CN112452798B - 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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- CN112452798B CN112452798B CN202011255130.1A CN202011255130A CN112452798B CN 112452798 B CN112452798 B CN 112452798B CN 202011255130 A CN202011255130 A CN 202011255130A CN 112452798 B CN112452798 B CN 112452798B
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- jig
- supporting plate
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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
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 buffer assembly, a moving assembly, a tail end jig, a measuring assembly, a turnover assembly and a feeding assembly; the end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, connectors which are not matched with workpieces in the current assembly process are supported and placed through the buffer assembly, the inner diameter of a connector mounting hole on the workpiece and the diameter of the connector to be assembled are measured through the measuring assembly respectively, and the connector to be assembled is stored through the feeding assembly. Compared with the prior art, the invention can realize size sorting before connector assembly and improve the assembly efficiency, the assembly quality and the consistency; and the terminal jig has a flexible clamping function, and can be used for a large-size shell and a small-size connector.
Description
Technical Field
The invention relates to the technical field of feeding assembly, in particular to a connector sorting assembly system based on vision measurement.
Background
In the existing electronic product assembling process, many repeated single actions are needed, manual operation is used for carrying out the repeated single actions, labor intensity is high, efficiency is low, assembly quality consistency is poor, for example, assembly of an existing radar component connector is finished by manual operation, certain differences exist between sizes of different connectors and diameters of different holes on a shell to be assembled, trial assembly exists in the assembly process, assembly efficiency is low, precision is low, assembly quality and consistency are poor, and product production efficiency is further seriously affected. Accordingly, a connector sort assembly system based on visual measurement is presented.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to solve the problems of low assembly efficiency, low precision, poor assembly quality and poor consistency of the existing radar component connector in the assembly process, and provide a connector sorting assembly system based on visual measurement.
The invention solves the technical problems through the following technical scheme 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 turnover assembly and a feeding assembly; the end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, connectors which are not matched with a workpiece in the current assembly process are held through the buffer assembly, the inner diameter of a connector mounting hole on the workpiece and the diameter of a connector to be assembled are respectively measured through the measuring assembly, and the connector to be assembled is stored through the feeding assembly; the robot body, the moving assembly, the tail end jig, the measuring assembly and the overturning assembly are electrically connected with the assembly control assembly, and the assembly control assembly controls actions.
Still further, the removal subassembly includes movable motor, brace table, backing plate, first guide rail, first slider, lead screw, removal nut, the backing plate sets up on the brace table, movable motor sets up on the backing plate with screw connection, the removal nut cover sets up on the lead screw, first guide rail first slider's quantity is two at least, two first guide rail parallel arrangement is in on the backing plate, first slider with first guide rail sliding connection.
Still further, terminal tool is including being used for the centre gripping to wait to assemble pneumatic clamping jaw, tool backup pad, tool motor, be used for getting to put the work piece get put splint, splint size adjustment module, the tool backup pad with robot body coupling, the tool motor sets up in the tool backup pad, get to put splint with on the splint size adjustment module, pneumatic clamping jaw with get to put splint connection.
Still further, splint size adjustment module includes rack, gear, axis of rotation, the quantity of rack is four, and two is a set of, the quantity of gear is two, the quantity of axis of rotation is two, the axis of rotation all with the tool backup pad rotates to be connected, the gear sets up in the axis of rotation, two in a set of the rack sets up respectively the both sides of gear, with gear engagement transmission, the rack with tool backup pad sliding connection, get and put splint and set up each respectively the tip of rack, one of them the axis of rotation with the pivot of tool motor is connected.
Further, pulleys are arranged on the two rotating shafts, and the two pulleys are connected in a rotating way through a synchronous belt.
Still further, the terminal jig further comprises a first light source and a first camera, wherein the first light source and the first camera are connected with the jig supporting plate.
