Visual guidance assembly equipment capable of causing position change of tool along with temperature rise and fall

Abstract

The utility model discloses visual guidance assembly equipment capable of changing the position of a tool along with temperature rising and falling, which comprises a feeding assembly, a tool table, a station switching assembly, a station transferring assembly, a station rotating assembly, a rectangular coordinate robot assembly and a visual guidance station assembly arranged on the side edge of the tool table, wherein the station switching assembly, the station transferring assembly, the station rotating assembly and the rectangular coordinate robot assembly are arranged on the tool table. The feeding assembly is arranged on the feeding side of the front portion of the tool table, the station switching assembly is arranged on the tool table and corresponds to the feeding assembly, the station rotating assembly and the station switching assembly are arranged in a front-back corresponding mode, and the station transferring assembly is correspondingly arranged on one side of the station switching assembly and one side of the station rotating assembly. The rectangular coordinate robot assembly corresponds to the rotating station assembly in a front-back mode, and the visual guiding station assembly is arranged on the discharging side of the side portion of the rectangular coordinate robot assembly. According to the utility model, millisecond-level high-speed high-precision mobile assembly is realized, the overall assembly precision is + / -0.02 mm, the labor intensity is reduced, and the assembly efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a visually guided assembly device in which the position of the tooling changes with temperature fluctuations. Background Technology

[0002] Traditional assembly methods are limited by the temperature regulation of the oven line, or the tooling fixtures on the oven line expand differently at different temperatures when changing products at different temperatures. Traditional automatic assembly equipment cannot accurately place the products on the oven line, resulting in inaccurate assembly problems. Therefore, manual assembly is often required, which is labor-intensive and has high safety risks. Utility Model Content

[0003] The main technical problem solved by this utility model is to provide a visually guided assembly device that changes the position of the tooling as the temperature rises or falls, thereby achieving millisecond-level high-speed and high-precision moving assembly. This avoids the problem that traditional automatic assembly equipment cannot accurately assemble due to the different expansion dimensions of the oven tooling fixtures caused by oven temperature changes. The overall assembly accuracy is ±0.02mm, reducing labor intensity and improving assembly efficiency.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: providing a vision-guided assembly device whose tooling position changes with temperature rise and fall, including a feeding component, a tooling table, a switching station component, a transfer station component, a rotating station component, and a Cartesian coordinate robot component disposed on the tooling table, and a vision-guided station component disposed on the side of the tooling table. The feeding component is disposed on the feeding side at the front of the tooling table, the switching station component is disposed on the tooling table and corresponds to the feeding component, the rotating station component is disposed in front of and behind the switching station component, the transfer station component is disposed on one side of the switching station component and the rotating station component, the Cartesian coordinate robot component and the rotating station component are disposed in front of and behind, and the vision-guided station component is disposed on the unloading side of the Cartesian coordinate robot component.

[0005] In a preferred embodiment of the present invention, the feeding assembly includes a vibratory feeder, a flow channel, and a support platform. The bottom of the vibratory feeder is supported by the support platform, and the discharge end of the vibratory feeder is provided with a flow channel.

[0006] In a preferred embodiment of this utility model, the switching station assembly includes a switching station base plate, a switching station translation cylinder, a switching station base, a switching station linear guide rail, a switching station upright, a positioning plate, a positioning lifting cylinder, a lifting positioning rod, a positioning lifting motion cylinder, a positioning telescopic motion cylinder, and a positioning pressure frame. The switching station base plate is horizontally fixed to the loading side of the tooling table. The switching station translation cylinder is horizontally fixed to one side of the switching station base plate, and its driving end is provided with horizontally distributed switching station bases. The driving direction of the switching station translation cylinder is perpendicular to the conveying direction of the flow channel. The bottom of the switching station base is fixed to the switching station base by the switching station linear guide rail parallel to the switching station translation cylinder. The switching station frame is vertically fixed on the switching station base, and a horizontally distributed positioning plate is provided on the top of one side of the flow channel. Multiple loading stations are arranged flush and at intervals on the positioning plate. Multiple vertically distributed positioning lifting cylinders are arranged flush on the switching station base, corresponding one-to-one with the loading stations. The driving end of any of the positioning lifting cylinders is provided with a lifting positioning rod corresponding to the diagonal position of the loading station. Multiple positioning lifting cylinders are provided and vertically fixed on the back of the switching station frame. The top of any of the positioning lifting cylinders is provided with a horizontally distributed positioning telescopic cylinder. The driving end of any of the positioning telescopic cylinders is provided with a positioning pressure frame located above the loading station.

