3D vision recognition automated assembly device

Abstract

The utility model belongs to mechanical assembly technical field, concretely relates to a 3D vision discernment automation assembly device. 3D vision discernment automation assembly device includes: for depositing the feeding module of assembly parts, be used for conveying the conveying module of assembly parts, set up in the clamping module on conveying module, the clamping module includes the base of mobile type setting on conveying module and the fixture of rotary type setting on base, the central axis of fixture is along vertical direction setting, set up between the carrying module of feeding module and conveying module, the carrying module constructs as can drive assembly parts move between feeding module and fixture.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical assembly technology, specifically, it relates to a 3D vision recognition automated assembly device. Background Technology

[0002] In the field of oil extraction equipment, the tailpipe hanger is an important cementing tool, mainly used to fix the tailpipe downhole to ensure the smooth progress of drilling operations. However, the assembly process of the tailpipe hanger is quite complex, with the most critical assembly point being the threaded connection between the parts. Currently, this operation is mainly carried out manually or with chain clamps. This method requires a large amount of manpower and involves high labor intensity for workers, and the assembly quality is also affected by the workers' skills and experience.

[0003] With the expansion of the downhole tool market and the increasing proportion of complex oil and gas wells in high-pressure, high-sulfur, and high-risk areas, the demands for downhole tool production efficiency and product quality are constantly rising. Traditional manual assembly methods can no longer meet the growing order demand. Therefore, how to improve the assembly efficiency and quality of tailpipe hangers and reduce production costs is an urgent problem to be solved in the current oil extraction equipment industry.

[0004] Existing technologies include some mechanical assembly equipment, which mostly uses fixed hydraulic clamps in conjunction with gantry cranes to complete simple mechanized assembly operations. While these existing mechanized assembly devices have improved the assembly efficiency of tailpipe hangers to some extent, several problems remain. First, most existing mechanized assembly equipment employs a fixed design, unable to be flexibly adjusted according to actual production needs, which limits its application scope. Second, in actual assembly, manual intervention and monitoring are still required, increasing labor intensity and failing to completely eliminate the impact of human factors on assembly quality. Finally, the assembly efficiency and quality of existing mechanized assembly equipment still need improvement and cannot meet the demands of large-scale production. Utility Model Content

[0005] To address the technical problems mentioned above, this utility model aims to propose a 3D vision recognition automated assembly device, which can improve the assembly efficiency and quality of tailpipe hangers and reduce production costs.

[0006] According to this utility model, a 3D vision recognition automated assembly device is provided, comprising:

[0007] A loading module for storing assembly parts;

[0008] A conveyor module for transporting the assembled parts;

[0009] A clamping module for clamping the assembly parts is provided on the conveying module;

[0010] The transport module is located between the feeding module and the conveying module. The transport module includes a transport robot, a transport gripper located at the end of the transport robot, and a 3D camera located on the transport gripper.

[0011] In one specific embodiment, the handling gripper includes:

[0012] A first guide rail is fixedly installed at the end of the transport robot;

[0013] A second guide rail is movable and mounted on the first guide rail;

[0014] Two transport claws are movably mounted on the second guide rail. The two transport claws are configured to move closer or further away synchronously, and the movement directions of the transport claws and the second guide rail are perpendicular to each other.

[0015] In one specific embodiment, a third motor is fixedly mounted on the first guide rail, and the third motor is configured to drive the second guide rail to move along the first guide rail.

[0016] In one specific embodiment, a fourth motor is fixedly mounted on the second guide rail, the fourth motor being configured to drive the two transport claws to move closer or further away synchronously.

[0017] In one specific embodiment, a double-threaded screw is rotatably mounted on the second guide rail. The central axis of the double-threaded screw is parallel to the moving direction of the transport claw. The two axial portions of the double-threaded screw are provided with threads of opposite directions, and the two transport claws are respectively adapted to the threads of the two axial portions of the double-threaded screw.

[0018] In one specific embodiment, the feeding module includes a support frame and a material tray that is movably mounted on the support frame, and the assembly parts are stored on the material tray.

[0019] In one specific embodiment, a third guide rail and a cylinder are fixedly mounted on the support frame, the material tray is movably mounted on the third guide rail, and the telescopic end of the cylinder is connected to the material tray.

[0020] In one specific embodiment, a signal controller is provided on the cylinder, the signal controller being configured to control the extension and retraction of the cylinder.

