Positioning device and assembling equipment

Abstract

The utility model provides a positioning device and assembling equipment, and relates to the technical field of product assembling. The positioning device comprises a mounting seat, a camera assembly, a laser ranging assembly and a driving assembly, wherein the mounting seat is provided with a first connecting position, a second connecting position and a third connecting position; the camera assembly is connected to the first connecting position, and the optical axis of the camera assembly extends along the Z axis; the laser ranging assembly is connected to the second connecting position, and the laser ranging assembly is configured as follows: the light path of emitted ranging laser obliquely extends and intersects with the straight line where the optical axis is located, and the intersection point is located on the sides, away from the third connecting position, of the first connecting position and the second connecting position; and the driving assembly is connected to the third connecting position, and the driving assembly is configured to drive the mounting base to move in the X-Y direction. When the positioning device is applied to the assembly equipment, the camera assembly can shoot an image of the to-be-assembled part in a small shooting range, and accurate positioning of the to-be-assembled part is realized, so that the structure compactness and the size compactness of the assembly equipment are improved, and the space occupation of the assembly equipment is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to product assembly technical field, especially a positioning device and assembly equipment. BACKGROUND

[0002] In the product processing production process, generally all involve the assembly operation of different parts. On the assembly line, one assembly section generally carries out the assembly operation of the same material, specifically placing a plurality of same materials in a tray, then taking out the materials from the tray in turn and assembling them on another workpiece, and repeating the operation; in order to improve the assembly convenience, the existing assembly equipment generally sets up a camera assembly to take pictures of the materials in the tray, wherein, in order to ensure that the camera assembly can take complete and effective images of the materials, the installation position of the camera assembly is generally set high to increase the photographing range, accordingly, the camera assembly needs to have a long-distance photographing function, and it is also necessary to ensure that there is no obstruction below the camera assembly, thereby leading to higher functional requirements for the camera assembly, and at the same time, the structure of the assembly equipment is less compact, bulky and occupies a large space. SUMMARY

[0003] The utility model aims at providing a positioning device and assembly equipment to solve the technical problems that the functional requirements for the camera assembly are high in the existing assembly equipment, and at the same time, the structure of the assembly equipment is less compact, bulky and occupies a large space.

[0004] To solve the above problems, the utility model provides a positioning device, which comprises:

[0005] The mounting seat has a first connecting position, a second connecting position and a third connecting position;

[0006] The camera assembly is connected to the first connecting position, and the optical axis of the camera assembly extends along the Z axis;

[0007] The laser ranging assembly is connected to the second connecting position, and the laser ranging assembly is configured to: the optical path of the emitted ranging laser is obliquely extended and intersects with the straight line where the optical axis is located, and the intersection point is located on the side away from the third connecting position of the first connecting position and the second connecting position; and,

[0008] The driving assembly is connected to the third connecting position, and the driving assembly is configured to drive the mounting seat to move in the X-Y direction.

[0009] Optionally, the mounting base comprises a vertical plate and a horizontal plate, the vertical plate has a first plate face and a second plate face, and the first plate face serves as the first connecting position; the horizontal plate is fixed to the second plate face of the vertical plate, and the bottom face of the horizontal plate and the area below the second plate face form the second connecting position, and the top face of the horizontal plate and the area above the second plate face form the third connecting position.

[0010] Optionally, the positioning device further comprises a first adjusting seat and a first adjusting bolt extending along the Z direction, the top of the first adjusting seat is provided with a first threaded hole, and the first adjusting seat is slidingly connected to the first plate face along the Z direction through a first guide structure, and the camera assembly is arranged on the first adjusting seat; the first adjusting bolt is pivotally connected to the mounting base, and the threaded shank of the first adjusting bolt is screwed into the first threaded hole.

[0011] Optionally, the first plate face is fixedly provided with a connecting lug, the side of the connecting lug away from the first plate face is provided with an open slot, the open slot extends along the Z direction and penetrates through the connecting lug;

[0012] The threaded shank and the threaded head of the first adjusting bolt are coaxially connected through a connecting rod, the connecting rod comprises a first rod segment fixed to the threaded shank, a second rod segment fixed to the threaded head, and an intermediate rod segment connected between the first rod segment and the second rod segment, the outer diameter of the intermediate rod segment is smaller than that of the first rod segment and the second rod segment, the intermediate rod segment is fitted and clamped into the open slot, and the connecting lug is clamped between the first rod segment and the second rod segment.

[0013] Alternatively, the connecting rod comprises a first rod segment fixed to the threaded shank and an intermediate rod segment connected between the first rod segment and the threaded head, the outer diameter of the intermediate rod segment is smaller than that of the first rod segment and the threaded head, the intermediate rod segment is fitted and clamped into the open slot, and the connecting lug is clamped between the first rod segment and the threaded head.

