Automatic screening assembly machine guided by machine vision

Abstract

The utility model discloses an automatic screening assembly machine guided by machine vision, relates to the technical field of automation, and is used for solving the problems of high manual sampling inspection cost, low efficiency and lower detection yield. A multi-air-cylinder assembling assembly, a collaborative robot, a stacking unit and a flexible vibration disc are arranged on the top face of the bottom electric control cabinet, a 2D camera and a 3D camera are arranged on the inner side of the top face of the upper protective cover, and the multi-air-cylinder assembling assembly comprises an assembling module, a feeding module and a supplying module. According to the automatic screening and assembling machine, screening and assembling are carried out in a mechanical mode, the automation degree is high, the labor cost is reduced, the efficiency is improved, compared with a manual sampling inspection mode, the detection is more accurate, the yield can be ensured, and the production efficiency is improved. The problems that at present, manual sampling inspection is high in cost, low in efficiency and low in detection yield are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic technology field especially relates to a kind of machine vision guided automatic screening assembly machine. BACKGROUND

[0002] At present, two kinds of material block combination is relatively simple, always manual combination, it is mechanical repetitive labor for production personnel, and due to large output, when detecting, screening, general sampling inspection, manual sampling inspection mode, not only consume more worker time, labor intensity is big, and, sampling inspection instead of the mode of overall detection, cannot guarantee yield, lead to overall yield lower.

[0003] Therefore, in view of the above scheme in actual manufacture and implementation use on the lack of place, and correct, improve, while the spirit and idea of seeking good, and by the aid of professional knowledge, experience, and after many parties cleverness, test, a kind of machine vision guided automatic screening assembly machine is provided for solving the problems of high cost, low efficiency and low detection yield of manual sampling. UTILIT Y MODEL CONTENT

[0004] The utility model aims at providing a kind of machine vision guided automatic screening assembly machine, for solving the problems of high cost, low efficiency and low detection yield of manual sampling.

[0005] The most basic feature of machine vision system is to improve the flexibility and automation degree of production, in some high-speed working environment of manual operation or manual vision can not meet the requirements of occasion, commonly used machine vision replaces manual vision.Meanwhile, in the process of large-scale repetitive industrial production, the use of machine vision detection method can greatly improve the efficiency and automation degree of production while guiding robot.Based on these practical problems, the present equipment is designed, 3D vision (3D camera) is used to guide robot to select parts, 2D vision (2D camera) is used to detect and guide robot to position.

[0006] The technical scheme of the utility model is as follows:

[0007] A kind of machine vision guided automatic screening assembly machine, including bottom electric control cabinet and upper shield, the upper shield is arranged on bottom electric control cabinet and the bottom electric control cabinet and upper shield form the middle placement space, the top surface of bottom electric control cabinet is provided with multiple cylinder assembly component, collaborative robot, stacking unit and flexible vibration disc, the inner side of the top surface of upper shield is provided with 2D camera and 3D camera, the multiple cylinder assembly component includes assembly module, feeding module and feeding module, the movable range of three-jaw cylinder of assembly module covers the position where feeding module and feeding module are located.

[0008] The bottom electric control cabinet has openable organic glass doors at the front and rear. A frame is built inside with aluminum profiles to install the bottom plate of the electric control cabinet, and the control components are installed on the bottom plate of the electric control cabinet.

[0009] The upper housing primarily consists of the housing body, a touchscreen mounting plate, a monitor and keyboard bracket, and 2D and 3D cameras. The housing body is constructed of aluminum extrusions with transparent acrylic panels on both sides. The rear door is a sliding door with a lock, while the front door is a double-leaf door with a safety switch that stops the machine when it is opened. Mounted on top of the upper housing are the 2D and 3D cameras, both of which can be adjusted in three directions: X, Y, and Z. A monitor and keyboard bracket is mounted on the right side of the upper housing to accommodate the monitor and keyboard.

[0010] As a preferred embodiment, the loading module includes a base plate and a sliding frame, the base plate is provided with a first circular cylinder and two parallel first slide rails, the sliding frame slides with the first slide rails, and the top of the sliding frame is provided with pneumatic fingers. The loading module is mainly composed of the first circular cylinder and the pneumatic fingers, and its function is to fix the material blocks clamped by the robot.

