CN112452798A - Connector sorting and assembling system based on vision measurement - Google Patents
Connector sorting and assembling system based on vision measurement Download PDFInfo
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- CN112452798A CN112452798A CN202011255130.1A CN202011255130A CN112452798A CN 112452798 A CN112452798 A CN 112452798A CN 202011255130 A CN202011255130 A CN 202011255130A CN 112452798 A CN112452798 A CN 112452798A
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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
- B07C5/04—Sorting according to size
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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Abstract
The invention discloses a connector sorting and assembling system based on vision measurement, which belongs to the technical field of feeding and assembling and comprises a robot body, an assembling control assembly, a buffering assembly, a moving assembly, a tail end jig, a measuring assembly, a turning assembly and a feeding assembly; the terminal jig is connected with the robot body, the moving assembly is connected with the overturning assembly, the buffer assembly is used for bearing a connector which is not matched with a workpiece in the current assembling process, the measuring assembly is used for measuring the inner diameter of a connector mounting hole in the workpiece and the diameter of the connector to be assembled respectively, and the feeding assembly is used for storing the connector to be assembled. Compared with the prior art, the invention can realize size sorting before connector assembly, and improve assembly efficiency, assembly quality and consistency; and the tail end jig has a flexible clamping function, and can give consideration to both a large-size shell and a small-size connector.
Description
Technical Field
The invention relates to the technical field of feeding and assembling, in particular to a connector sorting and assembling system based on vision measurement.
Background
In the present electronic product assembling process, need many repeated single actions, use manual work to carry out these repeated single actions, not only intensity of labour is great, inefficiency, and assembly quality uniformity is poor, for example, assembly of present radar subassembly connector still is accomplished by manual work, and the size of different connectors all has certain difference with the diameter of waiting to assemble different holes on the casing, there is the process of trying on the dress in the assembly process in the manual work, lead to assembly efficiency low, the precision is low, assembly quality and uniformity are poor, further serious influence product production efficiency. Therefore, a connector sorting and assembling system based on visual measurement is provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the problem that the assembly efficiency is low, the precision is low, assembly quality and uniformity are poor that current radar subassembly connector exists in the assembling process, provide a connector letter sorting assembly system based on vision measurement.
The invention solves the technical problems through the following technical scheme, and the robot comprises a robot body, an assembly control assembly, a buffer assembly, a moving assembly, a tail end jig, a measuring assembly, a turning assembly and a feeding assembly; the tail end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, the buffer assembly is used for bearing a connector which is not matched with a workpiece in the current assembling process, the measuring assembly is used for measuring the inner diameter of a connector mounting hole in the workpiece and the diameter of the connector to be assembled respectively, and the feeding assembly is used for storing the connector to be assembled; the robot body, the moving assembly, the tail end jig, the measuring assembly and the overturning assembly are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
Furthermore, the moving assembly comprises a moving motor, a supporting table, a base plate, a first guide rail, a first sliding block, a lead screw and a moving nut, wherein the base plate is arranged on the supporting table, the moving motor is arranged on the base plate and connected with the lead screw, a nut sleeve is arranged on the lead screw, the number of the first guide rail and the number of the first sliding block are at least two, the two first guide rails are arranged on the base plate in parallel, and the first sliding block is connected with the first guide rails in a sliding manner.
Furthermore, the terminal jig comprises a pneumatic clamping jaw, a jig supporting plate, a jig motor, a clamping plate and a clamping plate size adjusting module, the pneumatic clamping jaw is used for clamping the connector to be assembled, the clamping plate is used for clamping the workpiece to be assembled, the clamping plate size adjusting module is used for clamping the workpiece to be assembled, the jig supporting plate is connected with the robot body, the jig motor is arranged on the jig supporting plate, the clamping plate is used for clamping the workpiece to be assembled, and the clamping plate size.
