A multi-camera assembly device and its assembly method

Abstract

The present invention provides a multi-camera assembly device and its assembly method, belonging to the field of camera assembly; the device is composed of a main body board and a first transportation area, an operation area and a second transportation area above it; in the first transportation area, a first mounting board is connected to the main body board, and a clamping board is slidably connected to the first mounting board by means of a first screw rod slide and a plurality of first slide rails, and the feeding and preliminary detection of the lens are completed through a clamping component, etc.; the fixing component in the operation area is connected to the main body board by means of a plurality of second screw rod slides and is used for installing the lens seat body, and the robotic arm cooperates with the vision recognition camera to respectively realize the operation of taking the lens and dispensing glue; the detection component in the second transportation area detects the assembled finished product; through the various components in the first transportation area, the operation area and the second transportation area, the device realizes the automatic assembly of the multi-camera, effectively improves the assembly efficiency; at the same time, it also reduces the interference of human factors, reduces the risk of lens wear, and ensures the quality stability of the product.

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] A camera is a key vision device widely used in various fields. Especially in today's automotive industry, it often serves as the "eyes" of an intelligent driving system, helping a vehicle identify road conditions, monitor the surrounding environment, facilitating the realization of autonomous driving and assisted driving functions, and enhancing driving safety and convenience. A camera usually consists of core components such as a lens, a lens holder, and an image sensor. In order to better ensure the comprehensiveness, accuracy, and high definition of image acquisition, a multi-camera is often used.

[0003] During the production process of a camera, it is necessary to first assemble the lens and the lens group, which is a relatively crucial step. As the core component for capturing light, the matching accuracy between the lens and the lens holder will directly affect the imaging quality. For a multi-camera, there are two or more lens mounting positions on the lens holder, and two or more lenses are installed on the lens holder. Multiple lenses can capture images simultaneously from different angles to achieve a wider field of view. However, the traditional camera assembly method usually adopts manual assembly, which has low efficiency, high labor cost, and is likely to prolong the 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 meeting unified high standards. Moreover, during the assembly process, improper operation may also cause wear to 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 to solve the technical problems in the prior art that the traditional manual assembly of multi-cameras has low efficiency, high cost, and long production cycle; at the same time, it is also easily affected by human factors, resulting in unstable product quality and easy wear of the lens affecting the imaging effect.

[0005] The purpose and efficacy of a multi-camera assembly device and an assembly method thereof of the present invention are achieved by the following specific technical means:

[0006] A multi-camera assembly device, comprising a main board and a first transport area, an operation area and a second transport area arranged above the main board. A first mounting board and a clamping board are arranged in the first transport area. The first mounting board is connected to the main board, and the clamping board is slidably connected to the first mounting board through a first lead screw slide and multiple groups of first slide rails. Multiple groups of clamping components are arranged on the clamping board, and a positioning board is clamped on the clamping board through the multiple groups of clamping components. Multiple groups of positioning frames are clamped on the positioning board, and a lens body is clamped in the positioning frame. A fixing component is arranged in the operation area, and the fixing component is slidably connected to the main board. Multiple groups of lens seat bodies are mounted on the fixing component. A support frame is arranged on the main board. A vision recognition camera is arranged at the bottom of the support frame, and robotic arms are arranged on both sides. A picking component is arranged on one of them, and a dispensing machine is mounted on the other. A detection component is arranged in the second transport area. The assembled finished product can be moved to below the detection component through the second transport area. A collection box is also arranged below the main board.

[0007] According to a preferred embodiment, 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, an inspection area, a feeding area and a discharging area. The clamping board moves between the loading area, the inspection area, the feeding area and the discharging area. The feeding area is within the operation range of the robotic arm. In the loading area, a fixing frame is arranged on one side of the main board. An upper conveyor belt and an upper feeding plate are arranged above the fixing frame. One end of the upper conveyor belt is in contact with one side of the upper feeding plate. The positioning board can be placed on the upper feeding plate. One side of the clamping board can be in contact with the upper feeding plate. Multiple groups of first magnetic attraction strips are arranged on the clamping board, and second magnetic attraction strips that can be docked with the first magnetic attraction strips are arranged on the upper feeding plate. A magnetic attraction track is formed by docking the first magnetic attraction strips and the second magnetic attraction strips, and the clamping board can be in contact with the magnetic attraction track. Multiple groups of second slide rails are arranged on the first mounting board. First electric sliders are slidably arranged on the second slide rails. An upper feeding rack is arranged above the first mounting board. The upper feeding rack is connected to the multiple groups of first electric sliders. Multiple groups of upper feeding rods are arranged on the upper feeding rack. One end of the upper feeding rod is hook-shaped. Multiple groups of passing slots are formed in the upper feeding plate corresponding to the upper feeding rods. One end of the upper feeding rod is clamped in the passing slot and is located at one end of the passing slot close to the upper conveyor belt and is in contact with one side of the clamping board.

[0008] According to a preferred embodiment, the clamping assembly includes multiple groups of clamping plates and moving blocks. Multiple positioning members are arranged above the clamping plates. Multiple groups of the clamping plates are located between the multiple positioning members, and the clamping plates are rotatably connected to the positioning members. The moving blocks are located between the multiple groups of clamping plates. Positioning holes are formed in the clamping plates, and positioning grooves are formed in the moving blocks. The positioning grooves are arranged obliquely, and positioning bolts pass through the positioning grooves and are clamped in the positioning holes. Multiple third sliding rails are arranged on the clamping plates, and the moving blocks are slidably connected to the third sliding rails. First electric cylinders are arranged at both ends of the clamping plates, and the shaft ends of the first electric cylinders are connected to the moving blocks. Rubber blocks are arranged at the bottoms of the clamping plates, and the rubber blocks are in indirect contact with the positioning plate through the rubber blocks. The positioning plate is clamped between the multiple groups of clamping plates and the clamping plates. Multiple limiting buckles are rotatably arranged on one side of the clamping plate, and a flip spring is arranged between the two. The positioning plate is clamped between the clamping plate and the limiting buckles. Multiple pressing members are further arranged on the first mounting plate, the pressing members are located in the blanking area, and arc surfaces are arranged on both the pressing members and the limiting buckles.

[0009] According to a preferred embodiment, an installation bracket and an installation seat are arranged in the detection area, and both are detachably connected to the first mounting plate. The installation seat is located between multiple groups of the first sliding rails. A parallel lamp tube is arranged at the bottom of the installation bracket. Multiple image sensors are arranged on the installation seat. The number of the multiple image sensors is the same as the number of the multiple lens bodies. The image sensors are located directly below the parallel lamp tube. Multiple photoelectric sensors are arranged above the first mounting plate, respectively located in the feeding area and the material feeding area. Multiple first assembly frames are arranged on one side of one of the photoelectric sensors. Multiple laser sensors are arranged above the first mounting plate. The laser sensors are clamped on the first assembly frames and are located in the material feeding area. Multiple through-hole grooves are formed in the clamping plates and the positioning plates corresponding to the image sensors, and multiple through grooves are formed corresponding to the laser sensors. Light transmission paths are formed through the through-hole grooves and the through grooves.

