Vision-guided robotic arm assembly apparatus

Abstract

The utility model discloses a kind of visual guidance mechanical arm assembly equipment, it includes base, support frame, mechanical arm component and vision module. Vision module is composed of light source unit, image acquisition unit and adjusting unit, can be flexibly adjusted to improve image acquisition accuracy;The end effector of mechanical arm component is equipped with pressure sensor and attitude adjustment module, can detect clamping state in real time and adjust attitude. The present application is improved assembly accuracy and complex scene adaptability by optimizing vision module and mechanical arm design, while reducing the influence of ambient light and workpiece surface reflection on identification, effectively avoid assembly deviation, improve production efficiency and product qualification rate.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment and intelligent control technology, and in particular to a vision-guided robotic arm assembly device. Background Technology

[0002] In industrial automated assembly processes, robotic arms are widely used to complete various complex tasks. This process is particularly important for the assembly of precision parts, as it requires not only high-precision position control but also real-time adjustments to the assembly path to ensure product qualification rates. This helps improve production efficiency and reduce the need for manual intervention.

[0003] Since assembly tasks typically involve various parts of different specifications, only accurately identified and positioned workpieces can ensure successful assembly. Therefore, vision guidance is an indispensable technological element. Existing vision-guided robotic arms mostly achieve target positioning through cameras combined with preset algorithms. However, in practical applications, factors such as changes in ambient light or reflections from the workpiece surface can limit recognition accuracy. This can lead to deviations during assembly, and recalibrating the system requires additional time. Therefore, the adaptability of existing equipment in complex scenarios remains somewhat limited. Utility Model Content

[0004] The purpose of this utility model is to provide a vision-guided robotic arm assembly device that solves the problems mentioned in the background art.

[0005] This utility model is implemented as follows: a vision-guided robotic arm assembly device includes a base, a support frame mounted on the base, and a robotic arm assembly disposed on the top of the support frame; a vision module mounting plate is fixedly connected to the support frame, the vision module mounting plate is located on one side of the robotic arm assembly, and a through rectangular hole is opened at the center of the vision module mounting plate; it also includes: a vision module, which consists of a light source unit, an image acquisition unit, and an adjustment unit. The light source unit is fixed to the bottom of the vision module mounting plate, the image acquisition unit is connected to the vision module mounting plate through a sliding mechanism, and the adjustment unit is used to drive the image acquisition unit to move along the sliding mechanism; the robotic arm assembly includes a base, a first joint arm, a second joint arm, and an end effector. The base is fixed to the top of the support frame, one end of the first joint arm is rotatably connected to the base, and the other end is rotatably connected to one end of the second joint arm, and the other end of the second joint arm is rotatably connected to the end effector; the end effector is provided with a pressure sensor and an attitude adjustment module. The pressure sensor is used to detect the contact force between the end effector and the workpiece, and the attitude adjustment module is used to adjust the attitude of the end effector according to the feedback signal of the pressure sensor.

[0006] Preferably, the sliding mechanism includes two parallel guide rails, which are fixed to the top of the vision module mounting plate. The bottom of the image acquisition unit is provided with a slider that cooperates with the guide rails. The slider and the guide rails are slidably connected by ball bearings. The adjustment unit includes a stepper motor and a lead screw. The stepper motor is fixed to one end of the vision module mounting plate. One end of the lead screw is connected to the output shaft of the stepper motor, and the other end is connected to the other end of the vision module mounting plate through a bearing seat. The lead screw and the slider are connected by a threaded pair.

[0007] Preferably, the light source unit consists of a ring light source and multiple independent light sources. The ring light source is fixed at the bottom center of the vision module mounting plate, and the multiple independent light sources are evenly distributed on the outside of the ring light source. Each independent light source is connected to the vision module mounting plate through an angle adjustment bracket, and a locking knob is provided on the angle adjustment bracket to fix the angle of the independent light source.