[0014] Optionally, the vertical plate is connected with a locking member, the locking member has a locking position for locking the first adjusting seat on the vertical plate and an unlocking position for allowing the first adjusting seat to slide relative to the vertical plate.

[0015] Optionally, the vertical plate is provided with a scale, the first adjusting seat is provided with a pointer, and the pointer points to the scale.

[0016] Optionally, the positioning device further comprises a connecting seat, a second adjusting seat and a second adjusting bolt, the connecting seat is fixed to the bottom surface of the horizontal plate and the area of the second plate surface lower than the horizontal plate, the top of the second adjusting seat is provided with a second threaded hole, and the second adjusting seat is slidingly connected to the connecting seat in the Z direction through a second guide structure, and the laser ranging assembly is arranged on the second adjusting seat; the second adjusting bolt is pivotally connected to the connecting seat, and the threaded rod of the second adjusting bolt is screwed into the second threaded hole.

[0017] Optionally, the connecting seat comprises a first vertical connecting plate, the top end of the first vertical connecting plate is folded with a horizontal connecting plate, the end of the horizontal connecting plate away from the first vertical connecting plate is folded downward with a second vertical connecting plate, a reinforcing plate is connected between the first vertical connecting plate, the horizontal connecting plate and the second vertical connecting plate, and the extension length of the second vertical connecting plate in the Z direction is greater than that of the first vertical connecting plate.

[0018] The first vertical connecting plate is fixed to the area of the second plate surface lower than the horizontal plate, the horizontal connecting plate is fixed to the bottom of the horizontal plate, and the second adjusting seat is slidingly connected to the second vertical connecting plate.

[0019] Optionally, the mounting seat is fixed with a surrounding arm surrounding the camera assembly, and the surrounding arm is provided with a wire management drum configured to allow the wires of the camera assembly and the laser ranging assembly to pass through.

[0020] The utility model also provides an assembly equipment, including frame, pickup device, control device and above -mentioned positioning device, pickup device and the drive assembly of positioning device are all equipped in frame, the camera assembly and laser ranging assembly of pickup device and positioning device are all connected in communication in control device.

[0021] The positioning device provided by the utility model is applied to the assembly equipment, the laser ranging assembly and the camera assembly are matched, the laser ranging assembly is used for measuring the distance of the to-be-assembled part first, the to-be-assembled part is located in the shooting area of the camera assembly, so that the camera assembly can shoot the image of the to-be-assembled part in a small shooting range, correspondingly, the camera assembly and the to-be-assembled part can realize the positioning of the to-be-assembled part in a small interval in the Z direction, and then the effective positioning operation of the camera assembly on the to-be-assembled part is ensured, the functional requirement of the camera assembly is reduced, the installation height of the camera assembly is low, the shooting range is small, and the shielding requirement of the surrounding articles is low, so that the compactness and small size of the assembly equipment are improved, and the space occupation of the assembly equipment is reduced.

[0022] Secondly, the optical path of the ranging laser of the laser ranging component is set to intersect with the optical axis of the camera component. The intersection point is located within both the ranging range of the laser ranging component and the imaging range of the camera component. By determining the target part to be assembled within the imaging range through the ranging information of the intersection point, it can be ensured that the target part to be assembled is within the imaging range of the camera component. This ensures that the camera component captures an effective image of the target part to be assembled, and then obtains the position information of the target part to be assembled through the effective image, thereby achieving precise positioning of the target part to be assembled. This ensures that the picking device can effectively pick up the target part to be assembled and perform accurate assembly thereafter. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is an isometric schematic diagram of the positioning device provided in an embodiment of the present utility model, wherein the locking member is of the first type;

[0025] Figure 2 A first-view isometric schematic diagram of the positioning device provided in this embodiment of the present utility model after the drive assembly has been removed, wherein the locking member is of the second type;

[0026] Figure 3 A second-view isometric schematic diagram of the positioning device provided in this embodiment of the present utility model after the drive assembly has been removed, wherein the locking member is of the second type;

[0027] Figure 4 A schematic diagram showing the connection of the mounting base, the first adjusting base, the connecting base, and the second adjusting base in the positioning device provided in this embodiment of the utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100-positioning device; 110-mounting seat; 111-first connecting site; 112-second connecting site; 113-third connecting site; 114-vertical plate; 114a-first plate surface; 114b-second plate surface; 114c-ruler; 115-horizontal plate; 120-camera assembly; 121-optical axis; 122-camera; 123-lens; 124-light source; 130-laser ranging assembly; 131-ranging laser; 140-driving assembly; 141-X-direction driving member; 142-Y-direction driving member; 15A-first guide structure; 151-first adjusting seat; 151a-first threaded hole; 151b-pointer; 152-first adjusting bolt; 152a-screw head; 152b-connecting rod; 152c-second rod segment; 152d-intermediate rod segment; 152e-first rod segment; 152f-screw rod; 153-connecting lug; 153a-open slot; 160-locking member; 17A-second guide structure; 171-connecting seat; 171a-first vertical connecting plate; 171b-horizontal connecting plate; 171c-second vertical connecting plate; 171d-stiffening plate; 172-second adjusting seat; 172a-second threaded hole; 173-second adjusting bolt; 180-surrounding arm; 181-wiring drum. DETAILED DESCRIPTION