[0010] According to a preferred embodiment, an installation bracket and an installation base are provided in the detection area, both of which are detachably connected to the first installation plate. The installation base is located between multiple groups of the first sliding rails. A parallel lamp tube and a light-shielding cover are provided at the bottom of the installation bracket, and the parallel lamp tube is located inside the light-shielding cover. Multiple groups of image sensors are provided on the installation base, and the number of multiple groups of the image sensors is the same as the number of multiple groups of the lens bodies. The image sensors are located directly below the parallel lamp tube. Multiple groups of light-shielding sleeves are provided on the installation base, and the image sensors are located inside the light-shielding sleeves. Multiple groups of photoelectric sensors are provided above the first installation plate, respectively located in the loading area and the feeding area. Multiple groups of second assembly brackets are provided on one side of one of the photoelectric sensors. Multiple groups of visual recognition modules are provided above the first installation plate. The visual recognition modules are clamped on the second assembly brackets and are located in the feeding area. An identification block that can be recognized by the visual recognition module is provided at the bottom of the positioning frame. The clamping plate and the positioning plate are respectively provided with multiple through-hole grooves corresponding to the image sensors and multiple through grooves corresponding to the visual recognition modules, and a light-transmitting path is formed through the through-hole grooves and the through grooves.

[0011] According to a preferred embodiment, the fixing component includes a fixing table. Multiple groups of second lead screw sliders are provided on the main body plate. The fixing table is connected to multiple groups of the second lead screw sliders. The second lead screw sliders are divided into a working area and a material-changing area. The working area is close to the robotic arm and is within the working range of the robotic arm. Multiple groups of limit blocks are provided on the fixing table, and two or more placement areas are formed by the multiple groups of limit blocks. The lens seat body is placed in the placement area and is clamped between multiple groups of the limit blocks. Multiple groups of suction cups are provided on the fixing table, and the suction cups are located in the placement area. The top of the suction cup contacts the bottom of the lens seat body. A fixing plate is provided at the bottom of the fixing table, and a vacuum generator is provided on the fixing plate. The vacuum generator is connected to multiple groups of the suction cups through a conduit.

[0012] According to a preferred embodiment, the picking component includes a picking rack and multiple groups of electromagnets. The picking rack is installed on the robotic arm close to the first transportation area. A fourth slide rail is provided on the picking rack, and multiple groups of second electric sliders are slidably arranged on the fourth slide rail. Multiple groups of sliding rods are also provided on the picking rack. Collars are arranged on both sides of the second electric slider, and the collars are sleeved on the sliding rods. Multiple groups of connecting frames are arranged on one side of the picking rack, the connecting frames are installed on the second electric slider, and the electromagnets are installed at the bottom of the connecting frames. Two magnetic attraction points are provided at the bottom of the electromagnet, and multiple groups of magnetic attraction plates are provided on the positioning frame and the positioning plate corresponding to the magnetic attraction points. A second electric cylinder is provided on the connecting frame, and the shaft end of the second electric cylinder passes through the connecting frame and is provided with a pressing block on the electromagnet. The pressing block is made of rubber, and an arc-shaped groove is opened at the bottom of the pressing block. The arc of the arc-shaped groove is consistent with the arc of the top of the lens body.

[0013] According to a preferred embodiment, a second mounting plate is provided in the second transportation area. Multiple groups of feeding conveyor belts and detection conveyor belts are provided above the second mounting plate. The multiple groups of feeding conveyor belts and the detection conveyor belts are arranged in a straight line. The detection conveyor belt is located between the multiple groups of feeding conveyor belts and is in head-to-tail contact. The feeding conveyor belts are installed on the second mounting plate, and multiple groups of third electric cylinders are provided below the second mounting plate. The shaft ends of the third electric cylinders pass through the second mounting plate and are connected to the detection conveyor belt. A feeding conveyor belt is provided on one side of one of the feeding conveyor belts. The feeding conveyor belt is installed on the second mounting plate. The feeding conveyor belt and the feeding conveyor belt are vertically distributed, and the feeding conveyor belt is higher than the feeding conveyor belt. A connecting bracket is also provided above the second mounting plate. The connecting bracket is located on one side of the detection conveyor belt and is close to the end of the detection conveyor belt away from the working area. An optoelectronic 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.

[0014] 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 and is installed 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 all installed on the detection bracket. The multiple groups of arc-shaped slide rails are butt-jointed 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 arc-shaped, and the arc is consistent with the arc of the arc-shaped slide rail. A vision detection probe is installed on the third electric slider. A card slot is opened on the arc-shaped slide rail, and a light bar is clamped in the card slot. A protective cover is provided above the detection bracket. The arc-shaped slide rail and the third electric slider are both located inside the protective cover.

[0015] A method for assembling a multi - vision camera, using the above - mentioned multi - vision camera assembling device, includes the following steps:

[0016] Step 1: Equipment initialization and preparation;

[0017] Return each component in the first transportation area, the working area, and the second transportation area to the initial position. The clamping plate in the first transportation area moves to the loading area through 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 feeding devices or docked with the previous process. In advance, the mounting lens body is clamped in the positioning frame, and the positioning frame with the lens body installed is clamped on the positioning plate. Through the loading conveyor belt, the positioning plate with the lens body installed is transported onto the loading plate. Due to the action of gravity and inertia, the positioning plate will slide from the loading conveyor belt onto the loading plate and stop when it touches the second magnetic stripe.

[0018] Step 2: Feeding and preliminary detection of the lens body;

[0019] Start the driving device in the first transportation 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, and the positioning plate is moved 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 hook - shaped, so that the positioning plate is driven to move together during the movement until the positioning plate moves onto 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, making the vertical clamping plates parallel and contacting the positioning plate, thereby realizing the positioning operation of the positioning plate. Then, the clamping plate moves to the detection area, and the parallel lamp tubes at the bottom of the mounting bracket light up. Multiple groups of image sensors on the mounting seat detect the lens body in the positioning frame. The light will converge and form an image on the focal plane of the lens, and the image sensor is used to receive and record the image formed by the lens. By analyzing the imaging situation on the image sensor, relevant parameters of the focal length of the lens can be calculated. The photoelectric sensor above the first mounting plate in the loading area and the feeding area is used to monitor the material position.

[0020] Step 3: Preparation and fixation of the lens holder body;

[0021] In the working area, the fixing component moves to the material-changing area through multiple sets of second screw rod slides, places the lens holder body in the placement area of the fixing table, and limits the lens holder body through multiple sets of limit blocks so that it is clamped between the limit blocks. At the same time, the vacuum generator on the fixing plate at the bottom of the fixing table is connected to multiple sets of suction cups through a conduit. The vacuum generator is started so that the top of the suction cup contacts the bottom of the lens holder body to fix the lens holder body. Then, the fixing component moves 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. Combined with the picking component, when assembling a multi-eye camera, multiple sets of lens bodies can be installed on the lens holder body. When assembling a single-eye camera, the lens body assembly of multiple lens holder bodies can be carried out at the same time, thus realizing the assembly operation of multiple workstations;

[0022] Step Four: Picking and assembling the lens body;

[0023] The robotic arms located on both sides of the support frame are activated. The picking component on the robotic arm close to the first transportation area works. Multiple sets of electromagnets on the picking rack move to the upper part of the positioning frame corresponding to the lens body through the second electric slider on the fourth slide rail. The magnetic adsorption points at the bottom of the electromagnet are adsorbed to the magnetic adsorption plate on the positioning frame. By setting multiple sets of second electric sliders and multiple sets of electromagnets, multiple lens bodies can be picked 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 a dispensing machine operates. The vision recognition camera scans the lens holder body on the fixing component in all directions to obtain the installation position of the lens body. Glue is extruded at the corresponding position through the dispensing machine. The robotic arm moves the positioning frame with the lens body to the upper part of the lens holder body and slowly moves the positioning frame onto the lens holder body so that the positioning frame and the lens body both contact the lens holder body, and the lens body is accurately located at the glue application position. At the same time, the second electric cylinder on the connecting frame pushes the pressing block. The pressing block is made of rubber, and the arc-shaped groove at its bottom is consistent with the arc shape at the top of the lens body to press and fix the lens body. At the same time, when the second electric cylinder extends, the robotic arm moves upward, thereby extruding the lens body from the positioning frame to complete the preliminary assembly of the lens body and the lens holder body;

