Automatic picture correction system applied to automatic circuit board disassembling visual robot

Abstract

The invention discloses an automatic picture correction system applied to a visual robot for automatically disassembling a circuit board, and relates to the technical field of picture correction of visual robots, the automatic picture correction system comprises a workbench, a rotating mechanism is arranged in the workbench, the rotating mechanism comprises a motor, and the motor is fixedly connected to the bottom of an inner cavity of the workbench through a case; the output end of the motor is fixedly connected with a first rotating shaft through a coupler, the top of the first rotating shaft is rotationally connected to the top of the inner cavity of the workbench through a bearing and penetrates through the top of the workbench, and the top of the first rotating shaft is fixedly connected with a first threaded rod. According to the automatic picture correction system applied to the automatic circuit board disassembling visual robot, the correction precision is high, the correction method is simple, correction is easy to achieve, and the device can adapt to disassembling work of circuit boards of different specifications by arranging the adjusting mechanism.

Description

Technical Field

[0001] This invention relates to the field of image correction technology for visual robots, and specifically to an automatic image correction system for a visual robot used in automatic circuit board disassembly. Background Technology

[0002] Robotics technology is widely used in the field of automated circuit board disassembly. Various tasks are accomplished by installing different actuators (such as tools or fixtures) at the end effector of the robot. The accuracy of the end effector directly affects the robot's operational precision. Therefore, the accuracy of the TCP (Tool Coordinate System) in the robot's tool coordinate system becomes a crucial indicator for achieving precise robot operation.

[0003] A search of Chinese patent CN102909728A reveals that after installing the end effector, it is typically necessary to know the accurate coordinates of the TCP (Tool Coordinate System) relative to the base tool coordinate system. However, due to inherent errors in manual assembly of the end effector, the robot's own structure, or its custom tool coordinate system, the robot's TCP may contain inaccuracies. Manually correcting these errors is time-consuming, labor-intensive, and prone to significant errors. Summary of the Invention

[0004] This invention provides an automatic image correction system for a vision robot used in automatic circuit board disassembly, in order to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an automatic image correction system for a visual robot for automatic circuit board disassembly, including a worktable, a rotating mechanism provided inside the worktable, the rotating mechanism including a motor, the motor being fixedly connected to the bottom of the inner cavity of the worktable through a housing, the output end of the motor being fixedly connected to a first rotating shaft through a coupling, the top of the first rotating shaft being rotatably connected to the top of the inner cavity of the worktable through a bearing, and penetrating the top of the worktable;

[0006] A first threaded rod is fixedly connected to the top of the first rotating shaft, a first connecting post is fixedly connected to the top of the worktable, a second connecting post is threadedly connected to the first threaded rod, and the second connecting post and the first connecting post are slidably connected.

[0007] The top of the second connecting column is fixedly connected to a first connecting plate, the bottom of the first connecting plate is fixedly connected to an actuator, a following mechanism is provided inside the workbench, and an adjustment mechanism is provided on one side of the following mechanism.

[0008] Preferably, the following mechanism includes a second threaded rod, which is rotatably connected to one side of the worktable cavity via a bearing. A first bevel gear is fixedly connected to the first rotating shaft, and a second bevel gear is meshed with the first bevel gear. The second bevel gear and the second threaded rod are fixedly connected. A third threaded rod is rotatably connected to one side of the worktable cavity via a bearing. A third bevel gear is fixedly connected to the third threaded rod, and a fourth bevel gear is meshed with the third bevel gear. A second rotating shaft is rotatably connected to the top of the worktable cavity via a bearing. The second rotating shaft passes through the top of the worktable and is fixedly connected to the fourth bevel gear.

[0009] Preferably, the adjustment mechanism includes a first connecting block, which is fixedly connected to the top of the worktable. A fifth bevel gear is fixedly connected to a second rotating shaft, extending through the bottom of the first connecting block. A sixth bevel gear is meshed with the fifth bevel gear. A second connecting block is fixedly connected to the top of the worktable. A third rotating shaft is rotatably connected to the side of the second connecting block near the first connecting block via a bearing. The third rotating shaft is fixedly connected to the sixth bevel gear and rotatably connected to one side of the first connecting block via a bearing. A vision camera is fixedly connected to the third rotating shaft.

