Vision-guided precision component assembly system

Abstract

The application relates to the technical field of precise component assembly, and provides a precise component automatic assembly system based on visual guidance, which comprises a mounting table, a first driving mechanism, a first limiting mechanism, a second driving mechanism and a second limiting mechanism, the first driving mechanism can drive the first limiting mechanism to move so that any first assembly piece in a plurality of first assembly pieces limited by the first limiting mechanism is in a mounting station, the second driving mechanism can drive the second limiting mechanism to move so that a plurality of second assembly pieces limited by the second limiting mechanism are all mounted and aligned with the first assembly piece in the mounting station, an assembly mechanism, a first visual equipment and a second visual equipment, and a general control unit which is signal-connected with the first driving mechanism, the second driving mechanism, the assembly mechanism, the first visual equipment and the second visual equipment, the precise component automatic assembly system based on visual guidance greatly improves the assembly efficiency of the assembly components and ensures the product assembly consistency.

Description

Technical Field

[0001] This application relates to the field of precision component assembly technology, and more specifically, to a vision-guided automated assembly system for precision components. Background Technology

[0002] With the rapid development of consumer electronics, mobile terminals, represented by smartphones and tablets, are constantly evolving towards thinner, lighter, and more integrated designs. Their internal precision structural components, such as camera brackets and side panel buttons, are characterized by small dimensions, narrow assembly gaps, and strict positional tolerance requirements. The assembly quality of these components directly affects the optical performance, touch feel, and overall reliability of the mobile terminal.

[0003] Currently, the assembly process for the aforementioned precision components has the following main defects: First, traditional manual assembly methods are no longer sufficient to meet the demands of modern precision manufacturing. Operators rely on their naked eyes in conjunction with magnifying equipment for alignment, which is not only affected by subjective fatigue and skill level, but also by the limited positioning stability of human hands at the microscopic scale. This easily leads to component misalignment, scratches, or uneven pressing, resulting in large fluctuations in assembly yield and low efficiency for single-piece operations, making it unsuitable for large-scale mass production.

[0004] To overcome the shortcomings of manual assembly, existing technologies have developed automated assembly systems for precision components of mobile terminals that utilize charge-coupled device (CCD) cameras as auxiliary equipment. These systems typically include a vision guidance module, a multi-axis robotic arm, and an end effector. The workflow is as follows: after the robotic arm grasps the precision component to be assembled, it moves it within the field of view of the CCD camera. The system uses image recognition algorithms to calculate the deviation between the component's current pose and the target installation position, and then controls the robotic arm to perform position compensation, ultimately achieving high-precision alignment and automated pressing assembly.

[0005] However, in practical applications, such vision-guided automated assembly systems still have the following drawbacks: In existing automated assembly systems for precision components of mobile terminals, the installation position needs to be aligned using a CCD camera before each assembly. This reduces the assembly efficiency of these components. Moreover, since the components are repositioned based on the visual guidance of the CCD camera each time they are assembled, it is difficult to ensure the consistency of the installation position each time. This also affects the installation accuracy and product consistency of the precision components of mobile terminals. Summary of the Invention

[0006] In view of this, this application provides a vision-guided automatic assembly system for precision components to solve the technical problems of low assembly efficiency and difficulty in ensuring the consistency of assembled products in existing automatic assembly systems for precision components of mobile terminals.

[0007] This application provides a vision-guided automated assembly system for precision components, wherein the vision-guided automated assembly system for precision components includes: The assembly includes a mounting platform, a first drive mechanism mounted on the mounting platform, a first limiting mechanism connected to the first drive mechanism, a second drive mechanism, and a second limiting mechanism connected to the second drive mechanism. The first limiting mechanism can limit multiple first components to be assembled, and the second limiting mechanism can limit multiple second components to be assembled. The first drive mechanism can drive the first limiting mechanism to move so that any one of the multiple first components to be assembled limited by the first limiting mechanism is in the installation position. The second drive mechanism can drive the second limiting mechanism to move so that all the multiple second components to be assembled limited by the second limiting mechanism are installed and aligned with the first components to be assembled in the installation position. An assembly mechanism is provided on the mounting platform, the assembly mechanism being used to assemble a second component to be assembled, which is aligned with the first component to be assembled at the mounting station, onto the first component to be assembled at the mounting station. A first vision device and a second vision device, wherein the first vision device is located below the first limiting mechanism and the second vision device is located above the second limiting mechanism; The main control unit is connected to the first drive mechanism, the second drive mechanism, the assembly mechanism, the first vision device, and the second vision device via signals.

[0008] Furthermore, the first component to be assembled is a mobile terminal housing, and the second component to be assembled is a mobile terminal button.

[0009] Furthermore, the first limiting mechanism includes a rotating ring platform and a regular polygonal fixing frame disposed on the rotating ring platform. Each side frame plate of the regular polygonal fixing frame can fix one of the mobile terminal housings. When the rotating ring platform rotates, the mobile terminal housings fixed by any side frame plate of the regular polygonal fixing frame can be in the installation position. The second limiting mechanism includes a limiting sleeve. The limiting sleeve has a limiting channel extending vertically through both ends of the limiting sleeve. Multiple mobile terminal buttons can be stacked sequentially in the limiting channel. The lower port of the limiting channel is connected to... When the mounting holes on the upper side of the side frame of the mobile terminal housing at the installation station are aligned, the mobile terminal buttons stacked sequentially in the limiting channel are installed and aligned with the mobile terminal housing at the installation station, and the lowest mobile terminal button among the mobile terminal buttons stacked sequentially in the limiting channel falls down and is supported in the mounting hole of the mobile terminal housing at the installation station. The assembly mechanism includes a pressure arm, which is used to press down and engage the mobile terminal button that has fallen down and is supported in the mounting hole of the mobile terminal housing at the installation station with the mobile terminal housing.

