Multi-station collaborative assembling device and method based on AI vision

Abstract

The AI-vision-based multi-station cooperative assembling device comprises a workbench, a sliding assembly is arranged on the front side of the top of the workbench, a first displacement clamping jaw is arranged above the sliding assembly, and a station mounting frame is fixedly arranged on the rear side of the top of the workbench; a temporary storage station, a sleeving station and a pressing station are sequentially arranged above the station mounting frame, the number of the first shifting clamping jaws is matched with the number of the temporary storage station, the number of the sleeving station and the number of the pressing station, and a visual sensor fixed to the upper portion of the station mounting frame is arranged on one side of the temporary storage station, one side of the sleeving station and one side of the pressing station. And the visual sensor is at least used for monitoring the assembly condition of the motor at each station in real time. According to the invention, through the arrangement of the visual sensor and the control box, the AI vision can be utilized to monitor the assembly conditions of a plurality of stations in real time, it is ensured that no error occurs in the motor rotor assembly process, and the motor assembly efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and specifically to a multi-station collaborative assembly device and method based on AI vision. Background Technology

[0002] Electric motors have experienced rapid development due to their advantages such as simple structure, reliable operation, small size, and light weight. A typical electric motor consists of a stator, rotor, end covers, bearing housings, wiring devices, and an excitation system. During motor manufacturing, individual components are typically processed, and then assembly equipment is used to connect the components and assemble them into a complete motor structure.

[0003] Taking the assembly of the rotor shaft and the external bushing of the motor as an example, traditionally, the rotor is moved by the movement of the conveyor belt, and the worker puts the bushing on the shaft to achieve the assembly of the two. There are also automated or semi-automated equipment to realize the automatic conveying of the rotor, and the clamping machine clamps and puts the bushing on the shaft.

[0004] While the aforementioned assembly method can assemble the rotor and bushings, it is prone to errors during operation and suffers from low assembly precision. Any errors necessitate a shutdown for inspection, reducing the efficiency of motor assembly. Therefore, there is an urgent need to design a multi-station collaborative assembly device and method based on AI vision to address these issues. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-station collaborative assembly device and method based on AI vision, so as to solve the above-mentioned shortcomings in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A multi-station collaborative assembly device based on AI vision includes a workbench. A sliding assembly is provided on the top front side of the workbench, and a shifting gripper is provided above the sliding assembly. A station mounting frame is fixedly provided on the top rear side of the workbench. A temporary storage station, a fitting station, and a clamping station are arranged sequentially above the station mounting frame. The number of shifting grippers matches the number of temporary storage stations, fitting stations, and clamping stations. A vision sensor is provided on one side of each temporary storage station, fitting station, and clamping station and fixed above the station mounting frame. The vision sensor is used to monitor the assembly status of the motor at least at each station in real time. A conveying mechanism is provided at the top front end of the workbench. A control box is installed on one side of the top of the workbench. The control box is used to receive information monitored by the vision sensors.

[0007] Preferably, a number of support legs are fixedly installed on the outer wall of the bottom of the workbench, and a reinforcing crossbeam is fixedly connected between the support legs.

[0008] Preferably, the sliding assembly includes a base plate, which is fixed on the outer wall of the top of the worktable. The top of the base plate is provided with symmetrically distributed rails, and a plurality of sliding tables are provided on the rails. Synchronizing rods are fixedly installed between the sliding tables. The top outer wall of the sliding tables is provided with rails, and a moving platform is provided above rails. A driving device is provided between rails and rails.

[0009] Preferably, a through hole is provided on the outer wall of one side of the slide table located in the middle, and one of the synchronizing rods is inserted into the through hole.

[0010] Preferably, the displacement gripper includes a mounting base, a pneumatic actuator is fixedly mounted on the top of the mounting base, a plurality of air pipe connection nozzles are provided on the top of the pneumatic actuator, an air chamber is provided on the front side of the pneumatic actuator, and two symmetrically distributed grippers are provided on both sides of the front part of the air chamber.

[0011] Preferably, the mounting station includes a bracket fixed to the top of the mounting frame, the bracket being used to support at least the motor rotor. A support arm is mounted on the rear top of the mounting frame, a platform is slidably mounted in the middle of the support arm, a cylinder is fixed to the support arm at the tail end of the platform, a feeding pipe is inserted from top to bottom into the top of the support arm, the bottom of the feeding pipe abuts against the upper surface of the platform, a suction cylinder is fixedly mounted on the top of the support arm, and a suction pipe is mounted at the bottom of the suction cylinder.