[0010] Preferably, a display screen is fixedly connected to the front side of the workbench, and a control console is provided on one side of the display screen. The control console and the front side of the workbench are fixedly connected.

[0011] A further improvement of the technical solution of the present invention is that: a second connecting plate is fixedly connected to one side of the first connecting column, a telescopic rod is fixedly connected to the top of the second connecting plate, an installation block is fixedly connected to the top of the telescopic rod, a first bolt is internally threaded to the installation block, and the first bolt and the second connecting column are threaded together.

[0012] Using the above technical solution, the connection between the first bolt and the second connecting column can be controlled. When the first bolt and the second connecting column are engaged, the second connecting column is limited, so that when the first threaded rod rotates, the second connecting column moves up and down. When the first bolt and the second connecting column are not engaged, when the first threaded rod rotates, the second connecting column rotates synchronously.

[0013] A further improvement of the technical solution of the present invention is that a third connecting block is fixedly connected to the top of the inner cavity of the workbench, and the third connecting block is rotatably connected by a bearing and a third threaded rod.

[0014] The above technical solution provides support for the third threaded rod in such a way that the rotation of the third threaded rod is more stable.

[0015] A further improvement of the technical solution of the present invention is that: a first limiting block is threadedly connected to the second threaded rod, and a second limiting block is threadedly connected to the third threaded rod, wherein the first limiting block and the second limiting block are threadedly connected by a double-ended bolt.

[0016] The above technical solution is designed to make the disassembly and installation of the first and second limiting blocks very convenient. When the first and second limiting blocks are connected, the rotation of the second threaded rod will simultaneously drive the rotation of the third threaded rod.

[0017] A further improvement to the technical solution of the present invention is that the center of the image of the visual camera is the robot TCP.

[0018] By adopting the above technical solution, the configuration of this solution makes the image calibration more accurate.

[0019] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows:

[0020] 1. This invention provides an automatic image correction system for a vision robot applied to automatic circuit board disassembly. It establishes a predicted target position (TCP) and a predicted tool coordinate system. The TCP position of the robot's end effector is set as the actual TCP position. A controller controls a drive mechanism to rotate the end effector around the predicted TCP position coordinate axis. A vision lens records the coordinates of the actual TCP position after rotation around the predicted TCP position coordinate axis, thus determining the deviation between the predicted and actual TCP positions. The controller modifies the predicted TCP parameters to compensate for this deviation. The modified predicted TCP is then set as the new predicted TCP, and the correction process is repeated until the deviation between the actual and predicted TCP positions of the end effector reaches the allowable range. Using this vision correction coordinate method, high correction accuracy is achieved after multiple corrections, and the method is simple and easy to implement.

[0021] 2. This invention provides an automatic image correction system for a vision robot used in automatic circuit board disassembly. By setting an adjustment mechanism, when disassembling circuit boards of different specifications, the height of the actuator needs to be adjusted to adapt to different specifications of circuit boards. At this time, the first bolt is threaded into the second connecting post, and then the first limit block and the second limit block are connected by a double-ended bolt. Then, the motor is started to drive the first threaded rod to rotate, so that the second connecting post threaded with the first threaded rod rises and falls, and the actuator fixedly connected to the second connecting post rises and falls, so that the device can adapt to the disassembly of circuit boards of different specifications.

[0022] 3. This invention provides an automatic image correction system for a vision robot used in automatic circuit board disassembly. By setting a following mechanism, the vision camera can follow the adjustment of the execution mechanism when the device is adjusting the execution mechanism, and automatically adjust the angle so that the TCP image is always in the center of the vision camera. Attached Figure Description

[0023] Figure 1 This is a front view of an automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention;

[0024] Figure 2 This is a schematic diagram of the automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention;

[0025] Figure 3 This is a side sectional view of an automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention.