[0030] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] This embodiment provides a positioning device 100, such as Figures 1-4 As shown, the system includes a mounting base 110, a camera assembly 120, a laser ranging assembly 130, and a drive assembly 140. The mounting base 110 has a first connection position 111, a second connection position 112, and a third connection position 113. The camera assembly 120 is connected to the first connection position 111, and the optical axis 121 of the camera assembly 120 extends along the Z-axis. The laser ranging assembly 130 is connected to the second connection position 112, and the laser ranging assembly 130 is configured such that the optical path of the emitted ranging laser 131 extends obliquely and intersects the straight line containing the optical axis 121, and the intersection point is located on the side of the first connection position 111 and the second connection position 112 away from the third connection position 113. The drive assembly 140 is connected to the third connection position 113, and the drive assembly 140 is configured to drive the mounting base 110 to move in the XY direction.

[0034] This embodiment also provides an assembly device, including a frame, a pickup device, a control device, and the aforementioned positioning device 100. The drive components 140 of the pickup device and the positioning device 100 are both located on the frame, and the camera component 120 and the laser rangefinder component 130 of the pickup device and the positioning device 100 are all communicatively connected to the control device.

[0035] The positioning device 100 provided in this embodiment includes a laser ranging component 130 for emitting a ranging laser 131 to determine whether the part to be assembled has reached the photographing range by means of distance information, a camera component 120 for taking a picture of the part to be assembled to obtain its position information and achieve positioning, a mounting base 110 for mounting the laser ranging component 130 and the camera component 120 to fix their relative positions, and a driving component 140 for driving the mounting base 110 to move the laser ranging component 130 and the camera component 120 synchronously so that the part to be assembled reaches the ranging range of the laser ranging component 130 and the photographing range of the camera component 120.

[0036] When the positioning device 100 is applied to the assembling equipment, the pickup device and the driving assembly 140 are both mounted on the rack, and the coordinate information of the rack, the pickup device and the driving assembly 140 is stored in the control device. The coordinate information of the pickup end of the pickup device can be determined through the driving stroke of the pickup end, and the coordinate information of the camera assembly 120 and the ranging laser 131 assembly can be determined through the driving stroke of the mounting seat 110 by the driving assembly 140.

[0037] The intersection of the straight line where the optical axis 121 of the camera assembly 120 is located and the light path of the ranging laser 131 emitted by the laser ranging assembly 130 is defined as the target intersection point. Initially, a tray with a plurality of to-be-assembled components placed randomly is placed on the rack, and the height position of the tray in the Z direction is determined. The shooting end of the camera assembly 120 and the emission end of the laser ranging assembly 130 are both downwardly directed toward the tray. The Z-direction height of the target intersection point is adjusted to be consistent with the height of the top surface of the to-be-assembled component placed on the tray by adjusting the Z-direction height of the driving assembly 140, and the distance measured by the ranging laser 131 when the target intersection point is located on the top surface of the to-be-assembled component is s. The focusing operation is performed on the camera assembly 120 to ensure the clearness of the photograph of the to-be-assembled component by the camera assembly 120, wherein the focusing operation has no effect on the optical axis 121 and the target intersection point.

[0038] In use, the assembling equipment is started, and the driving assembly 140 drives the mounting seat 110 to drive the camera assembly 120 and the laser ranging assembly 130 to move in the X-Y direction. When the target intersection point is located in the vacant area on one side of the to-be-assembled component, the ranging laser 131 is irradiated to the top surface of the tray or the side wall surface of the to-be-assembled component, and the distance measured by the ranging laser 131 is greater than s. When the target intersection point is located on the top surface of the to-be-assembled component, the ranging laser 131 is irradiated to the top surface of the to-be-assembled component, and the distance measured by the ranging laser 131 is equal to s. The distance signal measured by the laser ranging assembly 130 is fed back to the control device in real time, and the control device determines whether the to-be-assembled component is located in the photographing range of the camera assembly 120 according to the received distance signal. Specifically, when the distance represented by the distance signal is greater than s, it is determined that there is no to-be-assembled component located in the photographing range of the camera assembly 120; when the distance represented by the distance signal is equal to s, it is determined that there is a to-be-assembled component located in the photographing range of the camera assembly 120.