[0021] In one specific embodiment, a pressing module is provided on the conveying module.

[0022] In one specific embodiment, the 3D vision recognition automated assembly device further includes a PLC, which is electrically connected to the feeding module, the handling module, the clamping module, the pressing module, and the conveying module.

[0023] Compared with the prior art, the advantages of this application are as follows.

[0024] This invention uses a transport module to move assembly parts stored on a loading module to a clamping module. After clamping the assembly parts, the clamping module rotates them. The transport module then moves another assembly part, which needs to be installed above the first assembly part, onto the first. The descent speed of the transport module and the rotation speed of the clamping module are controlled by a program to match the thread pitch, achieving automated thread assembly between parts. This saves manpower, provides high assembly quality, and increases assembly efficiency. A 3D camera and a 3D vision recognition system ensure assembly accuracy is increased to 100%. Attached Figure Description

[0025] The present invention will now be described with reference to the accompanying drawings.

[0026] Figure 1 This is a schematic diagram of an embodiment of the 3D visual recognition automated assembly device proposed according to the present invention;

[0027] Figure 2 This is a schematic diagram of the internal structure of an embodiment of the clamping module proposed in this utility model;

[0028] Figure 3 This is a schematic diagram of the external structure of an embodiment of the clamping module proposed in this utility model;

[0029] Figure 4 This is a schematic diagram of the connection structure between the turntable and the gripper of the clamping module proposed in this utility model;

[0030] Figure 5 This is a schematic diagram of one embodiment of the handling module proposed according to the present invention;

[0031] Figure 6 This is a schematic diagram of an embodiment of the handling gripper of the handling module according to the present invention;

[0032] Figure 7 This is a schematic diagram of one embodiment of the feeding module proposed according to the present invention.

[0033] The reference numerals in the figure are as follows:

[0034] 1. Feeding module; 11. Support frame; 12. Material tray; 13. Third guide rail; 14. Cylinder; 15. Signal controller; 2. Handling module; 21. Handling robot; 22. Handling gripper; 221. First guide rail; 222. Second guide rail; 223. Handling gripper; 224. Third motor; 225. Fourth motor; 226. Double threaded screw; 23. 3D camera; 3. Clamping module; 31. Base; 311. Internal gear; 32. Fixture; 321. Rail; 3 22. Gripper; 323. Turntable; 324. Spiral groove; 325. Protrusion; 326. Second gear; 327. Second motor; 328. Third gear; 33. Column; 34. First motor; 35. First gear; 36. Housing; 361. Cylinder; 362. End cap; 363. Guide groove; 364. Inspection port; 365. Baffle; 4. Press-fit module; 5. Conveying module; 6. PLC; 7. Assembly parts; 100. 3D vision recognition automated assembly device.

[0035] In this application, all the accompanying drawings are schematic drawings, used only to illustrate the principle of the present invention, and are not drawn to scale. Detailed Implementation

[0036] The present invention will now be described with reference to the accompanying drawings.

[0037] It should be noted that the directional terms or qualifiers used in this application, such as "up," "down," "front," "back," "left," and "right," are all in relation to the accompanying drawings. They are not used to define the absolute position of the components involved, but can vary depending on the specific circumstances.

[0038] Figure 1 The structure of the 3D vision recognition automated assembly device 100 according to this utility model is shown. Figure 1 As shown, the 3D vision recognition automated assembly device 100 mainly includes a feeding module 1, a handling module 2, a conveying module 5, and a clamping module 3.

[0039] The feeding module 1 is used to store the assembly parts 7, the handling module 2 is used to handle the assembly parts 7, the clamping module 3 is used to clamp the assembly parts 7, and the conveying module 5 is used to convey the assembly parts 7. In this embodiment, the assembly parts 7 specifically refer to the components of the tailpipe hanger that need to be connected to each other by threaded connections. It is easy to understand that although the assembly parts 7 in this embodiment are components of the tailpipe hanger, this is not intended to limit the scope of protection of this utility model. The assembly parts 7 can be any components that need to be connected to each other by threaded connections.

