Visual guidance disordered flexible grabbing and cam precise symmetric mounting system

Abstract

The invention provides a visual guidance disordered flexible grabbing and cam precise symmetric mounting system, which enables the assembly of symmetric cams to be quick and efficient and ensures the assembly quality of products. The feeding mechanism comprises a cam feeding machine and a rotating disc, and the cam feeding machine continuously feeds materials to the rotating disc; an industrial camera; the manipulator grabbing mechanism comprises a multi-axis module and a manipulator holding end; the transfer positioning platform is provided with at least one group of positioning clamps, each positioning clamp is provided with two cam positioning cavities, and the two cam positioning cavities are symmetrically arranged; the symmetrical installation assembly comprises a transfer module and a symmetrical installation mechanism, the output end of the transfer module is fixedly connected with the symmetrical installation mechanism, a material taking jig head is arranged below the symmetrical installation mechanism, and the material taking jig head comprises a magnet positioning adsorption cavity; and the magnet positioning adsorption cavity is used for positioning and adsorbing the two symmetrically arranged cams.

Description

Technical Field

[0001] This invention relates to the technical field of cam assembly, specifically a vision-guided disordered flexible gripping and precise symmetrical cam installation system. Background Technology

[0002] Existing products require symmetrical assembly of cam mechanisms. Current technologies rely on manual transfer of randomly arranged cams to their corresponding assembly positions on the product. In actual assembly, this manual operation results in low efficiency for symmetrical cam assembly. Furthermore, because the cams need to be assembled symmetrically, manual operation is prone to errors, leading to product scrap. Therefore, there is an urgent need to develop an automated operating system that can accurately and quickly install symmetrical cams. Summary of the Invention

[0003] To address the aforementioned issues, this invention provides a vision-guided disordered flexible grasping and precise symmetrical cam installation system, which enables rapid and efficient assembly of symmetrical cams while ensuring product assembly quality.

[0004] A visually guided, disordered, flexible grasping system with precise symmetrical cam mounting, characterized in that it comprises: The feeding mechanism includes a cam feeder and a rotary disc, wherein the cam feeder continuously feeds the rotary disc. Industrial cameras; A robotic gripping mechanism, comprising a multi-axis module and a robotic gripper end; A transfer positioning platform is provided with at least one set of positioning fixtures, and the positioning fixtures are provided with two cam positioning cavities, which are symmetrically arranged. The symmetrical mounting assembly includes a transfer module and a symmetrical mounting mechanism. The output end of the transfer module is fixed to the symmetrical mounting mechanism. A material-picking fixture head is provided below the symmetrical mounting mechanism. The material-picking fixture head includes a magnetic positioning and adsorption cavity for positioning and adsorbing two symmetrically arranged cams. The magnetic positioning and adsorption cavity of the material-picking fixture head is also provided with a pushing mechanism corresponding to the two cams. After the transfer module transfers the material-picking fixture head to the top of the product, the pushing mechanism moves to install the cams onto the product. An industrial camera is positioned directly above the rotating disk, and the area of ​​the industrial camera covers the cam conveying area of ​​the rotating disk, which is the visual area. The transfer positioning platform is arranged beside the rotating disk. The working area of ​​the robotic gripper end of the robotic arm grasping mechanism covers the visual area of ​​the rotating disk and the transfer positioning platform. The positioning fixture on the transfer positioning platform performs secondary positioning of the cam. The transfer module drives the symmetrical installation mechanism to transfer between the transfer positioning platform and the external cam assembly station. The symmetrical installation mechanism receives the cam that has been positioned by the transfer positioning platform and performs the installation operation.