Furthermore, the clamping plate size adjusting module comprises four racks, two gears and a rotating shaft, the number of the racks is one, the two racks are one group, the number of the gears is two, the number of the rotating shaft is two, the rotating shaft is connected with the jig supporting plate in a rotating mode, the gears are arranged on the rotating shaft, the two racks in one group are respectively arranged on two sides of the gears and are in meshed transmission with the gears, the racks are connected with the jig supporting plate in a sliding mode, the picking and placing clamping plates are respectively arranged at the end portions of the racks, and one of the rotating shafts is connected with a rotating shaft of the jig motor.
Furthermore, belt pulleys are arranged on the two rotating shafts, and the two belt pulleys are rotatably connected through a synchronous belt.
Furthermore, the terminal jig further comprises a first light source and a first camera, and the first light source and the first camera are connected with the jig supporting plate.
Furthermore, the number of the measuring assemblies is two, each measuring assembly comprises a fixed support, a second camera and a second light source, the second cameras and the second light sources are connected with the fixed supports, one of the second cameras is located above the moving assembly, and the other second camera is located above the feeding assembly.
Furthermore, the upset subassembly includes bottom sprag board, upset motor, rotatory guide rail bracket, rotatory backup pad, bottom sprag board simultaneously with the removal nut first slider is connected, the upset motor sets up in the bottom sprag board, rotatory guide rail bracket sets up the both ends of bottom sprag board, rotatory backup pad with bottom sprag board rotates to be connected, and with rotatory guide rail bracket sliding connection, still with the pivot of upset motor is connected.
Furthermore, the pivot of upset motor with be provided with the pendulum rod between the rotatory backup pad, the pendulum rod with rotatory backup pad is provided with the roller bearing, keeps away from the upset motor the roller bearing run through the arc wall that sets up on the rotatory guide rail support with rotatory backup pad is connected, the pendulum rod passes through the roller bearing with rotatory backup pad is connected, the pendulum rod with the pivot of upset motor is connected.
Furthermore, the turnover component further comprises workpiece clamping modules, wherein the workpiece clamping modules are two groups and are respectively arranged at two ends of the workpiece and connected with the rotary supporting plate, each workpiece clamping module comprises a pneumatic unit, a follow-up connecting plate and a pneumatic clamping plate, the pneumatic clamping plates are arranged on the pneumatic unit, and the pneumatic unit is connected with the rotary supporting plate through the follow-up connecting plate.
Furthermore, the feeding assembly comprises a feeding table and a tooling disc, and the tooling disc is arranged on the feeding table.
Furthermore, the robot body, the moving motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the overturning motor and the pneumatic unit are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
Compared with the prior art, the invention has the following advantages: compared with the prior art, the connector sorting and assembling system based on the vision measurement can realize size sorting before connector assembling, and improve assembling efficiency, assembling quality and consistency; and the terminal tool has the flexible function of pressing from both sides, can compromise jumbo size casing and small-size connector, is worth being used widely.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a second assembling system according to the embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a buffering assembly in a second assembling system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a moving component in a second assembling system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a terminal jig in a second assembly system according to an embodiment of the present invention;
FIG. 5 is a schematic view of a partial structure of a terminal jig in a second assembly system according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a flip assembly in a second assembly system according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a feeding assembly in a second assembling system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a connector in a second assembling system according to an embodiment of the present invention.