[0040] Furthermore, the clamping module 3 is movably mounted on the conveying module 5 and can rotate around a vertical axis. The transport module 2 is positioned between the conveying module 5 and the loading module 1. During operation, the transport module 2 picks up the first assembly part 7 from the loading module 1 and moves it to the clamping module 3, where it clamps the first assembly part 7. Then, the transport module 2 picks up the second assembly part 7 from the loading module 1 and moves it above the first assembly part 7. The program controls the descent speed of the second assembly part 7 driven by the transport module 2 and the rotation speed of the first assembly part 7 driven by the clamping module 3, matching the thread pitch to achieve automated thread assembly between components.

[0041] In one embodiment of the present invention, a pressing module 4 is provided on the conveying module 5. When it is necessary to install components such as sealing rings into the assembly part 7, the sealing ring is manually placed above the assembly part 7 on the clamping module 3, and then the pressing module 4 presses the sealing ring into the assembly part 7.

[0042] In one embodiment of the present invention, the 3D vision recognition automated assembly device 100 further includes a PLC 6, which is electrically connected to the feeding module 1, the handling module 2, the clamping module 3, the pressing module 4 and the conveying module 5, thereby automating the control of the 3D vision recognition automated assembly device 100.

[0043] In a specific embodiment, such as Figure 5 As shown, the handling module 2 includes a handling robot 21, a handling gripper 22 mounted at the end of the handling robot 21, and a 3D camera 23 mounted on the handling gripper 22. The handling robot 21 consists of multiple robotic arms, and its specific mechanism is well known to those skilled in the art and will not be described in detail here. The handling robot 21 can drive the handling gripper 22 to move between the loading module 1 and the clamping module 3, and the handling gripper 22 can grasp the assembly parts 7. By setting up the 3D camera 23, a scanned model of the assembly parts 7 is pre-established, realizing the identification and confirmation of the parts required in the actual assembly process, so that the handling gripper 22 can accurately grasp the required parts with an accuracy error of 0.2mm. The above part grasping and visual recognition processes are all implemented through PLC program control.

[0044] In one embodiment according to the present invention, such as Figure 6As shown, the handling gripper 22 mainly includes a first guide rail 221, a second guide rail 222, and two handling claws 223. The first guide rail 221 is fixedly mounted on the end of the handling robot 21, the second guide rail 222 is movably mounted on the first guide rail 221, and the two handling claws 223 are movably mounted on the second guide rail 222. The two handling claws 223 are symmetrical to each other and are configured to move closer or further apart synchronously. The moving directions of the handling claws 223 and the second guide rail 222 are perpendicular to each other.

[0045] Furthermore, a third motor 224 is fixedly mounted at the end of the first guide rail 221. The third motor 224 is configured to drive the second guide rail 222 to move along the first guide rail 221. Specifically, a lead screw (not shown in the figure) is fixedly mounted on the output shaft of the third motor 24. The lead screw is parallel to the second guide rail 222, and a threaded hole adapted to the lead screw is provided on the first guide rail 221, through which the lead screw passes. In this configuration, after the third motor 224 is started, it drives the lead screw to rotate. Through the cooperation between the lead screw and the threaded hole, the second guide rail 222 moves along the first guide rail 221, thereby driving the transport claw 223 to move and adjusting the position of the transport claw 223.

[0046] A fourth motor 225 is fixedly mounted at the end of the second guide rail 222. The fourth motor 225 is configured to drive the two transport claws 223 to move closer or further away synchronously. Specifically, a double-threaded screw 226 is rotatably mounted on the second guide rail 222. The central axis of the double-threaded screw 226 is parallel to the direction of movement of the transport claws 223. The two axial portions of the double-threaded screw 226 have threads with opposite directions of rotation. The two transport claws 223 are respectively adapted to the threads of the two axial portions of the double-threaded screw 226. In this configuration, after the fourth motor 225 is started, it drives the double-threaded screw 226 to rotate. Since the threads of the two axial portions of the double-threaded screw 226 have opposite directions of rotation, the two transport claws 223 can move closer or further away synchronously, realizing the gripping and releasing of the assembled part 7.

[0047] In one embodiment provided according to the present invention, such as Figure 7 As shown, the feeding module 1 includes a support frame 11 and a material tray 12 movably mounted on the support frame 11. The support frame 11 provides support and is fixed to the ground with anchor bolts. The assembly parts 7 are stored on the material tray 12. Specifically, a third guide rail 13 and a cylinder 14 are fixedly mounted on the support frame 11, and the material tray 12 is movably mounted on the third guide rail 13. The telescopic end of the cylinder 14 is connected to the material tray 12. In this configuration, after the cylinder 14 is activated, it can drive the material tray 12 to move along the third guide rail 13, facilitating the handling module 2 to grasp the assembly parts 7.