[0026] Figure 4 This is a schematic diagram of the first limiting block structure of an automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention.

[0027] Figure 5 This is a cross-sectional view of the first connecting block of an automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention;

[0028] Figure 6 This is a rear view of the first connecting block of an automatic image correction system for a vision robot used in automatic circuit board disassembly according to the present invention.

[0029] In the diagram: 1. Workbench; 101. Third connecting block; 2. Rotating mechanism; 201. Motor; 202. First rotating shaft; 203. First threaded rod; 204. First connecting column; 2041. Second connecting plate; 2042. Telescopic rod; 2043. Mounting block; 2044. First bolt; 205. Second connecting column; 206. First connecting plate; 207. Actuating mechanism; 3. Following mechanism; 301. Second threaded rod; 3011. First limit block; 3012, Second limit block; 3013, Double-ended bolt; 302, First bevel gear; 303, Second bevel gear; 304, Third threaded rod; 305, Third bevel gear; 306, Fourth bevel gear; 307, Second rotating shaft; 4, Adjustment mechanism; 401, First connecting block; 402, Fifth bevel gear; 403, Sixth bevel gear; 404, Second connecting block; 405, Third rotating shaft; 406, Vision camera; 5, Display screen; 6, Control console. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Example 1

[0032] like Figure 1-6 As shown, this invention provides an automatic image correction system for a vision robot used in automatic circuit board disassembly. The system includes a worktable 1. A third connecting block 101 is fixedly connected to the top of the inner cavity of the worktable 1. The third connecting block 101 is rotatably connected to a third threaded rod 304 via a bearing. This arrangement provides support for the third threaded rod 304, making its rotation more stable. A rotating mechanism 2 is provided inside the worktable 1. The rotating mechanism 2 includes a motor 201, which is fixedly connected to the bottom of the inner cavity of the worktable 1 via a housing. The output end of motor 201 is fixedly connected to a first rotating shaft 202 via a coupling. The top of the first rotating shaft 202 is rotatably connected to the top of the inner cavity of workbench 1 via a bearing, and extends through the top of workbench 1. A first threaded rod 203 is fixedly connected to the top of the first rotating shaft 202. A first connecting post 204 is fixedly connected to the top of workbench 1. A second connecting plate 2041 is fixedly connected to one side of the first connecting post 204. A telescopic rod 2042 is fixedly connected to the top of the second connecting plate 2041. A mounting bracket is fixedly connected to the top of the telescopic rod 2042. Mounting block 2043 has an internal threaded connection to a first bolt 2044, which is threadedly connected to a second connecting post 205. This configuration allows for control of the connection between the first bolt 2044 and the second connecting post 205. When the first bolt 2044 and the second connecting post 205 are engaged, the second connecting post 205 is limited, causing the second connecting post 205 to move up and down when the first threaded rod 203 rotates. When the first bolt 2044 and the second connecting post 205 are not engaged, the second connecting post 205 moves up and down when the first threaded rod 203 rotates. The first threaded rod 203 rotates synchronously with the second connecting post 205, which is threadedly connected to the first connecting post 204. The second connecting post 205 and the first connecting post 204 are slidably connected. The top of the second connecting post 205 is fixedly connected to the first connecting plate 206, and the bottom of the first connecting plate 206 is fixedly connected to the actuator 207. The workbench 1 is equipped with a following mechanism 3, and an adjustment mechanism 4 is provided on one side of the following mechanism 3. The front of the workbench 1 is fixedly connected to the display screen 5, and a control console 6 is provided on one side of the display screen 5. The control console 6 is fixedly connected to the front of the workbench 1.

