Visual guidance assembly system and control method thereof

Abstract

The invention discloses a visual guidance assembly system and a control method thereof.The visual guidance assembly system comprises a visual guidance mechanical arm and a spot inspection tool, the visual guidance mechanical arm comprises a visual camera and a mechanical arm, and the mechanical arm can be used for picking up spot inspection parts; the spot inspection tool comprises a spot inspection cylinder and an in-place detection sensor, the spot inspection cylinder is provided with a spot inspection hole, the manipulator is used for controlling the spot inspection component to move towards the spot inspection cylinder under the guidance of the visual camera, and the in-place detection sensor is used for detecting whether the spot inspection component is inserted into the spot inspection hole or not. The visual guidance assembly system is provided with the point inspection tool, whether point position deviation exists or not can be detected, the detection efficiency and accuracy are high, and missed judgment and misjudgment can be avoided to a large extent.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly systems, and particularly relates to a vision-guided assembly system and a control method thereof. Background Art

[0002] On the assembly production line of mechanical products, vision-guided manipulators are commonly used. The vision-guided manipulator includes a manipulator and a vision camera. The vision camera can assist the manipulator in finding the installation points, and then the manipulator can complete the combined assembly between the corresponding components.

[0003] In the actual production process, due to changes in various factors, the situation of point offset is likely to occur, that is, the installation points determined by the vision camera to assist the manipulator are inconsistent with the actual points, which will affect the assembly quality and even lead to the inability to carry out the assembly process. In response to this, the currently common solution is to slow down the assembly speed of the manipulator, and then the staff observes on-site with the naked eye to judge whether there is point offset. However, this solution is too time-consuming and laborious, and the accuracy is relatively low, which is prone to missed judgment and misjudgment.

[0004] Therefore, how to provide a solution to overcome or alleviate the above defects is still a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The object of the present invention is to provide a vision-guided assembly system and a control method thereof. Among them, the vision-guided assembly system is configured with a spot-check tooling, and the vision-guided assembly system can be used to detect whether there is an offset of the assembly point. The detection efficiency and accuracy are both relatively high, and missed judgment and misjudgment can be largely avoided.

[0006] To solve the above technical problems, the present invention provides a vision-guided assembly system, including a vision-guided manipulator and a spot-check tooling. The vision-guided manipulator includes a vision camera and a manipulator. The manipulator can be used to pick up a spot-check component. The spot-check tooling includes a spot-check cylinder and an in-position detection sensor. The spot-check cylinder has a spot-check hole. The manipulator can be used to control the displacement of the spot-check component towards the spot-check cylinder under the guidance of the vision camera. The in-position detection sensor is used to detect whether the spot-check component is inserted into the spot-check hole.

[0007] Adopting the above solution, through the cooperation of the inspection component and the inspection tooling picked up by the vision-guided manipulator, and the detection feedback of the in-situ detection sensor, it is possible to determine whether there is a point position offset at the displacement end point during the use of the vision-guided manipulator. Compared with the manual detection by adjusting the assembly speed of the manipulator slower in the traditional solution, the detection time for the offset situation of the displacement end point in the embodiment of the present invention is shorter, the detection efficiency is higher, and the accuracy is also higher, which can largely avoid the situations of missed judgment and misjudgment; moreover, the degree of manual participation in the above detection process is relatively low, which can improve the automation level of the system.

[0008] Optionally, the in-situ detection sensor is a through-beam sensor, including a transmitting part and a receiving part, and both the transmitting part and the receiving part are installed on the inspection tooling.

[0009] Optionally, two opposite detection holes are provided on the barrel wall of the inspection barrel, and both detection holes are communicated with the inspection hole; an installation frame is configured on the outer wall surface of the inspection barrel, and the transmitting part and the receiving part are installed with the installation frame, the transmitting part is arranged opposite to one detection hole, and the receiving part is arranged opposite to the other detection hole.

[0010] Optionally, the in-situ detection sensor is a proximity light sensor.

[0011] Optionally, it further includes a machine table, the machine table includes a fixed position, an assembly position and an inspection position, the base of the manipulator is located at the fixed position, the inspection tooling is located at the inspection position, and both the assembly position and the inspection position are within the reach of the manipulator's arm; the assembly position can be used to place the parts to be connected; the manipulator can also be used to install the parts in the assembly holes of the parts to be connected, and there is a first installation gap between the wall parts corresponding to the installed parts and the assembly holes, and there is a second installation gap between the inspection parts and the inspection barrel, and the second installation gap is smaller than the first installation gap.