[0024] Step Five: Discharging the positioning plate;

[0025] When all the lens bodies on the positioning plate are assembled, when the laser sensor touches that there is no positioning frame on the positioning plate, the clamping plate will move to the discharging area. Through the contact between the pressing part and the limit buckle, the limit buckle is opened to release the restriction on the positioning plate. At the same time, the shaft end of the first electric cylinder extends, and the clamping card plate rotates to a vertical state, also releasing the restriction on the positioning plate. The robotic arm adsorbs the positioning plate through the picking component, places the positioning plate in the collection box, and moves the clamping plate to the loading area for the loading operation of a new clamping plate;

[0026] Step Six: Finished Product Transportation and Inspection;

[0027] After the assembly of the lens body and the lens mount body is completed, the fixing component moves to the material changing area, takes out the lens mount body with the assembled lens body and places it on the loading conveyor belt in the second transportation area, and transports it to the feeding conveyor belt below through the loading conveyor belt, and then transports it to the inspection conveyor belt through the feeding conveyor belt. The inspection conveyor belt is controlled by multiple groups of third electric cylinders under the second mounting plate to lift and lower, raising the finished product so that the joint between the lens body and the lens mount body is parallel to the vision inspection probe. The third electric slider drives the vision inspection probe to move on the circular rail formed by the head-to-tail docking of multiple groups of arc-shaped rails to conduct a full-range inspection of the finished product. The light strips on the arc-shaped rails provide illumination, and the protective cover above the inspection bracket prevents external interference. After the inspection is completed, the inspection conveyor belt descends to be parallel to the feeding conveyor belt and is transported to the receiving place or the next process through the feeding conveyor belt.

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

[0029] 1. The present invention integrates the first transportation area, the operation area, and the second transportation area through the main board to achieve the efficient assembly of multi-camera. The first transportation area, through the first mounting plate, the clamping plate, multiple groups of clamping components, the positioning plate, and the positioning frame, orderly completes the feeding and preliminary inspection of the lens. The fixing component in the operation area, its fixing table is equipped with multiple groups of limit blocks to form multiple placement areas, combined with the picking component on the robotic arm and the dispensing machine, to achieve multi-station assembly. When assembling a multi-camera, multiple lens bodies can be picked up simultaneously and installed on the lens mount body to complete the assembly of multiple groups of cameras; when assembling a single-camera, multiple lens mount bodies can also be installed with lenses at the same time, and multiple lens bodies are respectively installed on multiple lens mount bodies to improve the assembly efficiency, solving the problems of low efficiency, high cost, and long production cycle in traditional manual assembly. At the same time, the whole process of automated operation reduces the interference of human factors, reduces the risk of lens wear, and ensures the quality stability of the product.

[0030] 2. In the detection area of the first transportation zone, the parallel lamp tubes cooperate with the image sensor to achieve the detection of the lens body. The parallel lamp tubes emit parallel light rays, and these light rays pass through the lens to be detected. According to the principle of light imaging on the focal plane of the lens, a clear image is formed on the image sensor. The device conducts a comprehensive analysis of the images collected by the image sensor, 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 are intercepted at this stage to ensure that the quality of the lenses entering the subsequent assembly process meets strict standards. At the same time, the laser sensor also plays an important role in this area. By emitting a laser beam and receiving the reflected light signal, it can accurately sense and locate the position of the positioning frame, and then accurately determine the actual position of the lens body, providing a very accurate coordinate reference for the subsequent assembly process. During the assembly process, devices such as the robotic arm can install the lens body onto the lens mount according to the coordinates provided by the laser sensor, laying a foundation for improving the final imaging effect of the multi-camera.

[0031] 3. Multiple sets of conveyor belts and detection components installed in the second transportation zone jointly establish a finished product detection process. The feeding conveyor belt and the detection conveyor belt work together to quickly transport the assembled finished products from the operation area to below the detection components in a stable and uniform manner. When the finished product reaches the designated position, the third electric cylinder under the second mounting plate starts to operate, slowly lifting the detection conveyor belt upward until the connection between the lens body and the lens mount body of the finished product is parallel to the visual detection probe, providing ideal position conditions for the subsequent detection work. Inside the detection component, the annularly arranged detection brackets and multiple sets of arc-shaped sliding rails jointly form an annular sliding rail structure. The third electric slider drives the visual detection probe to move smoothly along the sliding rail. During the detection process, the light strips clamped in the slots on the arc-shaped sliding rails emit 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 mount body and the surface of the lens body through reasonable light reflection and refraction, enabling the visual detection probe to clearly capture the subtle details. The visual detection probe can conduct a 360-degree detection of the finished product, effectively detecting not only whether the gap size between the lens body and the lens mount body meets the standards but also being able to keenly detect defects such as scratches, stains, and tiny bubbles on the lens body that affect the imaging quality, comprehensively ensuring the quality of the multi-camera finished products. Brief Description of the Drawings

[0032] Figure 1 is a schematic diagram of the assembled structure of the present invention;

[0033] Figure 2 is a schematic diagram of the disassembled structure of the present invention;

[0034] Figure 3It is a schematic structural diagram after the first transportation area in Embodiment 1 of the present invention is split;

[0035] Figure 4 It is a schematic structural diagram after the clamping assembly of the present invention is split;

[0036] Figure 5 It is a schematic structural diagram after the first transportation area in Embodiment 2 of the present invention is split;

[0037] Figure 6 It is a schematic structural diagram after the fixing assembly of the present invention is split;

[0038] Figure 7 It is a schematic structural diagram after the picking component of the present invention is split;

[0039] Figure 8 It is a schematic structural diagram after the second transportation area is split;

[0040] Figure 9 It is a schematic structural diagram after the detection component is split;

[0041] Figure 10 It is Figure 2 The partial enlarged view of area a in;

[0042] Figure 11 It is Figure 8 The partial enlarged view of area b in;

[0043] Figure 12 It is a step flow chart of a multi - camera assembly method;

[0044] Figure 13 It is a principle block diagram of the control system for detecting and sensing objects.

[0045] In the figure, the corresponding relationship between the component names and the attached reference numerals is:

[0046] 11. Main body plate; 12. Clamping plate; 13. Support frame; 14. Visual recognition camera; 15. Robot arm; 201. First mounting plate; 202. First lead screw slide; 203. First slide rail; 204. Fixed frame; 205. Loading conveyor belt; 206. Loading plate; 207. First magnetic strip; 208. Second magnetic strip; 209. Second slide rail; 210. First electric slider; 211. Loading rack; 212. Loading rod; 213. Passing groove; 214. Clamping card plate; 215. Moving block; 216. Positioning part; 217. Positioning groove; 218. Third slide rail; 219. First electric cylinder; 220. Limit buckle; 221. Pressing part; 31. Positioning plate; 32. Positioning frame; 33. Second lead 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 tube; 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. Taking rack; 607. Electromagnet; 608. Fourth slide rail; 609. Second electric slider; 610. Sliding rod; 611. Connecting frame; 612. Second electric cylinder; 613. Pressing block; 701. Second mounting plate; 702. Feeding conveyor belt; 703. Detection conveyor belt; 704. Third electric cylinder; 705. Discharging conveyor belt; 706. Connecting bracket; 707. Detection bracket; 708. Arc slide rail; 709. Third electric slider; 710. Visual detection probe; 711. Light bar; 712. Protective cover. Specific embodiments

[0047] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the technical solutions of the present invention, but cannot be used to limit the protection scope of the present invention.

