Assembling machine with posture adjusting function

Abstract

The utility model relates to the technical field of assembling equipment, in particular to an assembling machine with a posture adjusting function, which comprises an assembling platform, a component moving device and a visual positioning and recognizing device. The component moving device is arranged above the assembling platform and used for moving the first component and / or the second component and adjusting the posture of the first component and / or the second component so that the posture of the first component can correspond to the posture of the second component, and the visual positioning and recognizing device is used for positioning the first component and the second component and recognizing the posture of the first component and the posture of the second component. The visual positioning and recognition device is arranged to determine the relative positions of the first component and the second component, the relative postures of the first component and the second component are recognized before assembly, the postures of the first component and / or the second component are finely adjusted according to the relative postures to make the postures of the first component and / or the second component correspond, the assembly precision is improved, and the assembly efficiency is improved. And the possibility that the first component and / or the second component are / is damaged due to non-corresponding postures is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of assembly equipment, in particular to an assembly machine with posture adjustment. Background Art

[0002] Assembly equipment is generally used to assemble two semi-finished parts. It is widely used in the field of electronic devices such as mobile phones because of its efficient assembly. With the development of science and technology, the size of mobile phone lenses is getting smaller and smaller, and the assembly accuracy requirements of the various components that make up the mobile phone lenses are getting higher and higher. Therefore, the assembly equipment is required to not only move the positions of the two parts to be assembled so that the two can contact each other, but also adjust the postures of the two to make the two semi-finished parts accurately aligned to achieve the purpose of precise assembly. Before assembly, usually the two semi-finished parts to be assembled are placed in a certain posture in the tray, but during the movement, the semi-finished parts will inevitably move slightly, resulting in the mismatch of the postures of the two semi-finished parts during assembly, reducing the assembly accuracy, and may even damage the semi-finished parts during assembly due to posture mismatch. Summary of the invention

[0003] The utility model aims to provide an assembly machine with posture adjustment to solve the problem caused by the mismatch of the postures of semi-finished parts during assembly in the existing assembly machines.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is: an assembly machine with posture adjustment, comprising an assembly platform, a component moving device, a visual positioning and recognition device and a controller, the assembly platform is used to place a first component and a second component at intervals, the component moving device is arranged above the assembly platform and is used to translate the first component and / or the second component along three directions of X-axis, Y-axis and Z-axis, and is also used to control the first component and / or the second component to rotate around the Z-axis to adjust the posture of the first component and / or the second component, the visual positioning and recognition device is used to position and recognize the posture of the first component and the second component, and the controller is used to control the movement of the component moving device according to the position and posture information of the first component and the second component obtained by the visual positioning and recognition device, thereby adjusting the posture of the first component and / or the second component so that the posture of the first component corresponds to that of the second component, and assembling the first component and the second component.

[0005] Furthermore, the component moving device includes a moving mechanism, a rotating motor arranged at the output end of the moving mechanism, and an adsorption assembly arranged at the output end of the rotating motor, the adsorption assembly is used to absorb the first component with the help of negative pressure, the moving mechanism is used to control the rotating motor and the adsorption assembly to translate along the three directions of X-axis, Y-axis and Z-axis, thereby driving the first component to translate, and the rotating motor is used to control the adsorption assembly to rotate with the Z-axis as the center axis, thereby driving the first component to rotate to adjust the posture of the first component.

[0006] Furthermore, the rotating electrical machine is a ZR motor.

[0007] Furthermore, the moving mechanism includes two first rails extending along the X-axis direction and a second rail mounted on the first rail, the second rail extending along the Y-axis direction, the first rail being arranged on both sides of the assembly platform, the second rail being connected to the first rail through a first driving member and sliding along the first rail under the action of the first driving member, a second driving member being provided on the second rail, the output end of the second driving member being connected to a sliding connection member, the second driving member being used to drive the sliding connection member to translate along the Y-axis direction, a third driving member being provided on the sliding connection member, the output end of the third driving member being connected to a rotating motor and being used to drive the rotating motor to translate along the Z-axis direction, the output end of the third driving member forming the output end of the moving mechanism, so that the first driving member, the second driving member and the third driving member cooperate to drive the first component to translate along three directions of the X-axis, the Y-axis and the Z-axis.

[0008] Furthermore, the visual positioning and identification device includes a first camera arranged on the sliding connection and a second camera arranged on one side of the assembly platform, the first camera is connected to the sliding connection through a lifting motor, and the second camera is located below the adsorption component.