[0012] Optionally, the inspection part is the installed part, and the aperture of the inspection hole is smaller than that of the assembly hole; and / or, the size of the second installation gap is between 0.05 mm and 0.1 mm.

[0013] Optionally, the vision-guided manipulator is a tightening robot, the installed part has a first thread part, the assembly hole has a second thread part, and the installed part is connected to the second thread part of the assembly hole through the first thread part.

[0014] Optionally, at least one of the manipulator and the inspection tooling is configured with an elastic mechanism capable of telescoping in the axial direction of the inspection barrel.

[0015] The present invention also provides a control method for a vision-guided assembly system. The vision-guided assembly system includes a vision-guided manipulator and an inspection tooling. The vision-guided manipulator includes a vision camera and a manipulator. The inspection tooling includes an inspection cylinder and an in-position detection sensor. The inspection cylinder has an inspection hole. The control method includes: a first shifting step of controlling, by the manipulator, the inspection component to displace towards the inspection cylinder; a first inspection judgment step of detecting, by the in-position detection sensor, whether the inspection component is inserted into the inspection hole.

[0016] With the above solution, the manipulator is used to control the inspection component to displace towards the inspection cylinder; and the in-position detection sensor is used to detect whether the inspection component is inserted into the inspection hole, so as to determine whether there is a point offset at the displacement end point during the use of the vision-guided manipulator. Compared with the manual detection in the traditional solution by slowing down the assembly speed of the manipulator, the detection time for the offset situation at the displacement end point in the embodiment of the present invention is shorter, the detection efficiency is higher, and the accuracy is also higher, which can largely avoid the situations of missed judgment and misjudgment; moreover, the manual participation degree in the above detection process is relatively low, which can improve the automation level of the system.

[0017] Optionally, it further includes: an obtaining step of obtaining, when the judgment result of the first inspection judgment step is negative, the offset amount between the central axis of the inspection component and the central axis of the inspection hole; a second shifting step of using the offset amount as compensation and again controlling, by the manipulator, the inspection component to displace towards the inspection cylinder; a second inspection judgment step of again detecting, by the in-position detection sensor, whether the inspection component is inserted into the inspection hole; an alarming step of controlling to send out an alarm message when the judgment result of the second inspection judgment step is still negative.

[0018] Optionally, it further includes: a third shifting step of controlling, by the manipulator, the installation component to displace towards the component to be connected; a fourth shifting step of controlling, by the manipulator, the installation component to be inserted into the assembly hole of the component to be connected. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of an embodiment of the vision-guided assembly system provided by the present invention;

[0020] Figure 2 It is a schematic structural diagram of an embodiment of the inspection tooling;

[0021] Figure 3 It is a schematic structural diagram of an embodiment of the machine platform;

[0022] Figure 4 It is a schematic flow diagram of an embodiment of the control method for the vision-guided assembly system provided by the present invention.

[0023] The descriptions of the reference numerals are as follows:

[0024] 100 Vision-guided manipulator, 110 Vision camera, 120 Manipulator, 130 Inspection component;

[0025] 200 Inspection tooling, 210 Inspection cylinder, 211 Inspection cylinder, 212 Detection hole, 220 In-position detection sensor, 221 Transmitting part, 222 Receiving part, 223 Detection beam, 230 Mounting bracket, 240 Base;

[0026] 300 Machine platform, 310 Fixed position, 320 Assembly position, 330 Inspection position Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] In the embodiments of the present invention, the terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, "connected" may be a detachable connection or a non-detachable connection; it may be a direct connection or an indirect connection through an intermediate medium.

[0030] In the embodiments of the present invention, the orientation terms mentioned, such as "inside" and "outside", etc., are only references to the directions of the accompanying drawings. Therefore, the orientation terms used are for better and clearer illustration and understanding of the embodiments of the present invention, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the embodiments of the present invention.

[0031] In the description of the embodiments of the present invention, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0032] Please refer toFigures 1-3 , Figure 1 is a schematic structural diagram of an implementation manner of the visual guidance assembly system provided by the present invention, Figure 2 is a schematic structural diagram of an implementation manner of the inspection tooling, Figure 3 is a schematic structural diagram of an implementation manner of the machine table.