[0048] Example 1: As Figures 1 to 13As shown in the figure, the present invention provides a multi-camera assembly device, which includes a main body board 11. The main body board 11 builds a stable basic framework for the entire device. Above it, a first transportation area, an operation area, and a second transportation area are set. The operation area is located in the middle of the first transportation area and the second transportation area. The three areas cooperate with each other to jointly complete the assembly process of the multi-camera. In the first transportation area, there are a first mounting plate 201 and a clamping plate 12. The first mounting plate 201 is connected to the main body board 11, providing 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 multiple groups of first slide rails 203. The first screw slide 202 can drive the clamping plate 12 to move, and the multiple groups of first slide rails 203 ensure the smoothness of the clamping plate 12 during movement. Multiple groups of clamping components are arranged on the clamping plate 12, and a positioning plate 31 is clamped between the clamping plate 12 and the multiple groups of clamping components. Multiple groups of positioning frames 32 are clamped on the positioning plate 31 at equal intervals in a straight line, and the lens body 41 is clamped in the positioning frame 32, so that the lens body 41 will not easily shake or shift during transportation; a limit card slot is opened in the positioning frame 32, and a rubber sleeve is arranged in the limit card slot. The lens body 41 is clamped in the rubber sleeve, which plays a role in protecting the lens body 41 and also clamping the lens body 41. A fixing component is arranged in the operation area. The fixing component is connected to the main body board 11 through multiple groups of second screw slides 33 and can move flexibly. Multiple groups of lens seat bodies 42 are installed on the fixing component and wait to be combined with the lens body 41 during subsequent assembly. A support frame 13 is arranged on the main body board 11. A vision recognition camera 14 is arranged at the bottom of the support frame 13, facing the fixing component below, and can observe the lens seat body 42 on the fixing component. The vision recognition camera 14 can adopt the Keyence CV-X100 vision recognition camera. Multiple groups of robotic arms 15 are also arranged on the main body board 11, and they are respectively located on both sides of the support frame 13. A picking component is installed on one group of robotic arms 15, which can realize the picking operation of the lens body 41; a dispensing machine 43 is arranged on the other group of robotic arms 15, which is used to apply glue to the lens seat body 42 during assembly. When the finished product after the assembly of the lens body 41 and the lens seat 42 is completed, it will be placed in the second transportation area. A detection component is arranged in the second transportation area, and the finished product can move below the detection component to receive further detection. A collection box is also arranged below the main body board 11, and the collection box is located within the working range of the robotic arm 15 close to the first transportation area. The collection box is used to collect the empty positioning plate 31 after loading, which is convenient for subsequent continued use; at the same time, the entire device is connected to an external control system, and through a stable data transmission line, the operating states of each part of the device are real-time fed back to the control system.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.

[0049] like Figures 2 to 4 , Figure 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.

[0050] The clamping assembly includes multiple groups of clamping plates 214 and moving blocks 215. Above the clamping plate 12, multiple groups of positioning members 216 are distributed. Multiple groups of clamping plates 214 are located between 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 at the middle position of multiple groups of clamping plates 214. Positioning holes are provided on the clamping plates 214, and a positioning groove 217 is provided on the moving block 215. The positioning groove 217 is arranged in an inclined shape. When the positioning bolt passes through the positioning groove 217 and is clamped in the positioning hole, when the moving block 215 moves back and forth, the rotation of the clamping plate 214 can be controlled, so as to realize the clamping and fixing of the positioning plate 31 by the clamping plate 214. Multiple groups of third slide rails 218 are provided on the clamping plate 12. A sliding connection can be achieved 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 to ensure the moving track of the moving block 215. First electric cylinders 219 are installed at both ends of the clamping plate 12. The shaft ends of the first electric cylinders 219 are connected to the moving block 215. When the first electric cylinders 219 are started to work, the telescoping of their shaft ends can drive the moving block 215 to slide on the third slide rails 218. Since the moving block 215 and the clamping plate 214 are connected by a positioning bolt, the movement of the moving block 215 will cause the clamping plate 214 to rotate around the positioning member 216, thereby adjusting the position and angle of the clamping plate 214. A rubber block is provided at the bottom of the clamping plate 214. When the positioning plate 31 is placed on the clamping plate 12, the rubber block is in indirect contact with the positioning plate 31. It can not only ensure that the positioning plate 31 is stably clamped, but also avoid damage to the positioning plate 31 caused by hard contact. The positioning plate 31 is clamped between multiple groups of clamping 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 also installed between the clamping plate 12 and the limit buckles 220. The positioning plate 31 is clamped between the clamping plate 12 and the limit buckles 220. Under the action of the flip spring, the limit buckles 220 can play a certain limiting role on the positioning plate 31 to prevent it from moving randomly. On the first mounting plate 201, multiple groups of pressing members 221 are also provided. These pressing members 221 are located in the blanking area. Arc surfaces are provided on both the pressing members 221 and the limit buckles 220. When the clamping plate 12 moves to the blanking area, the pressing members 221 are in contact with the limit buckles 220. The arc surface design makes the contact between the two smoother. The pressing members 221 can smoothly push the limit buckles 220 to rotate, so as to release the restriction on the positioning plate 31 for subsequent blanking operations of the positioning plate 31.

[0051] An installation bracket 501 and a mounting base 502 are provided in the detection area. Both of them are combined with the first mounting plate 201 in a detachable connection manner, and this connection form facilitates subsequent maintenance and component replacement. The mounting base 502 is located between multiple groups of first slide rails 203. The bottom of the installation bracket 501 is equipped with parallel lamp tubes 503, which can emit uniform parallel light. Multiple groups of image sensors 504 are provided on the mounting base 502. The number of these image sensors 504 is the same as the number of multiple groups of lens bodies 41, and the image sensors 504 are just located directly below the parallel lamp tubes 503. When the parallel lamp tubes 503 emit light and the light passes through the lens bodies 41, an image will be formed on the image sensors 504 to detect the relevant performance of the lens bodies 41, thereby effectively ensuring the product quality, and defective lens bodies 41 can be removed in advance. The image sensors 504 can adopt the OmniVision OV5640 image sensor. Multiple groups of photoelectric sensors 505 are distributed above the first mounting plate 201, and they are respectively located in the loading area and the feeding area. The position and state of the material can be monitored in real time through the photoelectric sensors 505. In the loading area, the photoelectric sensor 505 can sense whether the positioning plate 31 accurately reaches the designated position of the loading plate 206. If not in place, the equipment can pause subsequent operations to avoid errors. In the feeding area, it can detect whether the positioning plate 31 normally enters the working range of the robotic arm 15 to ensure the smooth grasping and assembly of the lens bodies 41. The photoelectric sensors 505 can adopt Omron E3Z-T61 photoelectric sensors. Multiple groups of first assembly racks 506 are provided 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 sensors 507 are clamped on the first assembly racks 506 and are located in the feeding area. The laser sensors 507 can detect information such as the position of the material by emitting laser beams and can determine whether there is a lens body 41 on the positioning plate 31. However, when a defective lens body 41 is detected by the image sensor 504, 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 robotic arm 15 can also move the positioning plate 31 into the collection box. The laser sensors 507 can adopt Keyence LJ-V7000 laser sensors. In addition, multiple groups of through-hole grooves 34 are provided at the positions of the clamping plate 12 and the positioning plate 31 corresponding to the image sensors 504, and multiple groups of through grooves 35 are provided at the positions corresponding to the laser sensors 507. In this way, light can pass through the through-hole grooves 34 and the through grooves 35 to form a light transmission path for the work of the image sensors 504 and the laser sensors 507 respectively, ensuring that these two sensors can normally obtain relevant information, thereby completing the detection and positioning of the lens bodies 41 and related materials.