[0007] In a preferred embodiment of this utility model, the transfer station assembly includes a transfer station support base, a transfer station translation cylinder, a transfer station linear guide rail, a transfer station lifting cylinder, a transfer station lifting plate, and a transfer station clamping cylinder. The transfer station support base is fixed to one side of the switching station base plate. The transfer station translation cylinder is horizontally fixed to the top of the transfer station support base, and a transfer station lifting cylinder is provided at its driving end. The transfer station translation cylinder is perpendicularly distributed to the switching station translation cylinder. The back of the transfer station lifting cylinder is fixed to the transfer station support base by a transfer station linear guide rail parallel to the transfer station translation cylinder. An L-shaped transfer station lifting plate is provided at the driving end of the transfer station lifting cylinder. Two longitudinally distributed transfer station clamping cylinders with their driving ends facing downwards are provided below the horizontal end of the transfer station lifting plate.

[0008] In a preferred embodiment of this utility model, the rotary station assembly includes a rotary station base plate, a rotary station translation cylinder, a rotary station rotation cylinder, a rotary station connector, a rotary station clamping cylinder, a rotary station positioning fixture, and a rotary station clamping and positioning component. The rotary station base plate is horizontally fixed to one side of the transfer station support base. The rotary station translation cylinder is horizontally fixed to the rotary station base plate. The rotary station translation cylinder and the transfer station translation cylinder are distributed parallel to each other. The top drive end of the rotary station translation cylinder is provided with two longitudinally distributed rotary station rotation cylinders. The drive end of any rotary station rotation cylinder is provided with a longitudinally distributed rotary station connector. The top of any rotary station connector is provided with an upwardly distributed rotary station clamping cylinder. The top of any rotary station clamping cylinder is also provided with a rotary station positioning fixture. The drive end of any rotary station clamping cylinder is provided with a rotary station clamping and positioning component corresponding to the rotary station positioning fixture.

[0009] In a preferred embodiment of this utility model, the Cartesian robot assembly includes a Cartesian robot X-axis drive module, a Cartesian robot X-axis mounting base, a Cartesian robot X-axis linear guide, a Cartesian robot Y-axis drive module, a Cartesian robot Z-axis drive module, a Cartesian robot Z-axis limiting plate, a Cartesian robot Z-axis linear guide, a Cartesian robot Z-axis buffer seat, a Cartesian robot Z-axis buffer spring, and a Cartesian robot Z-axis clamping cylinder. The Cartesian robot X-axis drive module and the Cartesian robot X-axis linear guide are parallel to each other and their bottoms are fixed to the tooling table by the Cartesian robot X-axis mounting base. The Cartesian robot X-axis drive module and the rotary station translation cylinder are parallel to each other. The Cartesian robot Y-axis drive module is disposed on the Cartesian robot X-axis drive module and the linear guide. On the X-axis linear guide of the rectangular coordinate robot, the Z-axis drive module of the rectangular coordinate robot is mounted on the Y-axis drive module of the rectangular coordinate robot. The upper part of the drive seat of the Z-axis drive module of the rectangular coordinate robot has horizontally distributed Z-axis limiting plates. The drive seat of the Z-axis drive module of the rectangular coordinate robot has vertically distributed Z-axis linear guides below the Z-axis limiting plates. The Z-axis buffer seat of the rectangular coordinate robot has an L-shaped structure. The longitudinal end of the Z-axis buffer seat is slidably mounted on the Z-axis linear guide, and the top of the transverse end is connected to the Z-axis limiting plate of the rectangular coordinate robot through a Z-axis buffer spring. The bottom of the Z-axis buffer seat of the rectangular coordinate robot has four Z-axis clamping cylinders arranged in a square array.

[0010] In a preferred embodiment of the present invention, the visual guidance station component includes a visual guidance station mounting base, a visual guidance station CCD, and a visual guidance station camera light source. The visual guidance station mounting base is longitudinally distributed, and the visual guidance station CCD and the visual guidance station camera light source are vertically distributed and fixed on the assembly side of the visual guidance station mounting base.