[0008] Preferably, the image acquisition unit includes an industrial camera and a lens. The industrial camera is fixed to the top of the slider by bolts, and the lens is installed on the front end of the industrial camera by a threaded connection. A filter is provided at the front end of the lens, and the filter is connected to the lens by a snap-fit ​​structure. The signal output terminal of the industrial camera is connected to an external processor by a data cable, and the data cable is fixed to the top of the vision module mounting plate by a cable chain.

[0009] Preferably, the end effector includes a clamping mechanism and a rotating mechanism. The clamping mechanism consists of two opposing grippers, which are connected to the rotating mechanism via a linkage mechanism. The output shaft of the rotating mechanism is connected to the linkage mechanism of the clamping mechanism to drive the grippers to open and close. The attitude adjustment module includes a gyroscope and a micro servo motor. The gyroscope is fixed to the top of the clamping mechanism to detect the attitude information of the clamping mechanism, and the micro servo motor is fixed to the bottom of the clamping mechanism to adjust the attitude of the clamping mechanism according to the feedback signal from the gyroscope.

[0010] Preferably, the pressure sensor is embedded in the inner surface of the gripper, and the signal output terminal of the pressure sensor is connected to an external controller through a wire, which is led out to the outside through a channel inside the gripper. The inner surface of the gripper is also provided with a flexible pad, which is fixed to the surface of the gripper by an adhesive method. The flexible pad is made of silicone.

[0011] Preferably, the base is connected to the first articulated arm via a first articulated bearing, the first articulated arm is connected to the second articulated arm via a second articulated bearing, and the second articulated arm is connected to the end effector via a third articulated bearing; the first articulated bearing, the second articulated bearing, and the third articulated bearing all have built-in angle sensors, the signal output terminals of the angle sensors are connected to an external controller via wires, and the wires are led out to the outside through channels inside the articulated arm.

[0012] This utility model provides a vision-guided robotic arm assembly device, which offers the following advantages: By incorporating a vision module on one side of the robotic arm assembly and combining it with a light source unit, image acquisition unit, and adjustment unit, the device significantly improves the stability and accuracy of image acquisition. Specifically, the ring light source and independent light source in the light source unit can be flexibly adjusted to suit the surface characteristics of different workpieces, thereby reducing the impact of ambient light changes or workpiece surface reflections on image acquisition. The image acquisition unit, through the cooperation of a sliding mechanism and an adjustment unit, can perform precise image acquisition at different heights and angles, further enhancing recognition accuracy. Furthermore, the pressure sensor and attitude adjustment module on the end effector can detect the clamping status in real time and adjust the clamping attitude, avoiding assembly failures caused by excessive clamping force or attitude deviations. In summary, this utility model, by optimizing the design of the vision module and robotic arm assembly, improves assembly accuracy while enhancing the adaptability of the device in complex scenarios. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the transmission mechanism for the vision module.

[0015] Figure 3 This is a schematic diagram of the end effector.

[0016] The attached figures are labeled as follows: 1. Base; 2. Support frame; 3. Robotic arm assembly; 4. Vision module mounting plate; 5. Light source unit; 6. Image acquisition unit; 7. Sliding mechanism; 8. Adjustment unit; 9. End effector; 10. Pressure sensor; 11. Posture adjustment module; 12. Clamping mechanism; 13. Rotation mechanism; 14. Flexible pad. Detailed Implementation