[0033] In this embodiment, a second connecting plate 2041 is fixedly connected to one side of the first connecting post 204, a telescopic rod 2042 is fixedly connected to the top of the second connecting plate 2041, and a mounting block 2043 is fixedly connected to the top of the telescopic rod 2042. A first bolt 2044 is internally threaded onto the mounting block 2043, and the first bolt 2044 and the second connecting post 205 are threaded together. This arrangement allows for control of the connection between the first bolt 2044 and the second connecting post 205. When the first bolt 2044 and the second connecting post 205 are engaged... The second connecting column 205 is limited so that when the first threaded rod 203 rotates, the second connecting column 205 moves up and down. When the first bolt 2044 and the second connecting column 205 are not engaged, the second connecting column 205 rotates synchronously with the first threaded rod 203. A third connecting block 101 is fixedly connected to the top of the inner cavity of the workbench 1. The third connecting block 101 is rotatably connected to the third threaded rod 304 through a bearing. This arrangement provides support for the third threaded rod 304, making the rotation of the third threaded rod 304 more stable.

[0034] Example 2

[0035] like Figure 1-6 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the following mechanism 3 includes a second threaded rod 301, which is rotatably connected to one side of the inner cavity of the worktable 1 via a bearing. A first limiting block 3011 is threadedly connected to the second threaded rod 301, and a second limiting block 3012 is threadedly connected to the third threaded rod 304. The first limiting block 3011 and the second limiting block 3012 are threadedly connected by a double-ended bolt 3013. This arrangement makes the disassembly and installation of the first limiting block 3011 and the second limiting block 3012 very convenient. When the first limiting block 3011 and the second limiting block 3012 are connected, the second… Rotation of threaded rod 301 simultaneously drives rotation of third threaded rod 304. A first bevel gear 302 is fixedly connected to the first rotating shaft 202, and a second bevel gear 303 is meshed with the first bevel gear 302. The second bevel gear 303 is fixedly connected to the second threaded rod 301. A third threaded rod 304 is rotatably connected to one side of the inner cavity of the worktable 1 via a bearing. A third bevel gear 305 is fixedly connected to the third threaded rod 304, and a fourth bevel gear 306 is meshed with the third bevel gear 305. A second rotating shaft 307 is rotatably connected to the top of the inner cavity of the worktable 1 via a bearing. The second rotating shaft 307 passes through the top of the worktable 1 and is fixedly connected to the fourth bevel gear 306.

[0036] In this embodiment, a first limiting block 3011 is threadedly connected to the second threaded rod 301, and a second limiting block 3012 is threadedly connected to the third threaded rod 304. The first limiting block 3011 and the second limiting block 3012 are threadedly connected by a double-ended bolt 3013. This arrangement makes it very convenient to disassemble and install the first limiting block 3011 and the second limiting block 3012. When the first limiting block 3011 and the second limiting block 3012 are connected, the rotation of the second threaded rod 301 will simultaneously drive the rotation of the third threaded rod 304.

[0037] Example 3

[0038] like Figure 1-6 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the adjustment mechanism 4 includes a first connecting block 401, which is fixedly connected to the top of the worktable 1. A fifth bevel gear 402 is fixedly connected to a second rotating shaft 307, which passes through the bottom of the first connecting block 401. A sixth bevel gear 403 is meshed with the fifth bevel gear 402. A second connecting block 404 is fixedly connected to the top of the worktable 1. A third rotating shaft 405 is rotatably connected to the side of the second connecting block 404 near the first connecting block 401 via a bearing. The third rotating shaft 405 and the sixth bevel gear 403 are fixedly connected, and the third rotating shaft 405 is rotatably connected to the side of the first connecting block 401 via a bearing. A vision camera 406 is fixedly connected to the third rotating shaft 405. By setting the center of the image of the vision camera 406 to the robot TCP, this setting makes the image calibration more accurate.

[0039] In this embodiment, by setting the center of the image of the vision camera 406 to the robot's TCP, the image calibration becomes more accurate.

[0040] The following section will explain the working principle of an automatic image correction system for a vision robot used in automatic circuit board disassembly.

