Automatic component assembling equipment using manipulator and visual system

Abstract

The utility model discloses automatic component assembling equipment utilizing a manipulator and a visual system. The automatic component assembling equipment comprises a first component feeding unit, a second component feeding unit, an assembling unit, a screw fastening unit, a visual detection module and a laser detector. The visual detection module is arranged to correct the position of the second component in the horizontal direction in real time during assembly, and the laser detector is combined to detect the position of the second component in the height direction, so that the grabbing of the assembly unit and the dynamic adjustment of the assembly path are realized, the assembly failure caused by component deviation is reduced, the alignment precision of the second component and the first component is ensured, and the assembly efficiency is improved. The defective product rate is reduced; by arranging the first component feeding unit, the second component feeding unit, the assembling unit and the screw fastening unit, automatic assembling from component feeding, alignment assembling to screw fastening is achieved, the first component feeding unit and the second component feeding unit are arranged on the two sides of the assembling unit correspondingly, double-station synchronous feeding is achieved, and the machining efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of assembly equipment technology, and in particular to an automatic component assembly equipment utilizing a robotic arm and a vision system. Background Technology

[0002] In the field of component assembly, the requirements for precision and efficiency are increasing. Traditional manual assembly methods suffer from low efficiency, poor consistency, and high labor intensity. Existing automated assembly equipment usually relies on mechanical fixtures for unidirectional positioning, which makes it difficult to guarantee assembly accuracy in situations requiring high precision, leading to assembly failures or defective products. Utility Model Content

[0003] The purpose of this invention is to propose an automated component assembly device that utilizes a robotic arm and a vision system to solve one or more technical problems existing in the background art.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] An automated component assembly device utilizing a robotic arm and a vision system includes a first component feeding unit, a second component feeding unit, an assembly unit, a screw fastening unit, a vision inspection module, and a laser inspector. The first component feeding unit and the second component feeding unit are respectively located on both sides of the assembly unit. The screw fastening unit is located on one side of the second component feeding unit. The vision inspection module is located on the assembly unit, and the laser inspector is located at the beginning of the second component feeding unit.

[0006] The first component feeding unit is used to provide a first component to be assembled, the second component feeding unit is used to provide a second component to be assembled, the assembly unit is used to pick up the first component to be assembled and move it onto the second component to be assembled to realize the assembly of the first component and the second component, the vision detection module is used to detect and correct the horizontal position of the second component to be assembled, the laser detector is used to detect and correct the vertical position of the second component to be assembled, and the screw fastening unit is used to fasten the connecting screws between the first component and the second component.

[0007] Preferably, the assembly unit includes a handling robot and a clamping structure. The first component loading unit and the second component loading unit are located within the range of motion of the handling robot. The clamping structure includes a mounting base and a finger cylinder. The mounting base is connected to the hand of the handling robot. The finger cylinder is located on one side of the mounting base. The vision detection module is located on one side of the finger cylinder.

[0008] Preferably, the first component feeding unit includes multiple sets of first feeding conveyor belts, which are arranged sequentially from left to right. The assembly unit also includes a moving module, the conveying direction of which is perpendicular to the conveying direction of the first feeding conveyor belts, and the handling robot is located at the movable end of the moving module.

[0009] Preferably, the second component feeding unit includes a testing platform and a second feeding conveyor belt. The second feeding conveyor belt is arranged parallel to one side of the moving module. The testing platform is located at the beginning of the second feeding conveyor belt. The laser detector is fixed on the testing platform, and the detection probe of the laser detector is set downwards.

[0010] Preferably, the second component feeding unit further includes a loading tray and a positioning cylinder. The loading tray is disposed on the second feeding conveyor belt and is used to support the second component. The positioning cylinder is disposed on one side of the second feeding conveyor belt and is used to position the loading tray.

[0011] Preferably, the screw fastening unit includes a fastening robot and a fastening fixture. The fastening robot is located on the other side of the second feeding conveyor belt, and the fastening fixture is located at the end of the fastening robot.

[0012] The beneficial effects of this utility model are as follows: By setting a visual inspection module to correct the horizontal position of the second component in real time during assembly, and combining it with a laser detector to detect the vertical position of the second component, the assembly unit can be grasped and the assembly path can be dynamically adjusted, reducing assembly failures caused by component misalignment, ensuring the alignment accuracy between the second component and the first component, and reducing the defect rate; by setting a first component feeding unit, a second component feeding unit, an assembly unit, and a screw fastening unit, automated assembly from component feeding, alignment assembly to screw fastening can be achieved. The first component feeding unit and the second component feeding unit are respectively located on both sides of the assembly unit, realizing synchronous material supply at two workstations, reducing the waiting time of the assembly unit, and improving processing efficiency. Attached Figure Description

[0013] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0014] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model;

[0015] Figure 2 This is a schematic diagram of the assembly unit of one embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of the structure of the second component feeding unit in one embodiment of the present invention;

[0017] Figure 4 This is a schematic diagram of the structure of the testing station according to one embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of the screw fastening unit according to one embodiment of the present invention.

