Online high-speed assembly device based on machine vision

Abstract

The utility model provides an online high -speed assembly device based on machine vision, including fixed chassis, workstation, X axis conveying device, jacking device, alignment assembly device and alignment detection device, workstation horizontal fixed in fixed chassis, X axis conveying device is fixed in the workstation top along left and right direction, the both sides of X axis conveying device are provided with the conveying belt for conveying jig, jacking device is fixed on the workstation and corresponds between two groups of conveying belts, alignment assembly device includes support stand, Z axle sliding table, first Z axle drive part, lifting frame, XY axle drive part, rotary drive part, portal frame and assembly part, alignment detection device includes installation stand, second Z axle drive part, lifting part and camera part, the advantage of this design is in: can improve the accuracy of position detection, improve the precision of assembly, and reduce the structural complexity of assembly part, reduce the risk of interference, improve the assembly efficiency.

Description

Technical Field

[0001] This utility model relates to the field of glass cover assembly technology, and in particular to an online high-speed assembly device based on machine vision. Background Technology

[0002] Currently, various electronic products have displays. During the assembly of the displays, glass covers need to be assembled onto the main body of the product. On automated production lines, the main body of the product and the glass covers are transported to various workstations along with fixtures. During the assembly process, the fixtures need to be lifted so that they are detached from the conveyor belt. Then, an assembly robot assembles the glass covers onto the main body of the product. Traditional assembly robots rely solely on the grippers on the robot to position the glass covers, resulting in low assembly accuracy. On the other hand, their gripper structures are bulky. To prevent interference between the grippers and the surrounding environment and to avoid damage to the glass covers, the robot's movement speed is usually reduced, leading to low assembly efficiency. Therefore, it is necessary to develop an online high-speed assembly device based on machine vision to solve the above problems. Utility Model Content

[0003] The purpose of this invention is to provide an online high-speed assembly device based on machine vision to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A machine vision-based online high-speed assembly device includes a fixed base frame, a worktable, an X-axis conveyor, a lifting device, an alignment assembly device, and an alignment detection device. The worktable is horizontally fixed on the fixed base frame. The X-axis conveyor is fixed above the worktable in a left-right direction. Conveyor belts for conveying fixtures are provided on both the front and rear sides of the X-axis conveyor. The lifting device is fixed on the worktable and corresponds to the area between the two sets of conveyor belts. The alignment assembly device includes a support frame, a Z-axis slide, a first Z-axis drive component, a lifting frame, an XY-axis drive component, a rotary drive component, a gantry frame, and assembly components. The support frame is fixed below the worktable. The Z-axis slide and the first Z-axis drive component are both fixed on the support frame. The lifting frame is fixed to the power output end of the first Z-axis drive component and slidably connected to the Z-axis slide. The XY-axis drive component is fixed on the lifting frame, and the rotary drive component is fixed on the X-axis slide. The power output end of the Y-axis drive component is fixed to the bottom of the gantry frame, which is also fixed to the power output end of the rotary drive component and passes through the worktable on both sides. The assembly component is fixed to the top of the gantry frame and corresponds to the top of the lifting device. A suction cup for adsorbing workpieces is provided below the assembly component. The alignment detection device includes a mounting frame, a second Z-axis drive component, a lifting component, and a camera component. The mounting frame is fixed to the worktable and is erected above the assembly component. The second Z-axis drive component is fixed to the top of the mounting frame with its power output end facing downward. The lifting component is fixed to the power output end of the second Z-axis drive component and is slidably connected to the mounting frame. The camera component is fixed to the lifting component. Four sets of camera components are set and correspond to the four corners of the assembly component. Two sets of X-axis conveying device, lifting device, alignment assembly device, and alignment detection device are arranged side by side along the front and back of the worktable.

[0006] Further description of this utility model: The X-axis conveying device includes a first-stage conveying component, a second-stage conveying component, and a connecting conveying component. Both the first-stage and second-stage conveying components are fixed above the worktable. Conveyor belts are provided on both the front and rear sides of the first-stage and second-stage conveying components. The connecting conveying component is fixed on the worktable and corresponds to the first-stage and second-stage conveying components. The connecting conveying component includes a Y-axis slide, a Y-axis cylinder, a movable frame, and a connecting conveyor belt. The Y-axis slide is fixed on the worktable along the front-rear direction, and the Y-axis cylinder is fixed on... On the workbench, the movable frame is fixed to the power output end of the Y-axis cylinder and its lower end is slidably connected to the Y-axis slide. The connecting conveyor belt is installed on the upper end of the movable frame. Both the movable frame and the connecting conveyor belt correspond to the inside of the gantry. Two sets of the Y-axis cylinder, the movable frame, and the connecting conveyor belt are each set on the Y-axis slide. The two sets of connecting conveyor belts are arranged opposite each other. The lifting device is located between the two sets of connecting conveyor belts. The left ends of the two sets of connecting conveyor belts are connected to the two sets of conveyor belts of the first section, and the right ends of the two sets of connecting conveyor belts are connected to the two sets of conveyor belts of the second section.

