CN111645335A - Flexible intelligent assembling system based on visual identification and detection - Google Patents
Flexible intelligent assembling system based on visual identification and detection Download PDFInfo
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- CN111645335A CN111645335A CN202010597201.XA CN202010597201A CN111645335A CN 111645335 A CN111645335 A CN 111645335A CN 202010597201 A CN202010597201 A CN 202010597201A CN 111645335 A CN111645335 A CN 111645335A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000001360 synchronised effect Effects 0.000 claims description 80
- 239000000463 material Substances 0.000 claims description 32
- 238000012546 transfer Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims 5
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000001746 injection moulding Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 230000004083 survival effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/95—Measuring or controlling the joining process by measuring or controlling specific variables not covered by groups B29C66/91 - B29C66/94
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
- G06F3/0202—Constructional details or processes of manufacture of the input device
Abstract
The invention relates to a flexible intelligent assembly system based on visual identification and detection. The technical scheme is as follows: the utility model provides a flexible intelligent assembly system based on visual identification and detection, including setting up two sets of assembly units on the rack, every assembly unit of group all includes to paste the dress component and moves and carry the mechanism, the tool worn-out fur moves and carries the mechanism, paste dress mechanism, Y axle module subassembly, Y axle guide rail assembly, X axle module subassembly, the vision subassembly, Y axle module subassembly and Y axle guide rail assembly pass through support column parallel mount in the rack top, paste dress mechanism and install in X axle module subassembly side, be used for pasting dress component to the tool worn-out fur, it moves the mechanism to paste the dress component, be used for treating the component of pasting dress and carry, the tool worn-out fur moves and carries the mechanism, be used for moving the tool worn-out fur and. The invention has the advantages that: can be suitable for the assembly of different products to satisfy diversified, small-scale and customized market demands.
Description
Technical Field
The invention relates to an assembly system, in particular to a flexible intelligent assembly system based on visual identification and detection.
Background
The traditional assembly line mainly adopts two modes, one mode is manual assembly, the efficiency is low, the accuracy is poor, and the cost is high; and the other is a rigid automatic assembly line, namely a rigid assembly line, which is mainly used for mass assembly of single varieties and has the advantages of high production rate, high equipment utilization rate and low cost of single products. However, "rigid" assembly lines have drawbacks that are not as negligible: the production requirements of multiple varieties, small scale and customization can not be realized. With the upgrading of the consumption structure, the market of the buyer and the personalized, customized and timeliness requirements of the consumer are in a tight step, the flexible production and flexible manufacturing which are diversified, small in scale and controllable in period are the key points which are surpassed by the future survival of enterprises, and the traditional rigid assembly line cannot meet the market requirements.
Disclosure of Invention
The invention aims to provide a flexible intelligent assembly system with visual identification and detection aiming at the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
a flexible intelligent assembly system based on visual identification and detection comprises two groups of assembly units arranged on a cabinet, wherein each group of assembly units comprises a surface-mounted component transferring mechanism, a jig light panel transferring mechanism, a surface-mounted mechanism, a Y-axis module assembly, a Y-axis guide rail assembly, an X-axis module assembly and a visual assembly, the Y-axis module assembly and the Y-axis guide rail assembly are arranged above the cabinet in parallel through support columns, the X-axis module assembly is arranged above the Y-axis guide rail assembly and the Y-axis module assembly in a gantry manner, the surface-mounted mechanism is arranged on the side of the X-axis module assembly and is used for surface-mounting a surface-mounted component on the jig light panel, the surface-mounted component transferring mechanism is horizontally arranged above the cabinet on one side of the X-axis module assembly and is used for transferring a surface-mounted component, and the jig transferring mechanism is horizontally arranged above the cabinet on the other side of the X-, the light plate transferring device is used for transferring the jig light plate;
the surface-mounted component transferring mechanism comprises a material receiving jig, a sliding plate, a linear guide rail A, a bottom plate, a stepping motor, a synchronous belt and a linear guide rail B, wherein the material receiving jig is horizontally arranged above the bottom plate of the material receiving jig, the lower end surface of the bottom plate of the material receiving jig is horizontally arranged on the linear guide rail B, the linear guide rail B is arranged above a linear guide rail pad plate, the linear guide rail pad plate is arranged on the upper end surface of the sliding plate, the lower end surface of the sliding plate is arranged right above the linear guide rail A, the linear guide rail A is horizontally arranged above the bottom plate, the stepping motor is arranged below the bottom plate, an output shaft of the stepping motor penetrates through the bottom plate, the synchronous belt pulley A is sleeved on the output shaft of the stepping motor, one end of the synchronous belt is sleeved on the outer ring of the synchronous belt pulley A, the material receiving jig comprises a material receiving jig body, a plurality of groove bodies, a plurality of air pipe connectors and a plurality of vacuum generators, wherein the surface of the material receiving jig body is uniformly distributed with the plurality of groove bodies;
