Machine core structure assembling system and method based on machine vision

Abstract

The invention provides an assembling system and method for a machine core structure based on machine vision. The assembling system comprises a platform assembly and an assembling detection module. The platform assembly comprises a to-be-assembled platform for placing a machine core structural body, a conveying platform for placing a machine core assembly and a transfer structure arranged between the to-be-assembled platform and the conveying platform, and the assembly detection module is installed on the transfer structure; the assembly detection module comprises an image acquisition module, a coordinate fitting module and a control module; the image acquisition module is used for acquiring actual coordinate information of the to-be-assembled platform and / or the conveying platform; the coordinate fitting module generates an action instruction by comparing the actual coordinate information with the preset coordinate information; the control module regulates and controls the operation of the conveying platform and / or regulates the execution action of the transfer structure according to the action instruction, and the transfer structure is used for transferring the machine core assembly into the machine core structural body. The technical problem to be solved by the invention is to improve the assembly efficiency and precision of the movement structure.

Description

Technical Field

[0001] The present invention relates to the technical field of movement assembly, and in particular to an assembly system and an assembly method of a movement structure based on machine vision. Background Art

[0002] With the rapid development of industrial automation, the requirements for assembly accuracy and efficiency in the field of mechanical manufacturing are increasing day by day. As the core component of the machinery, the assembly quality of the movement structure directly affects the performance and reliability of the product. Traditional movement assembly mainly relies on manual operation or semi-automatic equipment. Manual operation is easily affected by factors such as the operator's technical level and fatigue, and it is difficult to ensure high-precision assembly requirements; traditional assembly methods rely on manual intervention, the assembly speed is slow, and it is difficult to meet the needs of large-scale production.

[0003] Therefore, improving the efficiency and accuracy of movement structure assembly is a technical problem that needs to be solved. Summary of the invention

[0004] The technical problem solved by the present invention is to improve the efficiency and accuracy of movement structure assembly, reduce the error of human operation, and improve the quality and consistency of the final product.

[0005] To solve the above problems, the present invention provides an assembly system of a movement structure based on machine vision, the assembly system comprising a platform component and an assembly detection module; the platform component comprises a platform to be assembled for placing a movement structure, a conveying platform for placing the movement component and a transfer structure arranged between the platform to be assembled and the conveying platform, and the assembly detection module is installed on the transfer structure; the assembly detection module comprises an image acquisition module, a coordinate fitting module and a control module, the image acquisition module is used to obtain actual coordinate information of the platform to be assembled and / or the conveying platform; the coordinate fitting module generates action instructions by comparing the actual coordinate information with the preset coordinate information; the control module regulates the operation of the conveying platform and / or adjusts the execution action of the transfer structure according to the action instructions, and the transfer structure is used to transfer the movement component into the movement structure.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: through the assembly detection module, whether each component of the assembly platform and the transmission platform is in the preset position during the assembly process is detected in real time, the actual coordinate information of each component is collected in real time through the image acquisition module, and the deviation information of the actual coordinate information and the preset coordinate information is compared through the coordinate fitting module, and the operation of the transmission platform and the execution action of the transfer structure are adjusted according to the deviation information. Combined with the actual assembly of the movement structure, the transfer structure is used to transfer the movement component from the transmission platform to the movement structure placed on the assembly platform. In order to ensure the accuracy of the assembly, it is necessary to ensure that the movement structure and the movement component are placed in the preset position before assembly. Specifically, the movement component is placed on the transmission platform. Since the transmission platform is an operable platform, deviations may occur during the actual operation process so that the movement component does not reach the preset position. By setting the assembly detection module, the actual position information of each component is detected in real time, and the coordinate fitting module is used for comparison to find the deviation position, and the control module is used to make timely adjustments. Specifically, the transmission distance of the transmission platform and the orientation and action of the transfer structure can be adjusted.

[0007] In one example of the present invention, the conveying platform includes a plurality of parallel and spaced conveying plates for placing a conveying frame, the movement assembly is placed in the conveying frame, and the conveying plates are used to bring the conveying frame from one end of the conveying platform away from the transfer structure to the end of the conveying platform close to the transfer structure.