[0039] The target to-be-assembled part where the target intersection point is located is defined as a target to-be-assembled part. When the control device determines that a to-be-assembled part enters the photographing range, the control device controls the camera assembly 120 to photograph the target to-be-assembled part below the camera assembly 120, and feeds back the photographed image to the control device. The control device calculates the coordinate information of the target to-be-assembled part according to the coordinate information of the driving assembly 140 and the camera assembly 120 and the contour information of the image, so as to realize positioning of the target to-be-assembled part. After positioning of a single to-be-assembled part is completed, the driving assembly 140 continues to drive the mounting seat 110 to move in the X-Y direction, so as to continue to measure the distance and position the next to-be-assembled part. At the same time, the control device determines the driving stroke of the pickup end of the pickup device according to the coordinate information of the target to-be-assembled part, and controls the pickup end of the pickup device to reach the target to-be-assembled part and pick up the target to-be-assembled part. Then, the control device continues to control the pickup device to carry the target to-be-assembled part for subsequent assembly operation. In this way, the positioning device 100 can continuously measure the distance and photograph and position the to-be-assembled parts, and the pickup device can continuously pick up and assemble the target to-be-assembled parts that have been positioned.

[0040] Therefore, the positioning device 100 provided in the embodiment is applied to an assembly device. The laser distance measuring assembly 130 is arranged to cooperate with the camera assembly 120. First, the laser distance measuring assembly 130 is used to measure the distance of the to-be-assembled part, so as to determine that the to-be-assembled part is located in the photographing area of the camera assembly 120, thereby ensuring that the camera assembly 120 can photograph the image of the to-be-assembled part in a small photographing range. Accordingly, the camera assembly 120 and the to-be-assembled part can realize positioning of the to-be-assembled part in the Z direction with a small distance, thereby ensuring effective positioning operation of the camera assembly 120 on the to-be-assembled part, reducing the functional requirement of the camera assembly 120, and lowering the installation height and the photographing range of the camera assembly 120, thereby reducing the requirement for shielding of surrounding objects, improving the compactness and small size of the assembly device, and reducing the space occupation of the assembly device.

[0041] Secondly, the light path of the distance measuring laser 131 of the laser distance measuring assembly 130 intersects with a straight line where the optical axis 121 of the camera assembly 120 is located. The intersection point is located in the distance measuring range of the laser distance measuring assembly 130 and the photographing range of the camera assembly 120. When the distance measuring information of the intersection point determines that the target to-be-assembled part is located in the photographing range, it can be ensured that the target to-be-assembled part is located in the photographing range of the camera assembly 120, thereby ensuring that the camera assembly 120 can photograph the effective image of the target to-be-assembled part, and further obtaining the position information of the target to-be-assembled part through the effective image, realizing accurate positioning of the target to-be-assembled part, and further ensuring effective pickup and subsequent accurate assembly of the target to-be-assembled part by the pickup device.

[0042] Specifically, as shown in FIG. 1, the positioning device 100 comprises a driving assembly 140, a camera assembly 120, a pickup device 150 and a control device 160. Figure 1As shown, the driving assembly 140 can adopt an XY-axis screw module as power, the XY-axis screw module includes an X-direction driving member 141 and a Y-direction driving member 142, the X-direction driving member 141 and the Y-direction driving member 142 are drivingly connected, and the driving ends of the two are connected to the third connecting position 113; the pickup device can include a mechanical arm and a vacuum suction nozzle arranged at the end of the mechanical arm, the mechanical arm drives the vacuum suction nozzle to move, and the vacuum suction nozzle is used for adsorbing and picking up the to-be-assembled component; the camera assembly 120 specifically includes a camera 122, a lens 123 and a light source 124, and the three are coaxially arranged in sequence from top to bottom.

[0043] In this embodiment, as shown in the figure, Figures 1-4 The mounting seat 110 includes a vertical plate 114 and a horizontal plate 115, the vertical plate 114 has a first plate surface 114a and a second plate surface 114b, and the first plate surface 114a serves as the first connecting position 111; the horizontal plate 115 is fixedly arranged on the second plate surface 114b of the vertical plate 114, and the bottom surface of the horizontal plate 115 and the area below the horizontal plate 115 of the second plate surface 114b form the second connecting position 112, and the top surface of the horizontal plate 115 and the area above the horizontal plate 115 of the second plate surface 114b form the third connecting position 113. The vertical plate 114 extends approximately in the Y-Z plane, and the two extending plate surfaces are the first plate surface 114a and the second plate surface 114b, respectively, and the horizontal plate 115 is mounted on the second plate surface 114b to divide it into two areas above and below, respectively. The vertical plate 114 and the horizontal plate 115 divide the circumferential space into three spaces, which are used to mount the camera assembly 120, the laser ranging assembly 130 and the driving assembly 140, respectively, thereby improving the compactness of the arrangement structure of each component in the positioning device 100, reducing the space occupation of the positioning device 100 and improving the arrangement convenience thereof.