[0033] As Figure 1 and Figure 3 shown, the present invention provides a visual guidance assembly system, including a visual guidance manipulator 100 and a machine table 200.

[0034] The visual guidance manipulator 100 includes a visual camera 110 and a manipulator 120. The visual camera 110 can be installed on the manipulator 120. The machine table 200 is an installation platform for the visual guidance manipulator 100. Specifically, the machine table 200 can include a fixed position 310 and an assembly position 320. The visual guidance manipulator 100 has a machine base, and this machine base can be installed on the above-mentioned fixed position 310. The to-be-connected component (not shown in the figure) can be transported to the assembly position 320 by means of a conveying device in the form of a conveyor belt, a conveying overhead crane, a conveying manipulator, etc.; and, this assembly position 320 can be within the reach of the manipulator 120, that is, the manipulator 120 can assemble the to-be-connected component located at the assembly position 320.

[0035] During normal operation, the above-mentioned visual guidance manipulator 100 is used to install an installation component (not shown in the figure) into the assembly hole of the to-be-connected component to complete the assembly of the to-be-connected component. Specifically, the above-mentioned visual guidance assembly system can further include a controller. The controller prestores the preset coordinates of the assembly hole, and the manipulator 120 can move to the position where the assembly hole is located according to the preset coordinates; then, the visual camera 110 can take a picture of the assembly hole to determine whether the manipulator 120 has moved in place. If there is a certain deviation, the controller can calculate the deviation value according to the image taken by the visual camera 110, and can adjust the position of the manipulator 120 according to the deviation value until the visual camera 110 confirms that the manipulator 120 has moved in place; then, the manipulator 120 can control the installation component to be installed into the assembly hole.

[0036] However, in practical applications, various factors may change, such as fixture deformation, foundation settlement, etc., which are likely to result in point position deviation, that is, the vision camera has confirmed that the manipulator has moved into place, but in fact the manipulator has not moved into place. In this way, it will cause the installation part to be unable to be inserted into the assembly hole, or even if the installation part can barely be inserted into the assembly hole, it will also affect the installation quality. In response to this, the current conventional solution is to slow down the assembly speed of the manipulator, and then the staff observes on site with the naked eye to judge whether there is point position deviation. However, this solution is too time-consuming and laborious, and the accuracy is relatively low, which is prone to missed judgment and misjudgment.

[0037] Based on this, the vision-guided assembly system provided by the embodiment of the present invention further includes a spot-check fixture 200. Combining Figure 1 and Figure 2 , the spot-check fixture 200 includes a spot-check cylinder 210 and an in-position detection sensor 220. The spot-check cylinder 210 has a spot-check hole 211; the manipulator 120 is configured to be further capable of picking up the spot-check part 130; the manipulator 120 is further configured to control the displacement of the spot-check part 130 towards the spot-check cylinder 210 under the guidance of the vision camera 110. The specific guiding process of the vision camera 110 can refer to the description of the installation process of the above-mentioned installation part, and no repetitive description will be made here; the in-position detection sensor 220 is used to detect whether the spot-check part 130 is inserted into the spot-check hole 211.

[0038] With such a setting, through the cooperation between the spot-check part 130 picked up by the vision-guided manipulator 100 and the spot-check fixture 200, as well as the detection feedback of the in-position detection sensor 220, it can be judged whether there is a situation of point position deviation at the displacement end point during the use of the vision-guided manipulator 100. Compared with the manual detection by slowing down the assembly speed of the manipulator in the traditional solution, the detection of the displacement end point deviation in the embodiment of the present invention does not require adjusting the assembly speed of the manipulator, the detection time is shorter, the detection efficiency is higher, and the accuracy is also higher, which can largely avoid the situations of missed judgment and misjudgment; moreover, the degree of manual participation in the above detection process is relatively low, which can improve the automation level of the system. Combining Figure 3 , the machine platform 300 may further include a spot-check position 330. The above-mentioned spot-check fixture 200 can be installed at the spot-check position 330, and the spot-check position 330 is also within the reach of the manipulator 120, that is, the manipulator 120 can perform spot-check through the spot-check part 130 and the spot-check fixture 200 located at the spot-check position 330.