[0008] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by setting up multiple parallel and spaced transmission plates, the orderliness of the assembly process is ensured, and multiple transmission plates arrive at preset positions in sequence; a transmission frame is placed on the transmission plate, and multiple movement components are placed in the transmission frame in an orderly manner, which is conducive to saving space.

[0009] In one embodiment of the present invention, a limiting rib is provided on the edge of the conveying plate, and the limiting rib is used to stop the conveying frame from deviating in the running direction.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by setting limiting ribs on the edge of the conveying plate, the conveying frame is less likely to slide and deflect during the conveying process.

[0011] In one example of the present invention, the image acquisition module is used to obtain the first coordinate information of the conveying frame relative to the conveying plate, as well as the second coordinate information of the core assembly relative to the conveying frame and the third coordinate information of the core structure relative to the assembly platform.

[0012] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: specifically, through multi-level coordinate information collection, the position of each component can be accurately determined to ensure consistency and accuracy in the assembly process, and the collected coordinate information is used to generate corresponding action instructions through the coordinate fitting module. The control module adjusts the action of the transfer structure according to the action instructions and regulates the operation of the transfer platform.

[0013] In one example of the present invention, the coordinate fitting module determines whether a conveying frame is placed on the conveying plate by comparing the first coordinate information with the first preset coordinate information. If not, a first action instruction is issued through the control module to drive the conveying platform to move the adjacent conveying plate to the first preset position.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by comparing the first coordinate information and the first preset coordinate information, it is determined whether a transfer frame is placed on the transfer plate. Combined with the actual assembly situation of the movement structure, the transfer plate is damaged due to long-term use or accidental reasons and is not replaced in time, resulting in that the transfer frame cannot be placed at this position. Therefore, it is necessary to control the transfer platform through the control module to transfer the next transfer plate to the preset position and continue to execute the subsequent processes.

[0015] In one example of the present invention, if a conveying frame is placed on the conveying plate, the first coordinate information and the first preset coordinate information are further compared to determine whether the conveying frame is in a normal placement state. If not, the transfer structure is controlled to adjust the position of the assembly detection module relative to the junction of the conveying frame and the conveying plate to obtain abnormal coordinate information.

[0016] Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the conveying frame is in an abnormal placement state. Specifically, the conveying frame may be in several abnormal placement states during the actual placement process. In some embodiments, the conveying frame is not accurately placed in the designated area of ​​the conveying platform. In other embodiments, there are foreign objects at the bottom of the conveying frame, and the conveying frame is tilted when placed; or the conveying frame is placed on the limiting rib due to improper operation when placing the conveying frame, resulting in an abnormal placement state. At this time, it is necessary to check and adjust the placement position of the conveying frame until the normal placement state is restored before taking the next step; specifically, if the conveying frame is displayed in an abnormal placement state, it is necessary to analyze the abnormality, find out the abnormal point, and adjust the abnormal placement state in time. By comparing the first coordinate information and the second preset coordinate information, the abnormality is found. It is very likely that there is an abnormality in the connection between the conveying plate and the conveying frame. Therefore, it is necessary to first control the transfer structure to adjust the position of the assembly detection module relative to the junction of the conveying frame and the conveying plate to determine whether an abnormality occurs here.

[0017] In one embodiment of the present invention, the coordinate fitting module analyzes abnormal coordinate information to determine whether an angle appears at the contact point between the conveying frame and the conveying plate. If so, the coordinate fitting module issues an abnormal instruction to manually adjust the placement position of the conveying frame.

[0018] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: through the coordinate fitting module, the contact status between the conveyor frame and the conveyor plate can be analyzed more accurately, reducing the error of manual inspection; through automated anomaly detection, abnormal data can be accumulated, providing a basis for subsequent fault analysis and equipment maintenance, which is conducive to deeper technical improvement.

[0019] In one example of the present invention, if the conveying frame is in a normal placement state, the transfer structure is controlled to transfer the assembly detection module to the top of the conveying frame to obtain the second position information, and by comparing the second position information with the second preset position information, it is determined whether the conveying frame has reached the preset position. If so, the position of the transfer structure relative to the movement assembly is adjusted to obtain the second coordinate information.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by comparing the second position information and the second preset position information, the position of the conveyor frame can be accurately confirmed to ensure that it accurately reaches the preset position, thereby reducing poor assembly caused by position deviation. The self-calibration and feedback mechanism of the assembly detection module makes the equipment more reliable during operation, reduces the failure rate, and improves the overall service life of the equipment.