[0019] The components include: first component feeding unit 1, second component feeding unit 2, assembly unit 3, screw fastening unit 4, vision inspection module 5, laser detector 6, first component 71, second component 72, handling robot 31, mounting base 32, finger cylinder 33, first feeding conveyor belt 11, moving module 34, inspection table 22, second feeding conveyor belt 21, carrying tray 23, positioning cylinder 24, fastening robot 41, and fastening fixture 42. Detailed Implementation

[0020] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] This embodiment describes an automated parts assembly device utilizing a robotic arm and a vision system, as shown in the attached diagram. Figure 1 It includes a first component loading unit 1, a second component loading unit 2, an assembly unit 3, a screw fastening unit 4, a vision inspection module 5, and a laser inspection instrument 6. The first component loading unit 1 and the second component loading unit 2 are respectively located on both sides of the assembly unit 3. The screw fastening unit 4 is located on one side of the second component loading unit 2. The vision inspection module 5 is located on the assembly unit 3. The laser inspection instrument 6 is located at the beginning of the second component loading unit 2.

[0022] The first component feeding unit 1 is used to provide the first component 71 to be assembled, the second component feeding unit 2 is used to provide the second component 72 to be assembled, the assembly unit 3 is used to pick up the first component 71 to be assembled and move it onto the second component 72 to be assembled to realize the assembly of the first component and the second component, the vision inspection module 5 is used to detect and correct the horizontal position of the second component to be assembled, the laser detector 6 is used to detect and correct the vertical position of the second component 72 to be assembled, and the screw fastening unit 4 is used to fasten the connecting screws between the first component and the second component.

[0023] By setting up a vision inspection module 5 to correct the horizontal position of the second component in real time during assembly, and combining it with the laser inspection instrument 6 to detect the vertical position of the second component, the assembly unit 3 can be grasped and the assembly path can be dynamically adjusted. This reduces assembly failures caused by component misalignment, ensures the alignment accuracy between the second component and the first component, and reduces the defect rate. By setting up a first component feeding unit 1, a second component feeding unit 2, an assembly unit 3, and a screw fastening unit 4, the assembly process from component feeding and alignment to screw fastening is automated. The first component feeding unit 1 and the second component feeding unit 2 are respectively located on both sides of the assembly unit 3, realizing synchronous material supply at two workstations, reducing the waiting time of the assembly unit 3, and improving processing efficiency.

[0024] Preferred options are listed in the appendix. Figure 2 Assembly unit 3 includes a handling robot 31 and a clamping structure. A first component loading unit 1 and a second component loading unit 2 are located within the working range of the handling robot 31. The clamping structure includes a mounting base 32 and a finger cylinder 33. The mounting base 32 is connected to the hand of the handling robot 31, and the finger cylinder 33 is located on one side of the mounting base 32. A vision detection module 5 is located on one side of the finger cylinder 33. By positioning the handling robot 31 between the first component loading unit 1 and the second component loading unit 2, the working range of the handling robot 31 can cover both units, ensuring it can grasp the first component provided by the first component loading unit 1 and move it onto the second component provided by the second component loading unit 2 for assembly. The mounting base 32 connects the finger cylinder 33 to the handling robot 31, providing stable clamping of the first component. The vision detection module 5, located on one side of the finger cylinder 33, can detect the position of the second component in real time during assembly, enabling dynamic correction and improving assembly alignment accuracy.

[0025] Preferably, the first component feeding unit 1 includes multiple sets of first feeding conveyor belts 11, which are arranged sequentially on the left and right sides. The assembly unit 3 also includes a moving module 34, whose conveying direction is perpendicular to the conveying direction of the first feeding conveyor belts 11. A handling robot 31 is located at the movable end of the moving module 34. By setting multiple sets of first feeding conveyor belts 11, parallel feeding is achieved, reducing potential congestion caused by a single conveyor belt and improving the feeding speed. By setting the conveying direction of the moving module 34 perpendicular to the first feeding conveyor belts 11, the handling robot 31 can quickly move to the ends of different first feeding conveyor belts 11 under the drive of the moving module 34, increasing the range of motion of the handling robot 31 and saving material handling time.