[0007] Further description of the present invention: It also includes a fixture return conveying device, which is fixed on a fixed base frame and corresponds to the lower part of the worktable.

[0008] The beneficial effects of this utility model are as follows: The main body of the product and the glass cover are placed together in the fixture, and the fixture is transported to the top of the lifting device by the X-axis conveyor. The lifting device lifts the fixture upward, causing it to detach from the conveyor belt. Then, the first Z-axis drive component drives the assembly component to descend. The suction cup at the lower end of the assembly component adsorbs the glass cover on the fixture. The first Z-axis drive component drives the glass cover to rise a certain distance. Then, the second Z-axis drive component drives the lifting component to slide downward on the mounting frame, bringing the camera component close to the glass cover and taking pictures and positioning the positions of the glass cover and the main body of the product. The head assembly is configured with four groups, each capturing images of the four corners of the glass cover to improve the accuracy of position detection. Based on the detected position information, the XY-axis drive unit moves the glass cover horizontally, while the rotation drive unit rotates the glass cover horizontally until it reaches the required assembly position. Then, driven by the first Z-axis drive unit, the glass cover is pressed downwards onto the product body and assembled with it. After assembly, the lifting device lowers the fixture, which is then placed back onto the conveyor belt. The assembled product continues to be transported to the next process along with the fixture. The advantages of this design are: by using a positioning detection device to visually inspect and position the glass cover and product body, the accuracy of position detection and assembly precision are improved. Furthermore, by incorporating suction cups on the assembly components to grip and assemble the glass cover, the structural complexity of the assembly components is minimized, reducing the risk of interference and thus improving assembly efficiency. Attached Figure Description

[0009] Figure 1 This is an overall structural diagram of the present invention;

[0010] Figure 2 This is a structural diagram of the connecting and conveying component in this utility model;

[0011] Figure 3 This is a structural diagram of the alignment and assembly device in this utility model;

[0012] Figure 4 This is a structural diagram of the alignment detection device in this utility model;

[0013] Explanation of reference numerals in the attached figures:

[0014] 1. Workbench; 2. X-axis conveyor; 21. First-stage conveyor component; 22. Second-stage conveyor component; 23. Connecting conveyor component; 231. Y-axis slide; 232. Y-axis cylinder; 233. Movable frame; 234. Connecting conveyor belt; 3. Lifting device; 4. Alignment assembly device; 41. Support frame; 42. Z-axis slide; 43. First Z-axis drive component; 44. Lifting frame; 45. XY-axis drive component; 46. Rotary drive component; 47. Gantry frame; 48. Assembly component; 5. Alignment detection device; 51. Mounting frame; 52. Second Z-axis drive component; 53. Lifting component; 54. Camera component; 6. Fixture return conveyor. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings:

[0016] like Figures 1 to 4As shown, an online high-speed assembly device based on machine vision includes a fixed base frame, a worktable 1, an X-axis conveyor 2, a lifting device 3, an alignment assembly device 4, and an alignment detection device 5. The worktable 1 is horizontally fixed on the fixed base frame. The X-axis conveyor 2 is fixed above the worktable 1 in the left-right direction. Conveyor belts for conveying fixtures are provided on both the front and rear sides of the X-axis conveyor 2. The lifting device 3 is fixed on the worktable 1 and corresponds to the area between the two sets of conveyor belts. The alignment assembly device 4 includes a support frame 41 and a Z-axis... The system comprises a Z-axis slide 42, a first Z-axis drive component 43, a lifting frame 44, an XY-axis drive component 45, a rotary drive component 46, a gantry frame 47, and an assembly component 48. A support frame 41 is fixed below the worktable 1. The Z-axis slide 42 and the first Z-axis drive component 43 are both fixed on the support frame 41. The lifting frame 44 is fixed to the power output end of the first Z-axis drive component 43 and is slidably connected to the Z-axis slide 42. The XY-axis drive component 45 is fixed to the lifting frame 44, and the rotary drive component 46 is fixed to the XY-axis slide 47. The power output end of the Y-axis drive component 45, the bottom of the gantry 47 is fixed to the power output end of the rotary drive component 46 and passes through the worktable 1 on both sides, the assembly component 48 is fixed to the top of the gantry 47, the assembly component 48 corresponds to the top of the lifting device 3, and a suction cup for adsorbing the workpiece is provided below the assembly component 48. The alignment detection device 5 includes a mounting frame 51, a second Z-axis drive component 52, a lifting component 53 and a camera component 54. The mounting frame 51 is fixed on the worktable 1 and erected on the worktable 1. Above the assembly component 48, the second Z-axis drive component 52 is fixed to the top of the mounting frame 51 with its power output end facing downwards. The lifting component 53 is fixed to the power output end of the second Z-axis drive component 52 and is slidably connected to the mounting frame 51. The camera component 54 is fixed on the lifting component 53. Four sets of camera components 54 are set and correspond to the four corners of the assembly component 48 respectively. The X-axis conveying device 2, the lifting device 3, the alignment assembly device 4, and the alignment detection device 5 are each set up in two rows along the front and back of the worktable 1.