[0052] Such as Figure 2 、 Figure 6As shown, the fixing component includes a fixing table 601. The fixing table 601 is connected to multiple groups of second screw sliding tables 33. The second screw sliding tables 33 are divided into a working area and a material changing area. The position of the working area is close to the robotic arm 15 and is within the effective operation range of the robotic arm 15, which provides convenience for subsequent assembly operations. Multiple groups of limiting blocks 602 are arranged on the fixing table 601. Through reasonable arrangement, the limiting blocks 602 form two or more placement areas. The lens holder body 42 is placed in these placement areas and is clamped between multiple groups of limiting blocks 602, thereby ensuring that the position of the lens holder body 42 on the fixing table 601 is relatively stable and will not move randomly. At the same time, multiple groups of suction cups 603 are also provided on the fixing table 601. They are located in the placement areas, and the tops of the suction cups 603 are in contact with the bottoms of the lens holder bodies 42. At the bottom of the fixing table 601, a fixing plate 604 is installed, and a vacuum generator 605 is equipped on the fixing plate 604. The vacuum generator 605 is connected to multiple groups of suction cups 603 through a conduit. When the vacuum generator 605 is started, a negative pressure can be generated in the suction cups 603, thereby tightly adsorbing the lens holder body 42 and further enhancing the stability of the lens holder body 42 on the fixing table 601.

[0053] Figure 2 、 Figure 7As shown, the picking component includes a picking rack 606 and multiple groups of electromagnets 607. The picking rack 606 is installed on the robotic arm 15 near the first transportation area and moves flexibly with the movement of the robotic arm 15. A fourth slide rail 608 is provided on the picking rack 606, and multiple groups of second electric sliders 609 are slidably installed on the fourth slide rail 608. To ensure the smoothness of the movement of the second electric slider 609, multiple groups of sliding rods 610 are also provided on the picking rack 606. Collars are installed on both sides of the second electric slider 609, and the collars 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 picking rack 606, multiple groups of connecting frames 611 are provided. The connecting frames 611 are installed on the second electric sliders 609, and the electromagnets 607 are installed at the bottoms of the connecting frames 611. Two magnetic attraction points are provided at the bottom of the electromagnet 607, and multiple groups of magnetic attraction plates are provided on the positioning frame 32 and the positioning plate 31 corresponding to the positions of the magnetic attraction points. When the electromagnet 607 is energized, the magnetic attraction points and the magnetic attraction plates attract each other, thereby realizing the picking of the positioning frame 32 or the positioning plate 31. In addition, a second electric cylinder 612 is provided on the connecting frame 611. The shaft 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 provided. The pressing block 613 is made of rubber material, and an arc-shaped groove is opened at the bottom thereof, and the radian of the arc-shaped groove is exactly the same as the arc at the top of the lens body 41. When the lens body 41 needs to be picked, the second electric cylinder 612 pushes the pressing block 613, and the pressing block 613 can closely fit the top of the lens body 41, assisting the electromagnet 607 to pick the lens body 41 more stably and ensuring the smooth progress of the picking and moving operations of the lens body 41 during the assembly process.

[0054] As Figure 2 , Figure 8 , Figure 9 , Figure 11As shown in the figure, a second mounting plate 701 is provided in the second transportation area. Above the second mounting plate 701, multiple groups of feeding conveyor belts 702 and inspection conveyor belts 703 are arranged. These conveyor belts are linearly arranged. The inspection conveyor belt 703 is located between multiple groups of feeding conveyor belts 702 and is in contact with each other at the head and tail. 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. Below the second mounting plate 701, multiple groups of third electric cylinders 704 are neatly arranged. The shaft ends of the third electric cylinders 704 pass through the second mounting plate 701 and are connected to the inspection conveyor belt 703. By the telescopic movement of the third electric cylinders 704, the height of the inspection conveyor belt 703 can be adjusted to meet different inspection requirements. On one side of one group of feeding conveyor belts 702, a discharging conveyor belt 705 is also provided. The discharging conveyor belt 705 is also mounted on the second mounting plate 701. It is perpendicularly distributed to the feeding conveyor belt 702 and is parallel to the second lead screw slide 33 at the same time. The height of the discharging conveyor belt 705 is higher than that of the feeding conveyor belt 702. Such a height difference facilitates the transfer of materials from the discharging conveyor belt 705 to the feeding conveyor belt 702. Above the second mounting plate 701, a connecting bracket 706 is also provided. The connecting bracket 706 is located on one side of the inspection conveyor belt 703 and is close to the end of the inspection conveyor belt 703 away from the operation area. An optoelectronic sensor 505 is mounted on the connecting bracket 706. The optoelectronic sensor 505 can sense the position information of the materials and provide key data support for the subsequent inspection process.

[0055] The detection component includes a detection support 707 and multiple groups of arc-shaped slide rails 708. The detection support 707 is annular and is firmly installed on the second mounting plate 701. The detection conveyor belt 703 is located at the center of the detection support 707, and multiple groups of arc-shaped slide rails 708 are evenly installed on the detection support 707. These arc-shaped slide rails 708 are butt-jointed 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 arc-shaped, and its arc is exactly the same as that of the arc-shaped slide rail 708, ensuring smooth movement during the movement. On the third electric slider 709, a vision detection probe 710 is installed. The vision detection probe 710 can perform an all-round vision detection on the products on the detection conveyor belt 703. The vision detection probe 710 can adopt a Basler acA2040 - 180um vision detection probe. To ensure the detection effect, a card slot is opened on the arc-shaped slide rail 708, and a light bar 711 is clamped in the card slot. The light bar 711 can provide sufficient light to illuminate the detection area, enabling the vision detection probe 710 to clearly capture the details of the products. In addition, a protective cover 712 is arranged above the detection support 707. The arc-shaped slide rail 708 and the third electric slider 709 are both located inside 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 detection process and ensuring the accuracy of the detection results. Each component in the entire second transportation area cooperates with each other to jointly complete the transportation and detection of the assembled finished products of the multi-camera, providing a strong guarantee for product quality.