[0011] In a preferred embodiment of the present invention, the transfer station component and the rotary station component are arranged in a dual-station symmetrical structure.

[0012] In a preferred embodiment of this utility model, the feeding component, switching station component, transfer station component, rotating station component, Cartesian coordinate robot component, and vision-guided station component are arranged in two sets in a mirror distribution.

[0013] The beneficial effects of this utility model are as follows: The visually guided assembly equipment indicated by this utility model changes the position of the tooling as the temperature rises and falls, realizing high-speed and high-precision moving assembly at the millisecond level. It avoids the problem that traditional automatic assembly equipment cannot accurately assemble due to the different expansion dimensions of the oven tooling fixtures caused by oven temperature changes. It achieves an overall assembly accuracy of ±0.02mm, reduces labor intensity, and improves assembly efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0015] Figure 1 This is a perspective view of a preferred embodiment of a visually guided assembly device of the present invention, which causes the tooling position to change with temperature rise and fall.

[0016] Figure 2 yes Figure 1 Top view;

[0017] Figure 3 This is a perspective view of a switching station component of a preferred embodiment of a visually guided assembly device for which the tooling position changes with temperature fluctuations.

[0018] Figure 4 This is a perspective view of a preferred embodiment of a transfer station component of a visually guided assembly device that causes tooling position changes with temperature rise and fall according to the present invention.

[0019] Figure 5This is a perspective view of a rotary workstation component of a preferred embodiment of a visually guided assembly device for which the tooling position changes with temperature rise and fall according to the present invention.

[0020] Figure 6 This is a perspective view of a Cartesian coordinate robot component of a preferred embodiment of a vision-guided assembly device for which the tooling position changes with temperature rise and fall according to this utility model.

[0021] Figure 7 This is a perspective view of a visual guidance station component of a preferred embodiment of a visual guidance assembly device that causes tooling position changes with temperature rise and fall according to this utility model. Detailed Implementation

[0022] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] Please see Figure 1 Combination Figures 2-7 As shown, the embodiments of this utility model include:

[0024] A vision-guided assembly device that changes the tooling position as the temperature rises or falls includes a feeding component, a tooling table 1, a switching station component, a transfer station component, a rotating station component, and a Cartesian coordinate robot component disposed on the tooling table 1, as well as a vision-guided station component disposed on the side of the tooling table 1.

[0025] The transfer station component and the rotary station component are arranged in a symmetrical dual-station structure; the feeding component, the switching station component, the transfer station component, the rotary station component, the Cartesian coordinate robot component, and the vision-guided station component are arranged in two sets in a mirror distribution, all of which are used to improve assembly efficiency.

[0026] The feeding assembly is located on the feeding side at the front of the tooling table 1, and includes a vibratory plate 2, a flow channel 3, and a frame 4.

[0027] The bottom of the vibratory feeder 2 is supported by a frame 4 to increase the feeding height of the vibratory feeder 2. The discharge end of the vibratory feeder 2 is provided with a flow channel 3 for feeding products. The flow channel 3 can feed two products at the same time.

[0028] The switching station assembly is set on the tooling table 1 and corresponds to the flow channel 3. It includes a switching station base plate 5, a switching station translation cylinder 6, a switching station base 7, a switching station linear guide rail 8, a switching station upright 9, a positioning plate 10, a positioning lifting cylinder 11, a lifting positioning rod 12, a positioning lifting motion cylinder 13, a positioning telescopic motion cylinder 14, and a positioning pressure frame 15.

[0029] The switching station base plate 5 is horizontally fixed to the loading side of the tooling table 1. The switching station translation cylinder 6 is horizontally fixed to one side of the switching station base plate 5 and the driving end is provided with a horizontally distributed switching station base 7. The driving direction of the switching station translation cylinder 6 is perpendicular to the conveying direction of the flow channel 3. The bottom of the switching station base 7 is fixed to the switching station base 7 by a switching station linear guide 8 parallel to the switching station translation cylinder 6. The switching station translation cylinder 6 drives the switching station base 7 to reciprocate on the switching station linear guide 8.

