Automatic wire planting device with posture correction function

Abstract

The application is an automatic silk planting equipment with posture correction function, characterized by comprising a roller conveying line (1), a product tray (2), a six-axis manipulator (5), a bolt in-place sensor (6), a straight vibration part (7) and a bolt feeding vibration plate (8); wherein the roller line (1) is used for conveying products, the roller on the roller line (1) is driven to rotate by an alternating current motor through a chain transmission, and the product tray (2) is driven to advance by static friction on the roller on the roller line (1); a blocking mechanism (3) is arranged in front of the product tray (2) of the roller line (1) for limiting the product; the application can directly transmit the product from the roller line to the silk planting position; the application does not need to precisely position the product and adjust the product in the horizontal direction; the visual system automatically finds the hole position, the laser ranging system automatically calculates the deflection angle, the manipulator automatically makes corresponding compensation according to the feedback value, and the silk planting of the product is efficiently and reliably completed.

Description

[0001] Technical content

[0002] This invention relates to an automatic wire-planting device with posture correction function, which involves visual positioning and alignment function, and in particular, can automatically correct the angle according to the actual situation to achieve reliable wire planting. Background Technology

[0003] The wire-carrying body needs to be a large flat surface with a diameter of approximately 400 mm. Due to variations in ground flatness and placement deviations, it is difficult to guarantee the fixed position of the wire and the levelness of the wire-carrying surface. Currently, production is mainly manual, requiring specialized personnel to complete this task. This invention not only meets the requirements but also automates manual labor, improving production efficiency and ensuring better product quality. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic wire-planting device with posture correction function, which can replace manual labor and complete the automatic wire-planting process efficiently and with high quality.

[0005] An automatic wire loading device with posture correction function is characterized by comprising a roller conveyor 1, a product tray 2, a six-axis robot 5, a bolt positioning sensor 6, a vertical vibration component 7, and a bolt feeding vibratory feeder 8. The roller conveyor 1 is used for product transport, with an AC motor driving the rollers on the roller conveyor 1 via chain transmission. Static friction on the rollers drives the product tray 2 forward. A blocking mechanism 3 is located in front of the product tray 2 on the roller conveyor 1 to limit the product position. A work box 20 is located on one side of the conveying end of the roller conveyor 1, and a six-axis robot 5 is located on the work box 20 near the roller conveyor 1. The six-axis robot 5 can pick up bolts from the feeding vibratory feeder 8 and assemble them onto the product 4 in the product tray 2. The bolt feeding vibratory feeder 8 is located on the work box 20 away from the roller conveyor 1, and a vertical vibration component 7 is also located on the bolt feeding vibratory feeder 8. A bolt positioning sensor 6 is located in front of the vertical vibration component 7.

[0006] The six-axis robot arm 5 includes a robot arm connector 9, an intelligent electric screwdriver 10, a bolt gripper 11, a laser rangefinder 13, a precision positioning camera 14, a precision positioning coaxial light source 15, a coarse positioning camera 16, and a coarse positioning coaxial light source 17. The intelligent electric screwdriver 10 is mounted on the side bracket of the robot arm connector 9, the bolt gripper 11 is mounted on the lower end of the robot arm connector 9, the precision positioning camera 14 and the precision positioning coaxial light source 15 are coaxially mounted on one side of the robot arm connector 9, and the coarse positioning camera 16 and the coarse positioning coaxial light source 17 are coaxially mounted on the other side of the robot arm connector 9. The robot arm connector 9 also has an intelligent electric screwdriver lifting cylinder 19 and an intelligent electric screwdriver lifting guide rail 18. The intelligent electric screwdriver lifting cylinder 19 pushes the bracket of the robot arm connector 9 to move on the intelligent electric screwdriver lifting guide rail 18, thereby causing the intelligent electric screwdriver 10 on the bracket of the robot arm connector 9 to move up and down.

[0007] The visual positioning components include a coarse visual positioning component group consisting of a coarse positioning camera 16 and a coarse positioning coaxial light source 17, and a fine visual positioning group consisting of a fine positioning camera 14 and a fine positioning coaxial light source 15, for a total of two groups. After the product arrives, the coarse visual positioning component group consisting of the coarse positioning camera 16 and the coarse positioning coaxial light source 17 is responsible for finding the hole position, and then the fine visual positioning group consisting of the fine positioning camera 14 and the fine positioning coaxial light source 15 accurately positions the hole position.