[0010] Furthermore, each side frame plate of the regular polygonal fixing frame has four edges connected to limiting ribs extending toward the central axis of the regular polygonal fixing frame. The side frame plate and the corresponding limiting ribs form a limiting groove for limiting the mobile terminal housing. The upper end of the side frame plate forms an observation elongated hole. The uppermost limiting rib among the limiting ribs connected to the side frame plate forms an installation elongated hole. The mobile terminal button is supported in the installation hole of the mobile terminal housing at the installation position by passing through the installation elongated hole.

[0011] Furthermore, the mobile terminal button includes a button body and engagement pins disposed on both sides of the lower end of the button body. The engagement pin of one of the mobile terminal buttons stacked sequentially in the limiting channel is supported on the button body of the lower mobile terminal button. An operation notch is provided on the side of the lower end of the limiting sleeve. The assembly mechanism includes an assembly drive mechanism connected to the pressure arm. The assembly drive mechanism can drive the pressure arm to extend into or out of the operation notch and drive the pressure arm to move in the vertical direction. When the assembly drive mechanism drives the pressure arm to extend into the operation notch, it can be positioned between the button body of the mobile terminal button that falls and is supported in the mounting hole of the mobile terminal housing at the installation position and the button body of the upper mobile terminal button.

[0012] Furthermore, the pressure arm includes a fixed arm and a movable arm. The first end of the movable arm is hinged to the movable arm of the fixed arm via a hinge shaft. A torsion spring is provided on the hinge shaft. The fixed arm has a stop section extending towards the movable arm. When the movable arm is not subjected to external force, the torsion spring causes the upper end of the movable arm to stop at the stop section, making the movable arm parallel to the fixed arm. When the second end of the movable arm is subjected to an upward force, the upper end of the movable arm stops at the stop section, making the movable arm parallel to the fixed arm. When the second end of the movable arm is subjected to a downward force, the movable arm overcomes the elastic force of the torsion spring, causing the upper end of the movable arm to rotate away from the stop section.

[0013] Furthermore, the second driving mechanism includes a limiting sleeve linear driving mechanism, which drives the limiting sleeve to move along a first horizontal straight line, the first horizontal straight line being consistent with the length direction of the mobile terminal housing at the installation station.

[0014] Furthermore, an external gear ring is provided on the outer side of the rotating ring platform. The first drive mechanism includes a first motor and a drive gear connected to the output shaft of the first motor. The drive gear meshes with the external gear ring. The vision-guided precision component automatic assembly system includes a first material handling mechanism, a second material handling mechanism, a first feeding conveying structure, a first discharging conveying structure, and a second feeding conveying structure. The first material handling mechanism includes a first material handling drive mechanism, which includes a first lifting mechanism mounted on the mounting platform, a second motor mounted on the first lifting mechanism, and multiple horizontal electrically controlled telescopic arms arranged around the output shaft of the second motor. The position and number of the horizontal electrically controlled telescopic arms correspond one-to-one with the side frame plates of the regular polygonal fixed frame. A first suction device is provided at the end of the horizontal electrically controlled telescopic arm away from the output shaft of the second motor. The first lifting mechanism can drive the second motor to move the horizontal electrically controlled telescopic arm vertically through the rotating ring platform. The first feeding conveying structure is used to convey the mobile terminal housing to be assembled, and the second feeding conveying structure is used to convey the support The first material picking mechanism supports the mobile terminal button to be assembled. The second material picking mechanism includes a second material picking drive mechanism and a second suction device connected to the second material picking drive mechanism. The first material picking drive mechanism can drive the first suction device to move so that the first suction device picks up the mobile terminal shell to be assembled at the first feeding conveying structure, supports and fixes the mobile terminal shell to be assembled to the side frame plate of the regular polygonal fixing frame in the horizontal direction, and releases the mobile terminal shell with the mobile terminal button assembled to the first discharging conveying structure. The second material picking mechanism can drive the second suction device to move so that the second suction device picks up the mobile terminal button to be assembled at the second feeding conveying structure and releases the mobile terminal button to be assembled into the limiting channel above the limiting channel. The output shaft of the second motor is selectively connected to the plurality of horizontal electrically controlled telescopic arms through a clutch structure. When the first suction device supports and fixes the mobile terminal shell to be assembled to the side frame plate of the regular polygonal fixing frame, the clutch structure can disconnect the output shaft of the second motor from the plurality of horizontal electrically controlled telescopic arms.

[0015] Furthermore, the clutch structure includes a connecting ring, and the plurality of horizontal electrically controlled telescopic arms are connected to the outside of the connecting ring along the circumferential direction of the connecting ring. The output shaft of the second motor is provided with a support boss and a mating key located above the support boss. The inner side of the connecting ring has a keyway. When the connecting ring is supported on the support boss and the mating key and the keyway are mutually restrictive and engaged, the output shaft of the second motor is connected to the plurality of horizontal electrically controlled telescopic arms. When the keyway and the mating key are separated from each other, the connecting ring is rotatably loosely fitted on the output shaft of the second motor, so that the output shaft of the second motor is disconnected from the plurality of horizontal electrically controlled telescopic arms.

[0016] Furthermore, the vision-guided precision component automatic assembly system includes a ring-shaped electric guide rail and a first horizontal electric guide rail. The ring-shaped electric guide rail is disposed above the installation station, and its axis is arranged vertically and passes through the installation station. The first horizontal electric guide rail is disposed below the regular polygonal fixing frame, and its vertical projection extends from the outside of the regular polygonal fixing frame through the installation station to the inside of the regular polygonal fixing frame. The first vision device is disposed above the slider of the first horizontal electric guide rail, and the second vision device is disposed below the slider of the ring-shaped electric guide rail.