[0009] Furthermore, the first camera is arranged above the assembly platform to shoot the first component and the second component from top to bottom.

[0010] Furthermore, the component moving device is used to move the first component to above the second camera, so that the second camera shoots the first component from bottom to top.

[0011] Furthermore, the controller is electrically connected to the first camera, the second camera and the rotating motor, so as to determine the positions of the first component and the second component and identify the postures of the first component and the second component according to the images captured by the first camera and the second camera, so as to control the rotating motor to adjust the posture of the first component so that it corresponds to the posture of the second component.

[0012] Furthermore, the assembly platform includes a first platform and a second platform arranged side by side, the first platform is used to place the first component, and the second platform is used to place the second component.

[0013] The beneficial effects of the utility model are:

[0014] 1. By setting up a visual positioning and recognition device to determine the relative position of the first component and the second component, and identifying the relative posture of the first component and the second component before assembly, the posture of the first component and / or the second component is fine-tuned according to the relative posture to make the postures of the two correspond, thereby improving the assembly accuracy and reducing the possibility of damaging the first component and / or the second component due to mismatched postures.

[0015] 2. By connecting the first camera to the sliding connection member, the first camera and the adsorption member can move synchronously in the X-axis and Y-axis directions, and can share a set of moving mechanisms, which can simplify the structure of the assembly machine.

[0016] 3. The visual positioning and identification device includes a first camera and a second camera, which can be used for positioning and posture recognition respectively, and the second camera is arranged below the adsorption part relative to it, so that the first part can be photographed from the other side of the adsorption part, and the posture of the first part can be more clearly identified. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a stereogram of an embodiment of the utility model.

[0018] Figure 2 It is a three-dimensional diagram of the installation platform of the embodiment of the utility model.

[0019] Figure 3 It is a structural diagram of the first camera, the rotating motor and the adsorption member of the embodiment of the utility model.

[0020] Figure 4 It is a structural schematic diagram of the first component and the first tray of an embodiment of the utility model.

[0021] Figure 5 It is a structural schematic diagram of the second component and the second tray of an embodiment of the utility model.

[0022] Wherein: 1 is a first tray, 11 is a first component, 2 is a second tray, and 21 is a second component.

[0023] 100 assembly platform, 110 first platform, 120 second platform, 130 proofreading component, 200 component moving device, 211 first track, 212 second track, 213 first driving component, 214 second driving component, 215 sliding connection component, 216 slide rail, 220 rotating motor, 230 adsorption component, 300 visual positioning and recognition device, 310 first camera, 320 second camera, 330 lifting motor. DETAILED DESCRIPTION

[0024] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0025] See also Figures 1 to 5 As shown, the utility model discloses an assembly machine with posture adjustment, including an assembly platform 100, a component moving device 200, a visual positioning and identification device 300 and a controller. The assembly platform 100 is provided with a first platform 110 and a second platform 120 arranged at intervals, the first platform 110 is used to place a first tray 1, on which a first component 11 is placed, the second platform 120 is used to place a second tray 2, on which a second component 21 is placed, so that the first component 11 and the second component 21 are placed at intervals on the installation platform 100. The component moving device 200 is arranged above the assembly platform 100 and is used to translate the first component 11 along the three directions of the X axis, the Y axis and the Z axis, and move the first component 11 from the first platform 110 to the second platform 120 corresponding to the position of the second component 21 so as to prepare for assembling it with the second component 21. It is also used to control the first component 11 to rotate with the Z axis as the central axis to adjust the posture of the first component 11 so that it corresponds to the posture of the second component 21 so that the installation postures of the two correspond, thereby improving the assembly accuracy. The visual positioning and recognition device 300 is used to position and recognize the posture of the first component 11 and the second component 21, and the controller is used to control the movement of the component moving device 200 according to the position and posture information of the first component 11 and the second component 21 obtained by the visual positioning and recognition device 300, thereby adjusting the posture of the first component 11 so that the posture of the first component 11 corresponds to that of the second component 21, and assembling the first component 11 and the second component 21.