In the figure: 1. a robot body; 2. assembling a control component; 3. a buffer assembly; 4. a moving assembly; 5. a tail end jig; 6. a measurement assembly; 7. a workpiece; 8. a turnover assembly; 9. a feeding assembly; 10. a connector; 301. a buffer table; 302. a bar code; 401. a support table; 402. a base plate; 403. a first guide rail; 404. a first slider; 405. a lead screw; 406. moving the nut; 407. a buffer block; 408. a moving assembly bearing block; 409. moving the coupler; 410. a moving motor; 501. a pneumatic clamping jaw; 502. a pneumatic finger; 503. a rack; 504. a first light source; 505. a first camera; 506. a camera support plate; 507. a second slider; 508. a second guide rail; 509. a gear bearing seat; 510. connecting the supporting plate; 511. a jig motor; 512. a jig motor bracket; 513. a jig supporting plate; 514. a supporting strip; 515. a gear; 516. a rotating shaft; 517. a rubber layer; 518. taking and placing the clamping plate; 519. a synchronous belt; 520. a sleeve; 521. a bearing; 522. a bearing end cap; 523. a pulley; 524. a jig assembly coupler; 525. a bushing; 601. fixing a bracket; 602. a second camera; 603. a second light source; 801. a bottom support plate; 802. turning over the driving rotating shaft; 803. a turnover assembly coupling; 804. turning over a motor; 805. rotating the guide rail bracket; 806. a pneumatic unit; 807. a buffer plate; 808. a support block; 809. a support plate; 810. rotating the support plate; 811. a swing rod; 812. a follow-up connecting plate; 813. a pneumatic clamping jaw; 814. a rubber block; 815. a roller; 816. turning over the motor bracket; 817. a hinge; 901. a feeding table; 902. feeding and positioning angles; 903. and (7) loading a tool disc.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example one
The embodiment provides a technical scheme: a connector sorting and assembling system based on vision measurement comprises a robot body, an assembling control assembly, a buffering assembly, a moving assembly, a tail end jig, a measuring assembly, a turning assembly and a feeding assembly;
the tail end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, the buffer assembly is used for bearing a connector which is not matched with a workpiece in the current assembling process, the measuring assembly is used for measuring the inner diameter of a connector mounting hole in the workpiece and the diameter of the connector to be assembled respectively, and the feeding assembly is used for storing the connector to be assembled;
the robot body, the moving assembly, the tail end jig, the measuring assembly and the overturning assembly are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
The movable assembly comprises a movable motor, a supporting table, a base plate, a first guide rail, a first sliding block, a lead screw and a movable nut, wherein the base plate is arranged on the supporting table, the movable motor is arranged on the base plate and connected with the lead screw, the movable nut sleeve is arranged on the lead screw, the number of the first guide rail and the number of the first sliding block are at least two, the two are parallel to the first guide rail and arranged on the base plate, and the first sliding block is connected with the first guide rail in a sliding mode.
The terminal jig comprises a pneumatic clamping jaw, a jig supporting plate, a jig motor, a clamping plate and a clamping plate size adjusting module, wherein the pneumatic clamping jaw is used for clamping a connector to be assembled, the clamping plate is used for clamping a workpiece to be assembled, the clamping plate is used for clamping the workpiece to be assembled, the clamping plate size adjusting module is used for clamping the workpiece to be assembled, the jig supporting plate is connected with the robot body, the jig motor is arranged on the jig supporting plate, the clamping plate is used for clamping the workpiece to be assembled, and the clamping.
The clamping plate size adjusting module comprises four racks, a gear and a rotating shaft, the number of the racks is four, the two racks are in a group, the number of the gears is two, the number of the rotating shafts is two, the rotating shafts are all connected with the jig supporting plate in a rotating mode, the gear is arranged on the rotating shaft, the two racks in a group are respectively arranged on two sides of the gear and are in gear engagement transmission, the racks are in sliding connection with the jig supporting plate, the taking and placing clamping plates are respectively arranged at the end portions of the racks, and one of the rotating shafts is connected with a rotating shaft of the jig motor.
And the two rotating shafts are provided with belt wheels, and the two belt wheels are rotatably connected through a synchronous belt.
The terminal jig further comprises a first light source and a first camera, and the first light source and the first camera are connected with the jig supporting plate.
The number of the measuring assemblies is two, each measuring assembly comprises a fixed support, a second camera and a second light source, the second cameras and the second light sources are connected with the fixed supports, one of the second cameras is located above the moving assembly, and the other second camera is located above the feeding assembly.