the jig light plate transferring mechanism comprises a light plate positioning jig, a light plate positioning jig supporting plate, a light plate positioning jig sliding plate, a light plate transferring linear guide rail, a light plate transferring synchronous belt wheel, a servo motor and a light plate transferring synchronous belt, the lower surface of the light plate positioning jig is arranged on the light plate positioning jig supporting plate, the lower surface of the light plate positioning jig supporting plate is arranged on the light plate positioning jig sliding plate, the lower end surface of the light panel positioning jig sliding plate is arranged right above the light panel shifting linear guide rail, the servo motor is arranged below the light panel shifting bottom plate, and the output shaft of the servo motor passes through the light plate shifting bottom plate, the light plate shifting synchronous belt wheel is sleeved on the output shaft of the servo motor, the light plate shifting synchronous belt wheel is sleeved on the outer ring of the light plate shifting synchronous belt wheel, the light plate shifting synchronous belt is connected with the lower end surface of the light plate positioning jig sliding plate through a connecting seat;
the pasting mechanism comprises a pasting bottom plate, a fixing frame, a lifting stepping motor, a lifting synchronous belt, a rotating stepping motor and a suction nozzle assembly, wherein the fixing frame is of a rectangular frame structure and comprises a side plate A, a side plate B, a side plate C and a connecting plate, the side plate A and the side plate C are respectively arranged on two sides of the side plate B and are vertically connected with the side plate, the connecting plate is connected to the rear end surfaces of the side plate B and the side plate C, two sides of the pasting bottom plate are respectively connected with the side plate A and the side plate C, the whole pasting mechanism is arranged on a guide rail sliding block of an X-axis module assembly through the side plate A, the lifting stepping motor is arranged on the back surface of the bottom plate, a motor shaft of the lifting stepping motor penetrates through the bottom plate, a lifting synchronous belt wheel A is arranged on a shaft of the lifting stepping motor, and, the rotary stepping motor is vertically arranged above the motor mounting plate, a motor shaft of the rotary stepping motor penetrates through the motor mounting plate, the rotary synchronous pulley A is arranged on a shaft of the stepping motor, the rotary synchronous belt is sleeved on outer rings of the rotary synchronous pulley A and the rotary synchronous pulley B, the motor mounting plate is horizontally arranged above a bearing plate, the back surface of the bearing plate is connected with the front surface of the mounting base plate, the suction nozzle assembly is arranged on the fixing frame through a support and is fixedly connected with a linear guide rail slider through a slider plate, the linear guide rail slider is in sliding connection with a lifting linear guide rail, the lifting linear guide rail is fixedly arranged on the mounting base plate, and the slider plate is connected with the lifting synchronous belt;
the suction nozzle assembly comprises an air inlet joint connected with an air inlet pipe, a suction nozzle rod connected with the air inlet joint and a mounting suction nozzle arranged at the bottom end of the suction nozzle rod, a rotary shaft sleeve is sleeved on the outer surface of the suction nozzle rod, and a rotary synchronous belt pulley B is sleeved on the suction nozzle rod and positioned below the rotary shaft sleeve;
the vision assembly is arranged above the cabinet and comprises a first CCD mechanism for detecting the appearance of the mounted element and the suction position of the mounted element on the mounting suction nozzle, and the first CCD mechanism is positioned between the Y-axis module assembly and the X-axis module assembly.
The further technical scheme is as follows:
y axle module subassembly is including setting up Y axle lead screw, Y axle linear guide, Y axle servo motor and the Y axle lead screw fixing base on Y axle module bottom plate, the one end fixed connection of Y axle servo motor and Y axle lead screw, the other end and the Y axle lead screw supporting seat fixed connection of Y axle lead screw, Y axle lead screw nut slides and sets up on Y axle lead screw, Y axle linear guide slider is located on Y axle linear guide, Y axle linear guide slider and Y axle lead screw nut fixed connection.
The further technical scheme is as follows:
the flexible intelligent assembly system based on visual identification and detection further comprises a controller, wherein the control element of the element transferring mechanism, the control element of the jig light plate transferring mechanism, the control element of the attaching mechanism, the control element of the Y-axis module assembly, the control element of the Y-axis guide rail assembly, the control element of the X-axis module assembly and the control element of the visual assembly are connected with the controller.
The component transferring mechanism further comprises a transverse moving cylinder and a cylinder connecting plate, the transverse moving cylinder is horizontally arranged on the upper surface of the sliding plate through a cylinder mounting bracket, and the material receiving jig bottom plate is connected with the tail end of a cylinder rod of the transverse moving cylinder through the cylinder connecting plate.
The light panel positioning jig comprises a cavity for placing the light panel jig, a flip cover is arranged on the outer surface of the cavity, a button which can be pushed to open the flip cover manually is arranged on the flip cover, a hollow part is arranged in the center of the flip cover so that the position of a component to be mounted on the light panel jig is exposed, the rest positions of the light panel jig are pressed by the flip cover, the rotating shaft sleeve penetrates through the motor mounting plate, and the lower end of the rotating shaft sleeve is fixed on the suction nozzle rod through a bearing.
Preferably, the first and second liquid crystal materials are,
the pasting and mounting mechanism is provided with four groups of suction nozzle assemblies, and each suction nozzle assembly is correspondingly connected with a lifting stepping motor and a rotating stepping motor.
32 groove bodies used for placing the surface-mounted elements are uniformly distributed on the surface of the material receiving jig.
Compared with the prior art, the flexible intelligent assembly system based on visual identification and detection provided by the invention has the following technical effects:
1. the flexible intelligent assembly system based on visual identification and detection can be suitable for assembly of different products so as to meet market demands of diversification, small scale and customization.