[0056] A multi-camera assembly method uses the above multi-camera assembly device and includes the following steps:

[0057] Step 1: Equipment initialization and preparation;

[0058] Before officially starting the assembly process, each component in the first transportation area, the working area, and the second transportation area needs to be returned to its initial position one by one; the clamping plate 12 in the first transportation area slowly moves to the loading area with the coordinated operation of the first lead screw slide 202 and the first slide rail 203; at this time, the clamping plate 12 gently contacts one end of the loading conveyor belt 205; the other end of the loading conveyor belt 205 is smoothly connected to other feeding devices or naturally docked with the previous process; 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 onto the positioning plate 31; after preparation, relying on the transmission of the loading conveyor belt 205, the positioning plate 31 with the lens body 41 installed is transported to the loading plate 206; 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 touches the second magnetic strip 208;

[0059] Step 2: Feeding and preliminary inspection of the lens body;

[0060] When the device initialization is completed, start the driving device of the first transportation area. Driven by it, the clamping plate 12 moves smoothly on the first mounting plate 201 to the feeding area through the first lead screw slide 202 and multiple groups of first slide rails 203; at this moment, the feeding conveyor belt 205 is also started, moving the positioning plate 31 from its original position to the specially set waiting area on the feeding plate 206; then, the first electric slider 210 is started, and its movement drives the feeding rack 211 to move together; one end of the feeding rod 212 on the feeding rack 211 is hook-shaped. During the movement, the hook-shaped end of the feeding rod 212 drives the positioning plate 31 to move forward 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 originally vertical clamping card plate 214 gradually parallel and contact 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 reaching the detection area, the parallel lamp tube 503 at the bottom of the mounting bracket 501 lights up, and multiple groups of image sensors 504 on the mounting seat 502 start to detect the lens body 41 inside the positioning frame 32; the light passes through the lens body 41 and converges to form an image on the focal plane of the lens, and the image sensors 504 are responsible for receiving and recording these images; by analyzing the images formed on the image sensors 504, relevant parameters such as the lens focal length can be calculated; at the same time, the photoelectric sensors 505 above the first mounting plate 201 in the feeding area and the feeding area constantly monitor the position information of the materials;

[0061] Step 3: Preparation and fixation of the lens seat body;

[0062] In the working area, the fixing component moves to the material changing area by means of the operation of multiple groups of second lead screw slides 33; place the lens seat body 42 in the placement area of the fixing table 601, and multiple groups of limit blocks 602 limit the lens seat body 42 so that it is clamped between the limit blocks 602; at the same time, the vacuum generator 605 on the bottom fixing plate 604 of the fixing table 601 is connected to multiple groups 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 seat body 42, completing the fixing operation of the lens seat body 42; then, the fixing component moves to the working area; since multiple groups of placement areas are provided on the fixing table 601, multiple groups of lens seat bodies 42 can be fixed simultaneously for subsequent assembly; in cooperation with the picking component, when assembling a multi-lens camera, multiple groups of lens bodies 41 can be installed on the lens seat body 42; if assembling a single-lens camera, the lens body 41 can also be assembled on multiple lens seat bodies 42 simultaneously, realizing efficient assembly operations at multiple workstations;

[0063] Step 4: Grasp and assemble the lens body;

[0064] 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;

[0065] Step 5: Cutting the positioning plate;

[0066] 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;

[0067] Step 6: Finished product transportation and testing;

[0068] After the lens body 41 and the lens mount body 42 are assembled into a finished product, the fixing component moves to the material changing area, takes out the lens mount body 42 assembled with the lens body 41, and places it on the feeding conveyor belt 705 in the second transportation area; the feeding 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 lifting of the detection conveyor belt 703 is controlled by multiple groups 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 activated to slowly raise the detection conveyor belt 703, so that the joint of the lens body 41 and the lens mount body 42 is parallel to the vision detection probe 710; at this time, the third electric slider 709 drives the vision detection probe 710 to move on the circular slide rail formed by the head-to-tail connection of multiple groups of arc-shaped slide rails 708 to perform a full-range detection on the finished product; the light bar 711 on the arc-shaped slide rail 708 provides sufficient illumination, and the protective cover 712 above the detection bracket 707 prevents external interference; after the detection is completed, the third electric cylinder 704 controls the detection 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.

[0069] Embodiment 2: Based on a multi-camera assembly device and its assembly method provided in Embodiment 1 of the present application, Embodiment 2 of the present application proposes a multi-camera assembly device and its assembly method. Embodiment 2 is merely a preferred manner of Embodiment 1, and the implementation of Embodiment 2 will not affect the independent implementation of Embodiment 1. The following will further describe Embodiment 2 of the present invention.

[0070] As Figure 4 、 Figure 5As shown in the figure, an installation bracket 501 and an installation base 502 are provided in the detection area. Both of them are combined with the first mounting plate 201 in a detachable connection manner, which is convenient for subsequent maintenance and component replacement. The installation base 502 is located between multiple groups of first slide rails 203. The bottom of the installation bracket 501 is equipped with a parallel lamp tube 503 and a light-shielding cover 508. The parallel lamp tube 503 can emit uniform parallel light, and the parallel lamp tube 503 is arranged inside the light-shielding cover 508. The presence of the light-shielding cover 508 can effectively reduce the interference of external light, making the light emitted by the parallel lamp tube 503 more concentrated and stable, providing suitable lighting conditions for the detection of the lens body 41. Multiple image sensors 504 are arranged on the installation base 502. The number of these image sensors 504 is the same as the number of multiple groups of lens bodies 41, and the image sensors 504 are just located directly below the parallel lamp tube 503. When the parallel lamp tube 503 emits light and the light passes through the lens body 41, an image will be formed on the image sensors 504 to detect the relevant performance of the lens body 41. At the same time, multiple light-shielding sleeves 509 are also arranged on the installation base 502. The image sensors 504 are located inside the light-shielding sleeves 509, and the light-shielding sleeves 509 further avoid the influence of surrounding stray light on the image sensors 504, improving the accuracy of the detection results. Multiple photoelectric sensors 505 are distributed above the first mounting plate 201, and they are respectively located in the loading area and the feeding area. Multiple first assembly racks 506 are arranged on one side of one group of photoelectric sensors 505. Multiple vision recognition modules 511 are also arranged above the first mounting plate 201. These vision recognition modules 511 are clamped on the second assembly rack 510 and are located in the feeding area. At the bottom of the positioning frame 32, an identification block that can be recognized by the vision recognition module 511 is provided. When the positioning frame 32 moves to the relevant position in the feeding area along with the clamping plate 12, the vision 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 a defect is detected in the lens body 41 by the image sensor 504, the image sensor 504 will transmit a signal to the control system. Even if the vision recognition module 511 detects that there is a lens body 41 on the positioning plate 31, the robotic arm 15 can also move the positioning plate 31 into the collection box. In addition, multiple through-hole grooves 34 are provided at the positions of the clamping plate 12 and the positioning plate 31 corresponding to the image sensors 504, and multiple through grooves 35 are provided at the positions corresponding to the laser sensors 507. In this way, light can pass through the through-hole grooves 34 and the through grooves 35 to form a light-transmitting path for the work of the image sensors 504 and the laser sensors 507 respectively, ensuring that these two sensors can normally obtain relevant information, so as to complete the detection and positioning work of the lens body 41 and related materials.

[0071] The difference between the second embodiment and the first embodiment is that not only the parallel lamp tube 503 is equipped at the bottom of the mounting bracket 501, but also a light-shielding cover 508 is added, and the parallel lamp tube 503 is located inside the light-shielding cover 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 provided on the mounting base 502, and the image sensor 504 is located inside the light-shielding sleeves 509 to further avoid the influence of stray light and improve the detection accuracy; the laser sensor 507 is replaced by a visual recognition module 511, which is clamped on the second assembly frame 510 and located in the feeding area, and an identification block that can be recognized by the visual recognition module 511 is provided at the bottom of the positioning frame 32 to determine the position of the lens body 41. The remaining conditions are the same as those in the first embodiment, so they will not be repeated in this embodiment. The remaining conditions are the same as those in the first embodiment, so they will not be repeated in this embodiment.

[0072] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments.