The turnover component comprises a bottom supporting plate, a turnover motor, a rotary guide rail support and a rotary supporting plate, wherein the bottom supporting plate is simultaneously connected with the movable nut and the first sliding block, the turnover motor is arranged on the bottom supporting plate, the rotary guide rail support is arranged at two ends of the bottom supporting plate, and the rotary supporting plate is rotatably connected with the bottom supporting plate, is slidably connected with the rotary guide rail support and is also connected with a rotating shaft of the turnover motor.
The rotary guide rail support is characterized in that a swing rod is arranged between a rotary shaft of the turnover motor and the rotary support plate, a roller is arranged on the swing rod and the rotary support plate, the roller far away from the turnover motor penetrates through an arc-shaped groove formed in the rotary guide rail support and is connected with the rotary support plate, the swing rod is connected with the rotary support plate through the roller, and the swing rod is connected with the rotary shaft of the turnover motor.
The turnover component further comprises workpiece clamping modules, the workpiece clamping modules are two in number and are respectively arranged at two ends of the workpiece and connected with the rotary supporting plate, each workpiece clamping module comprises a pneumatic unit, a follow-up connecting plate and a pneumatic clamping plate, the pneumatic clamping plates are arranged on the pneumatic unit, and the pneumatic unit is connected with the rotary supporting plate through the follow-up connecting plate.
The feeding assembly comprises a feeding table and a tooling plate, and the tooling plate is arranged on the feeding table.
The robot body, the moving motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the overturning motor and the pneumatic unit are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
Example two
As shown in fig. 1 to 3, a connector sorting and assembling system based on visual measurement comprises a robot body 1, an assembling control component 2, a buffer component 3, a moving component 4, a tail end jig 5, a measuring component 6, a workpiece 7, a turnover component 8, a feeding component 9 and a connector 10; the buffer assembly 3 includes a buffer stage 301 having 60 holes for receiving the connectors 10 not matched with the workpieces 7 currently assembled, and a bar code 302 having 60 bar codes 1 to 60 attached to one side of each hole, wherein the buffer stage 301 has 60 holes. The moving component 4 comprises a supporting platform 401, a backing plate 402, a first guide rail 403, a first sliding block 404, a lead screw 405, a moving nut 406, a buffer block 407, a moving component bearing seat 408, a moving coupling 409 and a moving motor 410, the supporting platform 401 plays a role of supporting the moving component 4 and the overturning component 8, four corners of the backing plate 402 are provided with four through holes which are connected with the supporting platform 401, two first guide rails 403 are arranged on the upper surface of the backing plate 402 in parallel and are respectively aligned with two side surfaces of the backing plate 407 and are connected with the backing plate 402 by bolts, 4 first sliding blocks 404 are arranged on the first guide rails 403 and are respectively arranged on each first guide rail 403, two lead screws 405 are connected with the moving motor 410 by using the moving coupling 409, the moving nut 406 is arranged on the periphery of the lead screw 405 and is matched with the lead screw 405 by threads and is connected with a bottom supporting plate 801, the buffer blocks 407 are 4, are arranged at two ends of the lead screw 405, are arranged at two sides of the movable component bearing seat 408 to play a role in buffering, the movable component bearing seats 408 are two, are arranged at two ends of the lead screw 405 and are used for supporting bearings, the movable coupler 409 is arranged in the coupler seat to play a role in transmitting torque, and the movable motor 410 is connected with the coupler seat.