[0026] See also Figure 1 and Figure 3As shown, the component moving device 200 includes a moving mechanism, a rotating motor 220 arranged at the output end of the moving mechanism, and an adsorbent 230 arranged at the output end of the rotating motor. The adsorbent 230 is used to absorb the first component 11 by means of negative pressure. The moving mechanism is used to control the rotating motor 220 and the adsorbent 230 to translate along the three directions of the X axis, the Y axis, and the Z axis, thereby driving the first component 11 to translate. The rotating motor 220 is used to control the adsorbent 230 to rotate with the Z axis as the central axis, thereby driving the first component 11 to rotate around the Z axis to adjust the posture of the first component 11. Among them, the positive direction of the Z axis is upward, and the negative direction of the Z axis is downward.

[0027] The moving mechanism includes two first rails 211 extending along the X-axis direction and a second rail 212 mounted on the first rail 211, the second rail 212 extending along the Y-axis direction, the first rail 211 is arranged on both sides of the assembly platform 100, the second rail 212 is connected to the first rail 211 through a first driving member 213 and slides along the first rail 211 under the action of the first driving member 213, a second driving member 214 is provided on the second rail 212, the output end of the second driving member 214 is connected to a sliding connection member 215, the second driving member 214 is used to drive the sliding connection member 215 to translate along the Y-axis direction, a third driving member (not shown in the figure) is provided on the sliding connection member 215, the output end of the third driving member is connected to the rotating motor 220 and is used to drive the rotating motor 220 to translate along the Z-axis direction, so that the output end of the third driving member forms the output end of the moving mechanism, so that the first driving member 213, the second driving member 214, and the third driving member cooperate to drive the first component 11 to translate along the three directions of the X-axis, the Y-axis, and the Z-axis. In this example, the first driving member 213, the second driving member 214 and the third driving member are all motor modules. In order to maintain a smoother sliding of the second rail 212 on the first rail 211, the two first rails 211 are respectively provided with a slide rail 216, and a slider fixedly connected to the second rail 212 is provided on the slide rail 216. Similarly, a slide rail 216 is also provided on the second rail 212, and a slider fixedly connected to the sliding connection member 215 is provided on the slide rail 216, so that the sliding connection member 215 can run more smoothly on the second rail 212. A slide rail 216 is also provided on the sliding connection member 215, and the slide rail 216 extends along the Z-axis direction, and a slider fixedly connected to the rotating motor 220 is provided on the slide rail 216, so that the rotating motor 220 can run more smoothly on the sliding connection member 215 along the Z-axis direction.

[0028] The rotating motor 220 is a ZR motor, and the suction member 230 is arranged at the end of the output shaft of the ZR motor, so that the ZR motor can rotate the first component 11 around the Z axis to adjust the posture of the first component 11. Since the suction member 230 is a negative pressure suction, as long as the direction of the suction member 230 is controlled, the parallelism of the first component 11 on the plane formed by the X axis and the Y axis can be adjusted when the suction member 230 is adsorbed to the first component 11. At this time, by cooperating with the ZR motor, the posture of the first component 11 in the three-dimensional space composed of the X axis, the Y axis, and the Z axis can be adjusted to correspond to the second component 21.

[0029] The suction member 230 is connected to a negative pressure device, and the negative pressure device is used to form a negative pressure on the suction member 230 so as to absorb the first component 11. In this example, the suction member 230 is specifically a suction nozzle with a negative pressure suction port.

[0030] See also Figure 1 and Figure 3 As shown, the visual positioning and recognition device 300 includes a first camera 310 disposed on the sliding connection member 215 and a second camera 320 disposed on one side of the assembly platform. The first camera 310 is connected to the sliding connection member 215 through a lifting motor 330, and the second camera 320 is located below the adsorption member 230 relative to the adsorption member 230. The assembly platform 100 is provided with a proofreading member 130 corresponding to the second camera 320. A through hole is provided in the middle of the proofreading member 130. The second camera 320 is disposed directly below the through hole to determine the installation position of the second camera 320, and it is also convenient to control the adsorption member 230 to move to directly above the second camera 320.

[0031] The lifting motor 330 is arranged on the sliding connection 215 and is located on one side of the rotating motor 220, so that it moves synchronously with the rotating motor 220 and the suction member 230 along the X-axis and Y-axis directions. On the one hand, it can simplify the structure of the assembly machine and simplify the control process of the controller. On the other hand, it is convenient to timely absorb the first component 11 after the first camera 310 is positioned at the position where the first component 11 and the second component 21 are located. This is because the first camera 310 is arranged on one side of the rotating motor 220 and the suction member 230. The position of the first camera 310 when shooting the first component 11 and the second component 21 is close to the position of the first component 11 and the second component 21, which also means that the distance between the suction member 230 and the first component 11 and the second component 21 is close, so the time for the suction member 230 to move to the position where the first component 11 is located can be shortened. The first camera 310 is arranged above the assembly platform 100 to shoot the first component 11 and the second component 21 from top to bottom, and can shoot with as large a shooting range as possible, which is more conducive to positioning the first component 11 and the second component 21.