[0030] The switching station stand 9 is vertically fixed on the switching station base 7, and a horizontally distributed positioning plate 10 is provided on the top of one side of the flow channel 3. Multiple loading stations are arranged flush and at intervals on the positioning plate 10 for placing products. There are at least four loading stations, used to load products in pairs. Initially, the switching station translation cylinder 6 drives the positioning plate 10 to move to one side, and the flow channel 3 loads products onto two empty loading stations. Then, the switching station translation cylinder 6 drives the positioning plate 10 to move to one side of the transfer station assembly, clamping and transferring the two products. At this time, the other two empty loading stations are loaded. Afterward, the switching station translation cylinder 6 drives the positioning plate 10 to move in the opposite direction, and the flow channel 3 loads products onto two empty loading stations. The transfer station assembly on the other side clamps and transfers the two products, and the other two empty loading stations are loaded, and this process is repeated.

[0031] The switching station base 7 is provided with a plurality of longitudinally distributed positioning and lifting cylinders 11, which correspond one-to-one with the loading station. There are at least four positioning and lifting cylinders 11. Each positioning and lifting cylinder 11 has a lifting and positioning rod 12 with its drive end facing upward, which corresponds to the diagonal position of the loading station. The product is positioned at the loading station by driving the lifting and positioning rod 12 through the positioning and lifting cylinder 11.

[0032] Multiple positioning and lifting cylinders 13 are provided and longitudinally fixed to the back of the switching station frame 9. There are at least four positioning and lifting cylinders 13. The top of any one of the positioning and lifting cylinders 13 is provided with a horizontally distributed positioning telescopic cylinder 14. The driving end of any one of the positioning telescopic cylinders 14 is provided with a positioning pressure frame 15 located above the loading station. The positioning and lifting cylinders 13 and the positioning telescopic cylinders 14 work together to drive the positioning pressure frame 15, pressing and positioning the product during loading, and detaching it from the product during unloading.

[0033] The rotating station assembly and the switching station assembly are arranged in a corresponding manner, including a rotating station base plate 16, a rotating station translation cylinder 17, a rotating station rotation cylinder 18, a rotating station connector 39, a rotating station clamping cylinder 19, a rotating station positioning fixture 40, and a rotating station clamping positioning component 41.

[0034] The transfer station component is correspondingly disposed on one side of the switching station component and the rotating station component, and includes a transfer station support base 20, a transfer station translation cylinder 21, a transfer station linear guide rail 22, a transfer station lifting cylinder 23, a transfer station lifting plate 24, and a transfer station clamping cylinder 25.

[0035] The rotating station base plate 16 is horizontally fixed to one side of the transfer station support base 20. The rotating station translation cylinder 17 is horizontally fixed on the rotating station base plate 16. The rotating station translation cylinder 17 and the transfer station translation cylinder 21 are distributed in parallel. The top drive end of the rotating station translation cylinder 17 is provided with two longitudinally distributed rotating station rotary cylinders 18. The rotating station translation cylinder 17 is used to drive the rotating station rotary cylinders 18 away from or closer to the Cartesian coordinate robot component to adjust the material picking position.

[0036] The drive end of any of the rotary station rotary cylinders is provided with a longitudinally distributed rotary station connector 39, and the top of any of the rotary station connectors 39 is provided with an upwardly distributed rotary station clamping cylinder 19. The rotary station connector 39 is used to raise the height of the rotary station clamping cylinder 19. The rotary station clamping cylinder 19 is used to clamp and position the product.

[0037] The top of any of the rotary station clamping cylinders 19 is also provided with a rotary station positioning fixture 40 for positioning and placing the product.

[0038] The drive end of any of the rotary station clamping cylinders 19 is provided with a rotary station clamping and positioning component 41 corresponding to the rotary station positioning fixture 40. After the product is placed in the rotary station positioning fixture 40, the rotary station clamping cylinder 19 drives the rotary station clamping and positioning component 41 to hold and position the product, ensuring placement accuracy.

[0039] Each of the rotary station rotary cylinders 18 has a rotary station clamping cylinder 19 with its drive end facing upward, which is used to position the product and rotate and adjust the position of the product to facilitate the gripping of the Cartesian coordinate robot component.