As shown in fig. 4 and 5, the end fixture 5 includes a pneumatic clamping jaw 501, a pneumatic finger 502, a rack 503, a first light source 504, a first camera 505, a camera supporting plate 506, a second slider 507, a second guiding rail 508, a gear bearing seat 509, a connecting supporting plate 510, a fixture motor 511, a fixture motor support 512, a fixture supporting plate 513, a supporting bar 514, a gear 515, a rotating shaft 516, a rubber layer 517, a pick-and-place clamp 518, a synchronous belt 519, a sleeve 520, a bearing 521, a bearing cap 522, a pulley 523, a fixture assembly coupling 524, and a bushing 525, one end of the pneumatic clamping jaw 501 is connected to the small slider on the guiding rail of the pneumatic finger 502, the other end is used for clamping the connector 10, the pneumatic finger 502 is connected to the pick-and-place clamp 518 for adjusting the pitch of the pneumatic clamping jaw 501, the rack 503 has 4 racks 503, two are combined into one group, each group is respectively placed, each of the groups is respectively arranged on two sides of the gear 515 and meshed with the gear 515, each of the groups is provided with 4 through holes which are connected with the second sliding block 507, the first light source 504 is connected with the first camera 505 connecting bracket, the first camera 505 is arranged on the camera supporting frame 506, the camera supporting frame 506 is arranged on one side of the jig supporting plate 513 and connected with the jig supporting plate 513 to support the first camera 505 and the first light source 504, the second sliding blocks 507 are provided with 4 blocks which are respectively arranged on 4 second guide rails 508, the second guide rails 508 are provided with 4 blocks, 2 blocks are formed into a group which are arranged on two sides of the connecting supporting plate 510 and connected with the connecting supporting plate 510, the gear bearing seats 509 are three blocks, two blocks are arranged on the connecting supporting plate 510 and connected with the connecting supporting plate 510, the other block is arranged on the other side of the jig supporting plate 513 and arranged on the jig supporting plate 513, two connecting support plates 510 are connected with the jig support plate 513, the two connecting support plates 510 are respectively arranged on the support bars 514 and connected with the support bars 514, the gear 515 is supported to be in transmission with the rack 503, the jig motor 511 is arranged on the upper side of the jig motor support 512 and connected with the jig motor support 512, the jig motor support 512 is arranged on the other side of the upper portion of the jig support plate 513 and fixed through nuts, the jig support plate 513 is arranged at the tail end of the robot body 1 and connected with the robot body 1, the two support bars 514 are respectively arranged at the upper portion and the lower portion of the jig support plate 513 and connected with the jig support plate 513, the two connecting support plates 510 are supported and the distance from the tail end of the jig motor 511 to the jig support plate 513 is adjusted, one end of the jig support plate 513 is prevented from being too high and inconsistent, the two gears 515, the belt type automatic transmission device is connected with a rotating shaft 516 through keys, the number of the rotating shafts 516 is 2, the end part of one rotating shaft 516 is connected with a rotating shaft of a jig motor 511 through a jig component coupling 524, the other end of the rotating shaft is embedded in a bearing 521, 4 rubber layers 517 are respectively arranged on a picking and placing clamp 518 and connected with the picking and placing clamp 518 to play a role of collision avoidance, 4 picking and placing clamp 518 are respectively arranged at the end part of a rack 503 and connected with the rack 503 to clamp a workpiece, a synchronous belt 519 is arranged on the periphery of two belt wheels 523 to play a role of torque transmission, a sleeve 520 is arranged on the periphery of the rotating shaft 516, one end of the sleeve is in end surface contact with a gear 515, the other end of the sleeve is in contact with an inner ring of the bearing 521 to play a role of axial positioning, the number of the bearing 521 is 2, the bearing 521 is respectively arranged in two, and be connected with gear bearing seat 509, play the effect of axial positioning bearing 521, band pulley 523 has two, arranges the periphery of axis of rotation 516 in respectively, and is connected with axis of rotation 516 through the key, carries out axial positioning through shoulder, bush 525, axis of rotation 516 and the periphery of tool motor 511 pivot are arranged in to tool subassembly shaft coupling 524, play the transmission moment of torsion effect, the periphery of axis of rotation 516 is arranged in to bush 525, and one end and the contact of tool subassembly shaft coupling 524, the other end and band pulley 523 contact.
