one group of the photoelectric sensors (505); a plurality of groups of visual recognition modules (511) are arranged above the first mounting plate (201); the visual recognition modules (511) are clamped on the second assembly racks (510) and are located in the feeding area; an identification block that can be identified by the visual recognition module (511) is arranged at the bottom of the positioning frame (32); the clamping plate (12) and the positioning plate (31) are provided with a plurality of groups of through hole grooves (34) corresponding to the image sensors (504), and a plurality of groups of through grooves (35) corresponding to the visual recognition modules (511); a light transmission path is formed through the through hole grooves (34) and the through grooves (35).

6. The multi-camera assembly device according to claim 1, characterized in that: The fixing assembly comprises a fixing table (601), a plurality of groups of second screw slides (33) are arranged on the main plate (11), the fixing table (601) is connected to the plurality of groups of second screw slides (33), the second screw slides (33) are divided into a working area and a material changing area, the working area is close to the robot arm (15) and is within the operating range of the robot arm (15); a plurality of groups of limit blocks (602) are arranged on the fixing table (601), two or more groups of placement areas are formed by the plurality of groups of limit blocks (602), the The lens holder body (42) is placed in the placement area and is clamped between the multiple groups of limit blocks (602); multiple groups of suction cups (603) are arranged on the fixed platform (601), the suction cups (603) are located in the placement area, the tops of the suction cups (603) are in contact with the bottom of the lens holder body (42), a fixing plate (604) is arranged at the bottom of the fixed platform (601), a vacuum generator (605) is arranged on the fixing plate (604), and the vacuum generator (605) is connected to the multiple groups of suction cups (603) through a conduit.

7. The multi-camera assembly device according to claim 6, characterized in that: The picking component includes a picking frame (606) and a plurality of electromagnets (607). The picking frame (606) is installed on the mechanical arm (15) close to the first transport area. The picking frame (606) is provided with a fourth slide rail (608). A plurality of second electric sliders (609) are slidably provided on the fourth slide rail (608). The picking frame (606) is also provided with a plurality of sliding rods (610). Rings are provided on both sides of the second electric sliders (609). The rings are sleeved on the sliding rods (610). A plurality of connecting frames (611) are provided on one side of the picking frame (606). The connecting frames (611) are installed on the second On the electric slider (609), the electromagnet (607) is installed at the bottom of the connecting frame (611); two groups of magnetic attraction points are arranged at the bottom of the electromagnet (607), and the positioning frame (32) and the positioning plate (31) are provided with multiple groups of magnetic attraction plates corresponding to the magnetic attraction points; a second electric cylinder (612) is arranged on the connecting frame (611), and a pressing block (613) is arranged at the axial end of the second electric cylinder (612) passing through the connecting frame (611) and the electromagnet (607), wherein the pressing block (613) is made of rubber, and an arc-shaped groove is arranged at the bottom of the pressing block (613), and the arc shape of the arc-shaped groove is consistent with the arc shape of the top of the lens body (41).

8. The multi-camera assembly device according to claim 1, characterized in that: A second mounting plate (701) is provided in the second transport area. A plurality of feeding conveyor belts (702) and detection conveyor belts (703) are provided above the second mounting plate (701). The plurality of feeding conveyor belts (702) and the detection conveyor belts (703) are arranged in a straight line. The detection conveyor belts (703) are located between the plurality of feeding conveyor belts (702) and are in end-to-end contact with each other. The feeding conveyor belts (702) are installed on the second mounting plate (701). A plurality of third electric cylinders (704) are provided below the second mounting plate (701). The shaft ends of the third electric cylinders (704) pass through the second mounting plate (701) and are connected to the detection conveyor belts (703). One of the feeding conveyor belts (702) is connected to the detection conveyor belts (703). 2) A discharge conveyor belt (705) is provided on one side, the discharge conveyor belt (705) is installed on the second mounting plate (701), the discharge conveyor belt (705) is vertically distributed with the feeding conveyor belt (702), and the discharge conveyor belt (705) is higher than the feeding conveyor belt (702); a connecting bracket (706) is also provided above the second mounting plate (701), the connecting bracket (706) is located on one side of the detection conveyor belt (703) and close to the end of the detection conveyor belt (703) away from the working area, and the photoelectric sensor (505) is installed on the connecting bracket (706); the detection component is installed on the second mounting plate (701) and is located above the detection conveyor belt (703).