[0017] The advantages of the vision-guided automated assembly system for precision parts provided in this application are as follows: 1. Significantly Improved Assembly Efficiency: The core of this invention lies in "one-time alignment, batch assembly." Multiple first-stage components to be assembled are pre-loaded via a first limiting mechanism, and multiple second-stage components to be assembled are pre-loaded via a second limiting mechanism. After the first and second vision devices achieve precise alignment between the second limiting mechanism and the first-stage components at the installation station, subsequent assembly can proceed directly by simply switching the first-stage components, completely eliminating the complex vision alignment process that must be performed before each assembly. This greatly shortens the assembly cycle time for individual products, and the efficiency improvement is exponential, especially in large-scale mass production.

[0018] 2. Ensures product assembly consistency: Traditional solutions rely on visual guidance for corrections during each assembly. Since slight differences in calculated deviations can occur each time, ensuring consistent final assembly positions is difficult. In this invention, once the initial alignment is complete, the physical position of the second limiting mechanism is fixed, and the positional relationship of all second parts to be assembled relative to the installation station reference remains constant. Therefore, when all subsequent first parts to be assembled cooperate with this second limiting mechanism, their assembly positions are based on the same precise physical reference, fundamentally eliminating positional fluctuations caused by errors in visual calculations and significantly improving the consistency of assembly positions within product batches.

[0019] 3. Optimized system resources and costs: Since subsequent assembly steps do not require frequent calls to the high-precision vision system for calculation and feedback, the computational load of the main control unit and the dependence on the high-frequency operation of the vision equipment are reduced, which helps to extend the service life of the equipment and reduce maintenance costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional schematic diagram of a partial structure of a vision-guided automated assembly system for precision components according to an embodiment of this application; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 for Figure 1 Enlarged view of point B in the middle; Figure 4 This is a partial three-dimensional schematic diagram of a vision-guided automatic assembly system for precision components according to an embodiment of this application; Figure 5 for Figure 4 Enlarged view of point C in the middle; Figure 6 for Figure 4 Enlarged view of point D in the middle; Figure 7 Another perspective view of a portion of the structure of a vision-guided automated assembly system for precision components according to an embodiment of this application; Figure 8 for Figure 7 Enlarged view at point E in the middle; Figure 9 for Figure 7 Enlarged view at point F; Figure 10 This is another perspective view of a portion of the structure of a vision-guided automated assembly system for precision components according to an embodiment of this application; Figure 11 for Figure 10 Enlarged view of point G in the middle; Figure 12 This is a simplified schematic diagram of a pressure arm in a vision-guided automated assembly system for precision parts according to an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: 1- Mounting platform; 2- First vision device; 3- Second vision device; 4- Rotating ring platform; 5- Circular electric guide rail; 6- First horizontal electric guide rail; 7- Limiting sleeve linear drive mechanism; 8- External gear ring; 9- Support ring platform; 10- Stand; 11- First motor; 12- Drive gear; 13- First feeding conveyor structure; 14- First discharging conveyor structure; 15- Second feeding conveyor structure; 16- First lifting mechanism; 17- Second motor; 18- Horizontal electrically controlled telescopic arm; 19- First vacuum suction cup; 20- Second vacuum suction cup; 21- Support boss; 22- Mating key; 23- Second horizontal electric guide rail; 24- Third horizontal electric guide rail; 25- First electric lifting mechanism 26-Lifting arm; 27-Second electric lifting guide rail; 28-Fifth horizontal electric guide rail; 29-First horizontal cylinder; 30-Suction cup fixing plate; 100-Mobile terminal button; 101-Button body; 102-Activation pin; 200-Mobile terminal housing; 201-Mounting hole; 300-Regular polygonal fixing frame; 301-Side frame plate; 302-Limiting rib; 303-Observation elongated hole; 304-Mounting elongated hole; 400-Limiting sleeve; 401-Limiting channel; 402-Operating notch; 500-Pressure arm; 501-Fixed arm; 502-Moving arm; 503-Hinge shaft; 504-Stop section; 600-Connecting ring; 601-Keyway. Detailed Implementation

[0023] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. One or more embodiments of this application are exemplarily shown in the drawings to provide a more accurate and thorough understanding of the technical solutions disclosed herein. However, it should be understood that this application can be implemented in many different forms and is not limited to the embodiments described below.

[0024] In the accompanying drawings of this application, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0026] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] See Figures 1 to 11 This application provides a vision-guided automated assembly system for precision components, wherein the vision-guided automated assembly system for precision components includes: Mounting platform 1, a first drive mechanism mounted on mounting platform 1, a first limiting mechanism connected to the first drive mechanism, a second drive mechanism, and a second limiting mechanism connected to the second drive mechanism. The first limiting mechanism can limit multiple first components to be assembled, and the second limiting mechanism can limit multiple second components to be assembled. The first drive mechanism can drive the first limiting mechanism to move so that any one of the multiple first components to be assembled limited by the first limiting mechanism is in the installation position. The second drive mechanism can drive the second limiting mechanism to move so that all the multiple second components to be assembled limited by the second limiting mechanism are installed and aligned with the first components to be assembled in the installation position. An assembly mechanism is provided on the mounting table 1. The assembly mechanism is used to assemble a second component to be assembled, which is aligned with the first component to be assembled in the mounting station, onto the first component to be assembled in the mounting station. First vision device 2 and second vision device 3, the first vision device 2 is located below the first limiting mechanism and the second vision device 3 is located above the second limiting mechanism. The first vision device 2 and the second vision device 3 can be devices such as CCD cameras. The main control unit (e.g., a computer) is connected to the first drive mechanism, the second drive mechanism, the assembly mechanism, the first vision device 2, and the second vision device 3 via signals.