[0021] In one example of the present invention, by comparing the second coordinate information and the second preset coordinate information, it is determined whether the movement assembly is in a normal placement state. If so, the third coordinate information and the third preset coordinate information are further compared to determine whether the movement structure is in a normal placement state. If the movement structure is in a normal placement state, a transfer instruction is issued through the coordinate fitting module to control the transfer structure to perform the transfer action and transfer the movement assembly into the movement structure.

[0022] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: through multiple coordinate comparisons, the normal state of the movement components and the movement structure is ensured before transportation, which reduces rework and downtime caused by improper assembly, thereby significantly improving the overall production efficiency.

[0023] The present invention also provides a method for assembling a movement structure based on machine vision, and the assembly method applies the above-mentioned assembly system.

[0024] Compared with the prior art, the technical effect achieved by adopting this technical solution is: an assembly method of a movement structure based on machine vision, which has the technical effect of any of the above-mentioned assembly systems and will not be repeated here.

[0025] After adopting the technical solution of the present invention, the following technical effects can be achieved: (1) Through the assembly detection module, it is detected in real time whether each component of the assembly platform and the transmission platform is in the preset position during the assembly process. The actual coordinate information of each component is collected in real time through the image acquisition module. The deviation information of the actual coordinate information and the preset coordinate information is compared through the coordinate fitting module. According to the deviation information, the operation of the transmission platform is regulated and the execution action of the transfer structure is adjusted. Combined with the actual assembly situation of the movement structure, the transfer structure is used to transfer the movement components from the transmission platform to the movement structure placed on the assembly platform. In order to ensure the accuracy of the assembly, it is necessary to ensure the consistency of the placement position of the movement structure and the movement components before assembly. Specifically, the movement components are placed on the transmission platform, which is a movable platform. During the actual operation, deviations may occur, causing the movement components to fail to reach the preset position. By setting up the assembly detection module, the actual position information of each component is detected in real time, and the coordinate fitting module is used for comparison to find the deviation position. The control module is used to make timely adjustments. Specifically, the transmission distance of the transmission platform and the orientation and action of the transfer structure can be adjusted; (2) Through multiple coordinate comparisons, the normal state of the movement components and movement structures is ensured before transportation, reducing rework and downtime caused by improper assembly, thereby significantly improving overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 A schematic diagram of the structure of an assembly system provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a transmission component in an embodiment of the present invention; Figure 3 Detailed view of the transmission plate in an embodiment of the present invention.

[0027] Description of reference numerals: 100, conveying assembly; 110, conveying frame; 120, conveying plate; 121, limiting ribs; 120, movement assembly; 200, platform to be assembled; 210, movement structure; 300, transfer structure; 310, assembly detection module. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] See also Figure 1 and Figure 2 The present invention provides an assembly system of a movement structure based on machine vision, the assembly system includes a platform component and an assembly detection module 310; the platform component includes a to-be-assembled platform 200 for placing a movement structure 210, a conveying platform for placing a movement component 120, and a transfer structure 300 arranged between the to-be-assembled platform 200 and the conveying platform, the assembly detection module 310 is installed on the transfer structure 300; the assembly detection module 310 includes an image acquisition module, a coordinate fitting module, and a control module, the image acquisition module is used to obtain actual coordinate information of the to-be-assembled platform 200 and / or the conveying platform; the coordinate fitting module generates an action instruction by comparing the actual coordinate information with the preset coordinate information; the control module regulates the operation of the conveying platform and / or adjusts the execution action of the transfer structure 300 according to the action instruction, the transfer structure 300 is used to transfer the movement component 120 to the movement structure 210.