[0005] Its further features are: The transfer positioning platform is equipped with three sets of positioning fixtures arranged sequentially along the X direction. Each set of positioning fixtures is also equipped with a Y-axis drive cylinder. The Y-axis drive cylinder drives the positioning fixture to switch between the cam loading station and the cam unloading station. The positioning fixture at the cam loading station is used to receive the cam transferred from the gripping end of the robot arm. The positioning fixture at the cam unloading station is used to transfer the cam placed in the cam positioning cavity. The positioning fixture is also equipped with a cam sensor on the upper layer of each cam positioning cavity. Only the lower part of the cam is placed in the cam positioning cavity. The cam sensor is used to sense whether the cam has been installed in place. After both cam sensors of each positioning fixture have sensed that the cam has been placed in place, the Y-axis drive cylinder will transfer the positioning fixture to the cam unloading station. When at least one cam sensor does not sense the cam, the positioning fixture is placed at the cam loading station. The transfer module includes an X-axis translation module and a Z-axis lifting module. The output end of the X-axis translation module is fixedly connected to the Z-axis lifting module. The output end of the Z-axis lifting module is fixedly connected to the upper seat of the cam mounting mechanism. A material picking fixture head is fixedly connected to the bottom of the upper seat. The lower surface of the material handling fixture head is provided with a concave magnet positioning and adsorption cavity. The magnet positioning and adsorption cavity integrates a cam separator, an adsorption magnet, and a pusher head. The pusher head corresponding to each set of cams is connected to a corresponding pusher cylinder through an upper connecting rod. The pusher cylinder, the upper connecting rod, and the pusher head constitute a pusher mechanism. The pushing mechanism also includes a connecting plate and a guide column. The lower part of the upper seat is provided with an installation frame. The pushing head is fixed to the connecting plate through an upper connecting rod. The connecting plate is placed in the installation frame area. The outer end of the connecting plate is fixed to the lower piston end of the pushing cylinder. The seat of the pushing cylinder is fixed to the corresponding side protruding support plate of the upper seat, which makes the setting of the pushing cylinder reasonable and reliable. Cam recognition sensors are also provided on both sides of the mounting frame. The outer periphery of the magnet positioning adsorption cavity is provided with a notch. The cam recognition sensor senses the presence of the internal cam through the notch, ensuring that the symmetrical mounting mechanism operates reasonably and effectively. The fixture positioning part of the material handling jig head is a lower convex central column part. A positioning protrusion is provided at the center of the lower convex central column part. Corresponding positioning protrusions are provided at both ends of the lower convex central column part corresponding to the magnetic positioning adsorption cavity. Guide positioning posts are arranged around the lower surface of the disc base of the material handling jig head relative to the outer periphery of the lower convex central column part. The positioning fixture is provided with contour alignment holes at the positions of the positioning protrusion, positioning protrusions, and guide positioning posts, which makes the cam transfer reliable.

[0006] With the solution of this invention, the cam feeder feeds material to the rotating disk, breaking up and organizing the disordered cams and conveying them to the vision area, realizing continuous and automatic cam feeding. The industrial camera acquires images of the broken-up disordered cams, analyzes and identifies the cams' position, orientation, and other features, and generates precise grasping coordinates and posture adjustment instructions. After receiving the instructions, the robot arm adjusts the grasping angle to accurately grasp the disordered cams. After grasping the cams, the robot arm transfers them to a preset transfer positioning platform. The transfer positioning platform is equipped with a positioning fixture that matches the cam profile, performing secondary positioning calibration on the cams to ensure that the cam's symmetrical reference plane completely matches the preset installation reference, providing a high-precision position reference for subsequent symmetrical installation. The symmetrical installation mechanism receives the cams positioned by the transfer positioning platform, adjusts the installation posture according to the product's assembly station coordinates, and finally accurately presses or assembles the symmetrically positioned cams into the product's preset installation slots. This makes the assembly of symmetrical cams fast and efficient, and ensures the assembly quality of the product. Attached Figure Description