[0028] In the vision-guided precision component automatic assembly system provided by the present invention, a first driving mechanism, a first limiting mechanism connected to the first driving mechanism, a second driving mechanism, and a second limiting mechanism connected to the second driving mechanism are provided. The first limiting mechanism can limit multiple first parts to be assembled, the second limiting mechanism can limit multiple second parts to be assembled, the first driving mechanism can drive the first limiting mechanism to move so that any one of the multiple first parts to be assembled limited by the first limiting mechanism is in the installation position, and the second driving mechanism can drive the second limiting mechanism to move so that all the multiple second parts to be assembled limited by the second limiting mechanism are installed and aligned with the first parts to be assembled in the installation position. By using the first vision device 2 and the second vision device 3 to feed back position information to the main controller, the second drive mechanism drives the second limiting mechanism to move so that multiple second parts to be assembled, limited by the second limiting mechanism, are aligned with the first part to be assembled at the installation station. Then, the assembly mechanism assembles one of the second parts to be assembled, aligned with the first part to be assembled at the installation station, onto the first part to be assembled at the installation station. Afterward, the first drive mechanism only needs to drive the first limiting mechanism to move so that the next first part to be assembled, limited by the first limiting mechanism, is at the installation station. This bypasses the alignment feedback mechanism of the first vision device 2 and the second vision device 3, directly assembling the next second part to be assembled from the multiple second parts limited by the second limiting mechanism onto the first part to be assembled currently at the installation station. It eliminates the need for each second part to be assembled and the first part to be assembled to be aligned based on the vision devices before assembly, thus improving assembly efficiency and product consistency during batch assembly of multiple first parts to be assembled and multiple second parts to be assembled. More specifically, the advantages of this application are: Significantly improved assembly efficiency: The core of this invention lies in "one-time alignment, batch assembly." Multiple first-stage components to be assembled are pre-loaded via a first limiting mechanism, and multiple second-stage components to be assembled are pre-loaded via a second limiting mechanism. After the first vision device 2 and the second vision device 3 achieve precise alignment between the second limiting mechanism and the first-stage components at the installation station, subsequent assembly can proceed directly by simply switching the first-stage components, completely eliminating the complex visual alignment process that must be performed before each assembly. This greatly shortens the assembly cycle time for a single product, and the efficiency improvement is exponential, especially in large-scale mass production.

[0029] This invention ensures product assembly consistency: Traditional methods rely on visual guidance for corrections during each assembly. Since slight differences in calculated deviations can occur each time, the consistency of the final assembly position is difficult to guarantee. In this invention, once the initial alignment is completed, the physical position of the second limiting mechanism is fixed, and the positional relationship of all the second parts to be assembled relative to the installation station reference is constant. Therefore, when all subsequent first parts to be assembled cooperate with this second limiting mechanism, their assembly positions are based on the same precise physical reference, fundamentally eliminating positional fluctuations caused by errors in visual calculations each time, and significantly improving the consistency of assembly positions within a product batch.

[0030] System resources and costs have been optimized: Since subsequent assembly steps do not require frequent calls to the high-precision vision system for calculation and feedback, the computational load of the main control unit and the dependence on the high-frequency operation of the vision equipment are reduced, which helps to extend the service life of the equipment and reduce maintenance costs.

[0031] Specifically, the assembly mechanism can automatically correct its alignment after coordinate transformation using the first vision device 2 and the second vision device 3. Assembly pressure is monitored in real time, and the pressure curve is compared with a standard template; defective products are automatically rejected.

[0032] According to a specific embodiment of this application, the first component to be assembled is a mobile terminal housing 200, and the second component to be assembled is a mobile terminal button 100. The detailed structure mentioned below in this application is also a refined design based on the assembly of the mobile terminal button 100 and the mobile terminal housing 200. The mobile terminal can be a mobile phone, a tablet computer, etc.

[0033] According to one embodiment of this application, the first limiting mechanism includes a rotating ring platform 4 and a regular polygonal fixing frame 300 disposed on the rotating ring platform 4. Each side frame plate 301 of the regular polygonal fixing frame 300 can fix a mobile terminal housing 200. When the rotating ring platform 4 rotates, the mobile terminal housing 200 fixed by any side frame plate 301 of the regular polygonal fixing frame 300 can be in the installation position. The second limiting mechanism includes a limiting sleeve 400. The limiting sleeve 400 has a limiting channel 401 that extends vertically through both ends of the limiting sleeve 400. Multiple mobile terminal buttons 100 can be stacked sequentially on the limiting sleeve 400. In the limiting channel 401, when the lower port of the limiting channel 401 is aligned with the mounting hole 201 on the upper side of the side frame of the mobile terminal housing 200 at the installation station, the mobile terminal buttons 100 stacked sequentially in the limiting channel 401 are installed and aligned with the mobile terminal housing 200 at the installation station. The lowest mobile terminal button 100 among the stacked mobile terminal buttons 100 in the limiting channel 401 falls and is supported in the mounting hole 201 of the mobile terminal housing 200 at the installation station. The assembly mechanism includes a pressure arm 500, which is used to support the falling button 100 in the mounting hole 201 at the installation station. The mobile terminal button 100 in the mounting hole 201 of the mobile terminal housing 200 is pressed down and engaged with the mobile terminal housing 200. The number of sides (side frame plates 301) of the regular polygonal fixing frame 300 is as large as possible. For example, if it is a regular octagonal fixing frame, there are 8 side frame plates 301, so 8 mobile terminal housings 200 can be fixed in sequence. The "regular polygon" shape makes it easy to control the rotation angle of the rotating ring 4 to rotate the side of the next regular polygonal fixing frame 300 to the corresponding installation position. For example, when a mobile terminal housing 200 fixed by one side frame plate 301 is in the installation position... When the workstation is in operation, taking a regular octagonal fixed frame as an example, every 45° rotation of the rotating ring platform 4 will allow the mobile terminal housing 200 fixed by the next side frame plate 301 to be in the installation position. Multiple mobile terminal buttons 100 can be stacked sequentially in the limiting channel 401 to ensure that after the limiting channel 401 corresponds to the position of the installation position, all mobile terminal buttons 100 in the limiting channel 401 are installed and aligned. Therefore, it is not necessary to use the first vision device 2 and the second vision device 3, the first drive mechanism and the second drive mechanism for alignment when installing each group of mobile terminal buttons 100 and the mobile terminal housing 200.

