Visual recognition-based automatic assembly device for tactile switches

Abstract

The utility model discloses a kind of automatic assembly device of tactile switch based on visual identification, including rack, workbench being located on rack, control system, base feeding station being located on workbench, spring piece feeding station, assembly station and unloading station, still include first visual identification system, second visual identification system, directional spring piece feeding mechanism and automatic assembly system, the control system is electrically connected with first visual identification system, second visual identification system, directional spring piece feeding mechanism and automatic assembly system. Two sets of high-resolution visual identification system and high-precision execution component are used, high-precision positioning and angle adjustment are realized, assembly precision is greatly improved, switch contact problem caused by artificial positioning deviation is avoided;Full-process automation design, from base feeding, spring piece directional feeding to finished product unloading without manual intervention, replace worker labor, production efficiency is high, realize unmanned continuous production.

Description

Technical Field

[0001] This utility model relates to the field of assembly equipment technology, specifically to an automatic assembly device for tactile switches based on visual recognition. Background Technology

[0002] As a core component of electronic devices, tactile switches require the precise embedding of small spring contacts into the mounting slots of the base during assembly. Traditional production relies heavily on manual labor or semi-automatic equipment, presenting significant technical challenges. Manual assembly involves workers visually locating the spring contact and base, resulting in low assembly accuracy (often exceeding 0.5mm deviation), leading to poor switch contact and low efficiency. Furthermore, manual operation causes spring deformation and base scratches, resulting in high material loss rates. While semi-automatic equipment partially replaces manual labor, the small size and scattered shape of the spring contacts make precise orientation difficult with existing feeding mechanisms (such as ordinary vibratory feeders), leading to issues like reversed or tilted spring contact jamming and high downtime. Moreover, the lack of visual positioning assistance, relying solely on mechanical positioning of the base and spring contact, results in large errors in the mounting slot angle identification, leading to a persistently high assembly defect rate. Utility Model Content

[0003] In order to overcome the shortcomings of existing technical solutions, this utility model provides an automatic assembly device for tactile switches based on visual recognition, which can effectively solve the problems mentioned in the background technology.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] An automatic assembly device for tactile switches based on vision recognition includes a frame, a workbench on the frame, a control system, a base loading station, a spring loading station, an assembly station, and an unloading station on the workbench. It also includes a first vision recognition system, a second vision recognition system, a directional spring feeding mechanism, and an automatic assembly system. The control system is electrically connected to the first vision recognition system, the second vision recognition system, the directional spring feeding mechanism, and the automatic assembly system.

[0006] The first visual recognition system is fixed directly above the spring feeding station, with the lens optical axis perpendicular to the worktable surface; the second visual recognition system is fixed directly above the assembly station, with the lens optical axis perpendicular to the worktable surface.

[0007] The directional spring feeding mechanism is located next to the spring feeding station and includes a vibratory feeder, a linear feeder and a spring attitude adjustment module connected to the control system.

[0008] The automated assembly system includes a first robotic arm and a second robotic arm. The first robotic arm is located between the spring loading station and the assembly station. The end effector of the first robotic arm is a vacuum rotary adsorption assembly with an angle sensor. The second robotic arm is located between the assembly station and the unloading station. The end effector of the second robotic arm is an unloading gripper. The first robotic arm picks up the spring according to the positioning data of the first vision recognition system, and drives the vacuum rotary adsorption assembly to adjust its posture and press the spring into the mounting groove according to the position and angle data of the base mounting groove identified by the second vision recognition system.

[0009] As a further description of the above technical solution, the spring attitude adjustment module includes a mounting bracket, a pushing cylinder and a push rod. The mounting bracket is fixed to the end of the linear feeder, the pushing cylinder is horizontally mounted on the mounting bracket, and the push rod is horizontally connected to the output shaft of the pushing cylinder.