[0007] Figure 1 This is a perspective view of the present invention; Figure 2 This is a perspective view of the transit positioning platform of the present invention; Figure 3 for Figure 2 A magnified schematic diagram of the structure at point A; Figure 4 This is a perspective view of the assembly of the Z-axis lifting module and the symmetrical mounting mechanism of the present invention. Figure 5 for Figure 4 Another perspective stereoscopic view; Figure 6 for Figure 4 The main view; Figure 7 for Figure 6 A magnified schematic diagram of the structure at point B; The names corresponding to the serial numbers in the diagram are as follows: 10. Feeding mechanism; 11. Cam feeder; 12. Rotary disc; 20. Industrial camera; 30. Robotic gripping mechanism; 31. Multi-axis module; 32. Robotic gripping end; 40. Transfer and positioning platform; 41. Y-axis drive cylinder; 50. Positioning fixture; 51. Cam positioning cavity; 52. Cam sensor; 60. Symmetrical mounting assembly; 70. Transfer module; 71. X-axis translation module; 72. Z-axis lifting module; 80. Symmetrical mounting mechanism; 90. Material handling jig head; 9. Lower convex center column part. 01. Positioning protrusion 902. Positioning rod 903. Disc base 904. Guide positioning post 905. Magnet positioning adsorption cavity 91. Notch 911. Cam separator post 92. Adsorption magnet 93. Cam 100. Pushing mechanism 110. Pushing head 111. Upper connecting rod 112. Pushing cylinder 113. Connecting plate 114. Guide post 115. Upper seat 120. Mounting frame 121. Side protrusion support plate 122. Cam recognition sensor 130. Detailed Implementation

[0008] A visually guided, disordered, flexible grasping system with precise symmetrical cam installation, see Figures 1-7 It includes: a feeding mechanism 10, an industrial camera 20, a robotic gripping mechanism 30, a transfer and positioning platform 40, and a symmetrical mounting assembly 60; The feeding mechanism 10 includes a cam feeder 11 and a rotary disc 12, wherein the cam feeder 11 continuously feeds the rotary disc 12. The robotic gripping mechanism 30 includes a multi-axis module 31 and a robotic gripping end 32; At least one set of positioning fixtures 50 are arranged on the transfer positioning platform 40. The positioning fixtures 50 are provided with two cam positioning cavities 51, which are arranged symmetrically. The symmetrical mounting assembly 60 includes a transfer module 70 and a symmetrical mounting mechanism 80. The output end of the transfer module 70 is fixed to the symmetrical mounting mechanism 80. A material picking fixture head 90 is provided below the symmetrical mounting mechanism 80. The material picking fixture head 90 includes a magnetic positioning adsorption cavity 91, which is used to position and adsorb two symmetrically arranged cams 100. The magnetic positioning adsorption cavity 91 of the material picking fixture head 90 is also provided with a pushing mechanism 110 corresponding to the two cams 100. After the transfer module 70 transfers the material picking fixture head 90 to the top of the product, the pushing mechanism 110 moves to install the cams 100 onto the product. An industrial camera 20 is positioned directly above the rotating disk 12. The area of ​​the industrial camera 20 covers the cam conveying area of ​​the rotating disk 12, which is the visual area. The transfer positioning platform 40 is positioned beside the rotating disk 12. The working area of ​​the robotic gripping end 32 of the robotic gripping mechanism 30 covers the visual area of ​​the rotating disk 12 and the transfer positioning platform 40. The positioning fixture 50 on the transfer positioning platform 40 performs secondary positioning on the cam 100. The transfer module 70 drives the symmetrical installation mechanism 80 to transfer between the transfer positioning platform 40 and the external cam assembly station (not shown in the figure, but can be arranged according to the actual situation). The symmetrical installation mechanism 80 receives the cam 100 that has been positioned by the transfer positioning platform 40 and performs the installation operation.

[0009] In a specific embodiment, three sets of positioning fixtures 50 are arranged sequentially along the X direction on the transfer positioning platform 40. Each set of positioning fixtures 50 is also equipped with a Y-direction drive cylinder 41. The Y-direction drive cylinder 41 drives the positioning fixtures 50 to switch between the cam loading station and the cam unloading station. The positioning fixtures 50 at the cam loading station are used to receive the cam 100 transferred from the robotic arm holding end 32. The positioning fixtures 50 at the cam unloading station are used to transfer the cam 100 placed in the cam positioning cavity 51. The positioning fixture 50 is also provided with a cam sensor 52 on the upper layer of each cam positioning cavity 51. Only the lower part of the cam 100 is placed in the cam positioning cavity 51. The cam sensor 52 is used to sense whether the cam 100 has been installed in place. After both cam sensors 52 of each positioning fixture 50 have sensed that the cam 100 has been placed in place, the Y-direction drive cylinder 41 will transfer the positioning fixture 50 to the cam unloading station. When at least one cam sensor 52 does not sense the cam, the positioning fixture 50 is placed in the cam loading station.