2. The flexible intelligent assembly system based on visual identification and detection is provided with the visual detection assembly and the correction assembly, so that the inspection precision can be submitted, and the yield of product assembly is ensured.
3. The intelligent assembly system based on visual identification and detection has the advantages that the two groups of assembly units are alternately assembled, the efficiency is higher, meanwhile, the automation control is adopted, the intelligence is good, and the productivity and the economic benefit of enterprises can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of a mounted component transfer mechanism.
Fig. 3 is a schematic structural view of a jig light plate transfer mechanism.
Fig. 4 is a schematic view of a mounting mechanism structure.
Fig. 5 is a schematic structural view of a Y-axis module assembly.
Fig. 6 is a schematic structural view of the mounting mechanism with the fixing frame removed.
Fig. 7 is a schematic view of the nozzle assembly configuration.
Fig. 8 is a right side view of fig. 2.
Fig. 9 is a schematic view of an operating state of the mounted component transfer mechanism.
Wherein, 1, a cabinet, 2, a surface-mounted component transfer mechanism, 2-1, a material receiving jig, 2-2, a sliding plate, 2-3, linear guide rails A, 2-4, a bottom plate, 2-5, synchronous belt wheels A, 2-6, a stepping motor, 2-7, a synchronous belt, 2-8, an air pipe joint, 2-9, a suction nozzle, 2-10, a material receiving jig bottom plate, 2-11, linear guide rails B, 2-12, a linear guide rail backing plate, 2-13, a transverse moving cylinder, 2-14, an air cylinder connecting plate, 2-15, a synchronous belt wheel B, 2-16, an air cylinder mounting bracket, 3, a jig light plate transfer mechanism, 3-1, a light plate positioning jig, 3-1-1, a cavity, 3-1-2, a flip cover, 3-2 and a light plate positioning jig supporting plate, 3-3 parts of a light panel positioning jig sliding plate, 3-4 parts of a light panel shifting linear guide rail, 3-5 parts of a light panel shifting synchronous belt wheel, 3-6 parts of a servo motor, 3-7 parts of a light panel shifting synchronous belt, 3-8 parts of a light panel shifting bottom plate, 4 parts of a pasting mechanism, 4-1 parts of a pasting bottom plate, 4-2 parts of a fixing frame, 4-2-1 parts of a side plate A, 4-2-2 parts of a side plate B, 4-2-3 parts of a side plate C, 4-2-4 parts of a connecting plate, 4-3 parts of a motor mounting plate, 4-4 parts of a rotating synchronous belt wheel A, 4-5 parts of a rotating synchronous belt, 4-6 parts of a lifting stepping motor, 4-7 parts of a lifting synchronous belt wheel A, 4-8 parts of a lifting synchronous belt, 4-, 4-10 parts of bearing plate, 4-11 parts of lifting synchronous belt wheel B, 4-12 parts of rotary stepping motor, 4-13 parts of suction nozzle component, 4-13-1 parts of air inlet joint, 4-13-2 parts of suction nozzle rod, 4-13-3 parts of mounting suction nozzle, 4-13-4 parts of rotary shaft sleeve, 4-13-5 parts of bearing, 4-14 parts of sliding block plate, 4-15 parts of linear guide rail sliding block, 4-16 parts of lifting linear guide rail, 4-17 parts of bracket, 4-18 parts of second CCD mechanism, 5 parts of Y-axis module component, 5-1 parts of Y-axis module bottom plate, 5-2 parts of Y-axis servo motor, 5-3 parts of Y-axis lead screw fixing seat, 5-4 parts of Y-axis lead screw, 5-5 parts of Y-axis lead screw supporting seat, 5-6 parts of Y-axis lead screw, The device comprises a Y-axis screw rod nut, 5-7 parts of a Y-axis linear guide rail, 5-8 parts of a Y-axis linear guide rail sliding block, 6 parts of a Y-axis guide rail component, 7 parts of an X-axis module component, 8 parts of a vision component, 9 parts of a supporting column.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc., indicate orientations or positional relationships based on those shown in fig. 1, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Example one
In this embodiment, taking the application of the assembling system disclosed in the present invention to a keyboard assembly as an example,
a flexible intelligent assembly system based on visual identification and detection comprises two groups of assembly units arranged on a cabinet 1, wherein each group of assembly units comprises a mounted component transferring mechanism 2 (in the embodiment, the mounted component transferring mechanism is a keycap transferring mechanism), a jig light plate transferring mechanism 3 (in the embodiment, the jig light plate transferring mechanism is a keyboard jig light plate transferring mechanism), an attaching mechanism 4, a Y-axis module assembly 5, a Y-axis guide rail assembly 6, an X-axis module assembly 7 and a visual assembly 8, the Y-axis module assembly 5 and the Y-axis guide rail assembly 6 are arranged above the cabinet 1 in parallel through a support column 9, the cabinet 1 needs to ensure enough rigidity and strength to support the whole assembly system, the X-axis module assembly 7 is arranged above the Y-axis guide rail assembly 6 and the Y-axis module assembly 5 in a gantry manner, the attaching mechanism 4 is arranged on the side of the X-axis module assembly 7, the key cap transferring mechanism 2 is horizontally arranged above the cabinet 1 at one side of the X-axis module assembly 7 and is used for transferring key caps, and the keyboard light plate transferring mechanism 3 is horizontally arranged above the cabinet 1 at the other side of the X-axis module assembly 7 and is used for transferring keyboard light plates;