[0017] This utility model provides a vision-guided robotic arm assembly device, the overall structure of which is as follows: Figure 1 As shown, the assembly includes a base 1, a support frame 2, a robotic arm assembly 3, a vision module mounting plate 4, a light source unit 5, an image acquisition unit 6, a sliding mechanism 7, an adjustment unit 8, an end effector 9, a pressure sensor 10, a posture adjustment module 11, a clamping mechanism 12, a rotating mechanism 13, and a flexible pad 14. The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0018] The base 1 serves as the fundamental support component for the entire device. Made of high-strength steel, it features multiple bolt holes at its bottom for securing the device to the work platform. The support frame 2 is vertically fixed to the center of the top of the base 1. The support frame 2 is a rectangular frame structure, welded together from four uprights and two crossbeams. The uprights are connected by reinforcing ribs to enhance overall rigidity. The robotic arm assembly 3 is mounted on top of the support frame 2, its base bolted to the crossbeams of the support frame 2 to ensure stability during operation. The vision module mounting plate 4 is fixed to one side of the support frame 2, next to the robotic arm assembly 3. The vision module mounting plate 4 is a rectangular steel plate, with its four corners bolted to the uprights of the support frame 2. A rectangular through-hole is located in the center to provide space for the movement of the image acquisition unit 6.

[0019] The light source unit 5 is fixed to the bottom of the vision module mounting plate 4, and consists of a ring light source and multiple independent light sources. The ring light source is located at the center of the bottom of the vision module mounting plate 4 and is fixedly connected to the vision module mounting plate 4 by bolts. Multiple independent light sources are evenly distributed on the outer side of the ring light source, and each independent light source is connected to the vision module mounting plate 4 through an angle adjustment bracket. The angle adjustment bracket is equipped with a locking knob for fixing the angle of the independent light source, so that the light source can be flexibly adjusted according to the surface characteristics of the workpiece. The image acquisition unit 6 is connected to the vision module mounting plate 4 through a sliding mechanism 7, and includes an industrial camera and a lens. The industrial camera is fixed to the top of the slider by bolts, and the lens is installed on the front end of the industrial camera by a threaded connection. A filter is set at the front end of the lens, and the filter is connected to the lens by a snap-fit ​​structure. The signal output terminal of the industrial camera is connected to an external processor through a data cable, and the data cable is fixed to the top of the vision module mounting plate 4 by a cable chain to prevent the data cable from getting tangled when the image acquisition unit 6 moves.

[0020] The sliding mechanism 7 includes two parallel guide rails fixed to the top of the vision module mounting plate 4. Both ends of the guide rails are bolted to the edges of the vision module mounting plate 4. A slider that mates with the guide rails is located at the bottom of the image acquisition unit 6. The slider and guide rails are slidably connected via ball bearings to reduce friction and improve movement accuracy. The adjustment unit 8 includes a stepper motor and a lead screw. The stepper motor is fixed to one end of the vision module mounting plate 4, and its output shaft is connected to one end of the lead screw via a coupling. The other end of the lead screw is connected to the other end of the vision module mounting plate 4 via a bearing housing. The lead screw and slider are connected via a threaded joint. When the stepper motor drives the lead screw to rotate, the slider moves along the guide rails, thereby driving the image acquisition unit 6 to perform precise position adjustments.

[0021] The robotic arm assembly 3 includes a base, a first articulated arm, a second articulated arm, and an end effector 9. The base is fixed to a crossbeam at the top of the support frame 2, and its bottom has a flange connected to the crossbeam by bolts. One end of the first articulated arm is connected to the base via a first articulated bearing, and the other end is connected to one end of the second articulated arm via a second articulated bearing. The other end of the second articulated arm is connected to the end effector 9 via a third articulated bearing. An angle sensor is built into each of the first, second, and third articulated bearings. The signal output of the angle sensor is connected to an external controller via a wire, which extends to the outside through a channel inside the articulated arm to monitor the rotation angle of each joint in real time. The end effector 9 includes a gripping mechanism 12 and a rotating mechanism 13. The gripping mechanism 12 consists of two opposing grippers connected to the rotating mechanism 13 via a linkage mechanism. The output shaft of the rotating mechanism 13 is connected to the linkage mechanism of the gripping mechanism 12 to drive the grippers to open and close. A pressure sensor 10 is embedded in the inner surface of the gripper. The signal output terminal of the pressure sensor 10 is connected to an external controller via a wire, which is led out to the outside through a channel inside the gripper. A flexible pad 14 is also provided on the inner surface of the gripper. The flexible pad 14 is fixed to the surface of the gripper by an adhesive method. The flexible pad 14 is made of silicone and is used to protect the surface of the workpiece and increase friction.