Still further, the quantity of measurement subassembly is two sets, every set measurement subassembly all includes fixed bolster, second camera, second light source, the second camera the second light source all with the fixed bolster is connected, one of them the second camera is located remove the top of subassembly, another the second camera is located the top of material loading subassembly.
Still further, the upset subassembly includes bottom support plate, upset motor, rotatory guide rail support, rotatory backup pad, the bottom support plate simultaneously with the removal nut first slider is connected, the upset motor sets up in the bottom support plate, rotatory guide rail support sets up the both ends of bottom support plate, rotatory backup pad with the bottom support plate rotates to be connected, and with rotatory guide rail support sliding connection still with the pivot of upset motor is connected.
Still further, be provided with the pendulum rod between the pivot of upset motor with rotatory backup pad, the pendulum rod with rotatory backup pad is provided with the roller bearing, keep away from the upset motor the roller bearing runs 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.
Still further, the upset subassembly still includes work piece centre gripping module, the quantity of work piece centre gripping module is two sets of, sets up respectively at work piece both ends, with rotatory backup pad is connected, work piece centre gripping module includes pneumatic unit, follow-up connecting plate, pneumatic splint sets up on the pneumatic unit, pneumatic unit pass through follow-up connecting plate with rotatory backup pad is connected.
Still further, the material loading subassembly includes material loading platform, frock dish, the frock dish sets up on the material loading platform.
Still further, the robot body, the mobile motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the turnover motor and the pneumatic unit are all electrically connected with the assembly control assembly, and the assembly control assembly controls actions.
Compared with the prior art, the invention has the following advantages: compared with the prior art, the connector sorting and assembling system based on visual measurement can realize size sorting before connector assembling, and improves assembling efficiency, assembling quality and consistency; and the terminal jig has a flexible clamping function, can give consideration to a large-size shell and a small-size connector, and is worthy of popularization and use.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a second embodiment of the assembly system of the present invention;
FIG. 2 is a schematic view of a buffer assembly in a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a moving assembly of a second embodiment of the present invention;
FIG. 4 is a schematic diagram of an end fixture in a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a partial structure of an end fixture in a second embodiment of the present invention;
FIG. 6 is a schematic diagram of a turnover assembly in a second embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a feeding assembly in a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a connector in the second embodiment of the assembly system.
In the figure: 1. a robot body; 2. assembling a control assembly; 3. a buffer assembly; 4. a moving assembly; 5. an end jig; 6. a measurement assembly; 7. a workpiece; 8. a flip assembly; 9. a feeding assembly; 10. a connector; 301. a buffer stage; 302. a bar code; 401. a support table; 402. a backing plate; 403. a first guide rail; 404. a first slider; 405. a screw rod; 406. moving the nut; 407. a buffer block; 408. a moving assembly bearing seat; 409. moving the coupler; 410. a moving motor; 501. pneumatic clamping jaws; 502. pneumatic fingers; 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. a connecting support plate; 511. a jig motor; 512. a jig motor bracket; 513. a jig support plate; 514. a support bar; 515. a gear; 516. a rotating shaft; 517. a rubber layer; 518. taking and placing the clamping plates; 519. a synchronous belt; 520. a sleeve; 521. a bearing; 522. a bearing end cap; 523. a belt wheel; 524. jig assembly coupler; 525. a bushing; 601. a fixed 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 coupler; 804. a turnover motor; 805. a rotating guide rail bracket; 806. a pneumatic unit; 807. a buffer plate; 808. a support block; 809. a supporting plate; 810. rotating the support plate; 811. swing rod; 812. a follow-up connecting plate; 813. pneumatic clamping jaws; 814. a rubber block; 815. a roller; 816. overturning the motor bracket; 817. a hinge; 901. a feeding table; 902. feeding positioning angle; 903. and (5) a tooling plate.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Example 1
The embodiment provides a technical scheme: a connector sorting and assembling system based on visual measurement comprises a robot body, an assembling control assembly, a buffer assembly, a moving assembly, an end jig, a measuring assembly, a turnover assembly and a feeding assembly;
the end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, connectors which are not matched with a workpiece in the current assembly process are held through the buffer assembly, the inner diameter of a connector mounting hole on the workpiece and the diameter of a connector to be assembled are respectively measured through the measuring assembly, and the connector to be assembled is stored through the feeding assembly;
the robot body, the moving assembly, the tail end jig, the measuring assembly and the overturning assembly are electrically connected with the assembly control assembly, and the assembly control assembly controls actions.