[0017] The main body of the product and the glass cover are placed together in the fixture, and the fixture is transported to the top of the lifting device 3 by the X-axis conveyor 2. The lifting device 3 lifts the fixture upward, causing it to detach from the conveyor belt. Then, the first Z-axis drive component 43 drives the assembly component 48 to descend. The suction cup at the lower end of the assembly component 48 adsorbs the glass cover on the fixture. The first Z-axis drive component 43 drives the glass cover to rise a certain distance. Then, the second Z-axis drive component 52 drives the lifting component 53 to slide downward on the mounting bracket 51, so that the camera component 54 approaches the glass cover and takes pictures to locate the position of the glass cover and the main body of the product. Component 54 is configured with four sets of sensors to scan and detect the four corners of the glass cover, improving the accuracy of position detection. Based on the detected position information, the XY-axis drive component 45 drives the glass cover to move horizontally, while the rotation drive component 46 drives the glass cover to rotate horizontally until it reaches the required assembly position. Then, driven by the first Z-axis drive component 43, the glass cover is pressed downwards onto the product body and assembled with it. After assembly, the lifting device 3 drives the fixture to descend, and the fixture is placed back onto the conveyor belt. The assembled product continues to be transported to the next process along with the fixture. The advantages of this design are: by using the alignment detection device 5 to visually detect and position the glass cover and the product body, the accuracy of position detection and assembly precision can be improved. Furthermore, by setting suction cups on the assembly component 48 to grip and assemble the glass cover, the structural complexity of the assembly component 48 can be greatly reduced, the risk of interference can be minimized, and thus the assembly efficiency can be improved.

[0018] The X-axis conveying device 2 includes a first-stage conveying component 21, a second-stage conveying component 22, and a connecting conveying component 23. The first-stage conveying component 21 and the second-stage conveying component 22 are both fixed above the worktable 1. Conveyor belts are provided on both the front and rear sides of the first-stage conveying component 21 and the second-stage conveying component 22. The connecting conveying component 23 is fixed on the worktable 1 and corresponds to the area between the first-stage conveying component 21 and the second-stage conveying component 22. The connecting conveying component 23 includes a Y-axis slide 231, a Y-axis cylinder 232, a movable frame 233, and a connecting conveyor belt 234. The Y-axis slide 231 is fixed on the worktable 1 in the front-rear direction, and the Y-axis cylinder 232 is fixed on the worktable 1. The frame 233 is fixed to the power output end of the Y-axis cylinder 232 and its lower end is slidably connected to the Y-axis slide table 231. The connecting conveyor belt 234 is installed on the upper end of the movable frame 233. The movable frame 233 and the connecting conveyor belt 234 are both located inside the gantry frame 47. Two sets of the Y-axis cylinder 232, the movable frame 233 and the connecting conveyor belt 234 are each set on the Y-axis slide table 231. The two sets of connecting conveyor belts 234 are arranged opposite to each other. The lifting device 3 is located between the two sets of connecting conveyor belts 234. The left ends of the two sets of connecting conveyor belts 234 are respectively connected to the two sets of conveyor belts of the first section of the conveyor belt. The right ends of the two sets of connecting conveyor belts 234 are respectively connected to the two sets of conveyor belts of the second section of the conveyor belt.