[0039] Here, the embodiment of the present invention does not limit the start time of the inspection process performed by the visual guidance manipulator 100 and the inspection tool 200. In specific practice, those skilled in the art can make adjustments according to specific needs, as long as they can meet the requirements of use. For example, the inspection process can be periodic, specifically, it can be an inspection at a set time every day or an inspection after the equipment has been running for a specific time. For another example, the above inspection process can also be carried out randomly, that is, the staff can determine when to start the inspection process based on their own experience. In this way, through the coordinated detection of the inspection tool, the system is more conducive to precise assembly.

[0040] In addition, the embodiments of the present invention do not limit the application scenarios of the vision-guided assembly system. In specific practice, those skilled in the art can determine it according to actual needs. Exemplarily, the above-mentioned vision-guided manipulator 100 can be a tightening robot; in a specific scenario, the above-mentioned tightening robot can take materials from a material preparation mechanism, for example, it can pick up a valve core, and can install the valve core on the valve body, so as to realize the tightening assembly of the valve core and the valve body; in another specific scenario, the material preparation mechanism is a nail blowing system, and the tightening robot can be an automated tightening gun. The nail blowing system can send screws to the screwdriver of the tightening robot, and the workpiece to be assembled is transported to the assembly position 320, and the tightening robot can tighten the screws on the workpiece to be assembled. Different from other assembly situations, the tightening robot has very high requirements for assembly accuracy. A slight point deviation may cause the installation components and the components to be connected to be unable to be installed or the installation reliability becomes low. Therefore, the inspection process in the present invention is more necessary.

[0041] The inspection component 130 may be a mounting component, and the size of the inspection tube 210 and the assembly hole on the component to be connected may be consistent. In other words, the matching of the inspection component 130 and the inspection tube 210 may be completely consistent with the matching of the mounting component and the assembly hole of the component to be connected. In this way, the detection method in the embodiment of the present invention may be closer to the actual situation of the mounting component and the assembly hole being connected, and the validity of the detection result may be higher.

[0042] In addition, in the embodiment of the present invention, the spot inspection component 130 or the spot inspection cylinder 210 can also be modified. Specifically, there can be a first installation gap between the above-mentioned installation component and the assembly hole, and there can be a second installation gap between the spot inspection component 130 and the spot inspection cylinder 210. In the embodiment of the present invention, the second installation gap can be smaller than the aforementioned first installation gap; in this way, the accuracy of the detection performed by the spot inspection component 130 and the spot inspection cylinder 210 can be higher, so as to better meet the high-precision installation requirements of the visual-guided manipulator 100, especially when the visual-guided manipulator 100 is a tightening robot.

[0043] The ways to reduce the second installation gap include increasing the size of the inspection component 130 and reducing the size of the inspection cylinder 210. Taking the latter as an example, at this time, the size of the inspection cylinder 210 can be smaller than the assembly hole, and the inspection component 130 can directly adopt the installation component. In this way, the mechanism for storing the special inspection component 130 can be omitted, and the structural form and control logic of the above visual guidance assembly system can be relatively simple.

[0044] Here, the embodiments of the present invention do not limit the specific value of the second installation gap. In practical applications, those skilled in the art can select according to specific requirements such as assembly accuracy, as long as the usage requirements can be met. In a specific example, when the visual guidance manipulator 100 is a tightening robot, the requirement for installation accuracy can be higher, and correspondingly, the requirement for inspection accuracy can also be higher. In this regard, through a large number of experimental studies, the embodiments of the present invention can control the size of the second installation gap between 0.05 mm and 0.1 mm. In this way, the inspection accuracy can be higher, and correspondingly, the connection between the installation component and the component to be connected can be better guaranteed.

[0045] As Figure 2 shown, the above in-situ detection sensor 220 can be an opposed sensor, and the opposed sensor can include a transmitting part 221 and a receiving part 222. Both the transmitting part 221 and the receiving part 222 can be installed on the inspection tooling 200.

[0046] In practical applications, the transmitting part 221 can emit a detection beam 223, and the receiving part 222 can receive the detection beam 223. At this time, the opposed sensor is in a conducting state, which indicates that the inspection component 130 is not inserted into the inspection cylinder 210. After the inspection component 130 is inserted into the inspection cylinder 210, the detection beam 223 can be blocked, and the receiving part 222 cannot receive the detection beam 223. Therefore, by judging whether the receiving part 222 can receive the detection beam 223, it can be detected whether the inspection component 130 is inserted into the inspection cylinder 210.