[0011] The first circular cylinder is mainly used to push the pneumatic fingers to move left and right. The pneumatic fingers are used to clamp the material blocks delivered by the robot. The first circular cylinder is initially in an extended state.

[0012] As a preferred embodiment, a first sensor is provided at the bottom of the pneumatic finger, and the first sensor is used to detect whether there is material at the pneumatic finger.

[0013] As a preferred embodiment, the feeding module includes a first support frame, a loading plate and a second circular cylinder are provided on the top of the first support frame, a chute and a feeding bin are provided on the loading plate, the feeding bin is provided on the top of the chute and through openings are provided on both sides of the bottom of the feeding bin, the piston end of the second circular cylinder is connected to a push plate, the push plate is slidably connected to the chute, and the through opening is used for materials and push plates to pass through.

[0014] As a preferred embodiment, the feeding module includes a second sensor, and the second sensor is used to detect whether the material on the chute is ejected into place.

[0015] As a preferred embodiment, the assembly module includes a second support frame, the top of which is provided with a second slide rail and a transverse cylinder. The piston end of the transverse cylinder is connected to a transverse slide, which is slidably connected to the slide cylinder. The transverse slide is provided with a slide cylinder, and the bottom of the slide cylinder is connected to a three-claw cylinder. The transverse cylinder is used to push the slide cylinder to move left and right, and the slide cylinder is used to push the three-claw cylinder to move up and down. The three-claw cylinder is used to clamp the material blocks ejected by the feeding module.

[0016] As a preferred embodiment, the stacking assembly includes a top support plate, on which a number of evenly distributed limiting holes are provided. The size of the limiting holes is slightly larger than the size of the parts and is used for placing the assembled parts.

[0017] As a preferred embodiment, the 2D camera includes a connecting rod, a light source and an industrial camera. The light source is in a ring shape and is connected to the connecting rod. The industrial camera is arranged at the end of the connecting rod. The lens of the industrial camera is set downward, and the industrial camera and the lens are located in the middle of the ring-shaped light source.

[0018] The collaborative robot's primary function is to transfer and position parts that need to be assembled using 2D and 3D cameras for visual inspection. The collaborative robot is a six-axis robot with flexible steering and vacuum suction cups on its ends.

[0019] The main function of the flexible vibration plate is to arrange, screen and load irregular material blocks through vibration.

[0020] Process flow:

[0021] First, a flexible vibrating plate vibrates to sort the materials. A 3D camera takes a picture of the material and sends a position signal to the collaborative robot. The robot picks up material block one based on the position and places it on the loading module. The first sensor detects material block one, and the pneumatic fingers close to clamp the material. The first circular cylinder retracts, and the feeding module pushes material block two out of the hopper. The assembly module's slide cylinder presses down, and the three-claw cylinder clamps material block two. The slide cylinder retracts, and the assembly module's circular cylinder pushes out. The slide cylinder presses down to combine material block two with material block one. The three-claw cylinder opens, and the slide cylinder retracts. The loading module's circular cylinder pushes out, and the 2D camera takes a picture to check for assembly compliance. The robot also takes a picture of the palletizing assembly, and the empty palletizing locations are sent to the collaborative robot, guiding it to place the assembled materials on the palletizing assembly.

[0022] The beneficial effects of the utility model are:

[0023] The utility model adopts a mechanized method for screening and assembly, with a high degree of automation, which reduces labor costs and improves efficiency. In addition, the full inspection using this solution is more accurate than the manual sampling method, can ensure the yield rate, and solves the current problems of high cost, low efficiency and low yield rate of manual sampling.

[0024] Specifically, the 2D camera of the scheme can detect and guide the robot to position, saving cost. Through the device, the assembly of a material block is completed, and the detection and stacking greatly improve the product efficiency and yield. According to the current manual assembly and detection, 8-10 can be combined per minute. After using the device, the speed can be increased to 20 per minute. Since the machine can realize 24-hour continuous uninterrupted operation, the production efficiency is greatly improved, and since it is a product full detection, the yield is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 It is a structural schematic diagram of the embodiment of the present application.