[0034] According to a specific embodiment of this application, a vision-guided automatic assembly system for precision components includes a ring-shaped electric guide rail 5 and a first horizontal electric guide rail 6. The ring-shaped electric guide rail 5 is positioned above the installation station, with its axis arranged vertically and passing through the installation station. The first horizontal electric guide rail 6 is positioned below a regular polygonal fixed frame 300, and its vertical projection extends from the outside of the regular polygonal fixed frame 300 through the installation station to the inside of the regular polygonal fixed frame 300. A first vision device 2 is positioned above the slider of the first horizontal electric guide rail 6, and a second vision device 3 is positioned below the slider of the ring-shaped electric guide rail 5. In this embodiment, by placing the vision devices on either the ring-shaped electric guide rail 5 or the first horizontal electric guide rail 6, the flexibility and field of view of the vision system are greatly enhanced. A movable vision device can replace multiple fixed-angle cameras, reducing costs and installation complexity, while providing a richer pose information feedback mechanism.

[0035] According to one embodiment of this application, each side frame plate 301 of the regular polygonal fixing frame 300 has four edges connected to limiting ribs 302 extending toward the central axis of the regular polygonal fixing frame 300. The side frame plate 301 and the corresponding limiting rib 302 form a limiting groove for limiting the mobile terminal housing 200. The upper end of the side frame plate 301 forms an observation elongated hole 303. The uppermost limiting rib 302 of the limiting ribs 302 connected to the side frame plate 301 forms an installation elongated hole 304. The mobile terminal button 100 is supported in the installation hole 201 of the mobile terminal housing 200 in the installation position by passing through the installation elongated hole 304. The presence of the observation elongated hole 303 and the fact that the first vision device 2 is located above the slider of the first horizontal electric guide rail 6 enable the first vision device 2 to obtain information about the installation hole 201 of the mobile terminal housing 200 from bottom to top, whether the mobile terminal housing 200 is installed with its back to or facing the side frame plate 301.

[0036] According to one embodiment of this application, a mobile terminal button 100 includes a button body 101 and engagement pins 102 disposed on both sides of the lower end of the button body 101. The engagement pins 102 of one of the mobile terminal buttons 100 stacked in the limiting channel 401 are supported on the button body 101 of the lower mobile terminal button 100. An operation notch 402 is provided on the side of the lower end of the limiting sleeve 400. The assembly mechanism includes an assembly drive mechanism connected to the pressure arm 500. The assembly drive mechanism can drive the pressure arm 500 to extend into or out of the operation notch 402 and drive the pressure arm 500 to move in the vertical direction. When the assembly drive mechanism drives the pressure arm 500 to extend into the operation notch 402, it can be located between the button body 101 of the mobile terminal button 100 that is supported in the mounting hole 201 of the mobile terminal housing 200 in the installation position and the button body 101 of the upper mobile terminal button 100.

[0037] See Figure 12 According to a preferred embodiment of this application, the pressure arm 500 includes a fixed arm 501 and a movable arm 502. The first end of the movable arm 502 is hinged to the fixed arm 501 via a hinge shaft 503. A torsion spring is provided on the hinge shaft 503. The fixed arm 501 has a stop section 504 extending toward the movable arm 502. When the movable arm 502 is not subjected to external force, the torsion spring causes the upper end of the movable arm 502 to stop at the stop section 504, making the movable arm 502 parallel to the fixed arm 501. When the second end of the movable arm 502 is subjected to an upward force, the upper end of the movable arm 502 stops at the stop section 504, making the movable arm 502 parallel to the fixed arm 501. When the second end of the movable arm 502 is subjected to a downward force, the movable arm 502 overcomes the elastic force of the torsion spring, causing the upper end of the movable arm 502 to rotate away from the stop section 504. In this way, the pressure arm 500 presses down one movable arm at a time. When the mobile terminal button 100 is activated, it is not necessary to pre-drive the pressure arm 500 to exit the operation notch 402 in the horizontal direction through the assembly drive mechanism each time. Instead, the pressure arm 500 can be driven to reciprocate in the vertical direction to achieve the pressing operation of each mobile terminal button 100. This is because when the movable arm 502 rises, its second end is finally stopped by the upper contour wall of the operation notch 402, causing the movable arm 502 to bend relative to the fixed arm 501 and disengage from the operation notch 402. Then, when the movable arm 502 descends to the gap between the button body 101 of the mobile terminal button 100 and the button body 101 of the mobile terminal button 100 above, it returns to the state parallel to the fixed arm 501 under the action of the torsion spring. After the movable arm 502 is stopped by the stop section 504, it continues to descend to perform the pressing operation of the mobile terminal button 100 below the movable arm 502.