[0022] The attitude adjustment module 11 includes a gyroscope and a micro servo motor. The gyroscope is fixed to the top of the clamping mechanism 12 and is used to detect the attitude information of the clamping mechanism 12. The micro servo motor is fixed to the bottom of the clamping mechanism 12 and is used to adjust the attitude of the clamping mechanism 12 according to the feedback signal of the gyroscope. The signal output terminal of the gyroscope is connected to an external controller via a wire, and the control terminal of the micro servo motor is also connected to an external controller via a wire. The wires are led out to the outside through a channel inside the clamping mechanism 12. When the pressure sensor 10 detects that the contact force between the gripper and the workpiece exceeds a preset value, the external controller will adjust the output of the micro servo motor according to the feedback signal of the pressure sensor 10, thereby changing the attitude of the clamping mechanism 12 and avoiding assembly failure due to excessive clamping force or attitude deviation.

[0023] The working process of this utility model is as follows: First, the workpiece to be assembled is placed at a designated position on the base 1. After the equipment is started, the ring light source and independent light source in the light source unit 5 will be adjusted according to the surface characteristics of the workpiece to reduce the influence of changes in ambient light or reflections on the workpiece surface on image acquisition. The stepper motor drives the lead screw to rotate, causing the slider to move along the guide rail, thereby driving the image acquisition unit 6 to adjust to a suitable position and angle. The industrial camera acquires the image of the workpiece through the lens and transmits the image data to the external processor for processing. The external processor calculates the position and posture information of the workpiece based on the image data and generates the motion path of the robotic arm. According to the generated motion path, the robotic arm assembly 3 moves the end effector 9 above the workpiece through the coordinated action of the first joint arm, the second joint arm, and the end effector 9. The clamping mechanism 12 of the end effector 9 drives the jaws to open and close through the rotating mechanism 13. The pressure sensor 10 on the inner side of the jaws detects the clamping force in real time. When the clamping force exceeds the preset value, the external controller will adjust the output of the micro servo motor according to the feedback signal of the pressure sensor 10, thereby changing the posture of the clamping mechanism 12. After clamping is completed, the robotic arm assembly 3 moves the workpiece to the assembly position and ensures the accuracy of the assembly process through the attitude adjustment module 11.

[0024] In practical applications, this equipment can be widely used in fields such as electronic component assembly and automotive parts assembly. For example, in the process of electronic component assembly, the equipment can identify the location of solder joints on the circuit board through a vision module, and accurately place the electronic components on the solder joints using the robotic arm assembly 3, completing a high-precision assembly task. In the process of automotive parts assembly, the equipment can identify the location of bolt holes on the engine block through a vision module, and accurately screw the bolts into the bolt holes using the robotic arm assembly 3, achieving automated assembly.

[0025] To enable those skilled in the art to fully understand and implement this utility model, the specific implementation principle of this utility model is further supplemented below with a specific application scenario.

[0026] In the electronic component assembly task, the circuit board to be assembled is first placed in the designated position on the base 1, ensuring its surface is flat and stable. After the equipment is started, the ring light source and independent light sources in the light source unit 5 are adjusted according to the surface characteristics of the circuit board. The ring light source is located at the bottom center of the vision module mounting plate 4, reducing the impact of ambient light changes on image acquisition through uniform illumination; multiple independent light sources are distributed outside the ring light source through angle adjustment brackets, and their angles are finely adjusted according to the reflectivity of the circuit board surface to optimize the lighting conditions. This design, by flexibly adjusting the angle and intensity of the light sources, can effectively reduce the interference of workpiece surface reflection on image acquisition, thereby improving recognition accuracy.