[0027] Figure 2 It is a partial internal structural schematic diagram of the embodiment of the present application.

[0028] Figure 3 It is a structural schematic diagram of the multi-cylinder assembly assembly of the embodiment of the present application.

[0029] Figure 4 It is a structural schematic diagram of the feeding module of the embodiment of the present application.

[0030] Figure 5 It is a structural schematic diagram of the feeding module of the embodiment of the present application.

[0031] Figure 6 It is a structural schematic diagram of the assembly module of the embodiment of the present application.

[0032] Figure 7 It is a structural schematic diagram of the 2D camera of the embodiment of the present application.

[0033] Figure 8 It is a structural schematic diagram of the 3D camera of the embodiment of the present application.

[0034] Figure 9 It is a structural schematic diagram of the collaborative robot of the embodiment of the present application.

[0035] Figure 10 It is a structural schematic diagram of the flexible vibration disc of the embodiment of the present application.

[0036] Figure 11 It is a structural schematic diagram of the stacking assembly of the embodiment of the present application.

[0037] In the figure, 1 - upper shield; 2 - bottom electric control cabinet; 3 - multi-cylinder assembly component; 4 - collaborative robot; 5 - 2D camera; 6 - 3D camera; 7 - palletizing component; 8 - flexible vibration plate; 9 - assembly module; 10 - feeding module; 11 - feeding module; 12 - first circular cylinder; 13 - pneumatic finger; 14 - sliding frame; 15 - first sliding rail; 16 - bottom plate; 17 - through hole; 18 - sliding groove; 19 - feeding bin; 20 - push plate; 21 - second circular cylinder; 22 - first support frame; 23 - second sliding rail; 24 - sliding table cylinder; 25 - transverse sliding table; 26 - transverse cylinder; 27 - three-jaw cylinder; 28 - second support frame; 29 - connecting rod; 30 - industrial camera; 31 - lens; 32 - light source; 33 - vacuum chuck; 34 - six-axis robot; 35 - limit hole; 36 - support plate. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0040] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.

[0041] In the description of the embodiments, unless otherwise explicitly specified and limited, the terms "set", "connected", etc. should be understood in a broad sense. For example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] As Figures 1-11The application discloses a machine vision guided automatic screening and assembling machine, which comprises a bottom electric control cabinet 2 and an upper cover 1, the upper cover 1 is arranged on the bottom electric control cabinet 2, and the bottom electric control cabinet 2 and the upper cover 1 form a middle placement space; a plurality of cylinder assembling components 3, a collaborative robot 4, a stacking unit and a flexible vibration disc 8 are arranged on the top surface of the bottom electric control cabinet 2; a 2D camera 5 and a 3D camera 6 are arranged on the inner side of the top surface of the upper cover 1; the plurality of cylinder assembling components 3 comprise an assembling module 9, a feeding module 10 and a feeding module 11; and the movable range of a three-jaw cylinder 27 of the assembling module 9 covers the positions of the feeding module 10 and the feeding module 11.

[0043] The bottom electric control cabinet 2 is provided with openable front and rear organic glass doors, and a frame is built by using aluminum profiles in the bottom electric control cabinet 2, which is used for mounting an electric control cabinet bottom plate 16; and control elements are mounted on the electric control cabinet bottom plate 16.

[0044] The upper cover 1 mainly comprises a cover main body, a touch screen mounting plate, a display keyboard support and the 2D camera 5 and the 3D camera 6. The cover main body is built by using aluminum profiles, and transparent acrylic plates are inlaid on the two sides. A push-pull door is arranged on the back of the cover main body, and the push-pull door is provided with a lock; a pair of opposite doors are arranged on the front of the cover main body, and a safety switch is mounted on the pair of opposite doors, so that the equipment is stopped when the doors are opened. The 2D camera 5 and the 3D camera 6 are mounted on the top of the upper cover 1, and the two cameras can be adjusted in three directions of XYZ. The display keyboard support is mounted on the right side of the upper cover 1 and used for placing a display and a keyboard.