[0012] Preferably, the pressing station includes a bracket two fixed to the top of the station mounting frame, a support arm two fixedly installed on the top of the station mounting frame, a pressing cylinder at the top of the support arm two, and a pressing head at the bottom of the pressing cylinder.

[0013] Preferably, a bracket is provided on one side of the vision sensor, and the vision sensor forms a vertical tilt angle of 45 degrees with the temporary storage station, the sleeve station and the pressing station through the bracket.

[0014] Preferably, the conveying mechanism includes a lifting cylinder fixed to the outer wall of one side of the workbench, a lifting plate is provided at the top of the lifting cylinder, a guide rail is installed on the top of the lifting plate, a sliding seat is slidably arranged on the guide rail, and a second displacement gripper is installed on the top of the sliding seat.

[0015] A method for a multi-station collaborative assembly device based on AI vision, comprising the aforementioned multi-station collaborative assembly device based on AI vision, includes the following steps: 1. Using the upper-level processing equipment, the motor rotor is moved to the first shifting gripper at the front end via the conveying mechanism, and the movement of the sliding component is used to place the motor rotor on the temporary storage station. Second, start the sliding assembly to move the motor rotor located at the temporary storage station to the setting station through the next shifting gripper, and use the setting station to realize the feeding and setting of the liner ring. 3. Restart the sliding assembly. With the cooperation of the sliding assembly and the shifting gripper, move the motor rotor located at the temporary storage station and the sleeve station to the next station in sequence. Use the clamping station to shift the bushing on the shaft of the motor rotor to complete the sleeve assembly of the bushing on the shaft of the motor rotor. IV. During the operation of the above-mentioned temporary storage station, set-up station and clamping station, the operation status of each station is monitored in real time using vision sensors, and the monitored signals are transmitted to the control box. The control box makes timely adjustments to the sliding components, shifting grippers and conveying mechanism and issues alarm signals.

[0016] In the above technical solution, the present invention provides a multi-station collaborative assembly device and method based on AI vision. Through the set vision sensors and control box, it can use AI vision to monitor the assembly status of multiple stations in real time, ensuring that no errors occur during the assembly of the motor rotor and improving the efficiency of motor assembly. The sliding assembly and shifting gripper used enable the motor rotor to move between different workstations, thus achieving assembly processing at different workstations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 The structural three-dimensional representation provided by the present invention is a multi-station collaborative assembly device and method based on AI vision. Figure 1 .

[0019] Figure 2 The structural three-dimensional representation provided by the present invention is a multi-station collaborative assembly device and method based on AI vision. Figure 2 .

[0020] Figure 3 This is a top view of the structure of an embodiment of a multi-station collaborative assembly device and method based on AI vision according to the present invention.

[0021] Figure 4 This is a schematic diagram of the conveying mechanism structure provided in an embodiment of a multi-station collaborative assembly device and method based on AI vision according to the present invention.

[0022] Figure 5 This is a schematic diagram of the workstation installation structure on the workbench provided in an embodiment of a multi-station collaborative assembly device and method based on AI vision according to the present invention.

[0023] Figure 6 This is a schematic diagram of the sliding component structure provided in an embodiment of a multi-station collaborative assembly device and method based on AI vision according to the present invention.

[0024] Figure 7 This invention provides an embodiment of a multi-station collaborative assembly device and method based on AI vision. Figure 5 Enlarged local structure Figure 1 .

[0025] Figure 8 This invention provides an embodiment of a multi-station collaborative assembly device and method based on AI vision. Figure 5 Enlarged local structure Figure 2 .

[0026] Explanation of reference numerals in the attached figures: 1. Workbench; 11. Support leg; 12. Reinforcing beam; 2. Sliding assembly; 21. Base plate; 22. Rail 1; 23. Slide table; 24. Synchronizing rod; 25. Rail 2; 26. Moving platform; 27. Drive device; 3. Shifting gripper 1; 31. Mounting base; 32. Pneumatic actuator; 33. Air pipe connector; 34. Air chamber; 35. Gripper; 4. Workstation mounting frame; 5. Temporary storage station; 6. Fitting station; 61. Support Frame 1; 62. Support arm 1; 63. Platform; 64. Cylinder 1; 65. Feeding pipe; 66. Suction cylinder; 67. Suction pipe; 7. Pressing station; 71. Bracket 2; 72. Support arm 2; 73. Pressing cylinder; 74. Pressing head; 8. Vision sensor; 9. Control box; 10. Conveying mechanism; 101. Lifting plate; 102. Lifting cylinder; 103. Guide rail; 104. Sliding seat; 105. Shifting gripper 2. Detailed Implementation

[0027] 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.