[0030] Furthermore, an assembly detection module 310 is installed on the transfer structure 300; the assembly detection module 310 includes an image acquisition module and a coordinate fitting module; through the assembly detection module 310, it is detected in real time whether the components of the assembly platform 200 and the conveying platform are in the preset positions during the assembly process, the actual coordinate information of each component is collected in real time through the image acquisition module, and the deviation information of the actual coordinate information and the preset coordinate information is compared through the coordinate fitting module, and the operation of the conveying platform and the execution action of the transfer structure 300 are adjusted according to the deviation information. In combination with the actual assembly situation of the movement structure, the transfer structure 300 is used to transfer the movement component 120 from the conveying platform to the movement structure 210 placed on the assembly platform 200. In order to ensure the accuracy of the assembly, it is necessary to ensure the consistency of the placement positions of the movement structure 210 and the movement component 120 before assembly. Specifically, the movement component 120 is placed on the conveying platform, and the conveying platform is a movable platform. During the actual operation, deviations may occur, causing the movement component 120 to fail to reach the preset position. By setting up an assembly detection module 310, the actual position information of each component is detected in real time, and the coordinate fitting module is used for comparison to find the deviation position, and the control module is used to make timely adjustments. Specifically, the conveying distance of the conveying platform and the orientation and movement of the transfer structure 300 can be adjusted.

[0031] See also Figure 2 In a specific embodiment of the present invention, the conveying platform includes a plurality of parallel and spaced conveying plates 120 for placing a conveying frame 110, the movement assembly 120 is placed in the conveying frame 110, and the conveying plates 120 are used to bring the conveying frame 110 from one end of the conveying platform away from the transfer structure 300 to the other end of the conveying platform close to the transfer structure 300.

[0032] Furthermore, the conveying platform includes a plurality of conveying plates 120 arranged in parallel and at intervals, the movement assembly 120 is placed in a conveying frame 110, and the conveying plate 120 is used to bring the conveying frame 110 from one end of the conveying platform away from the transfer structure 300 to the other end of the conveying platform close to the transfer structure 300; by setting a plurality of conveying plates 120 arranged in parallel and at intervals, the orderliness of the assembly process is ensured, and the plurality of conveying plates 120 arrive at the preset positions in sequence; the conveying frame 110 is placed on the conveying plate 120, and the plurality of movement assemblies 120 are orderly placed in the conveying frame 110, which is conducive to saving space.

[0033] See also Figure 3 In a specific embodiment of the present invention, a limiting rib 121 is provided on the edge of the conveying plate 120, and the limiting rib 121 is used to stop the conveying frame 110 from deviating in the running direction.

[0034] Furthermore, by providing limiting ribs 121 on the edge of the conveying plate 120 , the conveying frame 110 is less likely to slide or deviate during the conveying process.

[0035] In a specific embodiment of the present invention, the image acquisition module is used to obtain the first coordinate information of the conveying frame 110 relative to the conveying plate 120, as well as the second coordinate information of the core assembly 120 relative to the conveying frame 110 and the third coordinate information of the core structure 210 relative to the assembly platform 200.

[0036] Furthermore, the image acquisition module is used to obtain the first coordinate information of the conveying frame 110 relative to the conveying plate 120, as well as the second coordinate information of the movement component 120 relative to the conveying frame 110 and the third coordinate information of the movement structure 210 relative to the assembly platform 200. Specifically, through multi-level coordinate information collection, the position of each component can be accurately determined to ensure consistency and accuracy in the assembly process. The collected coordinate information is used to generate corresponding action instructions through the coordinate fitting module, and the control module adjusts the action of the transfer structure 300 and regulates the operation of the transfer platform according to the action instructions.

[0037] In a specific embodiment of the present invention, the coordinate fitting module determines whether the conveying plate 120 is placed with the conveying frame 110 by comparing the first coordinate information with the first preset coordinate information. If not, the control module issues a first action instruction to drive the conveying platform to move the adjacent conveying plate 120 to the first preset position.

[0038] Furthermore, by comparing the first coordinate information and the first preset coordinate information, it is determined whether a transfer frame 110 is placed on the transfer plate 120. Combined with the actual assembly situation of the movement structure, the transfer plate 120 may be damaged due to long-term use or accidental reasons and may not be replaced in time, resulting in that the transfer frame 110 cannot be placed at this position. Therefore, it is necessary to control the transfer platform through the control module to transfer the next transfer plate 120 to the preset position and continue to execute subsequent processes.