[0045] The feeding module 10 comprises a bottom plate 16 and a sliding frame 14, the bottom plate 16 is provided with a first circular cylinder 12 and two parallel first sliding rails 15, the sliding frame 14 is in sliding fit with the first sliding rails 15, and a pneumatic finger 13 is arranged on the top of the sliding frame 14. The feeding module 10 mainly comprises the first circular cylinder 12 and the pneumatic finger 13, and the feeding module 10 is mainly used for fixing material blocks gripped by the robot.

[0046] The first circular cylinder 12 is mainly used for driving the pneumatic finger 13 to move leftward and rightward, the pneumatic finger 13 is used for clamping the material blocks conveyed by the robot, and the first circular cylinder 12 is in an initial extended state.

[0047] A first sensor is arranged at the bottom of the pneumatic finger 13, and the first sensor is used for detecting whether there is material at the pneumatic finger 13.

[0048] The feeding module 11 comprises a first support frame 22, the top of the first support frame 22 is provided with a feeding plate and a second circular cylinder 21, the feeding plate is provided with a sliding groove 18 and a feeding bin 19, the feeding bin 19 is arranged on the top of the sliding groove 18, two sides of the bottom of the feeding bin 19 are provided with through holes 17, a push plate 20 is connected to the piston end of the second circular cylinder 21, the push plate 20 is in sliding connection with the sliding groove 18, and the through holes 17 are used for allowing the material and the push plate 20 to pass through.

[0049] The feeding module 11 comprises a second sensor for detecting whether the material on the chute 18 is ejected in place.

[0050] The assembly module 9 comprises a second support frame 28, the top of the second support frame 28 is provided with a second sliding rail 23 and a transverse air cylinder 26, the piston end of the transverse air cylinder 26 is connected with a transverse sliding table 25, the transverse sliding table 25 is slidingly connected with the sliding table air cylinder 24, the sliding table air cylinder 24 is arranged on the transverse sliding table 25, and the bottom side of the sliding table air cylinder 24 is connected with a three-jaw air cylinder 27. The transverse air cylinder 26 is used to push the sliding table air cylinder 24 to move left and right, the sliding table air cylinder 24 is used to push the three-jaw air cylinder 27 to move up and down, and the three-jaw air cylinder 27 is used to clamp the material block ejected by the feeding module 11.

[0051] The stacking assembly 7 comprises a support plate 36 at the top, a plurality of evenly distributed limiting holes 35 are arranged on the support plate 36, and the limiting holes 35 are slightly larger than the size of the parts and are used for placing the combined parts.

[0052] The 2D camera 5 comprises a connecting rod 29, a light source 32 and an industrial camera 30, the light source 32 is in a ring shape, the light source 32 is connected to the connecting rod 29, the industrial camera 30 is arranged at the end of the connecting rod 29, the lens 31 of the industrial camera 30 is arranged downward, and the industrial camera 30 and the lens 31 are located at the middle position of the ring-shaped light source 32.

[0053] The function of the collaborative robot 4 is mainly to transport and place the parts that need to be combined through the visual detection of the 2D camera 5 and the 3D camera 6. The collaborative robot 4 adopts a six-axis robot 34, which is flexible in turning and is provided with a vacuum chuck 33 at the end.

[0054] The main function of the flexible vibrating disc 8 is to arrange and screen irregular material blocks through vibration and feeding work.

[0055] Process flow:

[0056] First, the flexible vibrating disc 8 vibrates to arrange the material, the 3D camera 6 takes a photo, sends a position signal to the collaborative robot 4, the robot sucks the material block one according to the position, and then places it on the feeding module 10. The first sensor detects the material block one, the pneumatic finger 13 is closed, and the material is clamped. The first circular air cylinder 12 is retracted, the feeding module 11 pushes out the material block two from the bin. The sliding table air cylinder 24 of the assembly module 9 is pressed down, and then the three-jaw air cylinder 27 clamps the material block two. The sliding table air cylinder 24 is retracted, the circular air cylinder of the assembly module 9 is pushed out, the sliding table air cylinder 24 is pressed down, the material block two is combined with the material block one, the three-jaw air cylinder 27 is opened, and the sliding table air cylinder 24 is retracted. The circular air cylinder of the feeding module 10 is pushed out, the 2D camera 5 takes a photo, and checks whether the assembly is qualified. At the same time, the stacking assembly 7 is also photographed, the position of the empty stacking is sent to the collaborative robot 4, and the collaborative robot 4 is guided to place the combined material on the stacking assembly 7.