[0027] Subsequently, the stepper motor drives the lead screw to rotate, and the slider moves along the guide rail, adjusting the image acquisition unit 6 to a suitable position and angle. The industrial camera acquires images of the circuit board through its lens, and the filter at the front of the lens filters out unnecessary stray light, further improving image quality. The image data is transmitted to an external processor via a data cable. The processor calculates the precise position and orientation information of the solder joints on the circuit board based on a preset algorithm and generates the motion path of the robotic arm assembly 3. This process, through the cooperation of the sliding mechanism 7 and the adjustment unit 8, achieves precise positioning of the image acquisition unit 6 at different heights and angles, thereby ensuring the comprehensiveness and accuracy of image acquisition.

[0028] Based on the generated motion path, the robotic arm assembly 3 moves the end effector 9 to a designated position above the circuit board through the coordinated movements of the first joint arm, the second joint arm, and the end effector 9. During this process, angle sensors built into the first, second, and third joint bearings monitor the rotation angle of each joint in real time and transmit the signals to an external controller. The controller dynamically adjusts the robotic arm's posture based on the feedback signals from the angle sensors, ensuring that its motion trajectory matches the preset path. This multi-joint coordinated motion design enables high-precision positioning in complex spaces, meeting the requirements of precision assembly.

[0029] The clamping mechanism 12 of the end effector 9 drives the grippers to open and close via the rotating mechanism 13, and the pressure sensor 10 inside the grippers detects the clamping force in real time. When the pressure sensor 10 detects that the contact force between the grippers and the electronic components exceeds a preset value, the external controller adjusts the output of the micro servo motor according to the feedback signal, thereby changing the attitude of the clamping mechanism 12. A gyroscope is fixed to the top of the clamping mechanism 12 to detect the attitude information of the clamping mechanism 12, and the micro servo motor adjusts its attitude according to the feedback signal from the gyroscope to avoid assembly failure due to excessive clamping force or attitude deviation. In addition, the flexible pad 14 inside the grippers is made of silicone, which can increase friction while protecting the surface of the electronic components and ensuring clamping stability.

[0030] After clamping, the robotic arm assembly 3 moves the electronic component to the solder joint and ensures the accuracy of the assembly process through the attitude adjustment module 11. During assembly, the attitude adjustment module 11 of the end effector 9 continuously monitors and adjusts the attitude of the clamping mechanism 12 to compensate for minor deviations in the assembly path. This real-time adjustment mechanism can significantly improve assembly accuracy and ensure that the electronic component is accurately placed on the solder joint.

[0031] In summary, in electronic component assembly tasks, this equipment achieves fully automated operation from workpiece identification to assembly completion through flexible adjustment of the light source unit 5, precise positioning of the image acquisition unit 6, high-precision motion control of the robotic arm assembly 3, and real-time posture adjustment of the end effector 9. This process not only improves assembly efficiency but also significantly reduces the need for manual intervention, providing reliable technical support for industrial automated assembly.

[0032] All content not described in detail in this specification is prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are prior art and are therefore not shown in the figures, nor will they be described further here.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vision-guided robotic arm assembly device, comprising a base (1), a support frame (2) fixed on the base (1), and a robotic arm assembly (3) mounted on the top of the support frame (2), characterized in that, It also includes: a vision module mounting plate (4), which is fixed to one side of the support frame (2) and located next to the robotic arm assembly (3). A through rectangular hole is provided in the center of the vision module mounting plate (4). The vision module consists of a light source unit (5), an image acquisition unit (6), and an adjustment unit (8). The light source unit (5) is fixed to the bottom of the vision module mounting plate (4). The image acquisition unit (6) is connected to the vision module mounting plate (4) through a sliding mechanism (7). The adjustment unit (8) is used to drive the image acquisition unit (6) to move along the sliding mechanism (7). The robotic arm assembly (3) includes a base, a first articulated arm, a second articulated arm, and an end effector (9). The base is fixed to the top of the support frame (2). One end of the first articulated arm is rotatably connected to the base, and the other end is rotatably connected to one end of the second articulated arm. The other end of the second articulated arm is rotatably connected to the end effector (9). The end effector (9) is equipped with a pressure sensor (10) and an attitude adjustment module (11). The pressure sensor (10) is used to detect the contact force between the end effector (9) and the workpiece, and the attitude adjustment module (11) is used to adjust the attitude of the end effector (9) according to the feedback signal of the pressure sensor (10).