[0010] In specific implementation, the transfer module 70 includes an X-axis translation module 71 and a Z-axis lifting module 72. The output end of the X-axis translation module 71 is fixedly connected to the Z-axis lifting module 72. The output end of the Z-axis lifting module 72 is fixedly connected to the upper seat 120 of the cam mounting mechanism 80. The bottom of the upper seat 120 is fixedly connected to the material picking fixture head 90. The lower surface of the material handling fixture head 90 is provided with a concave magnet positioning and adsorption cavity 91. The magnet positioning and adsorption cavity 91 integrates a cam separator 92, an adsorption magnet 93, and a pusher head 111. The pusher head 111 corresponding to each set of cams 100 is connected to a corresponding pusher cylinder 113 through an upper connecting rod 112. The pusher cylinder 113, the upper connecting rod 112, and the pusher head 111 form a pusher mechanism. The pushing mechanism 110 also includes a connecting plate 114 and a guide column 115. The lower part of the upper seat 120 is provided with an installation frame 121. The pushing head 111 is fixed to the connecting plate 114 through the upper connecting rod 112. The connecting plate 114 is placed on the installation frame 121. The outer end of the connecting plate 114 is fixed to the lower piston end of the pushing cylinder 113. The seat of the pushing cylinder 113 is fixed to the corresponding side protruding support plate 122 of the upper seat 120, which makes the setting of the pushing cylinder reasonable and reliable. Cam recognition sensors 130 are also provided on both sides of the mounting frame 121. A notch 911 is provided on the outer periphery of the magnet positioning adsorption cavity 91. The cam recognition sensor 130 senses the presence of the internal cam through the notch 911 to ensure that the symmetrical mounting mechanism 80 operates reasonably and effectively. The fixture positioning part of the jig head 90 is a lower convex central column part 901. A positioning protrusion 902 is provided at the center of the lower convex central column part 901. A corresponding positioning protrusion 903 is provided at both ends of the lower convex central column part 901 corresponding to the magnetic positioning adsorption cavity 91. The lower surface of the disc base 904 of the jig head 90 is provided with guide positioning posts 905 around the outer periphery of the lower convex central column part 901. The positioning jig 50 is provided with contouring alignment holes at the positions of the positioning protrusion 902, the positioning protrusion 903, and the guide positioning posts 905, which makes the rotation of the cam 100 reliable.

[0011] Its working principle is as follows: The cam feeder feeds material to the rotating disk, breaking up and organizing the disordered cams and conveying them to the vision area, realizing continuous and automatic cam feeding. The industrial camera acquires images of the broken-up disordered cams, analyzes and identifies the cams' position, orientation, and other features, and generates precise grasping coordinates and posture adjustment instructions. After receiving the instructions, the robot arm adjusts the grasping angle to accurately grasp the disordered cams. After grasping the cams, the robot arm moves them to a preset transfer positioning platform. The transfer positioning platform is equipped with positioning fixtures that match the cam contours, performing secondary positioning calibration on the cams to ensure that the cam's symmetrical reference plane completely matches the preset installation reference, providing a high-precision position reference for subsequent symmetrical installation. The symmetrical installation mechanism receives the cams positioned by the transfer positioning platform, adjusts the installation posture according to the product's assembly station coordinates, and finally accurately presses or assembles the symmetrically positioned cams into the product's preset installation slots. This makes the assembly of symmetrical cams fast and efficient, and ensures the assembly quality of the product.