[0028] like Figure 1-8As shown in the figure, an embodiment of the present invention provides a multi-station collaborative assembly device based on AI vision, including a workbench 1. A sliding component 2 is provided on the front top of the workbench 1, and a shifting gripper 3 is provided above the sliding component 2. A station mounting frame 4 is fixedly provided on the rear top of the workbench 1. A temporary storage station 5, a fitting station 6, and a clamping station 7 are arranged sequentially above the station mounting frame 4. The number of shifting grippers 3 matches the number of temporary storage stations 5, fitting stations 6, and clamping stations 7. A vision sensor 8 is fixed above the station mounting frame 4 on one side of the temporary storage station 5, fitting station 6, and clamping station 7. The vision sensor 8 is used to monitor the assembly status of the motor at least at each station in real time. A conveying mechanism 10 is provided at the front top of the workbench 1. A control box 9 is installed on one side of the top of the workbench 1. The control box 9 is used to receive information monitored by the vision sensor 8.

[0029] In this embodiment, a workbench 1 is included. Several support legs 11 are fixedly installed on the outer wall of the bottom of the workbench 1, and a reinforcing beam 12 is fixedly connected between the support legs 11. Both the support legs 11 and the reinforcing beam 12 are steel structures, which ensures the stability of the workbench 1.

[0030] In this embodiment, a sliding assembly 2 is provided on the top front side of the workbench 1. The sliding assembly 2 includes a base plate 21, which is fixed on the outer wall of the top of the workbench 1. A symmetrically distributed track 1 22 is provided on the top of the base plate 21. Several slides 23 are provided on the track 1 22. Synchronizing rods 24 are fixedly installed between the slides 23. A track 25 is provided on the top outer wall of the slides 23, and a moving platform 26 is provided above the track 25. A driving device 27 is provided between the track 1 22 and the track 2 25. The driving device 27 can be a cylinder structure. Activating the driving device 27 in the track 1 22 can drive the slides 23 to move on the track 1 22, thereby driving the moving platform 26 and the shifting gripper 3 above it to move synchronously. Activating the driving device 27 on one side of the track 2 25 can move the moving platform 26 and the shifting gripper 3 synchronously, thereby realizing the position movement of the motor rotor between different work positions.

[0031] Specifically, a through hole is provided on one side of the outer wall of the slide 23 located in the middle, and one of the synchronizing rods 24 is inserted into the inside of the through hole.

[0032] In this embodiment, a shifting gripper 3 is provided above the sliding assembly 2. The shifting gripper 3 includes a mounting base 31. A pneumatic actuator 32 is fixedly provided on the top of the mounting base 31. The pneumatic actuator 32 can be a cylinder structure. Several air pipe connection nozzles 33 are provided on the top of the pneumatic actuator 32. An air chamber 34 is provided on the front side of the pneumatic actuator 32. Two symmetrically distributed grippers 35 are provided on both sides of the front part of the air chamber 34. The position of the shifting gripper 3 is moved by the sliding assembly 2. The pneumatic actuator 32 is activated to exchange the gas inside the air chamber 34, thereby driving the grippers 35 on both sides to open and close, realizing the clamping and rotation of the motor rotor.

[0033] In this embodiment, a workstation mounting frame 4 is fixedly installed on the top rear side of the workbench 1. A temporary storage workstation 5, a fitting workstation 6, and a clamping workstation 7 are arranged sequentially above the workstation mounting frame 4. The number of shifting grippers 3 matches the number of temporary storage workstations 5, fitting workstations 6, and clamping workstations 7. Specifically, the mounting station 6 includes a bracket 61 fixed to the top of the mounting frame 4. The bracket 61 is used to support the motor rotor. The middle part of the bracket 61 has a slot structure, and the shaft of the motor rotor is inserted into the slot. A support arm 62 is installed on the rear side of the top of the mounting frame 4. A platform 63 is slidably installed in the middle of the support arm 62. A cylinder 64 is fixed to the support arm 62 at the tail end of the platform 63. A feeding pipe 65 is inserted from top to bottom into the top of the support arm 62. The bottom of the feeding pipe 65 abuts against the upper surface of the platform 63. The top of the support arm 62 is fixedly mounted. There is a suction cylinder 66, and a suction pipe 67 is provided at the bottom of the suction cylinder 66. When the motor rotor is above the bracket 61, the suction cylinder 66 is activated, which drives the suction pipe 67 to lift the bushing on the platform 63. Then, the cylinder 64 drives the platform 63 to move away from the position below the suction pipe 67. Then, the suction cylinder 66 drives the suction pipe 67 to descend, so that the bushing below the suction pipe 67 is sleeved on the outside of the motor rotor shaft. Then, the suction pipe 67 rises, the platform 63 returns to its original position, so that the next bushing inside the feeding pipe 65 falls into the groove on the platform 63, realizing the assembly of the bushing of the next motor rotor.