[0044] Specifically, the camera assembly 120 is connected to the first plate surface 114a, the driving assembly 140 is connected to the top surface of the horizontal plate 115 and the plate surface area above the horizontal plate 115 of the second plate surface 114b, and the laser ranging assembly 130 is connected to the bottom surface of the horizontal plate 115 and the plate surface area below the horizontal plate 115 of the second plate surface 114b.

[0045] In this embodiment, as shown in the figure, Figure 3 and Figure 4As shown, the positioning device 100 also includes a first adjusting seat 151 and a first adjusting bolt 152 extending along the Z direction. The top of the first adjusting seat 151 is provided with a first threaded hole 151a, and the first adjusting seat 151 is slidably connected to the first plate surface 114a along the Z direction through a first guide structure 15A. The camera assembly 120 is disposed on the first adjusting seat 151. The first adjusting bolt 152 is pivotally connected to the mounting base 110, and the screw 152f of the first adjusting bolt 152 is screwed into the first threaded hole 151a. The first adjusting bolt 152 is rotatably connected to the mounting base 110 and is located on one side of the first plate surface 114a. The first adjusting bolt 152 can only rotate circumferentially relative to the mounting base 110 and cannot move axially. The first adjusting seat 151 is screwed into the screw 152f at the bottom of the first adjusting bolt 152 through the first threaded hole 151a at its top, and the camera assembly 120 is mounted on the first adjusting seat 151.

[0046] In use, the first adjusting bolt 152 can be rotated. Under the screwing action of the first threaded hole 151a and the first adjusting bolt 152, and the guiding action of the first guide structure 15A along the Z direction, the first adjusting seat 151 moves along the Z direction as the first adjusting bolt 152 rotates. The camera assembly 120 moves up and down synchronously with the first adjusting seat 151. During the adjustment process, the image on the display screen is checked to see if it is clear. When the image is clear, the first adjusting bolt 152 is stopped, and the focusing operation of the camera assembly 120 is completed. It is not necessary to adjust the height of the drive assembly 140 to achieve the focusing operation of the camera assembly 120, thereby reducing the adjustment operation of the height of the drive assembly 140 and improving the ease of use of the positioning device 100.

[0047] Specifically, such as Figure 4 As shown, the first guide structure 15A may include a guide groove extending along the Z direction and a guide boss extending along the Z direction. The guide groove may be provided in one of the vertical plate 114 and the first adjusting seat 151, and the guide boss may be provided in the other of the vertical plate 114 and the first adjusting seat 151. The guide boss is slidably engaged with the guide groove along the Z direction.

[0048] In this embodiment, as Figure 3 and Figure 4As shown, the form that the first adjusting bolt 152 is pivoted to the mounting base 110 can be as follows: the first plate surface 114a is fixedly provided with a connecting lug 153, the side of the connecting lug 153 away from the first plate surface 114a is provided with an open slot 153a, the open slot 153a extends along the Z direction and penetrates through the connecting lug 153; the screw head 152a and the screw rod 152f of the first adjusting bolt 152 are coaxially connected through a connecting rod 152b, the connecting rod 152b includes a first rod segment 152e fixedly connected to the screw rod 152f, a second rod segment 152c fixedly connected to the screw head 152a, and an intermediate rod segment 152d connected between the first rod segment 152e and the second rod segment 152c, the outer diameter of the intermediate rod segment 152d is smaller than that of the first rod segment 152e and the second rod segment 152c, and the intermediate rod segment 152d is fitted into the open slot 153a, and the connecting lug 153 is clamped between the first rod segment 152e and the second rod segment 152c. When assembling, the intermediate rod segment 152d of the first adjusting bolt 152 can be aligned with the slot of the open slot 153a, and then the intermediate rod segment 152d is moved towards the open slot 153a and fitted into the open slot 153a; the first rod segment 152e, the intermediate rod segment 152d and the second rod segment 152c are coaxial, the outer diameters of the first rod segment 152e and the second rod segment 152c are both larger than that of the intermediate rod segment 152d, and the outer diameters of the first rod segment 152e and the second rod segment 152c are larger than the slot width of the open slot 153a, so that when the intermediate rod segment 152d is fitted into the open slot 153a, the top end surface of the first rod segment 152e abuts against the bottom end surface of the open slot 153a, and the bottom end surface of the second rod segment 152c abuts against the top end surface of the open slot 153a, thereby achieving axial limiting of the intermediate rod segment 152d, at the same time, the screw head 152a can be rotated to drive the connecting rod 152b and the screw rod 152f to rotate circumferentially, and the first adjusting bolt 152 and the connecting lug 153 are convenient to disassemble and assemble, thereby improving the disassembly, maintenance convenience of the positioning device 100.