[0040] The transfer station support base 20 is fixed to one side of the switching station base plate 5. The transfer station translation cylinder 21 is horizontally fixed to the top of the transfer station support base 20, and a transfer station lifting cylinder 23 is provided at the driving end. The transfer station translation cylinder 21 is perpendicularly distributed to the switching station translation cylinder 6. The back of the transfer station lifting cylinder 23 is fixed to the transfer station support base 20 by a transfer station linear guide rail 22 parallel to the transfer station translation cylinder 21. An L-shaped transfer station lifting plate 24 is provided at the driving end of the transfer station lifting cylinder 23. The horizontal direction of the transfer station lifting plate 24 is... Two longitudinally distributed transfer station clamping cylinders 25 with their drive ends facing downwards are provided below the end. The transfer station translation cylinder 21 drives the transfer station lifting cylinder 23 to the loading station. The transfer station lifting cylinder 23 drives the transfer station clamping cylinder 25 to descend and grab the product. The transfer station lifting cylinder 23 resets. The transfer station translation cylinder 21 drives the transfer station lifting cylinder 23 to the rotary station positioning fixture 40. The transfer station lifting cylinder 23 drives the transfer station clamping cylinder 25 to descend and place the product on the rotary station positioning fixture 40. The transfer station lifting cylinder 23 resets, and the transfer station translation cylinder 21 resets.

[0041] The Cartesian robot assembly and the rotary workstation assembly are arranged in a front-to-back manner, including a Cartesian robot X-axis drive module 26, a Cartesian robot X-axis mounting base 27, a Cartesian robot X-axis linear guide rail 28, a Cartesian robot Y-axis drive module 29, a Cartesian robot Z-axis drive module 30, a Cartesian robot Z-axis limiting plate 31, a Cartesian robot Z-axis linear guide rail 32, a Cartesian robot Z-axis buffer seat 33, a Cartesian robot Z-axis buffer spring 34, and a Cartesian robot Z-axis clamping cylinder 35.

[0042] The rectangular coordinate robot X-axis drive module 26 and the rectangular coordinate robot X-axis linear guide 28 are distributed in parallel and are fixed to the tooling table 1 at the bottom by the rectangular coordinate robot X-axis mounting base 27. The rectangular coordinate robot X-axis drive module 26 and the rotary station translation cylinder 17 are distributed in parallel to provide drive in the X-axis direction.

[0043] The Y-axis drive module 29 of the Cartesian coordinate robot is mounted on the X-axis drive module 26 and the X-axis linear guide rail 28 of the Cartesian coordinate robot to provide drive in the Y-axis direction.

[0044] The Z-axis drive module 30 of the Cartesian coordinate robot is mounted on the Y-axis drive module 29 of the Cartesian coordinate robot to provide drive in the Z-axis direction.

[0045] The upper part of the drive seat of the rectangular coordinate robot Z-axis drive module 30 is vertically provided with horizontally distributed rectangular coordinate robot Z-axis limiting plates 31. The drive seat of the rectangular coordinate robot Z-axis drive module 30 is provided with longitudinally distributed rectangular coordinate robot Z-axis linear guides 32 below the rectangular coordinate robot Z-axis limiting plates 31. The rectangular coordinate robot Z-axis buffer seat 33 is arranged in an L-shape. The longitudinal end of the rectangular coordinate robot Z-axis buffer seat 33 is slidably disposed on the rectangular coordinate robot Z-axis linear guides 32, and the top of the transverse end is connected to the rectangular coordinate robot Z-axis limiting plates 31 through rectangular coordinate robot Z-axis buffer springs 34. The rectangular coordinate robot Z-axis buffer seat 33 can provide elastic buffer when gripping or placing products with the cooperation of the rectangular coordinate robot Z-axis linear guides 32 and the rectangular coordinate robot Z-axis buffer springs 34.

[0046] The bottom of the Z-axis buffer seat 33 of the rectangular coordinate robot is provided with four Z-axis clamping cylinders 35 of the rectangular coordinate robot arranged in a square array. After the Z-axis clamping cylinders 35 of the rectangular coordinate robot are adjusted in the X, Y and Z axis directions, they will first clamp two products on one set of rotary station components, and then move to another set of rotary station components to clamp two more products. Then, under the guidance of the vision guidance station component, the four products are placed on the tooling fixture of the oven line at the same time.

[0047] The vision guidance station component is located on the unloading side of the Cartesian coordinate robot component and above the oven line, and includes a vision guidance station mounting base 36, a vision guidance station CCD 37, and a vision guidance station camera light source 38.

[0048] The visual guidance station mounting base 36 is longitudinally distributed, and the visual guidance station CCD 37 and the visual guidance station camera light source 38 are vertically distributed and fixed on the assembly side of the visual guidance station mounting base 36, so that the visual guidance station CCD 37 and the visual guidance station camera light source 38 are located above the oven line to provide product assembly coordinates in real time, so as to ensure that the rectangular coordinate robot component accurately places the product.