[0041] like Figure 1-6As shown, an estimated TCP is established near the robot's actual TCP position. A predicted tool coordinate system is established with the estimated TCP as the origin. The estimated TCP position is P0, and the actual TCP position is P1. The vision camera 406 captures the actual TCP position. A visual coordinate system is established based on the image captured by the vision camera 406. After the vision camera captures the image, the coordinates of the actual TCP position P1 in the visual coordinate system are P1'. The scaling ratio between the visual coordinate system and the predicted tool coordinate system is obtained. The control console 6 drives the end effector 207 to rotate by an angle 1 around the coordinate axis N1 of the predicted tool coordinate system, so that the coordinates of the actual TCP position become P2. After the vision camera 406 captures the image, the coordinates of the actual TCP position in the visual coordinate system become P1'. P2', the console 6 drives the end effector 207 to rotate by an angle two around the coordinate axis N2 of the estimated tool coordinate system. Coordinate axes N1 and N2 are different, resulting in the actual TCP position coordinates becoming P3. After the vision camera 406 captures the image, the actual TCP position coordinates in the vision coordinate system become P3'. Using rotation angles one and two, the scaling ratio of the vision coordinate system and the estimated tool coordinate system, and the distance the actual tool center point moves in the vision coordinate system after rotations one and two, the deviation between the estimated tool center point position P0 and the actual tool center point position P1 is calculated. The calculated deviation is compared with the maximum allowable deviation range. If the deviation is less than or equal to the allowable deviation... If the deviation exceeds the maximum allowable deviation range, coordinate correction is complete. If the deviation exceeds the maximum allowable deviation range, the parameters of the estimated tool center point in console 6 are modified to compensate for the deviation distance. The modified estimated tool center point is then set as the new estimated tool center point. This process is repeated until coordinate correction is complete. Before automatic calibration, the first bolt 2044 is disengaged from the second connecting post 205. The motor 201 is started, causing the first rotating shaft 202, which is fixedly connected to the output end of the motor 201, to rotate. This causes the first threaded rod 203, which is fixedly connected to the first rotating shaft 202, to rotate. This causes the first connecting post 204, which is threadedly connected to the first threaded rod 203, to rotate. This causes the actuator 207, which is fixedly connected to the first connecting post 204, to rotate. To achieve arbitrary angle rotation of the actuator 207, when disassembling circuit boards of different specifications and needing to adjust the height of the actuator 207 to fit them, the first bolt 2044 is threaded into the second connecting post 205. Then, the first limiting block 3011 and the second limiting block 3012 are connected by the double-ended bolt 3013. Upon startup, the motor 201 drives the first threaded rod 203 to rotate, causing the second connecting post 205, which is threaded to the first threaded rod 203, to rise and fall. This, in turn, causes the actuator 207, which is fixedly connected to the second connecting post 205, to rise and fall. Simultaneously, the rotation of the motor 201 drives the first rotating shaft 202 to rotate, causing the first bevel gear 302, which is fixedly connected to the first rotating shaft 202, to rotate.This causes the second bevel gear 303, which meshes with the first bevel gear 302, to rotate, causing the third threaded rod 304, which is fixedly connected to the second bevel gear 303, to rotate, causing the first limiting block 3011, which is threadedly connected to the third threaded rod 304, to move, causing the second limiting block 3012, which is fixedly connected to the first limiting block 3011, to move, causing the third threaded rod 304, which is threadedly connected to the second limiting block 3012, to rotate, causing the third bevel gear 305, which is fixedly connected to the third threaded rod 304, to rotate, causing the fourth bevel gear 306, which meshes with the third bevel gear 305, to rotate, causing the second rotating shaft 307, which is fixedly connected to the fourth bevel gear 306, to rotate, causing the fifth bevel gear 402, which is fixedly connected to the second rotating shaft 307, to rotate, causing the sixth bevel gear 403, which meshes with the fifth bevel gear 402, to rotate, causing the third rotating shaft 405, which is fixedly connected to the sixth bevel gear 403, to rotate, so that the visual camera 406 synchronously follows the lifting and lowering adjustment angle of the actuator 207.