the key cap transferring mechanism 2 comprises a material receiving jig 2-1, a sliding plate 2-2, a linear guide rail A2-3, a bottom plate 2-4, a stepping motor 2-6, a synchronous belt 2-7 and a linear guide rail B2-11, wherein the material receiving jig 2-1 is horizontally arranged above the material receiving jig bottom plate 2-10, the lower end face of the material receiving jig bottom plate 2-10 is horizontally arranged on the linear guide rail B2-11, the linear guide rail B2-11 is arranged above a linear guide rail backing plate 2-12, the linear guide rail backing plate 2-12 is arranged on the upper end face of the sliding plate 2-2, the lower end face of the sliding plate 2-2 is arranged right above the linear guide rail A2-3, the linear guide rail A2-3 is horizontally arranged above the bottom plate 2-4, the stepping motor 2-6 is arranged below the bottom plate 2-4, an output shaft of the stepping motor 2-6 penetrates through the bottom plate 2-4, the synchronous belt pulley A2-5 is sleeved on the output shaft of the stepping motor 2-6, one end of the synchronous belt 2-7 is sleeved on the outer ring of the synchronous belt pulley A2-5, the other end of the synchronous belt pulley is sleeved on the outer ring of the synchronous belt pulley B2-15, the synchronous belt 2-7 is connected with the lower end face of the sliding plate 2-2 through a connecting seat, a plurality of groove bodies used for placing keycaps are uniformly distributed on the surface of the material receiving jig 2-1, suction nozzles 2-9 are embedded in each groove body, a plurality of air pipe connectors 2-8 are installed on the side face of the material receiving jig 2-1, an air pipe connected with a vacuum generator is communicated with the suction nozzles 2-9 through the air pipe connectors 2-8, the vacuum generator generates negative pressure, in this embodiment, 32 groove bodies for placing the keycaps are uniformly distributed on the surface of the material receiving jig 2-1, and the 32 keycaps can be adsorbed and transferred at the same time.
The keyboard tool light plate shifting mechanism 3 comprises a keyboard light plate positioning tool 3-1, a keyboard light plate positioning tool support plate 3-2, a keyboard light plate positioning tool sliding plate 3-3, a keyboard light plate shifting linear guide rail 3-4, a keyboard light plate shifting synchronous belt wheel 3-5, a servo motor 3-6 and a keyboard light plate shifting synchronous belt 3-7, wherein the lower surface of the keyboard light plate positioning tool 3-1 is arranged on the keyboard light plate positioning tool support plate 3-2, the lower surface of the keyboard light plate positioning tool support plate 3-2 is arranged on the keyboard light plate positioning tool sliding plate 3-3, the lower end surface of the keyboard light plate positioning tool sliding plate 3-3 is arranged right above the light plate shifting linear guide rail 3-4, the servo motor 3-6 is arranged below the keyboard light plate shifting bottom plate 3-8, an output shaft of the servo motor 3-6 penetrates through the keyboard light plate shifting bottom plate 3-8, a keyboard light plate shifting synchronous belt wheel 3-5 is sleeved on the output shaft of the servo motor 3-6, a keyboard light plate shifting synchronous belt 3-7 is sleeved on the outer ring of the keyboard light plate shifting synchronous belt wheel 3-5, and the keyboard light plate shifting synchronous belt 3-7 is connected with the lower end face of the light plate positioning jig sliding plate 3-3 through a connecting seat;
the mounting mechanism 4 comprises a mounting bottom plate 4-1, a fixed frame 4-2, a lifting stepping motor 4-6, a lifting synchronous belt 4-8, a rotary stepping motor 4-12 and a suction nozzle assembly 4-13, the fixed frame 4-2 is a rectangular frame structure and comprises a side plate A4-2-1, a side plate B4-2-2, a side plate C4-2-3 and a connecting plate 4-2-4, the side plate A4-2-1 and the side plate C4-2-3 are respectively arranged on two sides of the side plate B4-2-2 and are vertically connected with the side plate 4-2-2, the connecting plate 4-2-4 is connected to the rear end faces of the side plate B4-2-2-2 and the side plate C4-2-3, two sides of the mounting bottom plate 4-1 are respectively connected with the side plate A4-2-1 and the side plate C4-2-3, the whole attaching mechanism 4 is mounted on a guide rail slider of an X-axis module assembly 7 through a side plate A4-2-1, the lifting stepping motor 4-6 is mounted on the back of the bottom plate 4-1, a motor shaft of the lifting stepping motor 4-6 penetrates through the bottom plate 4-1, the lifting synchronous belt pulley A4-7 is mounted on a shaft of the lifting stepping motor 4-6, the lifting synchronous belt 4-8 is sleeved on outer rings of the lifting synchronous belt pulley A4-7 and the lifting synchronous belt pulley B4-11, the rotary stepping motor 4-12 is vertically mounted above the motor mounting plate 4-3, a motor shaft of the rotary stepping motor 4-12 penetrates through the motor mounting plate 4-3, the rotary synchronous belt pulley A4-4 is mounted on a shaft of the stepping motor 4-12, the rotary synchronous belt 4-5 is sleeved on outer rings of the rotary synchronous belt pulley A4-4 and the rotary synchronous belt pulley B4, the motor mounting plate 4-3 is horizontally arranged above the bearing plate 4-10, the back of the bearing plate 4-10 is connected with the front of the mounting bottom plate 4-1, the fixed frame 4-2 is provided with a second CCD mechanism 4-18 for detecting the position of a keyboard light plate through a support 4-17, the suction nozzle assembly 4-13 is fixedly connected with a linear guide rail slider 4-15 through a slider plate 4-14, the linear guide rail slider 4-15 is in sliding connection with a lifting linear guide rail 4-16, the lifting linear guide rail 4-16 is fixedly arranged on the mounting bottom plate 4-1, and the slider plate 4-14 is connected with a lifting synchronous belt 4-8;