[0049] This equipment utilizes PLC communication and is equipped with an enclosure, a vision display, and a control touchscreen. The touchscreen allows for human-machine interaction, enabling users to operate machine buttons, display machine operating status, receive equipment warnings, record alarm information, and set parameters. It employs standardized or customized data protocols and can interconnect with a DCS system via RS-485 or Ethernet. A vision-guided system is incorporated to facilitate research and optimization of motion estimation and real-time compensation algorithms, 2D / 3D modeling, and random BinPicking technology.

[0050] In summary, the present invention discloses a vision-guided assembly device that changes the position of the tooling as the temperature rises or falls, achieving millisecond-level high-speed and high-precision moving assembly. This avoids the problem of traditional automatic assembly equipment being unable to accurately assemble due to the different expansion dimensions of the oven tooling fixtures caused by oven temperature changes, achieving an overall assembly accuracy of ±0.02mm, reducing labor intensity, and improving assembly efficiency.

[0051] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A vision-guided assembly device that causes tooling position changes with temperature fluctuations, characterized in that, The device includes a feeding component, a tooling table, a switching station component, a transfer station component, a rotary station component, and a Cartesian robot component mounted on the tooling table, as well as a vision-guided station component mounted on the side of the tooling table. The feeding component is located on the feeding side at the front of the tooling table. The switching station component is mounted on the tooling table and corresponds to the feeding component. The rotary station component is positioned in a front-to-back correspondence with the switching station component. The transfer station component is positioned on one side of the switching station component and the rotary station component. The Cartesian robot component and the rotary station component are positioned in a front-to-back correspondence. The vision-guided station component is located on the unloading side of the Cartesian robot component.

2. The vision-guided assembly equipment according to claim 1, which causes tooling position changes with temperature fluctuations, is characterized in that... The feeding assembly includes a vibratory feeder, a flow channel, and a support platform. The bottom of the vibratory feeder is supported by the support platform, and the discharge end of the vibratory feeder is provided with a flow channel.

3. The vision-guided assembly equipment according to claim 2, which causes tooling position changes with temperature fluctuations, is characterized in that... The switching station assembly includes a switching station base plate, a switching station translation cylinder, a switching station base, a switching station linear guide rail, a switching station upright, a positioning plate, a positioning lifting cylinder, a lifting positioning rod, a positioning lifting motion cylinder, a positioning telescopic motion cylinder, and a positioning pressure frame. The switching station base plate is horizontally fixed to the loading side of the tooling table. The switching station translation cylinder is horizontally fixed to one side of the switching station base plate, and its drive end is provided with horizontally distributed switching station bases. The driving direction of the switching station translation cylinder is perpendicular to the conveying direction of the flow channel. The bottom of the switching station base is fixed to the switching station base by the switching station linear guide rail parallel to the switching station translation cylinder. The upright frame is vertically fixed on the switching station base, and a horizontally distributed positioning plate is set on the top of one side of the flow channel. Multiple loading stations are arranged flush and spaced on the positioning plate. Multiple vertically distributed positioning lifting cylinders are arranged flush on the switching station base, corresponding vertically to the loading stations. The driving end of any of the positioning lifting cylinders is provided with a lifting positioning rod corresponding to the diagonal position of the loading station. Multiple positioning lifting cylinders are provided and vertically fixed on the back of the switching station upright frame. The top of any of the positioning lifting cylinders is provided with a horizontally distributed positioning telescopic cylinder. The driving end of any of the positioning telescopic cylinders is provided with a positioning pressure frame located above the loading station.

4. The vision-guided assembly equipment according to claim 3, which causes tooling position changes with temperature fluctuations, is characterized in that... The transfer station assembly includes a transfer station support base, a transfer station translation cylinder, a transfer station linear guide rail, a transfer station lifting cylinder, a transfer station lifting plate, and a transfer station clamping cylinder. The transfer station support base is fixed to one side of the switching station base plate. The transfer station translation cylinder is horizontally fixed to the top of the transfer station support base, and a transfer station lifting cylinder is provided at its drive end. The transfer station translation cylinder is perpendicularly distributed to the switching station translation cylinder. The back of the transfer station lifting cylinder is fixed to the transfer station support base by a transfer station linear guide rail parallel to the transfer station translation cylinder. An L-shaped transfer station lifting plate is provided at the drive end of the transfer station lifting cylinder. Two longitudinally distributed transfer station clamping cylinders with their drive ends facing downwards are provided below the horizontal end of the transfer station lifting plate.