The movable assembly comprises a movable motor, a supporting table, a base plate, first guide rails, first sliding blocks, a screw rod and movable nuts, wherein the base plate is arranged on the supporting table, the movable motor is arranged on the base plate and connected with the screw rod, the movable nuts are sleeved on the screw rod, the number of the first guide rails is at least two, the two first guide rails are arranged on the base plate in parallel, and the first sliding blocks are in sliding connection with the first guide rails.
The terminal jig comprises a pneumatic clamping jaw for clamping a connector to be assembled, a jig supporting plate, a jig motor, a picking and placing clamping plate for picking and placing a workpiece and a clamping plate size adjusting module, wherein the jig supporting plate is connected with the robot body, the jig motor is arranged on the jig supporting plate, the picking and placing clamping plate is connected with the clamping plate size adjusting module, and the pneumatic clamping jaw is connected with the picking and placing clamping plate.
The clamping plate size adjusting module comprises racks, gears and rotating shafts, the number of the racks is four, 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 both in rotary connection with the jig supporting plate, the gears are arranged on the rotating shafts, the racks in a group are respectively arranged on two sides of the gears and are in meshed transmission with the gears, the racks are in sliding connection with the jig supporting plate, the picking and placing clamping plates are respectively arranged at the end parts of the racks, and one rotating shaft is connected with the rotating shaft of the jig motor.
And belt wheels are arranged on the two rotating shafts, and the two belt wheels are connected through a synchronous belt in a rotating way.
The end jig further comprises a first light source and a first camera, wherein the first light source and the first camera are connected with the jig supporting plate.
The quantity 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 second camera is located above the moving assembly, and the other second camera is located above the feeding assembly.
The turnover assembly comprises a bottom supporting plate, a turnover motor, a rotary guide rail bracket 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 bracket is arranged at two ends of the bottom supporting plate, and the rotary supporting plate is rotationally connected with the bottom supporting plate, is slidingly connected with the rotary guide rail bracket and is also connected with a rotating shaft of the turnover motor.
The rotary turnover device is characterized in that a swing rod is arranged between a rotating shaft of the turnover motor and the rotary support plate, a rolling shaft is arranged between the swing rod and the rotary support plate, the rolling shaft far away from the turnover motor penetrates through an arc-shaped groove arranged on 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 rolling shaft, and the swing rod is connected with the rotating shaft of the turnover motor.
The turnover assembly further comprises two workpiece clamping modules, the workpiece clamping modules are respectively arranged at two ends of a 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 units, and the pneumatic units are connected with the rotary supporting plate through the follow-up connecting plates.
The feeding assembly comprises a feeding table and a tooling disc, and the tooling disc is arranged on the feeding table.
The robot body, the mobile motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the turnover motor and the pneumatic unit are all electrically connected with the assembly control assembly and controlled by the assembly control assembly to act.