[0048] In one embodiment of the present invention, a signal controller 15 is provided on the cylinder 14. The signal controller 15 is configured to control the extension and retraction of the cylinder 14. In use, the PLC 6 sends a signal to the signal controller to control the pressing and depressurizing of the cylinder 14 to achieve the sliding of the material tray 12 on the third guide rail 13.

[0049] In a specific embodiment, such as Figure 1 and Figure 2 As shown, the clamping module 3 includes a base 31 and a clamp 32.

[0050] The base 31 is movably mounted on the conveying module 5, meaning that the base 31 can move along the conveying module 5, thereby driving the entire clamping module 3 to move along the conveying module 5.

[0051] The base 31 includes an internal gear 311, the central axis of which is vertically oriented. A column 33 is rotatably mounted on the base 31 relative to the internal gear 311. A clamp 32 is fixedly connected to the column 33; that is, when the column 33 rotates relative to the internal gear 311, it drives the clamp 32 to rotate as well. A first motor 34 is fixedly mounted relative to the column 33, and a first gear 35 is fixedly mounted coaxially on the output shaft of the first motor 34, meshing with the internal gear 311. Because the column 33 is fixedly connected to the first motor 34, when the first motor 34 rotates, it drives the first gear 35 to rotate. Under the meshing action of the first gear 35 and the internal gear 311, the first gear 35 rolls along the tooth edge of the internal gear 311, thereby causing the column 33 to rotate relative to the internal gear 311, and consequently, the clamp 32 to rotate relative to the internal gear 311.

[0052] like Figure 2 and Figure 4 As shown, the clamp 32 mainly includes a track 321, grippers 322, and a turntable 323. Multiple tracks 321 are evenly spaced around the column 33 along the circumferential direction, and the tracks 321 and the column 33 are relatively fixedly connected. When the column 33 rotates relative to the internal gear 311, the tracks 321 rotate with the column 33. The extension axis of the track 321 intersects the center of the column 33, and a gripper 322 is movably mounted on each track 321. The turntable 323 is located below the tracks 321 and is coaxially rotatably mounted on the column 33. The upper end of the turntable 323 is adapted to the lower end of the gripper 322, and the structure is such that the rotation of the turntable 323 drives the gripper 322 to move along the track 321. In other words, when the turntable 323 rotates relative to the column 33, it can drive the grippers 322 on each track 321 to move synchronously toward or away from the central axis of the column 33, thereby positioning and clamping the assembly part 7 located in the middle.

[0053] In a specific embodiment, such as Figure 2 and Figure 4 As shown, a spiral groove 324 is provided at the upper end of the turntable 323, and a protrusion 325 is provided at the lower end of the gripper 322 to fit the spiral groove 324. The protrusion 325 extends into the spiral groove 324. When the turntable 323 rotates, the spiral groove 324 rotates, and the gripper 322 moves along the track 321 through the protrusion 325.

[0054] In one specific embodiment, a second gear 326 is coaxially rotatably mounted on the column 33. The second gear is located below the turntable 323 and is fixedly connected to the turntable 323. A second motor 327 is fixedly mounted relative to the column 33, meaning the housing of the second motor 327 is fixedly connected to the column 33. A third gear 328 is coaxially fixedly mounted on the output shaft of the second motor 327, and the third gear 328 meshes with the second gear 326. After the second motor 327 is started, it can drive the third gear 328 to rotate. Under the meshing action of the second gear 326 and the third gear 328, the third gear 328 drives the second gear 326 to rotate, thereby causing the turntable 323 to rotate relative to the column 33. This causes the grippers 322 on each track 321 to move synchronously along the track 321 towards or away from the central axis of the column 33.

[0055] In a specific embodiment, such as Figure 3 As shown, a housing 36 is coaxially rotatably mounted on the upper part of the internal gear 311. The housing 36 includes a cylinder 361 and an end cap 362 coaxially fixedly mounted on the top of the cylinder 361. The upper ends of the column 33 and the track 321 are fixedly connected to the lower end face of the end cap 362. A guide groove 363 for accommodating the gripper 322 is provided on the end cap 362 of the housing 36, so that the gripper 322 can extend upward to the top of the end cap 362.