the suction nozzle assembly 4-13 comprises an air inlet connector 4-13-1 connected with an air inlet pipe, a suction nozzle rod 4-13-2 connected with the air inlet connector 4-13-1 and a mounting suction nozzle 4-13-3 arranged at the bottom end of the suction nozzle rod 4-13-2, a rotary shaft sleeve 4-13-4 is sleeved on the outer surface of the suction nozzle rod 4-13-2, and a rotary synchronous belt wheel B4-9 is sleeved on the suction nozzle rod 4-13-2 and positioned below the rotary shaft sleeve 4-13-4;
the vision assembly 8 is arranged above the cabinet 1 and comprises a first CCD mechanism for detecting the appearance of the mounted element and the suction position of the mounted element on the mounting suction nozzle, and the first CCD mechanism is positioned between the Y-axis module assembly 5 and the X-axis module assembly 7.
Preferably, as a second embodiment of the present invention, this embodiment is a further improvement of the first embodiment, the Y-axis module assembly 5 comprises a Y-axis screw 5-4, a Y-axis linear guide rail 5-7, a Y-axis servo motor 5-2 and a Y-axis screw fixing seat 5-3 which are arranged on a Y-axis module bottom plate 5-1, the Y-axis servo motor 5-2 is fixedly connected with one end of a Y-axis screw rod 5-4, the other end of the Y-axis screw rod 5-4 is fixedly connected with a Y-axis screw rod supporting seat 5-5, the Y-axis screw rod nut 5-5 is arranged on the Y-axis screw rod 5-4 in a sliding manner, the Y-axis linear guide rail slide block 5-8 is arranged on the Y-axis linear guide rail 5-7, and the Y-axis linear guide rail sliding blocks 5-8 are fixedly connected with Y-axis screw rod nuts 5-6. The Y-axis module assembly 5 and the Y-axis guide rail assembly 6 are arranged on the cabinet 1 in parallel and at the same height, the X-axis module assembly 7 is installed above the Y-axis guide rail assembly 6 and the Y-axis module assembly 5 in a gantry manner, and the structures of the X-axis module assembly 7 and the Y-axis module assembly 5 are completely the same, so the structures of the X-axis module assembly 7 and the Y-axis module assembly 5 are not specifically described in the embodiment. An X-axis linear guide rail sliding block of the X-axis module assembly 7 is fixedly connected with a Y-axis linear guide rail sliding block 5-8, and the mounting mechanism 4 fixed on the side surface of the X-axis linear guide rail sliding block can realize precise position control on a cross sliding table formed by the X-axis module assembly 7 and the Y-axis module assembly 5.
Preferably, as a third embodiment of the present invention, this embodiment is further limited to the first embodiment, the attaching mechanism 4 is provided with four sets of nozzle assemblies 4-13, each nozzle assembly 4-13 is correspondingly connected to one lifting stepping motor 4-6 and one rotating stepping motor 4-12, the four sets of nozzle assemblies 4-13 are independent of each other and do not affect each other, and the connection manner and the driving manner between each set of nozzle assembly and the corresponding lifting stepping motor and corresponding rotating stepping motor are the same.
Preferably, as a fourth embodiment of the present invention, this embodiment is further limited to the first embodiment, in order to ensure that the material receiving jig 2-1 in the key cap transferring mechanism 2 can laterally move and stretch back and forth, the assembling system of the present invention further includes a lateral moving cylinder 2-13 and a cylinder connecting plate 2-14, the lateral moving cylinder 2-13 is horizontally installed on the upper surface of the sliding plate 2-2 through a cylinder installing support 2-16, and the material receiving jig bottom plate 2-10 is connected with the end of the cylinder rod of the lateral moving cylinder 2-13 through the cylinder connecting plate 2-14. The material receiving jigs 2-1 of the two groups of assembling units can be driven by the transverse moving cylinder to transversely move left and right, so that the gap between the material receiving jigs 2-1 of the two groups of assembling units can be adjusted, and the mechanical arm of the injection molding machine can give consideration to the two material receiving jigs 2-1, so that the two groups of assembling units can alternately perform assembling work.
Preferably, as a fifth embodiment of the present invention, the present embodiment further defines the first embodiment, the light panel positioning fixture 3-1 includes a cavity 3-1-1 for placing the light panel fixture, the outer surface of the cavity 3-1-1 is provided with a flip 3-1-2, the flip 3-1-2 is provided with a button which can be pushed open by a manual press, the center of the flip 3-1-2 is provided with a hollow portion, so that a position on the light panel fixture where a component needs to be attached is exposed, and other positions of the light panel fixture are pressed by the flip. The structural design can also ensure the stability of the keyboard light plate in the mounting process of the mounting mechanism.