[0049] Continuously, the first adjusting seat 151 is slid along the Z direction, the screw rod 152f of the first adjusting bolt 152 is screwed into the first threaded hole 151a, thereby completing the assembly, and through the rotation of the first adjusting bolt 152 and the screwing depth of the first threaded hole 151a, the Z direction height of the first adjusting seat 151 and the camera assembly 120 loaded thereon can be adjusted, thereby realizing the focusing operation of the camera assembly 120.

[0050] The first adjusting bolt 152 is pivotally connected to the mounting base 110 in the form that the connecting rod 152b includes a first rod segment 152e fixed to the screw rod 152f and an intermediate rod segment 152d connected between the first rod segment 152e and the screw head 152a, the intermediate rod segment 152d has an outer diameter smaller than the first rod segment 152e and the screw head 152a, and is fitted into the open slot 153a, and the connecting lug 153 is arranged between the first rod segment 152e and the screw head 152a. In this form, the connecting rod 152b is removed of the second rod segment 152c compared with the connecting rod 152b described above, and has a simpler structure. Specifically, the screw head 152a has an outer diameter larger than the intermediate rod segment 152d, and simultaneously has the axial limiting effect of the second rod segment 152c; during assembly, the intermediate rod segment 152d is fitted into the open slot 153a, the screw head 152a abuts against the top end surface of the open slot 153a, and the top end surface of the first rod segment 152e abuts against the bottom end surface of the open slot 153a, so as to realize the axial limiting of the intermediate rod segment 152d and the entire first adjusting bolt 152.

[0051] In this embodiment, as shown in Figures 1-3 The vertical plate 114 is connected with a locking member 160, which has a locking position for locking the first adjusting seat 151 to the vertical plate 114 and an unlocking position for allowing the first adjusting seat 151 to slide relative to the vertical plate 114. When the height of the first adjusting seat 151 does not need to be adjusted, the locking member 160 is adjusted to the locking position, and the first adjusting seat 151 is locked to the vertical plate 114 by the locking member 160, so as to improve the position stability of the camera assembly 120 during the operation of the positioning device 100, and accordingly ensure the clearness of the photograph of the assembly to be assembled and the positioning accuracy. When the height of the first adjusting seat 151 needs to be adjusted, the locking member 160 is adjusted to the unlocking position, and the first adjusting seat 151 can slide up and down relative to the vertical plate 114, the height of the first adjusting seat 151 is adjusted by rotating the first adjusting bolt 152, and after the adjustment is completed, the locking member 160 is adjusted to the locking position again.

[0052] Specifically, the locking member 160 can be a waist hole sliding lock or a form of a bolt matched with a nut.

[0053] When the locking member 160 is not arranged or the locking member 160 does not limit the X-Y direction freedom of the first adjusting seat 151 in the unlocking position, the first guide structure 15A is preferably in the form of sliding and clamping, for example, the guide groove is a wedge-shaped groove, the guide boss is a wedge-shaped strip, and the guide boss has only the Z direction freedom in the guide groove and has no X-Y direction freedom, so as to ensure that the first adjusting seat 151 is connected to the vertical plate 114 and reduce the occurrence of the conditions that the first adjusting seat 151 is separated outward from the vertical plate 114 and the first adjusting bolt 152 is separated outward from the open slot 153a.

[0054] In this embodiment, as shown inFigures 2-4 As shown, the vertical plate 114 is provided with a scale 114c, the first adjusting seat 151 is provided with a pointer 151b, and the pointer 151b points to the scale 114c. The scale 114c and the pointer 151b cooperate to indicate the Z-direction height of the first adjusting seat 151 and the camera assembly 120, thereby facilitating the focusing operation of the camera assembly 120 and improving the use convenience of the positioning device 100.

[0055] In this embodiment, as shown in the figure, Figure 2 As shown, the Z-direction height of the laser ranging assembly 130 can also be adjusted. Specifically, the positioning device 100 further comprises a connecting seat 171, a second adjusting seat 172, and a second adjusting bolt 173. The connecting seat 171 is fixedly connected to the bottom surface of the horizontal plate 115 and the area below the second plate surface 114b of the horizontal plate 115. The top of the second adjusting seat 172 is provided with a second threaded hole 172a, and the second adjusting seat 172 is slidingly connected to the connecting seat 171 along the Z-direction through a second guide structure 17A, and the laser ranging assembly 130 is arranged on the second adjusting seat 172. The second adjusting bolt 173 is pivotally connected to the connecting seat 171, and the screw rod 152f of the second adjusting bolt 173 is screwed into the second threaded hole 172a. The light path of the ranging laser 131 emitted by the laser ranging assembly 130 is coplanar with and intersects with the straight line on which the optical axis 121 of the camera assembly 120 lies. In use, the depth at which the second adjusting bolt 173 is screwed into the second threaded hole 172a can be rotated, thereby driving the second adjusting seat 172 and the laser ranging assembly 130 loaded thereon to move up and down along the second guide structure 17A relative to the connecting seat 171, so as to adjust the Z-direction height of the second adjusting seat 172 and the laser ranging assembly 130, and correspondingly adjust the Z-direction height of the intersection point of the ranging laser 131 and the straight line on which the optical axis 121 lies, so that the Z-direction height of the intersection point is consistent with the height position of the top surface of the to-be-assembled component. The Z-direction adjustment of the laser ranging assembly 130 through the second adjusting seat 172 and the second adjusting bolt 173 can reduce the requirement for the position accuracy of the installation of the laser ranging assembly 130 on the mounting plate, and improve the assembly, use boundary point, and accuracy of the laser ranging assembly 130 and the positioning device 100.