[0039] In a specific embodiment of the present invention, if a conveying frame 110 is placed on the conveying plate 120, the first coordinate information and the first preset coordinate information are further compared to determine whether the conveying frame 110 is in a normal placement state. If not, the transfer structure 300 is controlled to adjust the position of the assembly detection module 310 relative to the junction of the conveying frame 110 and the conveying plate 120 to obtain abnormal coordinate information.

[0040] Furthermore, if a conveying frame 110 is placed on the conveying plate 120, the first coordinate information and the first preset coordinate information are further compared to determine whether the conveying frame 110 is in a normal placement state. The conveying frame 110 is in an abnormal placement state. Specifically, the conveying frame 110 may be in several abnormal placement states during the actual placement process. In some embodiments, the conveying frame 110 is not accurately placed in the designated area of ​​the conveying platform. In other embodiments, there are foreign objects at the bottom of the conveying frame 110, and the conveying frame 110 is tilted when placed; or when placing the conveying frame 110, the conveying frame 110 is placed on the limiting rib 121 due to improper operation. On, resulting in an abnormal placement state, at this time, it is necessary to check and adjust the placement position of the conveying frame 110 until the normal placement state is restored before taking the next step; specifically, if it is displayed that the conveying frame 110 is in an abnormal placement state, it is necessary to analyze the abnormality, find out the abnormal point, and adjust the abnormal placement state in time. By comparing the first coordinate information and the second preset coordinate information, the abnormality is found. It is very likely that an abnormality occurs in the connection between the conveying plate 120 and the conveying frame 110. Therefore, it is necessary to first control the transfer structure 300 to adjust the position of the assembly detection module 310 relative to the connection between the conveying frame 110 and the conveying plate 120 to determine whether an abnormality occurs here.

[0041] In a specific embodiment of the present invention, the coordinate fitting module analyzes the abnormal coordinate information to determine whether an angle appears at the contact point between the conveying frame 110 and the conveying plate 120. If so, the coordinate fitting module issues an abnormal instruction to manually adjust the placement position of the conveying frame 110.

[0042] Furthermore, the coordinate fitting module is used to analyze the abnormal coordinate information to determine whether an angle appears at the contact point between the conveying frame 110 and the conveying plate 120. If so, the coordinate fitting module issues an abnormal instruction to manually adjust the placement position of the conveying frame 110. Through the coordinate fitting module, the contact state between the conveying frame 110 and the conveying plate 120 can be analyzed more accurately, reducing the error of manual inspection. Through automated abnormality detection, abnormal data can be accumulated to provide a basis for subsequent fault analysis and equipment maintenance, which is conducive to deeper technical improvement.

[0043] In a specific embodiment of the present invention, if the conveying frame 110 is in a normal placement state, the transfer structure 300 is controlled to transfer the assembly detection module 310 to the top of the conveying frame 110 to obtain the second position information, and by comparing the second position information with the second preset position information, it is determined whether the conveying frame 110 has reached the preset position. If so, the position of the transfer structure 300 relative to the movement assembly 120 is adjusted to obtain the second coordinate information.

[0044] Furthermore, if the conveying frame 110 is in a normal placement state, the transfer structure 300 is controlled to transfer the assembly detection module 310 to the top of the conveying frame 110 to obtain the second position information. By comparing the second position information and the second preset position information, the position of the conveying frame 110 can be accurately confirmed to ensure that it accurately reaches the preset position, thereby reducing poor assembly caused by position deviation. The self-calibration and feedback mechanism of the assembly detection module 310 makes the equipment more reliable during operation, reduces the failure rate, and improves the overall service life of the equipment.

[0045] In a specific embodiment of the present invention, by comparing the second coordinate information and the second preset coordinate information, it is determined whether the movement assembly 120 is in a normal placement state. If so, the third coordinate information and the third preset coordinate information are further compared to determine whether the movement structure 210 is in a normal placement state. If the movement structure 210 is in a normal placement state, a transfer instruction is issued through the coordinate fitting module to control the transfer structure 300 to perform the transfer action to transfer the movement assembly 120 to the movement structure 210.

[0046] Furthermore, through multiple coordinate comparisons, the normal status of the movement assembly 120 and the movement structure 210 is ensured before transportation, which reduces rework and downtime caused by improper assembly, thereby significantly improving overall production efficiency.