9. The multi-camera assembly device according to claim 8, characterized in that: The detection assembly comprises a detection bracket (707) and a plurality of groups of arc-shaped slide rails (708); the detection bracket (707) is arranged in a ring shape; the detection bracket (707) is mounted on the second mounting plate (701); the detection conveyor belt (703) is located at the center of the detection bracket (707); the plurality of groups of arc-shaped slide rails (708) are all mounted on the detection bracket (707); the plurality of groups of arc-shaped slide rails (708) are butt-jointed end to end to form an annular slide rail; a slidable member is arranged on the annular slide rail The third electric slider (709) is arranged in an arc shape, and the arc is consistent with the arc of the arc-shaped slide rail (708); a visual detection probe (710) is installed on the third electric slider (709), a slot is opened on the arc-shaped slide rail (708), and a light bar (711) is arranged in the slot; a protective cover (712) is arranged above the detection bracket (707), and the arc-shaped slide rail (708) and the third electric slider (709) are both located in the protective cover (712).

10. A multi-camera assembly method, using any multi-camera assembly device as claimed in any one of claims 1 to 9, characterized in that: The following steps are included: Step 1: Equipment initialization and preparation; The components of the first transport area, the operation area, and the second transport area are returned to their initial positions. The clamping plate (12) in the first transport area is moved to the loading area through the action of the first screw slide (202) and the first slide rail (203). The clamping plate (12) contacts one end of the loading conveyor belt (205), and the other end of the loading conveyor belt (205) is connected to other unloading equipment or docked with the previous process. The lens body (41) is mounted in the positioning frame (32) in advance, and the positioning frame (32) with the lens body (41) mounted thereon is mounted on the positioning plate (31). The positioning plate (31) with the lens body (41) mounted thereon is transported to the loading plate (206) via the loading conveyor belt (205). Due to the effects of gravity and inertia, the positioning plate (31) slides from the loading conveyor belt (205) to the loading plate (206) and stops when it contacts the second magnetic attraction strip (208); Step 2: Loading and preliminary inspection of the lens body; The driving device of the first transport area is started, so that the clamping plate (12) moves to the loading area on the first mounting plate (201) through the first screw slide (202) and the plurality of first slide rails (203). At this time, the loading conveyor belt (205) is started to move the positioning plate (31) to the waiting area on the loading plate (206); the first electric slider (210) is started, and the first electric slider (210) moves to drive the loading rack (211) to move. One end of the loading rod (212) on the loading rack (211) is set to be hook-shaped, so that the positioning plate (31) is driven to move together during the movement process until the positioning plate (31) moves onto the clamping plate (12); after the positioning plate (31) is in place, the first electric cylinder (219) is started, and the shaft end contracts to drive the moving block (215) backward. The first mounting plate (201) is moved so that the vertical clamping card plate (214) is parallel and in contact with the positioning plate (31), thereby realizing the positioning operation of the positioning plate (31); then, the clamping plate (12) is moved to the detection area, the parallel lamp tube (503) at the bottom of the mounting bracket (501) is lit, and the multiple groups of image sensors (504) on the mounting seat (502) detect the lens body (41) in the positioning frame (32), and the light will converge on the focal plane of the lens to form an image, and the image sensor (504) is used to receive and record the image formed by the lens. By analyzing the imaging situation on the image sensor (504), the relevant parameters of the focal length of the lens can be calculated; the photoelectric sensor (505) located in the loading area and the feeding area above the first mounting plate (201) is used to monitor the material position; Step 3: Prepare and fix the lens mount body; In the working area, the fixed assembly is moved to the material changing area through multiple sets of second screw slides (33), and the lens holder body (42) is placed in the placement area of ​​the fixed platform (601). The lens holder body (42) is limited by multiple sets of limit blocks (602) so that it is stuck between the limit blocks (602). At the same time, the vacuum generator (605) on the fixed plate (604) at the bottom of the fixed platform (601) is connected to the multiple sets of suction cups (603) through a conduit, and the vacuum generator (605) is started so that the top of the suction cup (603) is in contact with the lens. The bottom of the head seat body (42) is in contact with the lens seat body (42) to fix the lens seat body (42), and then the fixing assembly is moved to the working area; the setting of multiple groups