[0010] As a further description of the above technical solution, it also includes a base transfer mechanism located between the base loading station and the assembly station. The base transfer mechanism includes a precision linear slide fixed to the worktable along the X-axis, a slider connected to the precision linear slide, a lifting cylinder, and a vacuum suction cup assembly. The base transfer mechanism spans between the base loading station and the assembly station. The lifting cylinder is vertically connected to the slider, and the vacuum suction cup assembly is fixed to the lower end of the piston rod of the lifting cylinder.

[0011] As a further description of the above technical solution, the assembly station is equipped with a high-precision positioning fixture. The high-precision positioning fixture includes a lower template fixed to the workbench and a recessed groove on the upper surface of the lower template. Lateral clamping blocks and miniature cylinders connecting the lateral clamping blocks are symmetrically arranged on both sides of the recessed groove. The bottom of the recessed groove is also provided with a clearance hole corresponding to the spring mounting position.

[0012] As a further description of the above technical solution, the vacuum rotary adsorption assembly includes:

[0013] A rotary drive component is fixed to the end flange of the first robotic arm;

[0014] A hollow rotating shaft, with the upper end connected to the output shaft of the rotating drive component and the lower end connected to the suction nozzle;

[0015] Vacuum channel, connecting the hollow rotating shaft and the suction nozzle;

[0016] High-precision absolute rotary encoder, integrated into the rotary drive or mounted on a hollow rotary shaft.

[0017] As a further description of the above technical solution, both the first visual recognition system and the second visual recognition system include:

[0018] A high-resolution industrial camera is fixed to a bracket directly above the corresponding workstation.

[0019] A ring-shaped coaxial light source is positioned around the industrial camera lens, with the optical path coaxially downwards.

[0020] As a further description of the above technical solution, the unloading station and the base loading station are arranged in parallel, and the base loading station and the unloading station are respectively equipped with a first conveyor belt and a second conveyor belt.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] The present invention provides an automatic assembly device for tactile switches based on visual recognition, which has at least one of the following beneficial effects during use:

[0023] Firstly, relying on two sets of high-resolution visual recognition systems and high-precision execution components, high-precision positioning and angle adjustment are achieved, significantly improving assembly accuracy and avoiding poor switch contact caused by manual positioning deviations. Secondly, the fully automated design eliminates the need for manual intervention from base loading and spring directional feeding to finished product unloading, replacing human labor, increasing production efficiency, and achieving unmanned continuous production. Thirdly, the directional spring feeding mechanism, in conjunction with a visual error-proofing mechanism, can screen defective springs and detect base status, significantly reducing equipment downtime and minimizing failure losses. Fourthly, the vacuum adsorption and gapless positioning fixture design prevents base scratches and spring deformation, reducing material loss. Fifthly, the compact parallel layout of workstations is compatible with existing production line integration, saving workshop space while reducing labor and maintenance costs, resulting in a short investment payback period and meeting the needs of large-scale production. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an automatic assembly device for tactile switches based on visual recognition according to this utility model.

[0025] Figure 2 This is a top view of the automatic assembly device for a tactile switch based on visual recognition according to this utility model.

[0026] Figure 3 This is a side view of the first part of the automatic assembly device for tactile switches based on vision recognition according to this utility model.

[0027] Figure 4 This is a side view of the second part of the automatic assembly device for tactile switches based on visual recognition according to this utility model.

[0028] Numbering on the map:

[0029] 1. Frame; 101. Control system; 102. Workbench; 103. First vision recognition system; 104. Second vision recognition system; 2. Base loading station; 201. First conveyor belt; 3. Spring loading station; 301. Linear feeder; 4. Assembly station; 401. High-precision positioning fixture; 5. Unloading station; 501. Second conveyor belt; 6. Automatic assembly system; 601. First robotic arm; 602. Second robotic arm; 603. Unloading gripper; 604. Vacuum rotary adsorption assembly; 605. Hollow rotary shaft; 606. Rotary drive component; 7. Oriented spring feeding mechanism; 701. Push rod; 702. Mounting bracket; 703. Pushing cylinder; 8. Base transfer mechanism; 801. Precision linear slide; 802. Vacuum suction cup assembly; 803. Lifting cylinder; 804. Slider. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] like Figure 1-4 As shown, this utility model provides an automatic assembly device for tactile switches based on visual recognition, including a frame 1, a workbench 102 mounted on the frame 1, a control system 101, a base loading station 2, a spring loading station 3, an assembly station 4, and a unloading station 5 mounted on the workbench 102. It also includes a first visual recognition system 103, a second visual recognition system 104, a directional spring feeding mechanism 7, and an automatic assembly system 6. The control system 101 is electrically connected to the first visual recognition system 103, the second visual recognition system 104, the directional spring feeding mechanism 7, and the automatic assembly system 6.

[0032] After the device is started, the control system 101 first completes a self-check (power supply, communication, and moving parts of each component are reset to zero), and establishes a real-time data interaction link with the first vision recognition system 103, the second vision recognition system 104, the directional spring feeding mechanism 7, the automatic assembly system 6 (including the robotic arm), and the base transfer mechanism 8, ensuring that all components are in a ready-to-work state. At this time, the first conveyor belt 201 of the base loading station 2 and the second conveyor belt 501 of the unloading station 5 are started and enter the continuous conveying standby mode. The base is continuously conveyed to the designated loading position through the first conveyor belt 201 of the base loading station 2, realizing batch and automated feeding of the base, replacing manual tray placement.

[0033] The control system 101 triggers the base transfer mechanism 8 to operate. This mechanism is located between the "base loading station 2" and the "assembly station 4". Its "lifting cylinder 803" drives the "vacuum suction cup assembly 802" to move downward and adsorb the base through vacuum negative pressure (to avoid damage to the base).

[0034] The first visual recognition system 103 is fixed directly above the spring sheet loading station 3, with the lens optical axis perpendicular to the surface of the worktable 102. The second visual recognition system 104 is fixed directly above the assembly station 4, with the lens optical axis perpendicular to the surface of the worktable 102.

[0035] Two vision recognition systems (high-resolution camera + ring coaxial light source) are used to position the spring and the base mounting slot respectively, with a positioning accuracy of up to 0.01mm, avoiding the subjective deviation of "human eye positioning". The second vision recognition system 104 can detect in real time whether the base is in place and whether the mounting slot is intact. If "base missing" or "base damaged" occurs, the control system 101 will immediately stop the assembly and trigger an alarm to avoid empty assembly or incorrect assembly.

[0036] The directional spring feeding mechanism 7 is located on the side of the spring loading station 3, and includes a vibratory plate, a linear feeder 301 and a spring attitude adjustment module connected to the control system 101.

[0037] The spring pieces (easily scattered and irregularly oriented) are first fed into the vibratory feeder of the directional spring piece feeding mechanism 7. The vibratory feeder causes the spring pieces to move along a spiral track through high-frequency vibration. At the same time, the track structure design (such as notches and baffles) achieves "preliminary posture screening" of the spring pieces (such as unifying the opening direction of the spring pieces) to ensure that the spring pieces enter the subsequent stages with "approximately qualified posture". After being screened by the vibratory feeder, the spring pieces enter the linear feeder 301, where electromagnetic vibration achieves stable and continuous conveying of the spring pieces. When the spring pieces reach the end of the linear feeder 301, the spring piece posture adjustment module (claim 2) is activated—the "push cylinder 703" drives the "push rod 701" to horizontally push the spring pieces, adjusting them to a "standard initial posture that is easy for the robotic arm to grasp" (such as the spring piece assembly end facing the assembly station 4), solving the problem of "posture deviation affecting grasping".