Claims

1. An automatic image correction system for a vision robot used in automatic circuit board disassembly, comprising a worktable (1), characterized in that: The workbench (1) is provided with a rotating mechanism (2), which includes a motor (201). The motor (201) is fixedly connected to the bottom of the inner cavity of the workbench (1) through a housing. The output end of the motor (201) is fixedly connected to a first rotating shaft (202) through a coupling. The top of the first rotating shaft (202) is rotatably connected to the top of the inner cavity of the workbench (1) through a bearing and passes through the top of the workbench (1). The top of the first rotating shaft (202) is fixedly connected to a first threaded rod (203), the top of the worktable (1) is fixedly connected to a first connecting post (204), the first threaded rod (203) is threadedly connected to a second connecting post (205), and the second connecting post (205) and the first connecting post (204) are slidably connected. The top of the second connecting column (205) is fixedly connected to the first connecting plate (206), and the bottom of the first connecting plate (206) is fixedly connected to the actuator (207). The workbench (1) is provided with a following mechanism (3), and an adjustment mechanism (4) is provided on one side of the following mechanism (3).

2. The automatic image correction system for a vision robot applied to automatic circuit board disassembly according to claim 1, characterized in that: The following mechanism (3) includes a second threaded rod (301), which is rotatably connected to one side of the inner cavity of the worktable (1) via a bearing. A first bevel gear (302) is fixedly connected to the first rotating shaft (202), and a second bevel gear (303) is meshed with the first bevel gear (302). The second bevel gear (303) is fixedly connected to the second threaded rod (301). A third threaded rod (304) is rotatably connected to one side of the inner cavity of the worktable (1) via a bearing. A third bevel gear (305) is fixedly connected to the third threaded rod (304), and a fourth bevel gear (306) is meshed with the third bevel gear (305). A second rotating shaft (307) is rotatably connected to the top of the inner cavity of the worktable (1) via a bearing. The second rotating shaft (307) passes through the top of the worktable (1) and is fixedly connected to the fourth bevel gear (306).

3. The automatic image correction system for a vision robot used in automatic circuit board disassembly according to claim 2, characterized in that: The adjustment mechanism (4) includes a first connecting block (401), which is fixedly connected to the top of the workbench (1). A fifth bevel gear (402) is fixedly connected to the second rotating shaft (307) and passes through the bottom of the first connecting block (401). A sixth bevel gear (403) is meshed on the fifth bevel gear (402). A second connecting block (404) is fixedly connected to the top of the workbench (1). A third rotating shaft (405) is rotatably connected to the side of the second connecting block (404) near the first connecting block (401) via a bearing. The third rotating shaft (405) is fixedly connected to the sixth bevel gear (403) and rotatably connected to the side of the first connecting block (401) via a bearing. A vision camera (406) is fixedly connected to the third rotating shaft (405).

4. The automatic image correction system for a vision robot used in automatic circuit board disassembly according to claim 1, characterized in that: A display screen (5) is fixedly connected to the front side of the workbench (1), and a control console (6) is provided on one side of the display screen (5). The control console (6) is fixedly connected to the front side of the workbench (1).

5. The automatic image correction system for a vision robot applied to automatic circuit board disassembly according to claim 1, characterized in that: A second connecting plate (2041) is fixedly connected to one side of the first connecting column (204), a telescopic rod (2042) is fixedly connected to the top of the second connecting plate (2041), an mounting block (2043) is fixedly connected to the top of the telescopic rod (2042), a first bolt (2044) is threadedly connected to the mounting block (2043), and the first bolt (2044) is threadedly connected to the second connecting column (205).

6. The automatic image correction system for a vision robot applied to automatic circuit board disassembly according to claim 1, characterized in that: A third connecting block (101) is fixedly connected to the top of the inner cavity of the workbench (1), and the third connecting block (101) is rotatably connected by a bearing and a third threaded rod (304).

7. The automatic image correction system for a vision robot applied to automatic circuit board disassembly according to claim 2, characterized in that: The second threaded rod (301) is threaded with a first limiting block (3011), and the third threaded rod (304) is threaded with a second limiting block (3012). The first limiting block (3011) and the second limiting block (3012) are threaded together by a double-ended bolt (3013).

8. The automatic image correction system for a vision robot used in automatic circuit board disassembly according to claim 3, characterized in that: The center of the image displayed by the visual camera (406) is the robot TCP.

Images