As shown in fig. 1 and 6, the measuring assembly 6 has two sets, each set includes a fixed bracket 601, a second camera 602 and a second light source 603, wherein one set of the fixed bracket 601 is disposed at the front side of the moving assembly 4, the other set is disposed at the front left side of the feeding assembly 9, the second camera 602 is fixedly connected to the fixed bracket 601, and the second light source 603 is fixedly connected to the fixed bracket 601 and disposed right below the second camera 602. The bottom surface of the workpiece 7 is arranged on the rotary supporting plate 810, two end walls are clamped by the pneumatic clamping plates 813, and 16 holes are formed in the side walls and used for being assembled with the connector 10;
the turning assembly 8 is composed of a bottom support plate 801, a turning driving rotating shaft 802, a turning assembly coupling 803, a turning motor 804, a rotating guide rail bracket 805, a pneumatic unit 806, a buffer plate 807, a supporting block 808, a supporting plate 809, a rotating support plate 810, a swing rod 811, a follow-up connecting plate 812, a pneumatic clamping plate 813, a rubber block 814, a rolling shaft 815, a turning motor bracket 816 and a hinge 817, wherein the bottom support plate 801 is arranged above the moving assembly 4 and connected with the first sliding block 404 to support the whole turning assembly 8, two turning driving rotating shafts 802 are provided, one end of each turning driving rotating shaft is connected with the swing rod 811, the other end of each turning driving rotating shaft is connected with the rotating shaft of the turning motor 804 through the turning assembly coupling 803, two turning assembly couplings 803 are provided, the turning assembly coupling 803 is connected with the turning driving rotating shafts 802 and the rotating shafts of the turning motor 804, two overturning motors 804 are respectively arranged on an overturning motor bracket 816, two rotating guide rail brackets 805 are respectively arranged at two ends of the moving component 4 and are connected with the bottom supporting plate 801 to play a role in supporting and positioning, two swing rods 811 are respectively arranged at the outer side of the rotating guide rail brackets 805 and are connected with the rolling shaft 815 and the overturning driving rotating shaft 802, two follow-up connecting plates 812 are respectively arranged at two ends of the rotating supporting plate 810 to play a role in supporting and connecting and fixing the pneumatic unit 806, two pneumatic clamping plates 813 are respectively arranged at the tail ends of the pneumatic unit 806 and are connected with the tail ends of the pneumatic unit 806, 4 rolling shafts 815 are respectively arranged at one end of the rotating supporting plate 810, one of the rolling shafts is arranged in an arc-shaped groove arranged on the rotating guide rail bracket 805 to play a role in connecting the rotating supporting plate 810 and the swing rods 811, the two turning motor supports 816 are respectively arranged at two ends of the bottom supporting plate 801 and connected with the bottom supporting plate 801, and the two hinges 817 are provided, one end of each hinge is connected with the rotating supporting plate 810, and the other end of each hinge is connected with the bottom supporting plate 801.
As shown in fig. 7 and 8, the feeding assembly 9 is composed of a feeding table 901, two feeding positioning corners 902 and a tooling plate 903, the feeding table 901 is disposed at one end of the moving assembly 4, the two feeding positioning corners 902 are disposed at the upper end of the feeding table 901 respectively, are diagonally disposed and connected to the feeding table 901 to position the tooling plate 903, and the tooling plate 903 is provided with a plurality of holes for storing the connectors 10.
It should be noted that the robot body 1, the moving motor 410, the pneumatic clamping jaw 501, the jig motor 511, the first camera 505, the second camera 602, the flipping motor 804, and the pneumatic unit 806 are all electrically connected to the assembly control component 2, and are controlled by the assembly control component.