[0057] The utility model discloses the beneficial effect is:

[0058] The utility model discloses the mechanical mode is carried out screening assembly, and automation degree is high, has reduced the artificial cost and has improved the efficiency, and utilize the present scheme to carry out the whole detection, compares the manual sampling inspection mode more detection accurate, can ensure the yield, has solved the current manual sampling inspection cost high, the low efficiency and the problem of the yield of detection lower.

[0059] Specifically, the 2D camera of the present application can detect and guide the robot to position, saving cost. Through the device, the assembly, detection and stacking of a material block are completed, greatly improving the product efficiency and yield. According to the current manual assembly and detection, 8-10 products can be assembled per minute. After using the device, the speed can be increased to 20 products per minute. Since the machine can run continuously for 24 hours without interruption, the production efficiency is greatly improved. Since it is a full inspection of the product, the yield is greatly improved.

[0060] The above is only a preferred embodiment of the utility model, and does not limit the utility model. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the utility model should be included in the protection scope of the utility model. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled personnel in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the utility model.

Claims

1. A machine vision guided automatic screening and assembly machine, comprising a bottom electric control cabinet and an upper shield, wherein the upper shield is arranged on the bottom electric control cabinet and the bottom electric control cabinet and the upper shield form a central placement space, characterized in that: A multi-cylinder assembly component, a collaborative robot, a stacking unit and a flexible vibration plate are arranged on the top surface of the bottom electric control cabinet. A 2D camera and a 3D camera are arranged on the inner side of the top surface of the upper protective cover. The multi-cylinder assembly component includes an assembly module, a loading module and a feeding module. The movable range of the three-claw cylinder of the assembly module covers the positions of the loading module and the feeding module.

2. The machine vision guided automatic screening and assembly machine according to claim 1, characterized in that: The loading module includes a base plate and a sliding frame. A first circular cylinder and two parallel first slide rails are provided on the base plate. The sliding frame slides with the first slide rails. A pneumatic finger is provided on the top of the sliding frame.

3. The machine vision guided automatic screening and assembly machine according to claim 2, characterized in that: A first sensor is provided at the bottom of the pneumatic finger, and the first sensor is used to detect whether there is material at the pneumatic finger.

4. The machine vision guided automatic screening and assembly machine according to claim 1, characterized in that: The feeding module includes a first support frame, a loading plate and a second circular cylinder are provided on the top of the first support frame, a chute and a feeding bin are provided on the loading plate, the feeding bin is provided on the top of the chute and through openings are provided on both sides of the bottom of the feeding bin, the piston end of the second circular cylinder is connected to a push plate, the push plate is slidably connected to the chute, and the through opening is used for materials and the push plate to pass through.

5. The machine vision guided automatic screening and assembly machine according to claim 4, characterized in that: The feeding module includes a second sensor, which is used to detect whether the material on the chute is ejected into place.

6. The machine vision guided automatic screening and assembly machine according to claim 1, characterized in that: The assembly module includes a second support frame, a second slide rail and a transverse cylinder are provided on the top of the second support frame, the piston end of the transverse cylinder is connected to a transverse slide, the transverse slide is slidably connected to the slide cylinder, a slide cylinder is provided on the transverse slide, and a three-claw cylinder is connected to the bottom side of the slide cylinder.

7. The machine vision guided automatic screening and assembly machine according to claim 1, characterized in that: The stacking unit comprises a top support plate, and the support plate is provided with a plurality of evenly distributed limiting holes.

8. The machine vision guided automatic screening and assembly machine according to claim 1, characterized in that: The 2D camera includes a connecting rod, a light source and an industrial camera. The light source is in a ring shape and is connected to the connecting rod. The industrial camera is arranged at the end of the connecting rod. The lens of the industrial camera is set downward. The industrial camera and the lens are located in the middle of the ring-shaped light source.

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