5. The vision-guided assembly equipment according to claim 4, which causes tooling position changes with temperature fluctuations, is characterized in that... The rotary workstation assembly includes a rotary workstation base plate, a rotary workstation translation cylinder, a rotary workstation rotation cylinder, a rotary workstation connector, a rotary workstation clamping cylinder, a rotary workstation positioning fixture, and a rotary workstation clamping and positioning component. The rotary workstation base plate is horizontally fixed to one side of the transfer workstation support base. The rotary workstation translation cylinder is horizontally fixed to the rotary workstation base plate. The rotary workstation translation cylinder and the transfer workstation translation cylinder are distributed parallel to each other. The top drive end of the rotary workstation translation cylinder is provided with two longitudinally distributed rotary workstation rotation cylinders. The drive end of any rotary workstation rotation cylinder is provided with a longitudinally distributed rotary workstation connector. The top of any rotary workstation connector is provided with an upwardly distributed rotary workstation clamping cylinder. The top of any rotary workstation clamping cylinder is also provided with a rotary workstation positioning fixture. The drive end of any rotary workstation clamping cylinder is provided with a rotary workstation clamping and positioning component corresponding to the rotary workstation positioning fixture.

6. The vision-guided assembly equipment according to claim 5, which causes tooling position changes with temperature fluctuations, is characterized in that... The Cartesian robot assembly includes a Cartesian robot X-axis drive module, a Cartesian robot X-axis mounting base, a Cartesian robot X-axis linear guide, a Cartesian robot Y-axis drive module, a Cartesian robot Z-axis drive module, a Cartesian robot Z-axis limiting plate, a Cartesian robot Z-axis linear guide, a Cartesian robot Z-axis buffer seat, a Cartesian robot Z-axis buffer spring, and a Cartesian robot Z-axis clamping cylinder. The Cartesian robot X-axis drive module and the Cartesian robot X-axis linear guide are parallel to each other and their bottoms are fixed to the tooling table by the Cartesian robot X-axis mounting base. The Cartesian robot X-axis drive module and the rotary station translation cylinder are parallel to each other. The Cartesian robot Y-axis drive module is disposed on the Cartesian robot X-axis drive module and the Cartesian robot X-axis linear guide. On the linear guide rail, the Z-axis drive module of the Cartesian robot is mounted on the Y-axis drive module of the Cartesian robot. The upper part of the drive seat of the Z-axis drive module of the Cartesian robot has horizontally distributed Z-axis limiting plates. The drive seat of the Z-axis drive module of the Cartesian robot has vertically distributed linear guide rails for the Z-axis of the Cartesian robot below the Z-axis limiting plates. The Z-axis buffer seat of the Cartesian robot has an L-shaped structure. The longitudinal end of the Z-axis buffer seat is slidably mounted on the Z-axis linear guide rail of the Cartesian robot. The top of the transverse end is connected to the Z-axis limiting plate of the Cartesian robot through a Z-axis buffer spring. The bottom of the Z-axis buffer seat of the Cartesian robot has four Z-axis clamping cylinders arranged in a square array.

7. The vision-guided assembly equipment according to claim 1, which causes tooling position changes with temperature fluctuations, is characterized in that... The visual guidance station assembly includes a visual guidance station mounting base, a visual guidance station CCD, and a visual guidance station camera light source. The visual guidance station mounting base is longitudinally distributed, and the visual guidance station CCD and the visual guidance station camera light source are vertically distributed and fixed on the assembly side of the visual guidance station mounting base.

8. The vision-guided assembly equipment according to claim 1, which causes tooling position changes with temperature fluctuations, is characterized in that... The transfer station assembly and the rotary station assembly are distributed in a dual-station symmetrical structure.

9. The vision-guided assembly equipment according to claim 1, which causes tooling position changes with temperature fluctuations, is characterized in that... The feeding assembly, switching station assembly, transfer station assembly, rotating station assembly, Cartesian coordinate robot assembly, and vision-guided station assembly are arranged in two sets in a mirror image.

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