Claims

1. A multi-camera assembly device, comprising a main body board (11), a first transportation area, an operation area, and a second transportation area arranged above the main body board, characterized in that: A first mounting plate (201) and a clamping plate (12) are arranged in the first transportation area. The first mounting plate (201) is connected to the main body plate (11). The clamping plate (12) is slidably connected to the first mounting plate (201) through a first screw rod slide table (202) and a plurality of groups of first slide rails (203). A plurality of groups of clamping components are arranged on the clamping plate (12). A positioning plate (31) is clamped on the clamping plate (12) through the plurality of groups of clamping components. A plurality of groups of positioning frames (32) are clamped on the positioning plate (31). A lens body (41) is clamped in the positioning frame (32). A fixing component is arranged in the working area. The fixing component is slidably connected to the main body plate (11). A plurality of groups of lens seat bodies (42) are installed on the fixing component. A support frame (13) is arranged on the main body plate (11). A vision recognition camera (14) is arranged at the bottom of the support frame (13), and robotic arms (15) are arranged on both sides. A taking component is arranged on one of the robotic arms, and a dispensing machine (43) is installed on the other. A detection component is arranged in the second transportation area. The assembled finished product can be moved to below the detection component through the second transportation area. A collection box is also arranged below the main body plate (11). The working area is located between the first transportation area and the second transportation area. The first transportation area is divided into a loading area, an inspection area, a feeding area, and a discharging area. The clamping plate (12) moves between the loading area, the inspection area, the feeding area, and the discharging area. The feeding area is within the working range of the robotic arm (15). In the loading area, a fixing frame (204) is provided on one side of the main body plate (11). Above the fixing frame (204), a loading conveyor belt (205) and a loading plate (206) are provided. One end of the loading conveyor belt (205) is in contact with one side of the loading plate (206). 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). A plurality of groups of first magnetic attraction strips (207) are provided on the clamping plate (12). Second magnetic attraction strips (208) that can be docked with the first magnetic attraction strips (207) are provided on the loading plate (206). A magnetic attraction track is formed by docking the first magnetic attraction strips (207) and the second magnetic attraction strips (208), and the clamping plate (12) can be in contact with the magnetic attraction track. A plurality of groups of second sliding rails (209) are provided on the first mounting plate (201). First electric sliders (210) are slidably provided on the second sliding rails (209). A loading rack (211) is provided above the first mounting plate (201). The loading rack (211) is connected to a plurality of groups of the first electric sliders (210). A plurality of groups of loading rods (212) are provided on the loading rack (211). One end of the loading rod (212) is hook-shaped. The loading plate (206) is provided with a plurality of groups of passing slots (213) corresponding to the loading rods (212). One end of the loading rod (212) is clamped in the passing slot (213) and is located at one end of the passing slot (213) close to the loading conveyor belt (205) and is in contact with one side of the clamping plate (12).

2. The multi-camera assembly device according to claim 1, wherein: The clamping assembly includes multiple groups of clamping plates (214) and moving blocks (215). Above the clamping plate (12), multiple groups of positioning members (216) are provided. Multiple groups of the clamping plates (214) are located between multiple groups of the positioning members (216), and the clamping plates (214) are rotatably connected to the positioning members (216); the moving blocks (215) are located between multiple groups of the clamping plates (214). Positioning holes are formed in the clamping plates (214), and a positioning groove (217) is formed in 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; multiple groups of third slide rails (218) are provided on the clamping plates (12), and the moving blocks (215) are slidably connected to the third slide rails (218). First electric cylinders (219) are provided at both ends of the clamping plate (12), and the shaft ends of the first electric cylinders (219) are connected to the moving blocks (215). Rubber blocks are provided at the bottoms of the clamping plates (214), and the rubber blocks are in indirect contact with the positioning plate (31). The positioning plate (31) is clamped between multiple groups of the clamping 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. The positioning plate (31) is clamped between the clamping plate (12) and the limit buckles (220); multiple groups of pressing members (221) are further provided on the first mounting plate (201). The pressing members (221) are located in the blanking area, and arc surfaces are provided on both the pressing members (221) and the limit buckles (220).

3. The multi-camera assembly device according to claim 2, wherein: An installation bracket (501) and an installation base (502) are arranged in the detection area, both of which are detachably connected to the first mounting plate (201). The installation base (502) is located between multiple groups of the first slide rails (203). A parallel lamp tube (503) is arranged at the bottom of the installation bracket (501). Multiple groups of image sensors (504) are arranged on the installation base (502). The number of multiple groups of the image sensors (504) is the same as the number of multiple groups of the lens bodies (41). The image sensors (504) are located directly below the parallel lamp tube (503). Multiple groups of photoelectric sensors (505) are arranged above the first mounting plate (201), respectively located in the loading area and the feeding area. Multiple groups of first assembly racks (506) are arranged on one side of one group of the photoelectric sensors (505). Multiple groups of laser sensors (507) are arranged above the first mounting plate (201). The laser sensors (507) are clamped on the first assembly racks (506) and are located in the feeding area. The clamping plate (12) and the positioning plate (31) are respectively provided with multiple groups of through-hole grooves (34) corresponding to the image sensors (504), and multiple groups of through grooves (35) corresponding to the laser sensors (507). Light-transmitting paths are formed through the through-hole grooves (34) and the through grooves (35).

4. The multi-camera assembly device according to claim 2, characterized in that: An installation bracket (501) and a mounting base (502) are provided in the detection area, both of which are detachably connected to the first mounting plate (201). The mounting base (502) is located between multiple groups of the first slide rails (203). A parallel lamp tube (503) and a light-shielding cover (508) are provided at the bottom of the installation bracket (501), and the parallel lamp tube (503) is located inside the light-shielding cover (508). Multiple groups of image sensors (504) are provided on the mounting base (502), and the number of multiple groups of the image sensors (504) is the same as the number of multiple groups of the lens bodies (41). The image sensors (504) are located directly below the parallel lamp tube (503). Multiple groups of light-shielding sleeves (509) are provided on the mounting base (502), and the image sensors (504) are located inside the light-shielding sleeves (509). Multiple groups of photoelectric sensors (505) are provided above the first mounting plate (201), respectively located in the loading area and the feeding area. Multiple groups of second assembly brackets (510) are provided on one side of one group of the photoelectric sensors (505). Multiple groups of visual recognition modules (511) are provided above the first mounting plate (201). The visual recognition modules (511) are clamped on the second assembly brackets (510) and are located in the feeding area. An identification block that can be recognized by the visual recognition module (511) is provided at the bottom of the positioning frame (32). The clamping plate (12) and the positioning plate (31) are respectively provided with multiple through-hole grooves (34) corresponding to the image sensors (504) and multiple through grooves (35) corresponding to the visual recognition modules (511), and a light-transmitting path is formed through the through-hole grooves (34) and the through grooves (35).

5. The multi-camera assembly device according to claim 1, characterized in that: The fixing component includes a fixing table (601). Multiple groups of second screw sliding tables (33) are provided on the main body plate (11). The fixing table (601) is connected to multiple groups of the second screw sliding tables (33). The second screw sliding tables (33) are divided into a working area and a material-changing area. The working area is close to the robotic arm (15) and is within the working range of the robotic arm (15). Multiple groups of limiting blocks (602) are provided on the fixing table (601). Two or more placement areas are formed by multiple groups of the limiting blocks (602). The lens seat body (42) is placed in the placement area and is clamped between multiple groups of the limiting blocks (602). Multiple groups of suction cups (603) are provided on the fixing table (601). The suction cups (603) are located in the placement area. The top of the suction cup (603) is in contact with the bottom of the lens seat body (42). A fixing plate (604) is provided at the bottom of the fixing table (601). A vacuum generator (605) is provided on the fixing plate (604). The vacuum generator (605) is connected to multiple groups of the suction cups (603) through a conduit.