[0012] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0013] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vision-guided disordered flexible grasping and cam-based precise symmetrical installation system, characterized in that... It includes: The feeding mechanism includes a cam feeder and a rotary disc, wherein the cam feeder continuously feeds the rotary disc. Industrial cameras; A robotic gripping mechanism, comprising a multi-axis module and a robotic gripper end; A transfer positioning platform is provided with at least one set of positioning fixtures, and the positioning fixtures are provided with two cam positioning cavities, which are symmetrically arranged. The symmetrical mounting assembly includes a transfer module and a symmetrical mounting mechanism. The output end of the transfer module is fixed to the symmetrical mounting mechanism. A material-picking fixture head is provided below the symmetrical mounting mechanism. The material-picking fixture head includes a magnetic positioning and adsorption cavity for positioning and adsorbing two symmetrically arranged cams. The magnetic positioning and adsorption cavity of the material-picking fixture head is also provided with a pushing mechanism corresponding to the two cams. After the transfer module transfers the material-picking fixture head to the top of the product, the pushing mechanism moves to install the cams onto the product. An industrial camera is positioned directly above the rotating disk, and the area of ​​the industrial camera covers the cam conveying area of ​​the rotating disk, which is the visual area. The transfer positioning platform is arranged beside the rotating disk. The working area of ​​the robotic gripper end of the robotic arm grasping mechanism covers the visual area of ​​the rotating disk and the transfer positioning platform. The positioning fixture on the transfer positioning platform performs secondary positioning of the cam. The transfer module drives the symmetrical installation mechanism to transfer between the transfer positioning platform and the external cam assembly station. The symmetrical installation mechanism receives the cam that has been positioned by the transfer positioning platform and performs the installation operation.

2. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 1, characterized in that: The transfer positioning platform is equipped with three sets of positioning fixtures arranged sequentially along the X direction. Each set of positioning fixtures is also equipped with a Y-axis drive cylinder. The Y-axis drive cylinder drives the positioning fixture to switch between the cam loading station and the cam unloading station. The positioning fixture at the cam loading station is used to receive the cam transferred from the gripping end of the robot arm. The positioning fixture at the cam unloading station is used to transfer the cam placed in the cam positioning cavity.

3. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 2, characterized in that: The positioning fixture is also equipped with a cam sensor on the upper layer of each cam positioning cavity. Only the lower part of the cam is placed in the cam positioning cavity. The cam sensor is used to sense whether the cam has been installed in place. After both cam sensors of each positioning fixture have sensed that the cam has been placed in place, the Y-axis drive cylinder will transfer the positioning fixture to the cam unloading station. When at least one cam sensor does not sense the cam, the positioning fixture is placed at the cam loading station.

4. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 1, characterized in that: The transfer module includes an X-axis translation module and a Z-axis lifting module. The output end of the X-axis translation module is fixedly connected to the Z-axis lifting module, and the output end of the Z-axis lifting module is fixedly connected to the upper seat of the cam mounting mechanism. A material picking fixture head is fixedly connected to the bottom of the upper seat.

5. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 4, characterized in that: The lower surface of the material handling fixture head is provided with a concave magnet positioning and adsorption cavity. The magnet positioning and adsorption cavity integrates a cam separator, an adsorption magnet, and a pusher head. The pusher head corresponding to each set of cams is externally connected to a corresponding pusher cylinder through an upper connecting rod. The pusher cylinder, the upper connecting rod, and the pusher head constitute a pusher mechanism.

6. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 5, characterized in that: The pushing mechanism also includes a connecting plate and a guide column. The lower part of the upper seat is provided with an installation frame. The pushing head is fixed to the connecting plate through an upper connecting rod. The connecting plate is placed in the installation frame area. The outer end of the connecting plate is fixed to the lower piston end of the pushing cylinder. The seat of the pushing cylinder is fixed to the corresponding side protruding support plate of the upper seat.

7. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 6, characterized in that: Cam recognition sensors are also provided on both sides of the mounting frame. The outer periphery of the magnet positioning adsorption cavity is provided with a notch. The cam recognition sensor senses the presence of the internal cam through the notch.

8. The visually guided disordered flexible grasping and cam-based precise symmetrical installation system according to claim 1, characterized in that: The fixture positioning part of the material handling jig head is a downward convex central column part. A positioning protrusion is provided at the center of the downward convex central column part. Corresponding positioning protrusions are provided at both ends of the circumferential outer periphery of the downward convex central column part corresponding to the magnetic positioning adsorption cavity. Guide positioning posts are arranged around the lower surface of the disc base of the material handling jig head relative to the outer periphery of the downward convex central column part. The positioning fixture is provided with contour alignment holes at the positions of the positioning protrusion, positioning protrusions, and guide positioning posts respectively.

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