[0026] Preferred options are listed in the appendix. Figure 3 and 4The second component loading unit 2 includes a detection platform 22 and a second loading conveyor belt 21. The second loading conveyor belt 21 is arranged parallel to one side of the moving module 34. The detection platform 22 is located at the beginning of the second loading conveyor belt 21. A laser detector 6 is fixed on the detection platform 22, with its detection probe facing downwards. The laser detector 6 detects the height position of the second component to dynamically adjust the assembly path of the assembly unit 3 in grasping the first component, avoiding assembly difficulties or interference caused by longitudinal offset during the loading of the second component. Since the height position of the second component does not change after entering the second loading conveyor belt 21, in this embodiment, the laser detector 6 is fixed on the detection platform 22 located on the second loading conveyor belt 21, giving the handling robot 31 more operating space and avoiding interference between the laser detector 6 and the handling robot 31.

[0027] Preferably, the second component feeding unit 2 further includes a carrying tray 23 and a positioning cylinder 24. The carrying tray 23 is disposed on the second feeding conveyor belt 21 and is used to carry the second component. The positioning cylinder 24 is disposed on one side of the second feeding conveyor belt 21 and is used to position the carrying tray 23. By providing the carrying tray 23 to carry the second component, it is convenient to position the second component during assembly. By providing the positioning cylinder 24 on one side of the second feeding conveyor belt 21, when the second component is conveyed to the position to be assembled, the positioning cylinder 24 extends and abuts against the carrying tray 23, thereby achieving the positioning of the second component and avoiding potential damage to the surface of the component caused by direct contact between the positioning cylinder 24 and the component.

[0028] Preferred options are listed in the appendix. Figure 5 The screw fastening unit 4 includes a fastening robot 41 and a fastening fixture 42. The fastening robot 41 is located on the other side of the second feeding conveyor belt 21, and the fastening fixture 42 is located at the end of the fastening robot 41. The fastening robot 41 can be a four-axis robot, which facilitates movement between the top and the outside of the second feeding conveyor belt 21. By placing the fastening fixture 42 at the end of the fastening robot 41, the screw fastening process is achieved.

[0029] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. An automated component assembly device utilizing a robotic arm and a vision system, characterized in that, It includes a first component loading unit, a second component loading unit, an assembly unit, a screw fastening unit, a vision inspection module, and a laser inspection instrument. The first component loading unit and the second component loading unit are respectively located on both sides of the assembly unit. The screw fastening unit is located on one side of the second component loading unit. The vision inspection module is located on the assembly unit. The laser inspection instrument is located at the beginning of the second component loading unit. The first component feeding unit is used to provide a first component to be assembled, the second component feeding unit is used to provide a second component to be assembled, the assembly unit is used to pick up the first component to be assembled and move it onto the second component to be assembled to realize the assembly of the first component and the second component, the vision detection module is used to detect and correct the horizontal position of the second component to be assembled, the laser detector is used to detect and correct the vertical position of the second component to be assembled, and the screw fastening unit is used to fasten the connecting screws between the first component and the second component.

2. The automated component assembly equipment utilizing a robotic arm and vision system according to claim 1, characterized in that, The assembly unit includes a handling robot and a clamping structure. The first component loading unit and the second component loading unit are located within the range of motion of the handling robot. The clamping structure includes a mounting base and a finger cylinder. The mounting base is connected to the hand of the handling robot. The finger cylinder is located on one side of the mounting base. The vision detection module is located on one side of the finger cylinder.

3. The automated component assembly equipment utilizing a robotic arm and a vision system according to claim 2, characterized in that, The first component feeding unit includes multiple sets of first feeding conveyor belts, which are arranged sequentially on the left and right sides. The assembly unit also includes a moving module, the conveying direction of which is perpendicular to the conveying direction of the first feeding conveyor belts, and the handling robot is located at the movable end of the moving module.

4. The automated component assembly equipment utilizing a robotic arm and a vision system according to claim 3, characterized in that, The second component feeding unit includes a testing platform and a second feeding conveyor belt. The second feeding conveyor belt is arranged parallel to one side of the moving module. The testing platform is located at the beginning of the second feeding conveyor belt. The laser detector is fixed on the testing platform, and the detection probe of the laser detector is set downwards.

5. The automated component assembly equipment utilizing a robotic arm and a vision system according to claim 4, characterized in that, The second component feeding unit also includes a loading tray and a positioning cylinder. The loading tray is located on the second feeding conveyor belt and is used to support the second component. The positioning cylinder is located on one side of the second feeding conveyor belt and is used to position the loading tray.

6. The automated component assembly equipment utilizing a robotic arm and a vision system according to claim 1, characterized in that, The screw fastening unit includes a fastening robot and a fastening fixture. The fastening robot is located on the other side of the second feeding conveyor belt, and the fastening fixture is located at the end of the fastening robot.

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