[0047] Specifically, the inspection tooling 200 can include an inspection cylinder 210. Opposite two detection holes 212 can be provided on the cylinder wall of the inspection cylinder 210, and both the two detection holes 212 can communicate with the inspection cylinder 210; an installation frame 230 can be arranged on the outer wall of the inspection cylinder 210, and the installation frame 230 is used to install the transmitting part 221 and the receiving part 222. The specific installation methods include but are not limited to welding, threaded connection, screw connection, clamping, riveting, bonding, etc., as long as the connection reliability can be ensured. As Figure 2As shown, after installation, the transmitting part 221 can be disposed opposite to one detection hole 212, and the receiving part 222 can be disposed opposite to the other detection hole 212. In this way, the detection beam 223 emitted by the transmitting part 221 can pass through one detection hole 212 and enter the inspection tube 210. When the inspection component 130 is not inserted into the inspection tube 210, the detection beam 223 can be emitted from the other detection hole 212 and thus can be received by the receiving part 222.

[0048] It should be understood that the transmitting part 221 and the docking part 222 can also be respectively disposed in the two detection holes 212. In this way, the mounting bracket 230 can be not provided, and the structural form of the inspection tooling 200 can be relatively simple.

[0049] In addition, the above in-position detection sensor 220 is not actually limited to the above-mentioned opposed sensor, and other forms of sensors can also be adopted as long as it can detect whether the inspection component 130 is inserted into the inspection tube 210. Exemplarily, the above in-position detection sensor 220 can also be a proximity optical sensor, a distance sensor, a travel switch, etc.

[0050] In some optional implementation manners, at least one of the manipulator 120 and the inspection tooling 200 can be configured with an elastic mechanism capable of telescoping in the axial direction of the inspection tube 210. In this way, when the inspection component 130 picked up by the manipulator 120 cannot be inserted into the inspection tube 210, the elastic mechanism can telescope, so as to convert the rigid collision between the inspection component 130 and the inspection tooling 200 into an elastic collision, thereby reducing the possibility of damage to the manipulator 120 and the inspection tooling 200.

[0051] Here, the embodiments of the present invention do not limit the specific structural form and installation position of the above elastic mechanism. In actual applications, those skilled in the art can select according to specific needs as long as it can meet the usage requirements.

[0052] Taking the elastic mechanism being disposed in the inspection tooling 200 as an example, as Figure 2 shown, the inspection tooling 200 can further include a base 240 for fixing the inspection tooling 200 on the ground or other mounting surfaces. The specific fixing methods include but are not limited to welding, screw connection, clamping, riveting, etc., as long as the connection reliability can be ensured; the inspection tube 210 can slide relative to the base 240 in the axial direction of the inspection tube 210; the elastic mechanism can specifically be a spring, etc., and it can be disposed between the inspection tube 210 and the base 240.

[0053] It should be known that the vision-guided assembly system can be an assembly line or a part of an assembly line.

[0054] Please refer toFigure 4 , Figure 4 This is a flowchart showing an implementation of the control method for the vision-guided assembly system provided by the present invention.

[0055] As Figure 4 shown, the present invention provides a control method for a vision-guided assembly system, which is applicable to the vision-guided assembly systems involved in the above-mentioned various implementation manners. The above control method includes: a first shifting step S1, in which the manipulator 120 controls the inspection component 130 to move towards the inspection cylinder 210; a first inspection judgment step S2, in which the in-situ detection sensor 220 is used to detect whether the inspection component 130 is inserted into the inspection cylinder 210.

[0056] In this way, through the cooperation between the inspection component 130 picked up by the vision-guided manipulator 100 and the inspection tooling 200, as well as the detection feedback of the in-situ detection sensor 220, it is possible to determine whether there is a position offset at the displacement end point during the use of the vision-guided manipulator 100. Compared with the manual detection in the traditional solution by slowing down the assembly speed of the manipulator, the detection of the displacement end point offset in the embodiment of the present invention does not require adjusting the assembly speed of the manipulator, the detection time is shorter, the detection efficiency is higher, and the accuracy is also higher, which can largely avoid the situations of missed judgment and misjudgment; moreover, the degree of manual participation in the above detection process is relatively low, which can improve the automation level of the system.

[0057] Further, the control method provided by the embodiment of the present invention may further include the following obtaining step S3 - alarm step S6 after the first inspection judgment step S2.

[0058] Obtaining step S3, when the detection result of the first inspection judgment step S2 is negative, obtaining the offset amount between the central axis of the inspection component 130 and the central axis of the inspection hole 211.