When the robot is used, the robot body 1 rotates, under the action of the first camera 505 on the end jig 5, the end jig 5 grabs the workpiece 7 on the conveyor belt (the conveyor belt is placed on the other side of the robot body 1 and is parallel to the moving component 4) by using the pick-and-place clamp 518, and under the action of the first camera 505, the side wall without holes of the workpiece 7 is placed on the rotary support plate 810 along the support plate 809. The pneumatic unit 806 moves, and the two pneumatic clamping plates 813 stretch and contract to clamp the workpiece 7 and simultaneously position the workpiece 7. The entire flipper assembly 8 is then rotated 90 degrees along the rotary rail mount 805 by the flipper motor 804. Then, the measuring unit 6 is activated, the second camera 602 starts to measure the diameter of the hole in the sidewall of the workpiece 7, and then the moving unit 4 is activated, and the workpiece 7 is moved so that the diameter of 16 holes in the sidewall of the workpiece 7 can be measured. The translation motor 410 in the translation assembly 4 then reverses, causing the workpiece 7 to translate back half the length of the workpiece 7. The robot body 1 carries the end jig 5 with the first camera 505 to clamp the connector 10 by using the pneumatic finger 502 and the pneumatic clamping jaw 501, after clamping, the end jig 5 rotates 180 degrees, and then the diameter of the assembly part of the connector 10 is measured under the measuring assembly 6 on the left side of the feeding assembly 9.
In order to meet the requirements of consistency of assembly quality and assembly precision, the assembly tolerance of the connector 10 and the hole of the workpiece 7 is defined as S. After the clamped connector 10 is measured, 16 holes on the workpiece 7 meet the requirement that the assembly tolerance is less than or equal to S, if 16 holes meet the requirement that a plurality of holes are formed, assembly is carried out preferentially from the left side of the workpiece 7, if only one hole is formed in the 16 holes, the measured connector 10 is directly installed in a side wall hole of the workpiece 7, if 16 holes do not meet the requirement, the tail end jig 5 scans the bar code 302 in the buffer assembly 3 by using the first camera 505 on the tail end jig 5, and the connector 10 is placed in the hole, corresponding to the bar code 302, in the buffer assembly 3. And so on until 16 holes in the workpiece 7 are filled with connectors 10. Then the rotating component 8 rotates 90 degrees to horizontally place the workpiece 7, and the robot uses the pick-and-place clamp 518 in the end jig 5 to pick up the loaded workpiece 7 and place the workpiece on the conveyor belt for the next station. The robot body 1 then picks up the workpieces 7 to be assembled from the conveyor belt and places them on the rotating support plate 810, and the measurement method of the first workpiece 7 is repeated to measure 16 holes. The robot will then preferably cushion the connector 10 that has been tested in the assembly 3. For one hole on the workpiece 7, if the buffer component 3 is satisfied by a plurality of connectors 10, the assembly is preferentially carried out according to the principle of from left to right and from top to bottom, if only one connector is satisfied, the connector is directly clamped for assembly, if the buffer component 3 is not satisfied, the connector 10 is clamped from the feeding component 9 for measurement, and the first measurement assembly method is repeated until 16 holes on the workpiece 7 are assembled.
In summary, compared with the prior art, the connector sorting and assembling system based on visual measurement of the above embodiment can realize size sorting before connector assembling, and improve assembling efficiency, assembling quality and consistency; and the terminal tool has the flexible function of pressing from both sides, can compromise jumbo size casing and small-size connector, is worth being used widely.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A connector letter sorting assembly system based on vision measurement which characterized in that: the robot comprises a robot body, an assembly control assembly, a buffer assembly, a moving assembly, a tail end jig, a measuring assembly, a turning assembly and a feeding assembly; the tail end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, the buffer assembly is used for bearing a connector which is not matched with a workpiece in the current assembling process, the measuring assembly is used for measuring the inner diameter of a connector mounting hole in the workpiece and the diameter of the connector to be assembled respectively, and the feeding assembly is used for storing the connector to be assembled; the robot body, the moving assembly, the tail end jig, the measuring assembly and the overturning assembly are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
2. The vision measurement based connector sorting assembly system of claim 1, wherein: the movable assembly comprises a movable motor, a supporting table, a base plate, a first guide rail, a first sliding block, a lead screw and a movable nut, wherein the base plate is arranged on the supporting table, the movable motor is arranged on the base plate and connected with the lead screw, the movable nut sleeve is arranged on the lead screw, the number of the first guide rail and the number of the first sliding block are at least two, the two are parallel to the first guide rail and arranged on the base plate, and the first sliding block is connected with the first guide rail in a sliding mode.