[0008] The plane alignment component consists of a laser displacement sensor 13. The laser displacement sensor 13 measures the distance at three different positions on the product surface, calculates the angle θ between the product and the horizontal plane, and feeds the angle θ back to the six-axis robot 5. The six-axis robot 5 then compensates for the angle and tightens the bolts on the product.

[0009] The wire-feeding component consists of an intelligent electric screwdriver 10, a bolt clamp 11, an intelligent electric screwdriver lifting cylinder 19, and an intelligent electric screwdriver lifting guide rail 18, which screws the bolt into the product 2 according to the set torque.

[0010] The six-axis robot arm 5 is selected from Han's six-axis robots. The six-axis robot arm 5 is responsible for visual positioning, plane alignment, screw picking, and thread cutting.

[0011] Advantages of this invention

[0012] After using this equipment, the product can be directly transferred to the wire-planting position by the roller conveyor; there is no need to precisely position the product or level it in the horizontal direction; the vision system automatically locates the hole position, the laser ranging system automatically calculates the deflection angle, and the robot automatically makes corresponding compensation based on the feedback value, so as to complete the wire planting of the product efficiently and reliably. Attached Figure Description

[0013] Figure 1 1 and 2 are schematic diagrams of the structure of the present invention.

[0014] Figure 2 The diagram shows the structure of the six-axis robot of this invention.

[0015] Figure 3 The diagram shows the structure of the six-axis robot of this invention.

[0016] Figure 4 The diagram below is a block diagram illustrating the principle of angle alignment in this invention.

[0017] In the diagram: 1 is a roller conveyor line, 2 is a product tray, 3 is a conveyor line blocking mechanism, 4 is a product, 5 is a six-axis robot, 6 is a bolt positioning sensor, 7 is a linear vibration component, 8 is a bolt feeding vibratory feeder, 9 is a robot connecting seat, 10 is an intelligent electric screwdriver, 11 is a bolt gripper, 12 is a bolt, 13 is a laser rangefinder (explosion-proof), 14 is a precision positioning camera (explosion-proof), 15 is a precision positioning coaxial light source (explosion-proof), 16 is a coarse positioning camera (explosion-proof), 17 is a coarse positioning coaxial light source (explosion-proof), 18 is an intelligent electric screwdriver lifting guide rail, and 19 is an intelligent electric screwdriver lifting cylinder. Detailed Implementation

[0018] An automatic wire-planting device with posture correction function has the following main components: a roller feeding mechanism, a vision positioning component, a plane alignment component, a wire-planting component, a robot arm component, and a bolt feeding component; wherein the vision positioning component, the plane alignment component, and the wire-planting component are all installed at the end of the robot arm.

[0019] The roller conveyor is responsible for conveying the products, and there is a blocking mechanism in front of it for coarse positioning of the products.

[0020] The visual positioning component consists of a camera and a coaxial light source, and there are two sets: one set is responsible for finding the hole position, and the other set is responsible for the precise positioning of the hole position.

[0021] The planar alignment component consists of a laser displacement sensor, which is responsible for calculating the horizontal tilt angle of the wire-carrying surface of the product. The calculation is then fed back to the robot arm, which automatically compensates for the tilt angle to ensure a smooth and reliable wire-carrying process.

[0022] The wire-feeding component consists of an intelligent electric screwdriver and bolt clamps. It screws the bolts into the product according to the set torque, and the tightening torque can be fed back at any time.

[0023] The robotic arm component uses a Han's six-axis robotic arm, which is responsible for performing actions such as vision positioning, plane alignment, screw picking, and thread cutting.

[0024] The bolt feeding unit is responsible for feeding bolts and consists of a vibratory feeder and a linear vibrating component.

[0025] Example:

[0026] An automatic wire-planting device with posture correction function has the following main components: roller feeding mechanism 1, vision positioning components 14-17, plane alignment component 13, wire-planting component 10-11, robot arm component 5, and bolt feeding component 6-8.