[0038] The automatic assembly system 6 includes a first robotic arm 601 and a second robotic arm 602. The first robotic arm 601 is located between the spring loading station 3 and the assembly station 4. The end effector of the first robotic arm 601 is a vacuum rotary adsorption assembly 604 with an angle sensor. The second robotic arm 602 is located between the assembly station 4 and the unloading station 5. The end effector of the second robotic arm 602 is an unloading gripper 603. The first robotic arm 601 grabs the spring according to the positioning data of the first vision recognition system 103, and drives the vacuum rotary adsorption assembly 604 to adjust its posture and press the spring into the mounting groove according to the position and angle data of the base mounting groove identified by the second vision recognition system 104.

[0039] The control system 101 compares the deviation between the "current pose of the spring" and the "target pose of the base mounting slot" and sends a final adjustment command to the first robotic arm 601. The first robotic arm 601 fine-tunes the X / Y axis position, while the vacuum rotary adsorption assembly 604 precisely adjusts the angle of the spring (angle accuracy is guaranteed by the encoder) through the rotary drive component 606, so that the spring is completely aligned with the mounting slot. After alignment, the first robotic arm 601 moves downward and smoothly presses the spring into the base mounting slot, completing the core assembly of the tactile switch. After completing one assembly, the control system 101 resets all actuators (base transfer mechanism 8 returns to position, first / second robotic arm 602 resets, fixture releases), and enters the next assembly cycle to achieve batch and continuous production.

[0040] The vacuum rotary adsorption assembly 604 of the first robotic arm 601 integrates a "high-precision absolute rotary encoder" with an angle adjustment accuracy of less than 0.1°, ensuring that the angle of the spring piece and the mounting slot are perfectly matched.

[0041] Furthermore, the spring attitude adjustment module includes a mounting bracket 702, a pusher cylinder 703, and a push rod 701. The mounting bracket 702 is fixed to the end of the linear feeder 301, the pusher cylinder 703 is horizontally mounted on the mounting bracket 702, and the push rod 701 is horizontally connected to the output shaft of the pusher cylinder 703.

[0042] The track design of the vibratory feeder, in conjunction with the spring attitude adjustment module (push cylinder 703 + push rod 701), can screen out springs with unqualified attitudes (such as reversed or tilted springs), thus avoiding "defective springs causing the robotic arm to jam".

[0043] Furthermore, it also includes a base transfer mechanism 8 located between the base loading station 2 and the assembly station 4. The base transfer mechanism 8 includes a precision linear slide 801 fixed along the X-axis to the worktable 102, a slider 804 connected to the precision linear slide 801, a lifting cylinder 803, and a vacuum suction cup assembly 802. The base transfer mechanism 8 spans between the base loading station 2 and the assembly station 4. The lifting cylinder 803 is vertically connected to the slider 804, and the vacuum suction cup assembly 802 is fixed to the lower end of the piston rod of the lifting cylinder 803.

[0044] A precision linear slide 801 fixed along the X-axis (positioning accuracy up to 0.01mm) drives the slider 804 to move, synchronously linking the lifting cylinder 803 and the vacuum suction cup assembly 802 below the slider 804. The lifting cylinder 803 descends, and the vacuum suction cup generates negative pressure to adsorb the base (avoiding scratches on the base). Subsequently, the cylinder rises, and the slider 804 smoothly moves the base along the X-axis to the assembly station 4 (transfer error ≤0.02mm).

[0045] Furthermore, the assembly station 4 is equipped with a high-precision positioning fixture 401. The high-precision positioning fixture 401 includes a lower template fixed to the workbench 102 and a recessed groove on the upper surface of the lower template. Lateral clamping blocks and miniature cylinders connecting the lateral clamping blocks are symmetrically arranged on both sides of the recessed groove. The bottom of the recessed groove is also provided with a clearance hole corresponding to the spring plate mounting position.