[0059] The above offset amount can specifically be measured by on-site staff using operating tools such as feeler gauges. Of course, a dedicated offset measurement camera can also be configured in the vision-guided assembly system, and then the offset amount can be measured by this offset measurement camera.

[0060] Second shifting step S4, using the offset amount as compensation, and again controlling the inspection component 130 to move towards the inspection cylinder 210 through the manipulator 120.

[0061] Second inspection judgment step S5, again using the in-situ detection sensor 220 to detect whether the inspection component 130 is inserted into the inspection cylinder 210.

[0062] Alarm step S6: When the judgment result of the second inspection judgment step S5 is negative, control is performed to send an alarm message so that the staff can intervene in time to repair the system. The above alarm message can be a sound message, a light message, or a sound and light message. Correspondingly, a sound alarm, a light alarm, a sound and light alarm, etc. can be configured in the assembly system.

[0063] In the embodiment of the present invention, it is also possible to directly send an alarm message when the detection result of the above first inspection judgment step S2 is negative, and this is also feasible.

[0064] Furthermore, the control method provided by the embodiment of the present invention may further include a normal assembly operation step for completing the connection between the installation component and the component to be connected. Specifically, the normal assembly operation step may include: a third displacement step S7, controlling the installation component to displace towards the component to be connected by the manipulator 120; a fourth displacement step S8, controlling the installation component to be inserted into the assembly hole of the component to be connected by the manipulator 120.

[0065] To better understand the above control method, the following embodiments of the present invention will further illustrate the control method in combination with two specific application scenarios.

[0066] <1> The vision-guided manipulator 100 is a tightening robot and is used for the assembly of the valve core and the valve body.

[0067] During normal operation, the control method can be carried out according to the following steps: Pick up the installation component by the manipulator 120 in the feeding mechanism, and the installation component can specifically be the valve core; the third displacement step S7, controlling the valve core to displace towards the component to be connected located at the assembly position 320 by the manipulator 120, and the component to be connected can specifically be the valve body or other components to be assembled; the fourth displacement step S8, controlling the valve core to be installed in the assembly hole of the valve body; thus, the assembly of one valve core and one valve body or other components to be assembled can be completed. After the assembly of the valve core and the valve body is completed, the assembled valve core and valve body can be removed from the assembly position 320, and then a new valve body can be transferred to the assembly position 320 to cyclically execute the above assembly process, so that the assembly between the valve core and the valve body can be continuously realized.

[0068] When performing spot checks, the control method can be carried out according to the following steps: The manipulator 120 picks up the spot-check component 130. The spot-check component 130 can specifically be a mounting component, that is, the aforementioned valve core. At this time, the manipulator 120 can pick up the mounting component from the self-feeding mechanism to be used as the spot-check component 130. Or, the spot-check component 130 can also be a special component. At this time, the manipulator 120 can pick up the special component from the mechanism storing the special component; then perform the aforementioned first shifting step S1, first spot-check judgment step S2, and alarm step S6, or perform the aforementioned first shifting step S1, first spot-check judgment step S2, acquisition step S3, second shifting step S4, second spot-check judgment step S5, and alarm step S6 to complete the spot check.

[0069] <2> The vision-guided manipulator 100 is a tightening robot and is used for tightening screws.

[0070] During normal operation, the control method can be carried out according to the following steps: The manipulator 120 picks up the mounting component from the feeding mechanism. The mounting component can specifically be a screw, and the feeding mechanism can specifically be a blow nail system; third shifting step S7, the manipulator 120 controls the screw to move towards the component to be connected located at the assembly position 320. The component to be connected can be provided with an assembly hole, and the assembly hole can specifically be a threaded hole; fourth shifting step S8, the manipulator 120 controls the screw to be installed in the assembly hole of the component to be connected; thus, the assembly of one screw can be completed. After the assembly of this screw is completed, the above-mentioned assembly process can be cyclically executed until all the required screws on the component to be connected are installed. Then, the component to be connected with the screws installed can be removed from the assembly position 320, and then a new component to be connected is transferred to the assembly position 320, and the above-mentioned screw assembly process is repeatedly executed, so that the screw assembly can be continuously realized.