The keyboard light plate positioning jig comprises a cavity 3-1-1 for placing the light plate, and a concave-convex positioning block 3-1-2 matched with the outer ring shape of the keyboard light plate is formed on the side of the cavity 3-1-1, so that the structural design can ensure that the keyboard light plate is stably placed in the cavity 3-1-1 all the time in the mounting process of the mounting mechanism 4, and the mounting efficiency is ensured.
Preferably, as a sixth embodiment of the present invention, this embodiment may be used as an alternative to the fifth embodiment, that is, a concave-convex positioning block matched with the shape of the outer ring of the keyboard light panel is formed at the side of the cavity 3-1-1, the outer ring (i.e., the non-mounting position) of the keyboard light panel may be clamped in the cavity 3-1-1, and the displacement of the outer ring may be limited by the concave-convex positioning block, such a structural design may ensure the stability of the keyboard light panel during the mounting process of the mounting mechanism 4, so as to ensure the mounting efficiency.
Preferably, as a seventh embodiment of the present invention, the present embodiment is a further improvement of the first embodiment, in order to realize the automated control of the assembly system of the present invention and ensure the assembly accuracy and the product yield, the assembly system of the present invention further includes a controller, and the control component of the key cap transfer mechanism 2, the control component of the keyboard jig light panel transfer mechanism 3, the control component of the attachment mechanism 4, the control component of the Y-axis module assembly 5, the control component of the Y-axis guide rail assembly 6, the control component of the X-axis module assembly 7, and the control component of the vision assembly 8 are all connected to the controller.
In the present invention, various motors, air cylinders, suction nozzles, linear guide assemblies, and vacuum generators are existing devices, and can be purchased and used directly, so the present application does not describe the specific structure of the above components in detail. When the device is used, all the components, the electric devices and the adaptive power supply are connected through the wires according to the working modes and are connected with the controller, the detailed connection means and the control mode of the controller are well known in the art, the working principle and the process are mainly described in the following, and the electric control is not explained.
The working principle of the invention is as follows: 32 keycaps are placed above the keycap transferring component 2 by a manipulator of the injection molding machine, the keycaps are sucked by a suction nozzle 2-9, the manipulator of the injection molding machine leaves, the keycap transferring component 2 is transferred to a material taking position of the mounting mechanism 4, the mounting mechanism 4 is driven by a guide rail slide block of an X-axis module component 7 connected with a side plate A4-2-1 and integrally transferred to the upper part of the keycap transferring component 2, a lifting stepping motor 4-6 works to drive four groups of suction nozzle components 4-13 to descend until the suction nozzle is attached to the keycap, then the keycap is sucked in vacuum, the lifting stepping motor 4-6 works to drive four groups of suction nozzle components 4-13 to rise to a certain height, the mounting mechanism 4 is transferred to the upper part of a visual component 8 under the linkage action of the X-axis module component 7 and the Y-axis module component 5, the visual component 8 detects the appearance of the keycap, if no defective products exist, the rotary stepping motor 4-12 works to drive the rotary synchronous belt wheel A4-4, the rotary synchronous belt wheel B4-9 and the rotary synchronous belt 4-5 to work together, the rotary synchronous belt wheel B4-9 drives the suction nozzle component 4-13 to move together to adjust the angle of the keycap sucked under the suction nozzle, then the pasting mechanism 4 is driven by a guide rail slide block connected with the side plate A4-2-1 to move to the position above a keyboard jig light plate needing to be pasted with the keycaps, the second CCD mechanism 4-18 takes a picture to confirm the accurate position of the keyboard jig light plate, the pasting mechanism 4 continuously moves to the coordinate needing to be pasted with the keycaps, the lifting stepping motor 4-6 works to drive one group of suction nozzles 4-13 to descend, the keycaps are pasted on the jig light plate, then the coordinate is changed, and the keycaps of the four groups of suction nozzles are pasted on the jig light plate successively. In the detection process of the visual component 8, according to the requirements of customers, the requirements on the aspects of deformation of the appearance of the keycap, scratch and indentation on the surface, broken edges and unfilled corners on the edge are high, but the edge is allowed to have tiny burrs, and the problem of high misjudgment rate can be caused by adopting the traditional visual identification. Since the above-mentioned parameters transformation, processing steps, image acquisition, algorithm optimization, etc. do not belong to the scope of protection of the patent of the invention, the present application does not specifically describe the above.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The utility model provides a flexible intelligent assembly system based on visual identification and detection which characterized in that: comprises two groups of assembly units arranged on a cabinet (1), each group of assembly units comprises a surface-mounted element transfer mechanism (2), a jig light plate transfer mechanism (3), a surface-mounted mechanism (4), a Y-axis module assembly (5), a Y-axis guide rail assembly (6), an X-axis module assembly (7) and a vision assembly (8), the Y-axis module assembly (5) and the Y-axis guide rail assembly (6) are arranged above the cabinet (1) in parallel through a support column (9), the X-axis module assembly (7) is arranged above the Y-axis guide rail assembly (6) and the Y-axis module assembly (5) in a gantry manner, the surface-mounted mechanism (4) is arranged on the side of the X-axis module assembly (7) and used for mounting the surface-mounted element on the jig light plate, the surface-mounted element transfer mechanism (2) is horizontally arranged above the cabinet (1) on one side of the X-axis module assembly (7), the jig light plate transferring mechanism (3) is horizontally arranged above the cabinet (1) on the other side of the X-axis module assembly (7) and is used for transferring the jig light plate;