[0056] Specifically, the form in which the second adjusting bolt 173 is pivotally connected to the connecting seat 171 can adopt the form in which the first adjusting bolt 152 is pivotally connected to the mounting seat 110, and the connecting seat 171 can be provided with a locking member 160 capable of locking the second adjusting seat 172 to the connecting seat 171 or allowing the second adjusting seat 172 to slide relative to the connecting seat 171 along the Z-direction.

[0057] In this embodiment, as shown in the figure, Figure 4As shown, the connecting seat 171 comprises a first vertical connecting plate 171a, the top end of the first vertical connecting plate 171a is folded with a horizontal connecting plate 171b, the end of the horizontal connecting plate 171b away from the first vertical connecting plate 171a is folded downward with a second vertical connecting plate 171c, the first vertical connecting plate 171a, the horizontal connecting plate 171b and the second vertical connecting plate 171c are connected with a reinforcing plate 171d, and the extension length of the second vertical connecting plate 171c in the Z direction is greater than that of the first vertical connecting plate 171a; the first vertical connecting plate 171a is fixedly connected to the area of the second plate surface 114b lower than the horizontal plate 115, the horizontal connecting plate 171b is fixedly connected to the bottom of the horizontal plate 115, and the second adjusting seat 172 is slidingly connected to the second vertical connecting plate 171c. The first vertical connecting plate 171a, the horizontal connecting plate 171b and the second vertical connecting plate 171c are respectively adapted to the structures of the vertical plate 114, the horizontal plate 115 and the second adjusting seat 172, so as to realize the connection of the laser ranging assembly 130 and the mounting seat 110, and the extension length of the horizontal connecting plate 171b can determine the horizontal distance between the laser ranging assembly 130 and the camera assembly 120, the vertical length of the second vertical connecting plate 171c can determine the Z-direction adjustment range of the second adjusting seat 172 and the laser ranging assembly 130, and the Z-direction extension length of the second vertical connecting plate 171c is greater than that of the first vertical connecting plate 171a, so that the second adjusting seat 172 and the laser ranging assembly 130 have a larger Z-direction adjustment range.

[0058] In the embodiment, as shown in Figures 1-3 The mounting seat 110 is fixedly connected with a surrounding arm 180 surrounding the camera assembly 120, the surrounding arm 180 is provided with a wire arranging drum 181, and the wire arranging drum 181 is configured to pass through the wires of the camera assembly 120 and the laser ranging assembly 130. By arranging the wire arranging drum 181 outside the camera assembly 120 through the surrounding arm 180, the wires of the camera assembly 120 and the laser ranging assembly 130 can pass through the wire arranging drum 181 for wiring, so as to improve the wiring neatness of the positioning device 100, reduce the occurrence of wire entanglement and easy hanging and pulling, and correspondingly improve the operation stability of the positioning device 100.

[0059] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning device, characterized in that The positioning device (100) comprises: a mounting base (110) having a first connecting site (111), a second connecting site (112) and a third connecting site (113); a camera assembly (120) connected to the first connecting site (111), and an optical axis (121) of the camera assembly (120) extending along the Z-axis; a laser ranging assembly (130) connected to the second connecting site (112), the laser ranging assembly (130) being configured such that the optical path of the emitted ranging laser (131) extends obliquely and intersects with the straight line where the optical axis (121) lies, and the intersection point is located on the side of the first connecting site (111) and the second connecting site (112) away from the third connecting site (113); and a driving assembly (140) connected to the third connecting site (113), the driving assembly (140) being configured to drive the mounting base (110) to move in the X-Y direction.

2. The positioning device of claim 1, wherein, The mounting base (110) comprises a vertical plate (114) and a horizontal plate (115), the vertical plate (114) has a first plate surface (114a) and a second plate surface (114b), and the first plate surface (114a) serves as the first connecting site (111); the horizontal plate (115) is fixed to the second plate surface (114b) of the vertical plate (114), and the bottom surface of the horizontal plate (115) and the area below the second plate surface (114b) of the horizontal plate (115) form the second connecting site (112), and the top surface of the horizontal plate (115) and the area above the second plate surface (114b) of the horizontal plate (115) form the third connecting site (113).