[0032] The second camera 320 is located below the adsorbent 230 relative to the adsorbent 230. When it is necessary to shoot the posture of the first component 11, the component moving device 200 moves the first component 11 to the top of the second camera 320 with the help of the adsorbent 230, so that the second camera 320 shoots the first component 11 from bottom to top. This structure of shooting from bottom to top is due to the fact that the first component 11 is adsorbed at its lower end by the adsorbent 230, and shooting from bottom to top can prevent the adsorbent 230 from blocking the first component 11. On the other hand, because the second camera 320 is shooting the posture of the first component 11 at this time, shooting from bottom to top is also shooting from a direction perpendicular to the plane formed by the X-axis and the Y-axis. Compared with shooting from the side, this shooting from bottom to top can more clearly shoot the posture of the first component 11.

[0033] In order to capture the first component 11 and the second component 21 more clearly, the first camera 310 and the second camera 320 are both provided with auxiliary lighting lamps.

[0034] In addition, the first platform 110 and the second platform 120 are respectively provided with marks for positioning the first component 11 and the second component 21, which are conventional techniques for those skilled in the art and will not be described in detail herein.

[0035] The controller is electrically connected to the first camera 310, the second camera 320 and the rotary motor 220, so as to determine the position of the first component 11 and the second component 21 and identify the posture of the first component 11 and the second component 21 according to the images captured by the first camera 310 and the second camera 320, so as to control the rotary motor 220 to adjust the posture of the first component 11 to correspond to the posture of the second component 21. Among them, the control program of determining the posture and position of the first component 11 and the second component 21 according to the captured images, and comparing and adjusting the postures of the first component 11 and the second component 21 is a conventional technology for those skilled in the art, and is not the protection content of the present utility model, and will not be repeated here.

[0036] Since the first camera 310 will move with the adsorbent to the top of the second camera 320 after photographing the first component 11 and the second component 21 , the second component 21 should be identified when the first camera 310 photographs the second component 21 to determine its position.

[0037] See also Figures 1 to 5As shown, the assembly operation process of this example is as follows: the first component 11 and the second component 21 are placed on the first platform 110 and the second platform 120 respectively. The first driving member 213 and the second driving member 214 cooperate to move the adsorption member 230 and the first camera 310 to the top of the first platform 110 and the second platform 120 in sequence. The first camera 310 is driven by the lifting motor 330 to lift and adjust the height difference between the first camera 310 and the first component 11 and the second component 21 respectively, so that the first camera 310 respectively shoots the first component 11 and the second component 21 and transmits the captured images to the controller. The controller determines the position of the first component 11 and the second component 21, controls the first driving member 213 and the second driving member 214 to move the adsorption member 230 to the top of the first component 11 to be sucked, and the third driving member drives the adsorption member 230 to descend and adsorb the first component 11, and then moves the first component 11 to the top of the second camera 320. The second camera 320 shoots the first component 11 and transmits the captured images to the controller. The controller determines the posture of the first component 11 and compares it with the posture of the second component 21. If the posture of the first component 11 does not correspond to the posture of the second component 21, the controller controls the rotating motor 220 to drive the first component 11 to rotate around the Z axis until the posture of the first component 11 corresponds to the posture of the second component 21. If the posture of the first component 11 corresponds to the posture of the second component 21, no adjustment is required. The first component 11 is moved again to the top of the second component 21 to be assembled, and the third driving member drives it to descend to correspond to the second component 21, so that the first component 11 and the second component 21 are assembled. If necessary, the first component 11 should be slightly pressed downward to make the connection between the first component 11 and the second component 21 more reliable. The negative pressure device connected to the adsorption member 230 releases the negative pressure state of the adsorption member 230, thereby releasing the first component 11. The third driving member drives the adsorption member 230 to rise and leave the second platform 120. At this point, the first component 11 and the second component 21 are assembled.