[0071] When performing spot checks, the control method can be carried out according to the following steps: The manipulator 120 picks up the spot-check component 130. The spot-check component 130 can specifically be a mounting component, that is, the aforementioned screw. At this time, the manipulator 120 can pick up the mounting component from the blow nail system to be used as the spot-check component 130. Or, the spot-check component 130 can also be a special component. At this time, the manipulator 120 can pick up the special component from the mechanism storing the special component; then perform the aforementioned first shifting step S1, first spot-check judgment step S2, and alarm step S6, or perform the aforementioned first shifting step S1, first spot-check judgment step S2, acquisition step S3, second shifting step S4, second spot-check judgment step S5, and alarm step S6 to complete the spot check.

[0072] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A vision-guided assembly system, characterized in that, It includes a vision-guided robot arm and an inspection tooling. The vision-guided robot arm includes a vision camera and a robot arm. The robot arm can be used to pick up the inspection component. The inspection tooling includes an inspection cylinder and an in-position detection sensor. The inspection cylinder has an inspection hole. The robot arm can be used to control the displacement of the inspection component towards the inspection cylinder under the guidance of the vision camera. The in-position detection sensor is used to detect whether the inspection component is inserted into the inspection hole.

2. The visual guidance assembly system according to claim 1, characterized in that The in-position detection sensor is a through-beam sensor, including a transmitting part and a receiving part. Both the transmitting part and the receiving part are installed on the inspection tooling.

3. The visual guidance assembly system according to claim 2, wherein, Two opposite detection holes are provided on the wall of the inspection cylinder. Both of the two detection holes are communicated with the inspection hole. A mounting bracket is arranged on the outer wall of the inspection cylinder. The transmitting part and the receiving part are mounted on the mounting bracket. The transmitting part is arranged opposite to one of the detection holes, and the receiving part is arranged opposite to the other detection hole.

4. The vision-guided assembly system according to claim 1, wherein, The in-position detection sensor is a proximity optical sensor.

5. The visual guidance assembly system according to any one of claims 1-4, characterized in that, It further includes a machine table. The machine table includes a fixed position, an assembly position, and an inspection position. The base of the robot arm is located at the fixed position, and the inspection tooling is located at the inspection position. Both the assembly position and the inspection position are within the reach of the robot arm. The assembly position can be used to place the components to be connected. The robot arm can also be used to install a component into an assembly hole of the component to be connected. There is a first installation gap between the wall parts corresponding to the installed component and the assembly hole. There is a second installation gap between the inspection component and the inspection cylinder. The second installation gap is smaller than the first installation gap.

6. The visual guidance assembly system according to claim 5, wherein The inspection component is the installed component, and the diameter of the inspection hole is smaller than that of the assembly hole. And / or, the size of the second installation gap is between 0.05 mm and 0.1 mm.

7. The vision-guided assembly system according to claim 5, wherein The vision-guided robot arm is a tightening robot. The installed component has a first thread part, and the assembly hole has a second thread part. The installed component is connected to the second thread part of the assembly hole through the first thread part.

8. The vision-guided assembly system according to any one of claims 1-4, characterized in that, At least one of the robot arm and the inspection tooling is configured with an elastic mechanism that can expand and contract in the axial direction of the inspection cylinder.

9. A control method for a vision-guided assembly system, characterized in that, The vision-guided assembly system includes a vision-guided robot arm and an inspection tooling. The vision-guided robot arm includes a vision camera and a robot arm. The inspection tooling includes an inspection cylinder and an in-position detection sensor. The inspection cylinder has an inspection hole. The control method includes: The first displacement step: controlling the displacement of the inspection component towards the inspection cylinder through the robot arm. The first inspection judgment step: detecting whether the inspection component is inserted into the inspection hole through the in-position detection sensor.

10. The control method of the vision-guided assembly system according to claim 9, wherein It further includes: The acquisition step: when the judgment result of the first inspection judgment step is negative, acquiring the offset between the central axis of the inspection component and the central axis of the inspection hole. The second displacement step: using the offset as compensation and controlling the displacement of the inspection component towards the inspection cylinder again through the robot arm. The second inspection judgment step: detecting again whether the inspection component is inserted into the inspection hole through the in-position detection sensor. Alarm step: When the judgment result of the second inspection judgment step is still negative, control to send out an alarm message.

11. The control method of the vision-guided assembly system according to claim 9 or 10, characterized in that It further includes: Third displacement step: Control the mounting component to displace towards the component to be connected through the manipulator. Fourth displacement step: Control the mounting component to be inserted into the assembly hole of the component to be connected through the manipulator.

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