the surface-mounted component transferring mechanism (2) comprises a material receiving jig (2-1), a sliding plate (2-2), a linear guide rail A (2-3), a bottom plate (2-4), a stepping motor (2-6), a synchronous belt (2-7) and a linear guide rail B (2-11), wherein the material receiving jig (2-1) is horizontally arranged above the material receiving jig bottom plate (2-10), the lower end face of the material receiving jig bottom plate (2-10) is horizontally arranged on the linear guide rail B (2-11), the linear guide rail B (2-11) is arranged above a linear guide rail backing plate (2-12), the linear guide rail backing plate (2-12) is arranged on the upper end face of the sliding plate (2-2), the lower end face of the sliding plate (2-2) is arranged right above the linear guide rail A (2-3), the linear guide rail A (2-3) is horizontally arranged above the bottom plate (2-4), the stepping motor (2-6) is arranged below the bottom plate (2-4), an output shaft of the stepping motor (2-6) penetrates through the bottom plate (2-4), the synchronous belt pulley A (2-5) is sleeved on the output shaft of the stepping motor (2-6), one end of the synchronous belt (2-7) is sleeved on the outer ring of the synchronous belt pulley A (2-5), the other end of the synchronous belt (2-7) is sleeved on the outer ring of the synchronous belt pulley B (2-15), the synchronous belt (2-7) is connected with the lower end face of the sliding plate (2-2) through a connecting seat, a plurality of groove bodies are uniformly distributed on the surface of the material receiving jig (2-1), a suction nozzle (2-9) is embedded in each groove body, a plurality of air pipe connectors (2-8) are arranged on the side face of the, an air pipe connected with the vacuum generator is communicated with the suction nozzle (2-9) through an air pipe joint (2-8);
the jig light plate shifting mechanism (3) comprises a light plate positioning jig (3-1), a light plate positioning jig support plate (3-2), a light plate positioning jig sliding plate (3-3), a light plate shifting linear guide rail (3-4), a light plate shifting synchronous belt wheel (3-5), a servo motor (3-6) and a light plate shifting synchronous belt (3-7), wherein the lower surface of the light plate positioning jig (3-1) is installed on the light plate positioning jig support plate (3-2), the lower surface of the light plate positioning jig support plate (3-2) is installed on the light plate positioning jig sliding plate (3-3), the lower end face of the light plate positioning jig sliding plate (3-3) is installed right above the light plate shifting linear guide rail (3-4), and the servo motor (3-6) is installed below a light plate shifting bottom plate (3-8), an output shaft of the servo motor (3-6) penetrates through the light plate shifting bottom plate (3-8), a light plate shifting synchronous belt wheel (3-5) is sleeved on the output shaft of the servo motor (3-6), a light plate shifting synchronous belt (3-7) is sleeved on the outer ring of the light plate shifting synchronous belt wheel (3-5), and the light plate shifting synchronous belt (3-7) is connected with the lower end face of the light plate positioning jig sliding plate (3-3) through a connecting seat;
the sticking mechanism (4) comprises a sticking bottom plate (4-1), a fixing frame (4-2), a lifting stepping motor (4-6), a lifting synchronous belt (4-8), a rotating stepping motor (4-12) and a suction nozzle assembly (4-13), the fixing frame (4-2) is of a rectangular frame structure and comprises a side plate A (4-2-1), a side plate B (4-2-2), a side plate C (4-2-3) and a connecting plate (4-2-4), the side plate A (4-2-1) and the side plate C (4-2-3) are respectively arranged on two sides of the side plate B (4-2-2) and are vertically connected with the side plate (4-2-2), and the connecting plate (4-2-4) is connected with the side plate B (4-2-2) and the side plate C (4-2-2) 2-3), the two sides of the mounting bottom plate (4-1) are respectively connected with a side plate A (4-2-1) and a side plate C (4-2-3), the whole mounting mechanism (4) is arranged on a guide rail slide block of an X-axis module component (7) through the side plate A (4-2-1), the lifting stepping motor (4-6) is arranged on the back surface of the bottom plate (4-1), a motor shaft of the lifting stepping motor penetrates through the bottom plate (4-1), the lifting synchronous belt wheel A (4-7) is arranged on a shaft of the lifting stepping motor (4-6), the lifting synchronous belt (4-8) is sleeved on the outer rings of the lifting synchronous belt wheel A (4-7) and the lifting synchronous belt wheel B (4-11), the rotating stepping motor (4-12) is vertically arranged above the motor mounting plate (4-3), a motor shaft of a rotary stepping motor (4-12) penetrates through a motor mounting plate (4-3), a rotary synchronous pulley A (4-4) is mounted on a shaft of the stepping motor (4-12), a rotary synchronous belt (4-5) is sleeved on outer rings of the rotary synchronous pulley A (4-4) and the rotary synchronous pulley B (4-9), the motor mounting plate (4-3) is horizontally mounted above a bearing plate (4-10), the back of the bearing plate (4-10) is connected with the front of a mounting base plate (4-1), a second CCD mechanism (4-18) for detecting the position of a jig light plate is mounted on a fixed frame (4-2) through a support (4-17), and a suction nozzle assembly (4-13) is fixedly connected with a linear guide rail slider (4-15) through a slider plate (4-14), the linear guide rail sliding blocks (4-15) are connected with the lifting linear guide rails (4-16) in a sliding mode, the lifting linear guide rails (4-16) are fixedly arranged on the mounting base plate (4-1), and the sliding block plates (4-14) are connected with the lifting synchronous belts (4-8);
the suction nozzle assembly (4-13) comprises an air inlet joint (4-13-1) connected with an air inlet pipe, a suction nozzle rod (4-13-2) connected with the air inlet joint (4-13-1) and a mounting suction nozzle (4-13-3) arranged at the bottom end of the suction nozzle rod (4-13-2), wherein a rotary shaft sleeve (4-13-4) is sleeved on the outer surface of the suction nozzle rod (4-13-2), and a rotary synchronous belt wheel B (4-9) is sleeved on the suction nozzle rod (4-13-2) and positioned below the rotary shaft sleeve (4-13-4);
the vision assembly (8) is arranged above the cabinet (1) and comprises a first CCD mechanism for detecting the appearance of a mounted element and the suction position of the mounted element on a mounting suction nozzle, and the first CCD mechanism is positioned between the Y-axis module assembly (5) and the X-axis module assembly (7).