2. The vision-guided robotic arm assembly equipment according to claim 1, characterized in that, The sliding mechanism (7) includes two parallel guide rails, which are fixed to the top of the vision module mounting plate (4). The bottom of the image acquisition unit (6) is provided with a slider that cooperates with the guide rails. The slider and the guide rails are slidably connected by ball bearings. The adjustment unit (8) includes a stepper motor and a lead screw. The stepper motor is fixed to one end of the vision module mounting plate (4). One end of the lead screw is connected to the output shaft of the stepper motor, and the other end is connected to the other end of the vision module mounting plate (4) through a bearing seat. The lead screw and the slider are connected by a threaded pair.

3. The vision-guided robotic arm assembly equipment according to claim 1, characterized in that, The light source unit (5) consists of a ring light source and multiple independent light sources. The ring light source is fixed at the bottom center of the vision module mounting plate (4). Multiple independent light sources are evenly distributed on the outside of the ring light source. Each independent light source is connected to the vision module mounting plate (4) through an angle adjustment bracket. A locking knob is provided on the angle adjustment bracket to fix the angle of the independent light source.

4. The vision-guided robotic arm assembly equipment according to claim 1, characterized in that, The image acquisition unit (6) includes an industrial camera and a lens. The industrial camera is fixed to the top of the slider by bolts, and the lens is installed on the front end of the industrial camera by threaded connection. A filter is provided at the front end of the lens, and the filter is connected to the lens by a snap-fit ​​structure. The signal output end of the industrial camera is connected to an external processor by a data cable, and the data cable is fixed to the top of the vision module mounting plate (4) by a drag chain.

5. The vision-guided robotic arm assembly equipment according to claim 1, characterized in that, The end effector (9) includes a clamping mechanism (12) and a rotating mechanism (13). The clamping mechanism (12) consists of two opposing grippers. The two grippers are connected to the rotating mechanism (13) via a linkage mechanism. The output shaft of the rotating mechanism (13) is connected to the linkage mechanism of the clamping mechanism (12) to drive the grippers to open and close. The attitude adjustment module (11) includes a gyroscope and a micro servo motor. The gyroscope is fixed to the top of the clamping mechanism (12) to detect the attitude information of the clamping mechanism (12). The micro servo motor is fixed to the bottom of the clamping mechanism (12) to adjust the attitude of the clamping mechanism (12) according to the feedback signal of the gyroscope.

6. The vision-guided robotic arm assembly equipment according to claim 5, characterized in that, The pressure sensor (10) is embedded in the inner surface of the gripper. The signal output end of the pressure sensor (10) is connected to an external controller through a wire. The wire is led out to the outside through a channel inside the gripper. A flexible pad (14) is also provided on the inner surface of the gripper. The flexible pad (14) is fixed to the surface of the gripper by an adhesive method. The material of the flexible pad (14) is silicone.

7. The vision-guided robotic arm assembly equipment according to claim 1, characterized in that, The base is connected to the first joint arm via a first joint bearing, the first joint arm is connected to the second joint arm via a second joint bearing, and the second joint arm is connected to the end effector (9) via a third joint bearing. The first joint bearing, the second joint bearing, and the third joint bearing are all equipped with angle sensors. The signal output end of the angle sensor is connected to an external controller via a wire, and the wire is led out to the outside through a channel inside the joint arm.

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