[0038] According to one embodiment of this application, the second driving mechanism includes a limiting sleeve linear driving mechanism 7. The limiting sleeve linear driving mechanism 7 drives the limiting sleeve 400 to move along a first horizontal straight line. The first horizontal straight line is consistent with the length direction of the mobile terminal housing 200 at the installation position. The number and position of the mounting holes 201 on the side frame of the mobile terminal housing 200 along its length direction are different. The limiting sleeve linear driving mechanism 7 drives the limiting sleeve 400 to move along the first horizontal straight line, which can ensure that the lower port of the limiting sleeve 400 moves to align with the different mounting holes 201 on the upper side of the side frame of the mobile terminal housing 200. The limiting sleeve 400 preferably has multiple limiting sleeves, and the cross-sectional dimensions of the limiting channels 401 in each limiting sleeve 400 are different, which can adaptably limit the mobile terminal buttons 100 of different specifications and types (such as volume buttons, power buttons, etc.). Of course, it is also possible to equip the limiting sleeve 400 with other horizontal driving mechanisms and lifting driving mechanisms.

[0039] According to one embodiment of this application, an external gear ring 8 is provided on the outer side of the rotating ring platform 4. The first drive mechanism includes a first motor 11 and a drive gear 12 connected to the output shaft of the first motor 11. The drive gear 12 meshes with the external gear ring 8. The vision-guided precision component automatic assembly system includes a first material handling mechanism, a second material handling mechanism, a first feeding conveying structure 13, a first discharging conveying structure 14, and a second feeding conveying structure 15. The first material handling mechanism includes a first material handling drive mechanism, which includes a first lifting mechanism 16 (e.g., a lifting cylinder) disposed on the mounting platform 1. The second motor 17 on the 6 and multiple horizontal electrically controlled telescopic arms 18 arranged around the output shaft of the second motor 17, the position and number of the horizontal electrically controlled telescopic arms 18 correspond one-to-one with the side frame plates 301 of the regular polygonal fixed frame 300. The end of the horizontal electrically controlled telescopic arm 18 away from the output shaft of the second motor 17 is provided with a first suction device (e.g., a first vacuum suction cup 19). The first lifting mechanism 16 can drive the second motor 17 to move the horizontal electrically controlled telescopic arms 18 vertically through the rotating ring platform 4. The first feeding conveying structure 13 is used to convey and support the mobile terminal housing 200 to be assembled, and the second feeding conveying structure 15 is used for... The second material handling mechanism includes a second material handling drive mechanism and a second suction device (e.g., a second vacuum suction cup 20) connected to the second material handling drive mechanism. The first material handling drive mechanism can drive the first suction device to move, so that the first suction device picks up the mobile terminal housing 200 to be assembled at the first feeding conveying structure 13, supports and fixes the mobile terminal housing 200 to be assembled in the horizontal direction to the side frame plate 301 of the regular polygonal fixing frame 300, and releases the mobile terminal housing 200 with the mobile terminal button 100 assembled to the first discharging conveying structure 14. The material handling mechanism can drive the second suction device to move, so that the second suction device picks up the mobile terminal button 100 to be assembled at the second feeding conveyor structure 15 and releases the mobile terminal button 100 to be assembled into the limit channel 401 above the limit channel 401. The output shaft of the second motor 17 is selectively connected to multiple horizontal electrically controlled telescopic arms 18 through a clutch structure. When the first suction device supports and fixes the mobile terminal housing 200 to be assembled to the side frame plate 301 of the regular polygonal fixing frame 300, the clutch structure can disconnect the output shaft of the second motor 17 from the multiple horizontal electrically controlled telescopic arms 18.

[0040] According to a specific embodiment of this application, the clutch structure includes a connecting ring 600. Multiple horizontal electrically controlled telescopic arms 18 are connected to the outer side of the connecting ring 600 along its circumference. A support boss 21 and a mating key 22 located above the support boss 21 are provided on the output shaft of the second motor 17. A keyway 601 is located on the inner side of the connecting ring 600. When the connecting ring 600 is supported on the support boss 21 and the mating key 22 and the keyway 601 are mutually positioned and engaged, the output shaft of the second motor 17 is connected to the multiple horizontal electrically controlled telescopic arms 18 via a transmission connection. The keyway 601 and the mating key 22... When separated, the connecting ring 600 is rotatably loosely fitted onto the output shaft of the second motor 17, so that the output shaft of the second motor 17 is disconnected from the transmission connection of the multiple horizontal electrically controlled telescopic arms 18. When the first suction device supports and fixes the mobile terminal housing 200 to be assembled to the side frame plate 301 of the regular polygonal fixing frame 300 by the horizontal electrically controlled telescopic arms 18, the first lifting mechanism 16 can drive the second motor 17 to descend until the keyway 601 and the mating key 22 are separated. At this time, when the first motor 11 drives the rotating ring platform 4 to rotate, the output shaft of the second motor 17 will not interfere with the connecting ring 600. The rotation of the frame causes interference, ensuring that each mobile terminal housing 200 to be assembled moves to the installation position along with the rotation of the regular polygonal fixing frame 300. After each mobile terminal housing 200 on the regular polygonal fixing frame 300 is equipped with the mobile terminal button 100, the output shaft of the second motor 17 is first rotated to align with the keyway 601 and the mating key 22. The first lifting mechanism 16 drives the second motor 17 to rise, which again limits the engagement between the keyway 601 and the mating key 22. At this time, the horizontal electrically controlled telescopic arm 18 retracts a certain distance, driving the mobile terminal housing 200 away from the regular polygonal fixing frame 300. When the frame is fixed at 300, the first lifting mechanism 16 descends again until the height of the mobile terminal housing 200 adsorbed by the first vacuum suction cup 19 on the horizontal electrically controlled telescopic arm 18 corresponds to the height of the first discharge conveying structure 14. Then, each horizontal electrically controlled telescopic arm 18 is rotated in sequence, and the mobile terminal housing 200 adsorbed by the first vacuum suction cup 19 on each horizontal electrically controlled telescopic arm 18 reaches the first discharge conveying structure 14 through the telescopic movement of the horizontal electrically controlled telescopic arm 18, thereby releasing the mobile terminal housing 200 adsorbed by each first vacuum suction cup 19 into the first discharge conveying structure 14 in sequence.