[0056] Inspection ports 364 are provided on the side wall of the cylinder 361 at positions corresponding to the first motor 34 and the second motor 327, and baffles 365 are provided on the inspection ports 364. In this embodiment, the baffles 365 are bolted to the cylinder 361 for easy disassembly and maintenance of the internal structure of the clamping module 3.

[0057] The process of using the 3D vision recognition automated assembly device 100 is as follows: Select the loading program. In PLC 6, select the pre-tuned assembly program and start the loading operation. Loading: After the loading module 1 transfers the tray 14 to the working range of the transport module 2, it transmits a signal to PLC 6. PLC 6 then transmits the next automated operation instruction to transport module 2. The transport robot 21 drives the 3D camera 23 to scan each assembly part 7 on the loading module 1 and compare it with the pre-recorded model information. Part grabbing: After the 3D camera 23 successfully scans, it transmits a signal to PLC 6. PLC 6 then transmits the next automated operation instruction to transport module 2, which uses the transport gripper 22 to grab the first assembly part 7. Transport module 2 transfers the first assembly part 7 to clamping module 3, which clamps the part. The thread assembly operation begins. The transport module 2 picks up the second assembly part 7 from the loading module 1 and sends the second assembly part 7 to the assembly position (above the first assembly part 7). The clamping module 3 rotates slowly according to the set program. At the same time, the transport module 2 falls slowly according to the set program until the male and female threads between the first assembly part 7 and the second assembly part 7 are connected in place.

[0058] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0059] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and does not constitute any limitation on this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A 3D visual recognition automated assembly device, characterized in that, include: A loading module (1) for storing assembled parts; A transport module (5) for transporting the assembled parts; A clamping module (3) for clamping the assembly parts is provided on the conveying module (5); The transport module (2) is located between the loading module (1) and the conveying module (5). The transport module (2) includes a transport robot (21), a transport gripper (22) located at the end of the transport robot (21), and a 3D camera (23) located on the transport gripper (22).

2. The 3D visual recognition automated assembly device according to claim 1, characterized in that, The handling gripper (22) includes: A first guide rail (221) is fixedly installed at the end of the transport robot (21); A second guide rail (222) is movably mounted on the first guide rail (221); Two transport claws (223) are movably mounted on the second guide rail (222). The two transport claws (223) are configured to move closer or further away synchronously. The movement directions of the transport claws (223) and the second guide rail (222) are perpendicular to each other.

3. The 3D visual recognition automated assembly device according to claim 2, characterized in that, A third motor (224) is fixedly installed on the first guide rail (221), and the third motor (224) is configured to drive the second guide rail (222) to move along the first guide rail (221).

4. The 3D visual recognition automated assembly device according to claim 2, characterized in that, A fourth motor (225) is fixedly installed on the second guide rail (222), and the fourth motor (225) is configured to drive the two transport claws (223) to move closer or further away synchronously.

5. The 3D visual recognition automated assembly device according to claim 4, characterized in that, A double-threaded screw (226) is rotatably mounted on the second guide rail (222). The central axis of the double-threaded screw (226) is parallel to the moving direction of the transport claw (223). The two axial parts of the double-threaded screw (226) are provided with threads of opposite directions. The two transport claws (223) are respectively adapted to the threads of the two axial parts of the double-threaded screw (226).

6. The 3D visual recognition automated assembly device according to any one of claims 1 to 5, characterized in that, The feeding module (1) includes a support frame (11) and a material tray (12) that is movably mounted on the support frame (11), and the assembly parts (7) are stored on the material tray (12).

7. The 3D visual recognition automated assembly device according to claim 6, characterized in that, A third guide rail (13) and a cylinder (14) are fixedly installed on the support frame (11). The material tray (12) is movably installed on the third guide rail (13). The telescopic end of the cylinder (14) is connected to the material tray (12).

8. The 3D visual recognition automated assembly device according to claim 7, characterized in that, A signal controller (15) is provided on the cylinder (14), and the signal controller (15) is configured to control the extension and retraction of the cylinder (14).

9. The 3D visual recognition automated assembly device according to any one of claims 1 to 5, characterized in that, A press-fitting module (4) is provided on the conveying module (5).

10. The 3D visual recognition automated assembly device according to claim 9, characterized in that, The 3D vision recognition automated assembly device also includes a PLC (6), which is electrically connected to the feeding module (1), the handling module (2), the clamping module (3), the pressing module (4), and the conveying module (5).

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