[0047] The present invention also provides a method for assembling a movement structure based on machine vision, and the assembly method applies the above-mentioned assembly system.

[0048] Furthermore, a method for assembling a movement structure based on machine vision has the technical effects of any of the above-mentioned assembly systems, which will not be described in detail here.

[0049] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A machine vision-based movement structure assembly system, characterized in that: The assembly system includes a platform component and an assembly detection module (310); The platform assembly comprises a to-be-assembled platform (200) on which a core structure (210) is placed, a conveying platform on which a core assembly (120) is placed, and a transfer structure (300) disposed between the to-be-assembled platform (200) and the conveying platform, wherein the assembly detection module (310) is mounted on the transfer structure (300); The assembly detection module (310) comprises an image acquisition module, a coordinate fitting module, and a control module, wherein the image acquisition module is used to obtain actual coordinate information of the to-be-assembled platform (200) and / or the conveying platform; The coordinate fitting module generates an action instruction by comparing the actual coordinate information with the preset coordinate information; The control module regulates the operation of the conveying platform and / or adjusts the execution action of the transfer structure (300) according to the action instruction. The transfer structure (300) is used to transfer the core assembly (120) into the core structure (210).

2. The assembly system according to claim 1, characterized in that The conveying platform comprises a plurality of parallel and spaced conveying plates (120) for placing a conveying frame (110), the movement assembly (120) is placed in the conveying frame (110), and the conveying plates (120) are used to convey the conveying frame (110) to one end of the conveying platform close to the transfer structure (300).

3. The assembly system according to claim 2, characterized in that The edge of the conveying plate (120) is provided with the limiting rib (121), and the limiting rib (121) is used to stop the conveying frame (110) from deviating in the running direction.

4. The assembly system according to claim 2, characterized in that The image acquisition module is used to obtain first coordinate information of the conveying frame (110) relative to the conveying plate (120), and to obtain second coordinate information of the core assembly (120) relative to the conveying frame (110) and third coordinate information of the core structure (210) relative to the platform (200) to be assembled.

5. The assembly system according to claim 4, characterized in that By comparing the first coordinate information with the first preset coordinate information through the coordinate fitting module, it is determined whether the conveying frame (110) is placed on the conveying plate (120); If not, a first action instruction is issued through the control module to drive the conveying platform to move the adjacent conveying plate (120) to a first preset position.

6. The assembly system according to claim 5, characterized in that The step of judging whether the conveying frame (110) is placed on the conveying plate (120), If the conveying frame (110) is placed on the conveying plate (120), the first coordinate information and the first preset coordinate information are further compared to determine whether the conveying frame (110) is in a normal placement state. If not, the transfer structure (300) is controlled to adjust the position of the assembly detection module (310) relative to the junction of the conveying frame (110) and the conveying plate (120) to obtain abnormal coordinate information.

7. The assembly system according to claim 6, characterized in that Analyzing the abnormal coordinate information through the coordinate fitting module to determine whether an angle appears at the contact point between the conveying frame (110) and the conveying plate (120); If so, the coordinate fitting module issues an abnormal instruction to manually adjust the placement position of the transmission frame (110).

8. The assembly system according to claim 6, characterized in that The step of judging whether the transmission frame (110) is in a normal placement state, If the conveying frame (110) is in a normal placement state, the transfer structure (300) is controlled to transfer the assembly detection module (310) to the top of the conveying frame (110) to obtain second position information, By comparing the second position information with the second preset position information, determining whether the transmission frame (110) has reached the preset position, If so, the position of the transfer structure (300) relative to the core assembly (120) is adjusted to obtain second coordinate information.

9. The assembly system according to claim 8, characterized in that By comparing the second coordinate information with the second preset coordinate information, determining whether the movement assembly (120) is in a normal placement state, If so, further comparing the third coordinate information with the third preset coordinate information to determine whether the core structure (210) is in a normal placement state. If the core structure (210) is in a normal placement state, a transfer instruction is issued through the coordinate fitting module to control the transfer structure (300) to perform a transfer action to transfer the core assembly (120) into the core structure (210).

10. A method for assembling a movement structure based on machine vision, characterized in that: The assembly method uses the assembly system according to any one of claims 1 to 9.

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