[0041] According to a specific embodiment of this application, a stand 10 is provided on the mounting platform 1, and a rotating ring platform 4 is rotatably mounted on a supporting ring platform 9. The supporting ring platform 9 is connected to the stand 10. The second material picking drive mechanism includes a second horizontal electric guide rail 23 connected to the stand 10, a third horizontal electric guide rail 24 connected to the slider of the second horizontal electric guide rail 23, and a first electric lifting guide rail 25 connected to the slider of the third horizontal electric guide rail 24. The second horizontal electric guide rail 23 is perpendicular to the third horizontal electric guide rail 24. A lifting arm 26 is connected to the slider of the first electric lifting guide rail 25. The lower end of the lifting arm 26 is connected to a plurality of second vacuum suction cups 20. The limiting sleeve linear drive mechanism 7 is connected to the first... The four horizontal electric guide rails have a limiting sleeve 400 connected to the slider of the fourth horizontal electric guide rail. The assembly drive mechanism includes a second electric lifting guide rail 27 set on the mounting platform 1, a fifth horizontal electric guide rail 28 connected to the slider of the second electric lifting guide rail 27, and a first horizontal cylinder 29 connected to the slider of the fifth horizontal electric guide rail 28. The extension and retraction direction of the first horizontal cylinder 29 is perpendicular to the fifth horizontal electric guide rail 28. The pressure arm 500 is connected to the piston rod of the first horizontal cylinder 29. The horizontal electric telescopic arm 18 is the second horizontal cylinder. The piston rod of the second horizontal cylinder is connected to a suction cup fixing plate 30. Multiple first vacuum suction cups 19 are set on the side of the suction cup fixing plate 30 away from the second horizontal cylinder.

[0042] In addition, the first feeding conveyor structure 13, the first discharging conveyor structure 14 and the second feeding conveyor structure 15 can all be in the form of a conveying trough, with a conveying roller (not shown) at the bottom of the conveying trough.

[0043] It should be noted that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting this application. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of this application, such as combining different features in various embodiments, and these should all fall within the protection scope of this application.

Claims

1. A vision-guided automated assembly system for precision components, characterized in that, The vision-guided automated assembly system for precision components includes: The assembly includes a mounting platform, a first drive mechanism mounted on the mounting platform, a first limiting mechanism connected to the first drive mechanism, a second drive mechanism, and a second limiting mechanism connected to the second drive mechanism. The first limiting mechanism can limit multiple first components to be assembled, and the second limiting mechanism can limit multiple second components to be assembled. The first drive mechanism can drive the first limiting mechanism to move so that any one of the multiple first components to be assembled limited by the first limiting mechanism is in the installation position. The second drive mechanism can drive the second limiting mechanism to move so that all the multiple second components to be assembled limited by the second limiting mechanism are installed and aligned with the first components to be assembled in the installation position. An assembly mechanism is provided on the mounting platform, the assembly mechanism being used to assemble a second component to be assembled, which is aligned with the first component to be assembled at the mounting station, onto the first component to be assembled at the mounting station. A first vision device and a second vision device, wherein the first vision device is located below the first limiting mechanism and the second vision device is located above the second limiting mechanism; The main control unit is connected to the first drive mechanism, the second drive mechanism, the assembly mechanism, the first vision device, and the second vision device via signals.

2. The vision-guided automatic assembly system for precision components according to claim 1, characterized in that, The first component to be assembled is a mobile terminal housing, and the second component to be assembled is a mobile terminal button.

3. The vision-guided automatic assembly system for precision components according to claim 2, characterized in that, The first limiting mechanism includes a rotating ring platform and a regular polygonal fixing frame disposed on the rotating ring platform. Each side frame of the regular polygonal fixing frame can fix one of the mobile terminal housings. When the rotating ring platform rotates, the mobile terminal housings fixed by any side frame of the regular polygonal fixing frame can be in the installation position. The second limiting mechanism includes a limiting sleeve. The limiting sleeve has a limiting channel extending vertically through both ends of the limiting sleeve. Multiple mobile terminal buttons can be stacked sequentially in the limiting channel. The lower end of the limiting channel is connected to the installation position of the mobile terminal housing. When the mounting holes on the upper side of the side frame of the mobile terminal housing at the installation station are aligned, each mobile terminal button stacked sequentially in the limiting channel is installed and aligned with the mobile terminal housing at the installation station, and the lowest mobile terminal button among the mobile terminal buttons stacked sequentially in the limiting channel falls down and is supported in the mounting hole of the mobile terminal housing at the installation station. The assembly mechanism includes a pressure arm, which is used to press down and engage the mobile terminal button that has fallen down and is supported in the mounting hole of the mobile terminal housing at the installation station with the mobile terminal housing.

4. The vision-guided automatic assembly system for precision components according to claim 3, characterized in that, Each side frame of the regular polygonal fixing frame has four edges connected to limiting ribs extending toward the central axis of the regular polygonal fixing frame. The side frame and the corresponding limiting ribs form a limiting groove for limiting the mobile terminal housing. The upper end of the side frame forms an observation elongated hole. The uppermost limiting rib of the limiting ribs connected to the side frame forms an installation elongated hole. The mobile terminal button is supported in the installation hole of the mobile terminal housing at the installation position by passing through the installation elongated hole.