2. The flexible intelligent visual identification and detection-based assembly system of claim 1, wherein: the Y-axis module assembly (5) comprises a Y-axis screw rod (5-4), a Y-axis linear guide rail (5-7), a Y-axis servo motor (5-2) and a Y-axis screw rod fixing seat (5-3) which are arranged on a Y-axis module bottom plate (5-1), the Y-axis servo motor (5-2) is fixedly connected with one end of a Y-axis screw rod (5-4), the other end of the Y-axis screw rod (5-4) is fixedly connected with a Y-axis screw rod supporting seat (5-5), the Y-axis screw rod nut (5-6) is arranged on the Y-axis screw rod (5-4) in a sliding way, the Y-axis linear guide rail sliding blocks (5-8) are arranged on the Y-axis linear guide rails (5-7), and the Y-axis linear guide rail sliding blocks (5-8) are fixedly connected with Y-axis screw nuts (5-6).
3. The flexible intelligent visual identification and detection-based assembly system of claim 1, wherein: four groups of suction nozzle assemblies (4-13) are arranged on the attaching mechanism (4), and each suction nozzle assembly (4-13) is correspondingly connected with a lifting stepping motor (4-6) and a rotating stepping motor (4-12).
4. The flexible intelligent visual identification and detection-based assembly system of claim 1, wherein: the rotating shaft sleeve (4-13-4) penetrates through the motor mounting plate (4-3), and the lower end of the rotating shaft sleeve (4-13-4) is fixed on the suction nozzle rod (4-13-2) through a bearing (4-13-5).
5. A flexible intelligent visual identification and detection based assembly system according to claim 1, 2 or 3, wherein: the component transferring mechanism (2) further comprises a transverse moving cylinder (2-13) and a cylinder connecting plate (2-14), the transverse moving cylinder (2-13) is horizontally arranged on the upper surface of the sliding plate (2-2) through a cylinder mounting support (2-16), and the material receiving jig bottom plate (2-10) is connected with the tail end of a cylinder rod of the transverse moving cylinder (2-13) through the cylinder connecting plate (2-14).
6. A flexible intelligent assembly system based on visual identification and detection as claimed in claim 5, wherein: 32 groove bodies for placing the surface-mounted elements are uniformly distributed on the surface of the material receiving jig (2-1).
7. A flexible intelligent assembly system based on visual identification and detection as claimed in claim 5, wherein: the light panel positioning jig (3-1) comprises a cavity (3-1-1) for placing the light panel jig, a turnover cover (3-1-2) is arranged on the outer surface of the cavity (3-1-1), a button which can be pushed to open the turnover cover by manually pressing is arranged on the turnover cover (3-1-2), a hollow part is arranged in the center of the turnover cover (3-1-2) so that the position of the light panel jig, which is required to be pasted with a light panel element, is exposed, and the rest positions of the light panel jig are pressed by the turnover cover (3-1-2).
8. A flexible intelligent assembly system based on visual identification and detection as claimed in claim 5, wherein: the jig light plate transfer device is characterized by further comprising a controller, wherein a control element of the element transfer mechanism (2), a control element of the jig light plate transfer mechanism (3), a control element of the attaching mechanism (4), a control element of the Y-axis module assembly (5), a control element of the Y-axis guide rail assembly (6), a control element of the X-axis module assembly (7) and a control element of the vision assembly (8) are connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010597201.XA CN111645335A (en) | 2020-06-28 | 2020-06-28 | Flexible intelligent assembling system based on visual identification and detection |
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| CN202010597201.XA CN111645335A (en) | 2020-06-28 | 2020-06-28 | Flexible intelligent assembling system based on visual identification and detection |
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| CN111645335A true CN111645335A (en) | 2020-09-11 |
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| CN202010597201.XA Pending CN111645335A (en) | 2020-06-28 | 2020-06-28 | Flexible intelligent assembling system based on visual identification and detection |
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