[0027] Roller conveyor 1 is responsible for conveying products. An AC motor drives the rollers to rotate via chain transmission. The rollers drive the pallets forward through static friction. There is a blocking mechanism 3 in front, which is responsible for limiting the products.

[0028] The visual positioning component consists of cameras 14 and 16 and coaxial light sources 15 and 17, in two sets. After the product arrives, cameras 16 and 17 are responsible for finding the hole positions, and then cameras 14 and 15 are responsible for accurately positioning the hole positions.

[0029] The plane alignment component consists of a laser displacement sensor 13. By measuring the distance at three different positions on the product surface, the angle θ between the product and the horizontal plane is calculated and fed back to the six-axis robot 5. After compensation by the robot, the bolts on the product are tightened.

[0030] The wire-feeding component consists of an intelligent electric screwdriver 10, a bolt clamp 11, and an electric screwdriver lifting mechanism 18-19, which screws the bolts into the product according to the set torque.

[0031] Robotic arm 5 is a six-axis robot from Han's Robotics Group, responsible for performing actions such as vision positioning, plane alignment, screw picking, and thread cutting.

[0032] The bolt feeding component is responsible for feeding bolts and consists of a vibratory plate 8 and a linear vibrating component 7.

[0033] Visual positioning principle:

[0034] Due to the randomness of incoming materials, a rough-to-precise positioning method is adopted. First, a wide-view camera is used to find the approximate location of the threaded holes, and then a small-view camera is used to precisely position each threaded hole.

[0035] The correct principle of angle:

[0036] Define the U-plane as the vertical plane of the wire-carrying electric screwdriver, the V-plane as the calibration plane horizontal to the ground, and the W-plane as the actual wire-carrying plane. See [link to documentation]. Figure 4 .

[0037]

[0038] Example:

[0039] The invention will now be further described with reference to the accompanying drawings.

[0040] like Figure 1 , 2As shown, based on the path and load weight of the end effector, namely the weight of the wire-feeding component, vision component, and leveling component plus a safety factor, a load capacity of 15Kg is selected; at the same time, based on the required path to be achieved under the working conditions, an arm span of 1300mm is selected. This six-axis robotic arm can ensure a stable and reliable wire-feeding process.

[0041] Based on the product's wire-carrying surface diameter of 380mm, a resolution of 3072*2048, a pixel size of 2.4 micrometers, 600W pixels, a gigabit Ethernet port, a lens magnification of 0.013, a working distance of 500mm, and a selected focal length lens with f=6mm, and a chip size of 1 / 1.8 (7.2*5.4), is selected. The FOV = 500 × (7.2*5.4) / 6 = (600, 450) which meets the requirements for coarse positioning field of view.

[0042] Based on the product's wire guide aperture of 12mm, a resolution of 1280*1024, pixel size of 4.8 micrometers, 1.3 million pixels, Gigabit Ethernet port, lens magnification of 0.12, working distance of 100mm, and a selected focal length lens of f=6mm are chosen.

[0043] Chip size: 1 / 2 (6.2*4.9) FOV=100×(6.2*4.9) / 12=(51.7, 40.8) which meets the requirements for precise positioning field of view.

[0044] The alignment component uses a high-precision displacement sensor with a small light spot diameter of approximately φ70μm and a repeatability of 30μm.

[0045] Based on the wire-feeding requirements, the intelligent electric screwdriver employs a standard tightening shaft combined with a customized screw gripping mechanism. The standard tightening shaft utilizes the Danicel G3 intelligent tightening tool, with a torque range of 5-27 N•m and a torque accuracy of level 3. This covers the tightening torque requirements of 5-15 Nm for double-ended studs and enables real-time torque data acquisition.

[0046] Action flow:

[0047] 1. The product is conveyed to the area below the wire-laying station via a roller conveyor. After the sensor detects the product, the blocking cylinder moves to stop the product at the wire-laying station.