[0046] The high-precision positioning fixture 401 at assembly station 4 is activated—the "slot" of the lower template initially limits the base, and the "miniature cylinders" on both sides drive the "lateral clamping blocks" to apply a uniform lateral force to the base, achieving "gap-free positioning" of the base; at the same time, the "avoidance holes" at the bottom of the slot reserve space for subsequent spring clip pressing, avoiding interference between the fixture and the spring clip. The "lateral clamping blocks + miniature cylinders" at assembly station 4 achieve gap-free positioning of the base, preventing base displacement during assembly and further ensuring assembly coaxiality.

[0047] Furthermore, the vacuum rotary adsorption assembly 604 includes:

[0048] A rotary drive component 606 is fixed to the end flange of the first robotic arm 601;

[0049] The hollow rotating shaft 605 is connected to the output shaft of the rotating drive component 606 at the upper end and to the suction head at the lower end;

[0050] Vacuum channel, connecting the hollow rotating shaft 605 and the suction head;

[0051] A high-precision absolute rotary encoder is integrated into the rotary drive unit 606 or mounted on the hollow rotary shaft 605.

[0052] According to the first visual recognition data, the control system 101 drives the first robotic arm 601 (located between the spring sheet loading station 3 and the assembly station 4) to move directly above the spring sheet; the "vacuum rotation adsorption component 604" at the end of the robotic arm is activated - negative pressure is generated through the "vacuum channel" (connecting the hollow rotating shaft 605 and the suction head) to stably adsorb the spring sheet (to prevent the spring sheet from deforming or falling off).

[0053] After the spring is adsorbed, the first robotic arm 601 carries the spring to the assembly station 4. At the same time, the "high-precision absolute rotary encoder" built into the component (integrated into the rotary drive 606 or the hollow rotary shaft 605) detects the current angle of the spring in real time. The "rotary drive 606" adjusts the rotation angle of the "hollow rotary shaft 605" according to the instructions of the control system 101 to perform "preliminary angle calibration" on the spring and reduce the angle deviation in subsequent assembly.

[0054] Furthermore, both the first visual recognition system 103 and the second visual recognition system 104 include:

[0055] A high-resolution industrial camera is fixed to a bracket directly above the corresponding workstation.

[0056] A ring-shaped coaxial light source is positioned around the industrial camera lens, with the optical path coaxially downwards.

[0057] Its "high-resolution industrial camera" (fixed directly above the spring sheet loading station 3, with the lens optical axis perpendicular to the table) captures images of the spring sheet, and the "ring coaxial light source" (surrounding the lens, with the optical path coaxial downward) can eliminate reflections and shadows on the surface of the spring sheet, ensuring image clarity; the vision system analyzes the "real-time position coordinates" (X / Y axis) and "current attitude angle" (θ angle) of the spring sheet through algorithms, and transmits the data to the control system 101 in real time.

[0058] When the first robotic arm 601 approaches the assembly station 4, the second vision recognition system 104 (fixed directly above the assembly station 4 with the lens perpendicular to the table) is activated. It also uses a "high-resolution camera + ring coaxial light source" to photograph the base on the assembly station 4, accurately identify the "position coordinates of the base mounting slot" (X / Y axis) and the "mounting slot angle" (θ angle), and feeds the data back to the control system 101.

[0059] Furthermore, the unloading station 5 is arranged in parallel with the base loading station 2, and the base loading station 2 and the unloading station 5 are respectively equipped with a first conveyor belt 201 and a second conveyor belt 501.

[0060] The base is continuously conveyed to the designated position by the first conveyor belt 201 of the base loading station 2. The conveyor belt triggers the photoelectric sensor, which transmits the "base in position" signal to the control system 101. After the base is adsorbed, the lifting cylinder 803 resets, and the precision linear slide 801 (fixed along the X-axis) drives the slider 804 to move horizontally, accurately conveying the base to the top of the "assembly station 4". Then the lifting cylinder 803 descends again, placing the base into the "high-precision positioning fixture 401" of the assembly station 4.