of placement areas can fix the assembly of multiple groups of lens seat bodies (42) at the same time, and then cooperate with the picking up assembly, when assembling a multi-eye camera, multiple groups of lens bodies (41) can be installed on the lens seat body (42); when assembling a monocular camera, the lens bodies (41) of multiple lens seat bodies (42) can be assembled at the same time, thereby realizing multi-station assembly operation; Step 4: Grasp and assemble the lens body; The mechanical arms (15) located on both sides of the support frame (13) are started, and the picking components on the mechanical arms (15) near the first transport area are put into operation. The multiple groups of electromagnets (607) on the picking frame (606) are moved to the top of the positioning frame (32) corresponding to the lens body (41) through the second electric slider (609) on the fourth slide rail (608). The magnetic attraction points at the bottom of the electromagnets (607) are adsorbed with the magnetic attraction plates on the positioning frame (32). By setting multiple groups of second electric sliders (609) and multiple groups of electromagnets (607), it is possible to pick up multiple lens bodies (41) at the same time. The laser sensor (507) above the first mounting plate (201) can sense the position of the positioning frame (32) on the positioning plate (31), thereby determining the position of the lens body (41). The mechanical arm (15) equipped with the glue dispenser (43) is operated, and the lens seat body (42) on the fixed component is scanned in all directions by the visual recognition camera (14) to obtain the lens The installation position of the head body (41) is determined by squeezing glue at the corresponding position through the glue dispenser (43). The mechanical arm (15) moves the positioning frame (32) with the lens body (41) to the top of the lens seat body (42), and slowly moves the positioning frame (32) to the lens seat body (42), so that the positioning frame (32) and the lens body (41) are in contact with the lens seat body (42), and the lens body (41) is accurately located at the glue dispensing position; at the same time, the second electric cylinder (612) on the connecting frame (611) pushes the pressing block (613), which is made of rubber material, and the arc groove at the bottom is consistent with the arc shape of the top of the lens body (41), so as to press and fix the lens body (41). At the same time, when the second electric cylinder (612) is extended, the mechanical arm (15) moves upward, thereby squeezing the lens body (41) out of the positioning frame (32), thereby completing the preliminary assembly of the lens body (41) and the lens seat body (42); Step 5: Cutting the positioning plate; When the lens bodies (41) on the positioning plate (31) are assembled, the laser sensor (507) contacts the positioning plate (31) without a positioning frame (32), and the clamping plate (12) moves to the unloading area. The limit buckle (220) opens through the contact between the pressing member (221) and the limit buckle (220), thereby releasing the restriction on the positioning plate (31); at the same time, the shaft end of the first electric cylinder (219) extends out, and the clamping card (214) rotates to a vertical state, thereby also releasing the restriction on the positioning plate (31); the mechanical arm (15) absorbs the positioning plate (31) by taking the components, places the positioning plate (31) in the collection box, and moves the clamping plate (12) to the loading area to perform a new loading operation of the clamping plate (12); Step 6: Finished product transportation and testing; After the lens body (41) and the lens holder body (42) are assembled, the fixed assembly is moved to the material replacement area, and the lens holder body (42) assembled with the lens body (41) is taken out and placed on the unloading conveyor belt (705) in the second transportation area, and is transported to the feeding conveyor belt (702) below through the unloading conveyor belt (705), and is transported to the detection conveyor belt (703) through the feeding conveyor belt (702). The detection conveyor belt (703) is controlled to rise and fall by multiple sets of third electric cylinders (704) below the second mounting plate (701), so that the finished product is raised, and the lens body (41) and the lens holder body (42) are moved to the second mounting plate (701). The intersection of the lens holder body (42) is parallel to the visual inspection probe (710), and the third electric slider (709) drives the visual inspection probe (710) to move on a circular slide rail formed by a plurality of sets of arc-shaped slide rails (708) connected end to end, so as to perform all-round inspection on the finished product. The light bar (711) on the arc-shaped slide rail (708) provides lighting, and the protective cover (712) above the inspection bracket (707) prevents external interference. After the inspection is completed, the inspection conveyor belt (703) descends to be parallel to the feeding conveyor belt (702), and is transported to the receiving place or the next process through the feeding conveyor belt (702).

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