[0048] 2. The robotic arm drives the coarse positioning camera to locate the approximate position of the threaded hole on the product;

[0049] 3. The robotic arm drives the laser displacement sensor to measure three sets of data at a designated position, and the attitude angle is compensated after calculation;

[0050] 4. Take photos with a precision positioning camera to accurately locate the threaded hole;

[0051] 5. The bolt feeder delivers the bolts to the loading position;

[0052] 6. The robotic arm picks up the bolt and moves it directly above the threaded hole;

[0053] 7. The electric screwdriver descends, and the intelligent electric screwdriver completes the wire loading according to the set torque.

Claims

1. An automatic wire-feeding device with posture correction function, characterized in that, The system includes a roller conveyor (1), a product tray (2), a six-axis robot (5), a bolt positioning sensor (6), a vertical vibration component (7), and a bolt loading vibratory feeder (8). The roller conveyor (1) is used for conveying products. An AC motor drives the rollers on the roller conveyor (1) to rotate via a chain drive. The rollers on the roller conveyor (1) drive the product tray (2) forward through static friction. There is a blocking mechanism (3) in front of the product tray (2) of the roller conveyor (1) to limit the product. A work box (20) is provided on one side of the conveying end of the roller conveyor (1). A six-axis robot (5) is provided on the work box (20) near the roller conveyor (1). The six-axis robot (5) can pick up the bolts in the loading vibratory feeder (8) and assemble the bolts on the product (4) in the product tray (2). A bolt loading vibratory feeder (8) is provided on the work box (20) away from the roller conveyor (1). A vertical vibration component (7) is also provided on the bolt loading vibratory feeder (8). A bolt positioning sensor (6) is provided in front of the vertical vibration component (7). The six-axis robot (5) includes a robot connector (9), a smart electric screwdriver (10), a bolt gripper (11), a laser rangefinder (13), a precision positioning camera (14), a precision positioning coaxial light source (15), a coarse positioning camera (16), and a coarse positioning coaxial light source (17); wherein, the smart electric screwdriver (10) is mounted on the side bracket of the robot connector (9), the bolt gripper (11) is mounted on the lower end of the robot connector (9), and the precision positioning camera (14) and the precision positioning coaxial light source (15) are mounted on the side bracket of the robot connector (9). The coaxial mounting is installed on one side of the robot arm connector (9), and the coarse positioning camera (16) and the coarse positioning coaxial light source (17) are coaxially installed on the other side of the robot arm connector (9). The robot arm connector (9) also has an intelligent electric screwdriver lifting cylinder (19) and an intelligent electric screwdriver lifting guide rail (18). The intelligent electric screwdriver lifting cylinder (19) pushes the support of the robot arm connector (9) to move on the intelligent electric screwdriver lifting guide rail (18), thereby driving the intelligent electric screwdriver (10) on the support of the robot arm connector (9) to move up and down.

2. The automatic wire feeding device with posture correction function according to claim 1, characterized in that, The visual positioning components include a coarse positioning camera (16) and a coarse positioning coaxial light source (17) coarse visual positioning component group, and a fine visual positioning group consisting of a fine positioning camera (14) and a fine positioning coaxial light source (15), for a total of two groups; after the product arrives, the coarse positioning camera (16) and the coarse positioning coaxial light source (17) coarse visual positioning component group are responsible for finding the hole position, and then the fine visual positioning group consisting of the fine positioning camera (14) and the fine positioning coaxial light source (15) accurately positions the hole position.

3. An automatic wire-loading device with posture correction function according to claim 1 or 2, characterized in that, The plane alignment component consists of a laser displacement sensor (13). The laser displacement sensor (13) measures the distance at three different positions on the product surface. After calculation, the angle θ between the product and the horizontal plane is calculated and fed back to the six-axis robot (5). The six-axis robot (5) compensates for the angle and then tightens the bolts on the product.

4. An automatic wire-feeding device with posture correction function according to claim 1, characterized in that, The wire-carrying component includes a smart electric screwdriver (10), a bolt clamp (11), a smart electric screwdriver lifting cylinder (19), and a smart electric screwdriver lifting guide rail (18), which screws the bolt into the product (2) according to the set torque.

5. An automatic wire-loading device with posture correction function according to claim 1, characterized in that, The six-axis robot (5) is selected from the Han's six-axis robot. The six-axis robot (5) is responsible for visual positioning, plane alignment, screw picking and thread cutting.

Images