6. The multi-camera assembly device according to claim 5, characterized in that: The picking component includes a picking rack (606) and multiple groups of electromagnets (607). The picking rack (606) is installed on the robotic arm (15) close to the first transportation area. A fourth slide rail (608) is provided on the picking rack (606), and multiple groups of second electric sliders (609) are slidably arranged on the fourth slide rail (608). Multiple groups of sliding rods (610) are also provided on the picking rack (606). Collars are provided on both sides of the second electric slider (609), and the collars are sleeved on the sliding rods (610). Multiple groups of connecting frames (611) are provided on one side of the picking rack (606), 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 magnetic attraction points are provided at the bottom of the electromagnet (607), and multiple groups of magnetic attraction plates are provided on the positioning frame (32) and the positioning plate (31) corresponding to the magnetic attraction points. A second electric cylinder (612) is provided on the connecting frame (611), and the shaft end of the second electric cylinder (612) passes through the connecting frame (611) and is provided with a pressing block (613) on the electromagnet (607). The pressing block (613) is made of rubber, and an arc-shaped groove is opened at the bottom of the pressing block (613), and the arc of the arc-shaped groove is the same as the arc of the top of the lens body (41).

7. A multi-camera assembly device according to claim 1, characterized in that: A second mounting plate (701) is provided in the second transportation area. Multiple groups of feeding conveyor belts (702) and detection conveyor belts (703) are provided above the second mounting plate (701). The multiple groups of feeding conveyor belts (702) and the detection conveyor belts (703) are arranged in a straight line. The detection conveyor belt (703) is located between the multiple groups of feeding conveyor belts (702) and is in end-to-end contact. The feeding conveyor belts (702) are installed on the second mounting plate (701). Multiple groups of third electric cylinders (704) are provided below the second mounting plate (701), 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). A discharging conveyor belt (705) is provided on one side of one of the feeding conveyor belts (702). The discharging conveyor belt (705) is installed on the second mounting plate (701). The discharging conveyor belt (705) is vertically distributed with the feeding conveyor belt (702), and the discharging 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 is close to one end of the detection conveyor belt (703) away from the working area. 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).

8. A multi-camera assembly device according to claim 7, characterized in that: The detection component includes a detection bracket (707) and multiple groups of arc-shaped slide rails (708). The detection bracket (707) is arranged in a ring shape and is installed on the second mounting plate (701). The detection conveyor belt (703) is located at the central position of the detection bracket (707). Multiple groups of the arc-shaped slide rails (708) are all installed on the detection bracket (707). The multiple groups of arc-shaped slide rails (708) are butt-jointed end to end to form a ring-shaped slide rail. A third electric slider (709) is slidably arranged on the ring-shaped slide rail. The third electric slider (709) is arranged in an arc shape, and the radian is consistent with that of the arc-shaped slide rail (708). A vision detection probe (710) is installed on the third electric slider (709). A card slot is formed on the arc-shaped slide rail (708), and a light bar (711) is clamped in the card slot. A protective cover (712) is arranged above the detection bracket (707). The arc-shaped slide rail (708) and the third electric slider (709) are both located inside the protective cover (712).

9. A method for assembling a multi-camera, using any one of the multi-camera assembly devices as claimed in claims 1-8, characterized in that: It includes the following steps: Step 1: Equipment initialization and preparation; Return the components of the first transportation area, the working area, and the second transportation area to their initial positions. The clamping plate (12) in the first transportation area is moved to the feeding area through the action of the first lead screw slide table (202) and the first slide rail (203). The clamping plate (12) contacts one end of the feeding conveyor belt (205), and the other end of the feeding conveyor belt (205) is docked with the previous process; The mounting lens body (41) is pre-clamped in the positioning frame (32), and the positioning frame (32) with the mounting lens body (41) is clamped on the positioning plate (31). Through the feeding conveyor belt (205), the positioning plate (31) with the mounting lens body (41) is transported onto the feeding plate (206). Due to the action of gravity and inertia, the positioning plate (31) will slide from the feeding conveyor belt (205) onto the feeding plate (206) and stop when it touches the second magnetic strip (208); Step 2: Feeding and preliminary detection of the lens body Start the driving device of the first transportation area, so that the clamping plate (12) moves on the first mounting plate (201) to the loading area through the first lead screw slide table (202) and multiple groups of first slide rails (203). At this time, the loading conveyor belt (205) starts, and moves the positioning plate (31) to the waiting area on the loading plate (206); the first electric slider (210) starts, and the movement of the first electric slider (210) drives the loading rack (211) to move. One end of the loading rod (212) on the loading rack (211) is set in a hook shape, so as to drive the positioning plate (31) to move together during the movement until the positioning plate (31) moves onto the clamping plate (12); after the positioning plate (31) arrives, the first electric cylinder (219) starts, and the shaft end shrinks to drive the moving block (215) to move backward, making the vertical clamping card plate (214) parallel and in contact with the positioning plate (31), so as to realize the positioning operation of the positioning plate (31); then, the clamping plate (12) moves to the detection area, and the parallel lamp tubes (503) at the bottom of the mounting bracket (501) light up. Multiple groups of image sensors (504) on the mounting base (502) detect the lens body (41) in the positioning frame (32). The light will converge and form an image on the focal plane of the lens, 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) above the first mounting plate (201) in the loading area and the feeding area is used to monitor the material position; Step 3: Preparation and fixation of the lens seat body; In the working area, the fixing component moves to the material changing area through multiple groups of second lead screw slide tables (33), places the lens seat body (42) in the placement area of the fixing table (601), and limits the lens seat body (42) through multiple groups of limit blocks (602) so that it is clamped between the limit blocks (602). At the same time, the vacuum generator (605) on the fixing plate (604) at the bottom of the fixing table (601) is connected to multiple groups of suction cups (603) through a conduit. Start the vacuum generator (605) to make the top of the suction cup (603) contact the bottom of the lens seat body (42) to realize the fixation of the lens seat body (42). Then the fixing component moves 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. Coupled with the picking component, when assembling a multi-eye camera, multiple groups of lens bodies (41) can be installed on the lens seat body (42); when assembling a single-eye camera, the lens bodies (41) can be assembled on multiple lens seat bodies (42) at the same time, so as to realize the assembly operation of multiple workstations; Step 4: Grabbing and assembling of 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 mount body (42) are assembled into a finished product, the fixing component moves to the material changing area, takes out the lens mount body (42) assembled with the lens body (41) and places it on the discharging conveyor belt (705) in the second transportation area, and transports it to the feeding conveyor belt (702) below through the discharging conveyor belt (705), and then transports it to the inspection conveyor belt (703) through the feeding conveyor belt (702). The inspection conveyor belt (703) is controlled by a plurality of groups of third electric cylinders (704) below the second mounting plate (701) to lift and lower, raising the finished product so that the joint between the lens body (41) and the lens mount body (42) is parallel to the vision inspection probe (710). The third electric slider (709) drives the vision inspection probe (710) to move on the annular slide rail formed by the head-to-tail docking of a plurality of groups of arc-shaped slide rails (708) to perform a full-range inspection of the finished product. The light bars (711) on the arc-shaped slide rails (708) provide illumination, 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 next process through the feeding conveyor belt (702).

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