[0061] The second robotic arm 602 carries the finished product to the "unloading station 5" and places it on the second conveyor belt 501. The second conveyor belt 501 then transports the finished product to the subsequent inspection / packaging stage, realizing a continuous flow of "assembly-unloading". From base loading (first conveyor belt 201), spring feeding (vibrating plate + linear feeder 301), transfer (base transfer mechanism 8), assembly (first robotic arm 601) to unloading (second robotic arm 602 + second conveyor belt 501), the entire process requires no manual intervention, achieving "unmanned continuous production".

[0062] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic assembly device for tactile switches based on vision recognition, characterized in that: The system includes a frame, a workbench mounted on the frame, a control system, a base loading station, a spring loading station, an assembly station, and a unloading station mounted on the workbench. Its distinguishing feature is that it further includes a first vision recognition system, a second vision recognition system, a directional spring feeding mechanism, and an automatic assembly system. The control system is electrically connected to the first vision recognition system, the second vision recognition system, the directional spring feeding mechanism, and the automatic assembly system. The first visual recognition system is fixed directly above the spring feeding station, with the lens optical axis perpendicular to the worktable surface; the second visual recognition system is fixed directly above the assembly station, with the lens optical axis perpendicular to the worktable surface. The directional spring feeding mechanism is located next to the spring feeding station and includes a vibratory feeder, a linear feeder and a spring attitude adjustment module connected to the control system. The automated assembly system includes a first robotic arm and a second robotic arm. The first robotic arm is located between the spring loading station and the assembly station. The end effector of the first robotic arm is a vacuum rotary adsorption assembly with an angle sensor. The second robotic arm is located between the assembly station and the unloading station. The end effector of the second robotic arm is an unloading gripper. The first robotic arm picks up the spring according to the positioning data of the first vision recognition system, and drives the vacuum rotary adsorption assembly to adjust its posture and press the spring into the mounting groove according to the position and angle data of the base mounting groove identified by the second vision recognition system.

2. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: The spring attitude adjustment module includes a mounting bracket, a pushing cylinder, and a push rod. The mounting bracket is fixed to the end of the linear feeder, the pushing cylinder is horizontally mounted on the mounting bracket, and the push rod is horizontally connected to the output shaft of the pushing cylinder.

3. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: It also includes a base transfer mechanism located between the base loading station and the assembly station. The base transfer mechanism includes a precision linear slide fixed to the worktable along the X-axis, a slider connected to the precision linear slide, a lifting cylinder and a vacuum suction cup assembly. The base transfer mechanism spans between the base loading station and the assembly station. The lifting cylinder is vertically connected to the slider, and the vacuum suction cup assembly is fixed to the lower end of the piston rod of the lifting cylinder.

4. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: The assembly station is equipped with a high-precision positioning fixture, which includes a lower template fixed to the workbench and a recessed groove on the upper surface of the lower template. Lateral clamping blocks and miniature cylinders connecting the lateral clamping blocks are symmetrically arranged on both sides of the recessed groove. The bottom of the recessed groove is also provided with a clearance hole corresponding to the spring mounting position.

5. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: The vacuum rotary adsorption assembly includes: A rotary drive component is fixed to the end flange of the first robotic arm; A hollow rotating shaft, with the upper end connected to the output shaft of the rotating drive component and the lower end connected to the suction nozzle; Vacuum channel, connecting the hollow rotating shaft and the suction nozzle; High-precision absolute rotary encoder, integrated into the rotary drive or mounted on a hollow rotary shaft.

6. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: Both the first visual recognition system and the second visual recognition system include: A high-resolution industrial camera is fixed to a bracket directly above the corresponding workstation. A ring-shaped coaxial light source is positioned around the industrial camera lens, with the optical path coaxially downwards.

7. The automatic assembly device for a tactile switch based on visual recognition according to claim 1, characterized in that: The unloading station and the base loading station are arranged in parallel, and the base loading station and the unloading station are respectively equipped with a first conveyor belt and a second conveyor belt.

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