3. The positioning device of claim 2, wherein, The positioning device (100) further comprises a first adjusting seat (151) and a first adjusting bolt (152) extending along the Z-axis, the top of the first adjusting seat (151) is provided with a first threaded hole (151a), the first adjusting seat (151) is slidingly connected to the first plate surface (114a) along the Z-axis through a first guide structure (15A), and the camera assembly (120) is arranged on the first adjusting seat (151); the first adjusting bolt (152) is pivotally connected to the mounting base (110), and the threaded shank (152f) of the first adjusting bolt (152) is screwed into the first threaded hole (151a).

4. The positioning device of claim 3, wherein, The first plate surface (114a) is fixedly provided with a connecting lug (153), the side of the connecting lug (153) away from the first plate surface (114a) is provided with an open slot (153a), the open slot (153a) extends along the Z-axis and penetrates through the connecting lug (153); The screw head (152a) and the screw rod (152f) of the first adjusting bolt (152) are coaxially connected through a connecting rod (152b), the connecting rod (152b) comprises a first rod segment (152e) fixed to the screw rod (152f), a second rod segment (152c) fixed to the screw head (152a) and an intermediate rod segment (152d) connected between the first rod segment (152e) and the second rod segment (152c), the intermediate rod segment (152d) has an outer diameter smaller than the first rod segment (152e) and the second rod segment (152c), and the intermediate rod segment (152d) is fitted and clamped into the open slot (153a), and the connecting lug (153) is clamped between the first rod segment (152e) and the second rod segment (152c). Alternatively, the connecting rod (152b) comprises a first rod segment (152e) fixed to the screw rod (152f) and an intermediate rod segment (152d) connected between the first rod segment (152e) and the screw head (152a), the intermediate rod segment (152d) has an outer diameter smaller than the first rod segment (152e) and the screw head (152a), and the intermediate rod segment (152d) is fitted and clamped into the open slot (153a), and the connecting lug (153) is clamped between the first rod segment (152e) and the screw head (152a).

5. The positioning device of claim 3, wherein, The vertical plate (114) is connected with a locking member (160), the locking member (160) has a locking position for locking the first adjusting seat (151) on the vertical plate (114) and an unlocking position for allowing the first adjusting seat (151) to slide relative to the vertical plate (114).

6. The positioning device of claim 3, wherein, The vertical plate (114) is provided with a scale (114c), the first adjusting seat (151) is provided with a pointer (151b), and the pointer (151b) points to the scale (114c).

7. The positioning device according to any one of claims 2-6, characterized in that, The positioning device (100) further comprises a connecting seat (171), a second adjusting seat (172) and a second adjusting bolt (173), the connecting seat (171) is fixed to the bottom surface of the horizontal plate (115) and the area of the second plate surface (114b) lower than the horizontal plate (115), the top of the second adjusting seat (172) is provided with a second threaded hole (172a), the second adjusting seat (172) is slidably clamped in the connecting seat (171) through a second guide structure (17A) in the Z direction, and the laser ranging assembly (130) is arranged on the second adjusting seat (172); the second adjusting bolt (173) is pivotally connected to the connecting seat (171), and the screw rod (152f) of the second adjusting bolt (173) is screwed into the second threaded hole (172a).

8. The positioning device of claim 7, wherein, The connecting seat (171) comprises a first vertical connecting plate (171a), a horizontal connecting plate (171b) is folded at the top end of the first vertical connecting plate (171a), a second vertical connecting plate (171c) is folded downward at one end of the horizontal connecting plate (171b) away from the first vertical connecting plate (171a), a reinforcing plate (171d) is connected between the first vertical connecting plate (171a), the horizontal connecting plate (171b) and the second vertical connecting plate (171c), and the extension length of the second vertical connecting plate (171c) in the Z direction is greater than that of the first vertical connecting plate (171a); The first vertical connecting plate (171a) is fixedly connected to the area of the second plate surface (114b) below the horizontal plate (115), the horizontal connecting plate (171b) is fixedly connected to the bottom of the horizontal plate (115), and the second adjusting seat (172) is slidingly connected to the second vertical connecting plate (171c).

9. The positioning device according to any one of claims 1-6, characterized in that The mounting seat (110) is fixedly connected with a surrounding arm (180) surrounding the camera assembly (120), and the surrounding arm (180) is provided with a wire arranging drum (181) configured to pass the wires of the camera assembly (120) and the laser ranging assembly (130) therethrough.

10. An assembly apparatus, characterized by The system comprises a rack, a pickup device, a control device and the positioning device (100) of any one of claims 1-9, the pickup device and a driving assembly (140) of the positioning device (100) are arranged on the rack, and the pickup device, a camera assembly (120) and a laser ranging assembly (130) of the positioning device (100) are communicatively connected to the control device.

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