5. The vision-guided automatic assembly system for precision components according to claim 3, characterized in that, The mobile terminal button includes a button body and engagement pins on both sides of the lower end of the button body. The engagement pin of one of the mobile terminal buttons stacked in the limiting channel is supported on the button body of the lower mobile terminal button. An operation notch is provided on the side of the lower end of the limiting sleeve. The assembly mechanism includes an assembly drive mechanism connected to the pressure arm. The assembly drive mechanism can drive the pressure arm to extend into or out of the operation notch and drive the pressure arm to move in the vertical direction. When the assembly drive mechanism drives the pressure arm to extend into the operation notch, it can be located between the button body of the mobile terminal button that falls and is supported in the mounting hole of the mobile terminal housing in the installation position and the button body of the upper mobile terminal button.

6. The vision-guided automatic assembly system for precision components according to claim 5, characterized in that, The pressure arm includes a fixed arm and a movable arm. The first end of the movable arm is hinged to the movable arm of the fixed arm via a hinge shaft. A torsion spring is provided on the hinge shaft. The fixed arm has a stop section extending towards the movable arm. When the movable arm is not subjected to external force, the torsion spring causes the upper end of the movable arm to stop at the stop section, making the movable arm parallel to the fixed arm. When the second end of the movable arm is subjected to an upward force, the upper end of the movable arm stops at the stop section, making the movable arm parallel to the fixed arm. When the second end of the movable arm is subjected to a downward force, the movable arm overcomes the elastic force of the torsion spring, causing the upper end of the movable arm to rotate away from the stop section.

7. The vision-guided automatic assembly system for precision components according to claim 6, characterized in that, The second driving mechanism includes a limiting sleeve linear driving mechanism, which drives the limiting sleeve to move along a first horizontal straight line, the first horizontal straight line being consistent with the length direction of the mobile terminal housing at the installation station.

8. The vision-guided automated assembly system for precision components according to claim 7, characterized in that, An external gear ring is provided on the outer side of the rotating ring platform. The first drive mechanism includes a first motor and a drive gear connected to the output shaft of the first motor. The drive gear meshes with the external gear ring. The vision-guided precision component automatic assembly system includes a first material picking mechanism, a second material picking mechanism, a first feeding conveying structure, a first discharging conveying structure, and a second feeding conveying structure. The first material picking mechanism includes a first material picking drive mechanism, which includes a first lifting mechanism mounted on the mounting platform, a second motor mounted on the first lifting mechanism, and multiple horizontal electrically controlled telescopic arms arranged around the output shaft of the second motor. The position and number of the horizontal electrically controlled telescopic arms correspond one-to-one with the side frame plates of the regular polygonal fixed frame. A first suction device is provided at the end of the horizontal electrically controlled telescopic arm away from the output shaft of the second motor. The first lifting mechanism can drive the second motor to move the horizontal electrically controlled telescopic arm vertically through the rotating ring platform. The first feeding conveying structure is used to convey and support the mobile terminal housing to be assembled. The second feeding conveying structure is used to convey and support the mobile terminal housing to be assembled. The assembly of mobile terminal buttons includes a second material handling mechanism comprising a second material handling drive mechanism and a second suction device connected to the second material handling drive mechanism. The first material handling drive mechanism can drive the first suction device to move, so that the first suction device picks up the mobile terminal housing to be assembled at the first feeding conveyor structure, supports and fixes the mobile terminal housing to be assembled to the side frame plate of the regular polygonal fixing frame in the horizontal direction, and releases the mobile terminal housing with the assembled mobile terminal buttons to the first discharging conveyor structure. The second material handling mechanism can drive the second suction device to move, so that the second suction device picks up the mobile terminal buttons to be assembled at the second feeding conveyor structure and releases the mobile terminal buttons to be assembled into the limiting channel above the limiting channel. The output shaft of the second motor is selectively connected to the plurality of horizontal electrically controlled telescopic arms through a clutch structure. When the first suction device supports and fixes the mobile terminal housing to be assembled to the side frame plate of the regular polygonal fixing frame, the clutch structure can disconnect the output shaft of the second motor from the plurality of horizontal electrically controlled telescopic arms.

9. The vision-guided automatic assembly system for precision components according to claim 8, characterized in that, The clutch structure includes a connecting ring. The plurality of horizontal electrically controlled telescopic arms are connected to the outside of the connecting ring along the circumferential direction of the connecting ring. The output shaft of the second motor is provided with a support boss and a mating key located above the support boss. The inner side of the connecting ring has a keyway. When the connecting ring is supported on the support boss and the mating key and the keyway are mutually restrictive and engaged, the output shaft of the second motor is connected to the plurality of horizontal electrically controlled telescopic arms. When the keyway and the mating key are separated, the connecting ring is rotatably loosely fitted on the output shaft of the second motor, so that the output shaft of the second motor is disconnected from the plurality of horizontal electrically controlled telescopic arms.

10. The vision-guided automatic assembly system for precision components according to claim 3, characterized in that, The vision-guided automated assembly system for precision components includes a ring-shaped electric guide rail and a first horizontal electric guide rail. The ring-shaped electric guide rail is positioned above the installation station, with its axis arranged vertically and passing through the installation station. The first horizontal electric guide rail is positioned below the regular polygonal fixing frame, and its vertical projection extends from the outside of the regular polygonal fixing frame through the installation station to the inside of the regular polygonal fixing frame. A first vision device is positioned above the slider of the first horizontal electric guide rail, and a second vision device is positioned below the slider of the ring-shaped electric guide rail.

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