3. The vision measurement based connector sorting and assembling system according to claim 2, wherein: the terminal jig comprises a pneumatic clamping jaw, a jig supporting plate, a jig motor, a clamping plate and a clamping plate size adjusting module, wherein the pneumatic clamping jaw is used for clamping a connector to be assembled, the clamping plate is used for clamping a workpiece to be assembled, the clamping plate is used for clamping the workpiece to be assembled, the clamping plate size adjusting module is used for clamping the workpiece to be assembled, the jig supporting plate is connected with the robot body, the jig motor is arranged on the jig supporting plate, the clamping plate is used for clamping the workpiece to be assembled, and the clamping.
4. The vision measurement based connector sorting assembly system of claim 3, wherein: the splint size adjusting module comprises four racks, a gear and a rotating shaft, the number of the racks is four, the two racks are a group, the number of the gears is two, the number of the rotating shaft is two, the rotating shaft is connected with the jig supporting plate in a rotating mode, the gear is arranged on the rotating shaft, the racks are arranged on two sides of the gear respectively and are in gear engagement transmission, the racks are connected with the jig supporting plate in a sliding mode, the taking and placing splint are arranged at the end portions of the racks respectively, one of the rotating shaft is connected with a rotating shaft of the jig motor, the two belt wheels are arranged on the rotating shaft, and the two belt wheels are connected through synchronous belts in a rotating mode.
5. The vision measurement based connector sorting assembly system of claim 4, wherein: the terminal jig further comprises a first light source and a first camera, and the first light source and the first camera are connected with the jig supporting plate.
6. The vision measurement based connector sorting assembly system of claim 4, wherein: the number of the measuring assemblies is two, each measuring assembly comprises a fixed support, a second camera and a second light source, the second cameras and the second light sources are connected with the fixed supports, one of the second cameras is located above the moving assembly, and the other second camera is located above the feeding assembly.
7. The vision measurement based connector sorting assembly system of claim 6, wherein: the turnover component comprises a bottom supporting plate, a turnover motor, a rotary guide rail support and a rotary supporting plate, wherein the bottom supporting plate is simultaneously connected with the movable nut and the first sliding block, the turnover motor is arranged on the bottom supporting plate, the rotary guide rail support is arranged at two ends of the bottom supporting plate, and the rotary supporting plate is rotatably connected with the bottom supporting plate, is slidably connected with the rotary guide rail support and is also connected with a rotating shaft of the turnover motor.
8. The vision measurement based connector sorting assembly system of claim 7, wherein: the rotary guide rail support is characterized in that a swing rod is arranged between a rotary shaft of the turnover motor and the rotary support plate, a roller is arranged on the swing rod and the rotary support plate, the roller far away from the turnover motor penetrates through an arc-shaped groove formed in the rotary guide rail support and is connected with the rotary support plate, the swing rod is connected with the rotary support plate through the roller, and the swing rod is connected with the rotary shaft of the turnover motor.
9. The vision measurement based connector sorting assembly system of claim 8, wherein: the turnover component further comprises workpiece clamping modules, the workpiece clamping modules are two in number and are respectively arranged at two ends of the workpiece and connected with the rotary supporting plate, each workpiece clamping module comprises a pneumatic unit, a follow-up connecting plate and a pneumatic clamping plate, the pneumatic clamping plates are arranged on the pneumatic unit, and the pneumatic unit is connected with the rotary supporting plate through the follow-up connecting plate.
10. The vision measurement based connector sorting assembly system of claim 9, wherein: the robot body, the moving motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the overturning motor and the pneumatic unit are all electrically connected with the assembly control assembly, and the assembly control assembly controls the action.
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