[0034] Specifically, the pressing station 7 includes a bracket 2 71 fixed to the top of the station mounting frame 4. A support arm 2 72 is fixedly installed on the top of the station mounting frame 4. A pressing cylinder 73 is set on the top of the support arm 2 72. A pressing head 74 is set at the bottom of the pressing cylinder 73. The motor rotor is placed above the bracket 2 71. The structure of the bracket 2 71 is the same as that of the bracket 1 61. When they are combined, the pressing cylinder 73 is activated, which drives the pressing head 74 to descend, so that the bushing can be installed on the motor rotor.

[0035] In this embodiment, a vision sensor 8 is fixed above the workstation mounting frame 4 on one side of the temporary storage station 5, the fitting station 6 and the pressing station 7. The vision sensor 8 is used to monitor the assembly status of the motor in real time at each workstation. A control box 9 is installed on one side of the top of the workbench 1. The control box 9 is used to receive the information monitored by the vision sensor 8. A bracket is provided on one side of the vision sensor 8, and the vision sensor 8 forms a vertical tilt angle of 45 degrees with the temporary storage station 5, the fitting station 6 and the pressing station 7 through the bracket. It should be noted that the vision sensor 8, as the perception layer, acquires image / video data through industrial cameras and 3D sensors (such as binocular stereo vision) to obtain the three-dimensional coordinate information of objects.

[0036] The control box 9 uses deep learning models such as convolutional neural networks (CNN) and Transformer to extract features and complete tasks such as target detection (such as YOLO model), image segmentation, and motion tracking; the output results are linked with the execution terminal (such as industrial robots and autonomous driving systems) to form a closed-loop control.

[0037] In this embodiment, a conveying mechanism 10 is provided at the top front end of the workbench 1. The conveying mechanism 10 includes a lifting cylinder 102 fixed to the outer wall of one side of the workbench 1. A lifting plate 101 is provided at the top of the lifting cylinder 102. A guide rail 103 is installed on the top of the lifting plate 101. A sliding seat 104 is slidably arranged on the guide rail 103. A shifting gripper 105 is installed on the top of the sliding seat 104. After the front motor rotor is conveyed, the lifting cylinder 102 is activated to adjust the height of the lifting plate 101. The shifting gripper 105 is used to clamp the front motor rotor. The shifting gripper 105 has the same structure as the shifting gripper 3. The shifting gripper 105 can be used to lift and slide, and transfer the motor rotor to the shifting gripper 3 located at the front end.

[0038] A method for a multi-station collaborative assembly device based on AI vision, comprising a multi-station collaborative assembly device based on AI vision, including the following steps: 1. Using the upper processing equipment, the motor rotor is moved to the frontmost shifting gripper 3 via the conveying mechanism 10, and the motor rotor is placed on the temporary storage station 5 by the movement of the sliding component 2. Second, start the sliding assembly 2 to move the motor rotor located at the temporary storage station 5 to the setting station 6 via the next shifting gripper 3, and use the setting station 6 to realize the feeding and setting of the liner ring. 3. Restart the sliding assembly 2. With the cooperation of the sliding assembly 2 and the shifting gripper 3, move the motor rotor located on the temporary storage station 5 and the fitting station 6 to the next station in sequence. Use the clamping station 7 to shift the bushing on the shaft of the motor rotor to complete the fitting and assembly of the bushing on the shaft of the motor rotor. IV. During the operation of the temporary storage station 5, the setting station 6 and the pressing station 7, the operation status of each station is monitored in real time by the vision sensor 8, and the monitored signals are transmitted to the control box 9. The control box 9 makes timely adjustments to the sliding component 2, the shifting gripper 3 and the conveying mechanism 10 and issues alarm signals.

[0039] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-station collaborative assembly device based on AI vision, comprising a workbench (1), characterized in that, A sliding assembly (2) is provided on the front top of the workbench (1). A shifting gripper (3) is provided above the sliding assembly (2). A station mounting frame (4) is fixedly provided on the rear top of the workbench (1). A temporary storage station (5), a fitting station (6), and a pressing station (7) are arranged sequentially above the station mounting frame (4). The number of shifting grippers (3) matches the number of temporary storage stations (5), fitting stations (6), and pressing stations (7). A vision sensor (8) is fixed above the station mounting frame (4) on one side of the temporary storage station (5), fitting station (6), and pressing station (7). The vision sensor (8) is used to monitor the assembly status of the motor in real time at each station. A conveying mechanism (10) is provided at the front top of the workbench (1). A control box (9) is installed on one side of the top of the workbench (1). The control box (9) is used to receive information monitored by the vision sensor (8).

2. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, Several support legs (11) are fixedly installed on the outer wall of the bottom of the workbench (1), and a reinforcing beam (12) is fixedly connected between the support legs (11).

3. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, The sliding assembly (2) includes a base plate (21), which is fixed on the outer wall of the top of the worktable (1). The top of the base plate (21) is provided with a symmetrically distributed track 1 (22), and a plurality of slides (23) are provided on the track 1 (22). A synchronization rod (24) is fixedly installed between the plurality of slides (23). A track 2 (25) is provided on the top outer wall of the slides (23), and a moving platform (26) is provided above the track 2 (25). A driving device (27) is provided between the track 1 (22) and the track 2 (25).

4. The multi-station collaborative assembly device based on AI vision according to claim 3, characterized in that, A through hole is provided on one side of the outer wall of the slide (23) located in the middle, and one of the synchronizing rods (24) is inserted into the through hole.

5. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, The displacement gripper (3) includes a mounting base (31), a pneumatic actuator (32) is fixedly mounted on the top of the mounting base (31), a plurality of air pipe connection nozzles (33) are mounted on the top of the pneumatic actuator (32), an air chamber (34) is provided on the front side of the pneumatic actuator (32), and two symmetrically distributed grippers (35) are provided on both sides of the front part of the air chamber (34).

6. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, The mounting station (6) includes a bracket (61) fixed to the top of the mounting frame (4). The bracket (61) is used to support the motor rotor. A support arm (62) is installed on the rear side of the top of the mounting frame (4). A platform (63) is slidably arranged in the middle of the support arm (62). A cylinder (64) is fixed on the support arm (62) at the tail end of the platform (63). A feeding pipe (65) is inserted from top to bottom into the top of the support arm (62). The bottom of the feeding pipe (65) abuts against the upper surface of the platform (63). A suction cylinder (66) is fixedly arranged on the top of the support arm (62), and a suction pipe (67) is arranged at the bottom end of the suction cylinder (66).

7. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, The pressing station (7) includes a bracket two (71) fixed on the top of the station mounting frame (4), a support arm two (72) fixedly installed on the top of the station mounting frame (4), a pressing cylinder (73) is provided on the top of the support arm two (72), and a pressing head (74) is provided at the bottom of the pressing cylinder (73).

8. The multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, A bracket is provided on one side of the vision sensor (8), and the vision sensor (8) forms an angle of 45 degrees up and down with the temporary storage station (5), the sleeve station (6) and the pressing station (7) through the bracket.

9. A multi-station collaborative assembly device based on AI vision according to claim 1, characterized in that, The conveying mechanism (10) includes a lifting cylinder (102) fixed on the outer wall of one side of the workbench (1). The top of the lifting cylinder (102) is provided with a lifting plate (101). The top of the lifting plate (101) is equipped with a guide rail (103). A sliding seat (104) is slidably provided on the guide rail (103). A shifting gripper (105) is installed on the top of the sliding seat (104).

10. A method for a multi-station collaborative assembly device based on AI vision, comprising the multi-station collaborative assembly device based on AI vision as described in any one of claims 1-9, characterized in that, Includes the following steps:

1. Using the upper processing equipment, the motor rotor is moved to the frontmost shifting gripper (3) by the conveying mechanism (10), and the motor rotor is placed on the temporary storage station (5) by the movement of the sliding component (2).

2. Next, start the sliding assembly (2) to move the motor rotor located at the temporary storage station (5) to the setting station (6) through the next shifting gripper (3), and use the setting station (6) to realize the feeding and setting of the liner ring; 3. Start the sliding assembly (2) again. With the cooperation of the sliding assembly (2) and the shifting gripper (3), the motor rotor located at the temporary storage station (5) and the sleeve station (6) are moved to the next station in sequence. The bushing is moved on the shaft of the motor rotor by the clamping station (7) to complete the sleeve assembly of the bushing on the shaft of the motor rotor. Fourth, during the operation of the above-mentioned temporary storage station (5), setting station (6) and pressing station (7), the operation status of each station is monitored in real time by the vision sensor (8), and the monitored signal is transmitted to the control box (9). The control box (9) adjusts the sliding component (2), the shifting gripper (3) and the conveying mechanism (10) in a timely manner and issues an alarm signal.

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