[0019] In the conveying state, two sets of Y-axis cylinders 232 drive two sets of connecting conveyor belts 234 to move closer together, thereby connecting the two sets of connecting conveyor belts 234 with the conveyor belts on the first-stage conveyor component 21 and the second-stage conveyor component 22. This allows the fixture on the first-stage conveyor component 21 to be conveyed to the connecting conveyor component 23. Then, under the conveying of the connecting conveyor belts 234, the fixture is positioned above the lifting device 3. The lifting device 3 lifts the fixture and removes it from the connecting conveyor belts 234. Next, the two sets of Y-axis cylinders 232 drive the two sets of connecting conveyor belts 234 to move away, providing a more spacious supplementary lighting environment for the light source component on the camera component 54, and also providing more operating space for the alignment and assembly device 4. After assembly, the two sets of connecting conveyor belts 234 move closer together again, and the lifting device 3 puts the fixture back onto the connecting conveyor belts 234. The connecting conveyor belts 234 then convey the fixture to the second-stage conveyor component 22, which continues to convey the fixture to the next process.

[0020] This design also includes a fixture return conveyor 6, which is fixed on the fixed base and corresponds to the bottom of the worktable 1.

[0021] The jig return conveyor 6 is used to convey the empty jig to the left for recycling when carrying workpieces.

[0022] The above does not limit the technical scope of this utility model. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this utility model shall still fall within the scope of the technical solution of this utility model.

Claims

1. A high-speed online assembly device based on machine vision, characterized in that: The assembly includes a fixed base frame, a worktable, an X-axis conveyor, a lifting device, an alignment assembly device, and an alignment detection device. The worktable is horizontally fixed to the fixed base frame. The X-axis conveyor is fixed above the worktable in a left-right direction. Conveyor belts for conveying fixtures are provided on both the front and rear sides of the X-axis conveyor. The lifting device is fixed to the worktable and corresponds to the area between the two sets of conveyor belts. The alignment assembly device includes a support frame, a Z-axis slide, a first Z-axis drive component, a lifting frame, an XY-axis drive component, a rotary drive component, a gantry frame, and assembly components. The support frame is fixed below the worktable. The Z-axis slide and the first Z-axis drive component are both fixed to the support frame. The lifting frame is fixed to the power output end of the first Z-axis drive component and slidably connected to the Z-axis slide. The XY-axis drive component is fixed to the lifting frame. The rotary drive component is fixed to the power output end of the XY-axis drive component. The bottom of the gantry frame is fixed to the power output end of the rotary drive component and extends through the worktable on both sides. The assembly component is fixed to the top of the gantry frame and corresponds to the top of the lifting device. A suction cup for adsorbing workpieces is provided below the assembly component. The alignment detection device includes a mounting frame, a second Z-axis drive component, a lifting component, and a camera component. The mounting frame is fixed to the worktable and erected above the assembly component. The second Z-axis drive component is fixed to the top of the mounting frame with its power output end facing downwards. The lifting component is fixed to the power output end of the second Z-axis drive component and is slidably connected to the mounting frame. The camera component is fixed to the lifting component. Four sets of camera components are provided and correspond to the four corners of the assembly component. Two sets of the X-axis conveying device, the lifting device, the alignment assembly device, and the alignment detection device are arranged side by side along the front and back of the worktable.

2. The online high-speed assembly device based on machine vision according to claim 1, characterized in that: The X-axis conveying device includes a first-stage conveying component, a second-stage conveying component, and a connecting conveying component. The first-stage and second-stage conveying components are both fixed above the worktable. Conveyor belts are provided on both the front and rear sides of the first-stage and second-stage conveying components. The connecting conveying component is fixed on the worktable and corresponds to the first-stage and second-stage conveying components. The connecting conveying component includes a Y-axis slide, a Y-axis cylinder, a movable frame, and a connecting conveyor belt. The Y-axis slide is fixed on the worktable along the front-rear direction, the Y-axis cylinder is fixed on the worktable, and the movable frame is fixed... The power output end of the Y-axis cylinder is fixed and its lower end is slidably connected to the Y-axis slide. The connecting conveyor belt is installed on the upper end of the movable frame. The movable frame and the connecting conveyor belt are both located inside the gantry. Two sets of the Y-axis cylinder, the movable frame, and the connecting conveyor belt are each arranged on the Y-axis slide. The two sets of connecting conveyor belts are arranged opposite to each other. The lifting device is located between the two sets of connecting conveyor belts. The left ends of the two sets of connecting conveyor belts are respectively connected to the two sets of conveyor belts of the first section conveyor belt, and the right ends of the two sets of connecting conveyor belts are respectively connected to the two sets of conveyor belts of the second section conveyor belt.

3. The online high-speed assembly device based on machine vision according to claim 1, characterized in that: It also includes a fixture return conveyor, which is fixed on the fixed base and corresponds to the area below the worktable.

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