[0038] In this example, only the first component 11 is moved, and the second component 21 is placed on the second platform 120. By moving the first component 11 to correspond to the second component 21, the first component 11 is moved to the position of the second component 21 for assembly, and the posture of the first component 11 is adjusted to correspond to the posture 122 of the second component, so as to improve the assembly accuracy. In other embodiments, the second component 21 may be moved, and the first component 11 and the second component 21 are swapped; the first component 11 and the second component 21 may also be moved at the same time to move the first component 11 and the second component 21 to another platform for assembly.

[0039] In this example, the first component 11 and the second component are both semi-finished components of the mobile phone lens, specifically: the first component 11 is a blade, and the second component 21 is a semi-finished motor. In other embodiments, the first component 11 and the second component 21 can also be other semi-finished components to be assembled, such as a focus lens and a lens barrel, or semi-finished components of other types of products that require precise calibration of the posture of the semi-finished components on the plane formed by the X-axis and the Y-axis during assembly.

[0040] Although the present invention is specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that the remaining undescribed portions are prior art, and that various changes made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims shall fall within the scope of protection of the present invention.

Claims

1. An assembly machine with posture adjustment, characterized in that: It includes an assembly platform, a component moving device, a visual positioning and recognition device and a controller. The assembly platform is used to place a first component and a second component at intervals. The component moving device is arranged above the assembly platform and is used to translate the first component and / or the second component along three directions of the X-axis, the Y-axis and the Z-axis, and is also used to control the first component and / or the second component to rotate around the Z-axis to adjust the posture of the first component and / or the second component. The visual positioning and recognition device is used to position and recognize the posture of the first component and the second component. The controller is used to control the movement of the component moving device according to the position and posture information of the first component and the second component obtained by the visual positioning and recognition device, thereby adjusting the posture of the first component and / or the second component so that the posture of the first component corresponds to that of the second component, and assembling the first component and the second component.

2. The assembly machine with posture adjustment according to claim 1, characterized in that: The component moving device includes a moving mechanism, a rotating motor arranged at the output end of the moving mechanism, and an adsorption component arranged at the output end of the rotating motor, the adsorption component is used to absorb the first component with the help of negative pressure, the moving mechanism is used to control the rotating motor and the adsorption component to translate along the three directions of X-axis, Y-axis and Z-axis, thereby driving the first component to translate, and the rotating motor is used to control the adsorption component to rotate with the Z-axis as the center axis, thereby driving the first component to rotate to adjust the posture of the first component.

3. The assembly machine with posture adjustment according to claim 2, characterized in that: The rotating electrical machine is a ZR motor.

4. The assembly machine with posture adjustment according to claim 2, characterized in that: The moving mechanism includes two first rails extending along the X-axis direction and a second rail mounted on the first rail, the second rail extending along the Y-axis direction, the first rail being arranged on both sides of the assembly platform, the second rail being connected to the first rail through a first driving member and sliding along the first rail under the action of the first driving member, a second driving member being arranged on the second rail, an output end of the second driving member being connected to a sliding connection member, the second driving member being used to drive the sliding connection member to translate along the Y-axis direction, a third driving member being arranged on the sliding connection member, an output end of the third driving member being connected to a rotating motor and being used to drive the rotating motor to translate along the Z-axis direction, the output end of the third driving member being formed as the output end of the moving mechanism, so that the first driving member, the second driving member and the third driving member are used in cooperation to drive the first component to translate along three directions of the X-axis, the Y-axis and the Z-axis.

5. The assembly machine with posture adjustment according to claim 4, characterized in that: The visual positioning and identification device includes a first camera arranged on the sliding connection and a second camera arranged on one side of the assembly platform. The first camera is connected to the sliding connection through a lifting motor, and the second camera is located below the adsorption component.

6. The assembly machine with posture adjustment according to claim 5, characterized in that: The first camera is arranged above the assembly platform to shoot the first component and the second component from top to bottom.

7. The assembly machine with posture adjustment according to claim 5, characterized in that: The component moving device is used to move the first component to above the second camera, so that the second camera shoots the first component from bottom to top.

8. The assembly machine with posture adjustment according to claim 5, characterized in that: The controller is electrically connected to the first camera, the second camera and the rotating motor, so as to determine the positions of the first component and the second component and identify the postures of the first component and the second component according to the images captured by the first camera and the second camera, so as to control the rotating motor to adjust the posture of the first component to correspond to the posture of the second component.

9. The assembly machine with posture adjustment according to claim 1, characterized in that: The assembly platform comprises a first platform and a second platform arranged side by side, the first platform is used for placing the first component, and the second platform is used for placing the second component.

Images