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 assembly 2, a buffer assembly 3, a moving assembly 4, an end jig 5, a measuring assembly 6, a workpiece 7, a turnover assembly 8, a feeding assembly 9 and a connector 10; the buffer assembly 3 comprises a buffer table 301 and a bar code 302, wherein 60 holes are formed in the buffer table 301 and are used for bearing connectors 10 which are not matched with workpieces 7 in the current assembly process, and 60 bar codes 302 are numbered from 1 to 60 and are stuck on one side of each hole. The moving assembly 4 comprises a supporting table 401, a backing plate 402, first guide rails 403, first sliding blocks 404, a lead screw 405, moving nuts 406, buffer blocks 407, moving assembly bearing seats 408, moving couplings 409 and moving motors 410, wherein the supporting table 401 plays a role of supporting the moving assembly 4 and the overturning assembly 8, four corners of the backing plate 402 are provided with four through holes and connected with the supporting table 401, the first guide rails 403 are respectively arranged on the upper surface of the backing plate 402 and are respectively aligned with two sides of the backing plate 407 and connected with the backing plate 402 by using bolts, the first sliding blocks 404 are respectively arranged on the 4 first guide rails 403, two first guide rails 403 are arranged on each first guide rail 403, the lead screw 405 is connected with the moving motors 410 by using the moving couplings 409, the moving nuts 406 are arranged on the periphery of the lead screw 405 and are matched with the lead screw 405 by threads and are connected with a bottom supporting plate 801, the buffer blocks 407 are respectively arranged at two ends of the bearing seats 405, each two are arranged on two sides of the moving assembly bearing seats 408, the moving assemblies are respectively connected with the backing plate 402 by using bolts, the moving couplings 408 are respectively arranged at two ends of the lead screw 405, and the couplings are used for transmitting torque to the couplings 410.
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 support plate 506, a second slider 507, a second guide rail 508, a gear bearing 509, a connection support plate 510, a fixture motor 511, a fixture motor support 512, a fixture support plate 513, a support bar 514, a gear 515, a rotation shaft 516, a rubber layer 517, a pick-and-place clamping plate 518, a synchronous belt 519, a sleeve 520, a bearing 521, a bearing end cap 522, a belt pulley 523, a fixture assembly coupling 524 and a bushing 525, one end of the pneumatic clamping jaw 501 is connected with a small slider on the guide rail in the pneumatic finger 502, the other end is used for clamping the connector 10, the pneumatic finger 502 is connected with the pick-and-place clamping plate 518 for adjusting the space between the pneumatic clamping jaw 501, the rack 503 is 4, each group is placed on the connection support plate 510, each of the groups is respectively arranged at two sides of the gear 515, meshed with the gear 515, 4 through holes are arranged on each group, and are connected with the second slide 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 at one side of the jig supporting plate 513 and is connected with the jig supporting plate 513, the first camera 505 and the first light source 504 are supported, 4 second slide blocks 507 are respectively arranged on 4 second guide rails 508, the second guide rails 508 are respectively arranged at 4, 2 groups are arranged at two sides of the connecting supporting plate 510 and are connected with the connecting supporting plate 510, three gear bearing seats 509 are arranged at two sides of the connecting supporting plate 510 and are connected with the connecting supporting plate 510, the other one is arranged at the other side of the jig supporting plate 513, and is arranged on the jig supporting plate 513 and connected with the jig supporting plate 513, the two connecting supporting plates 510 are respectively arranged on the supporting plates 514 and connected with the supporting plates 514, the gear 515 is supported to drive 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 surface of the upper part of the jig supporting plate 513 and is fixed by nuts, the two supporting plates 514 are respectively arranged on the upper part and the lower part of the jig supporting plate 513 and connected with the jig supporting plate 513, the distance between the connecting supporting plates 510 and the end of the adjusting jig motor 511 to the jig supporting plate 513 is supported, the excessive height of one end of the jig supporting plate 513 is prevented, the two gears 515 are arranged, the two gear shafts 516 are respectively arranged at the periphery of the rotating shafts 516 and are connected with the rotating shafts 516 through keys, 2 rotating shafts 516 are arranged, the end part of one rotating shaft 516 is connected with the rotating shaft of the jig motor 511 through a jig assembly coupler 524, the other end of the rotating shaft is embedded in a bearing 521, 4 rubber layers 517 are respectively arranged on the pick-and-place clamping plates 518 and are connected with the pick-and-place clamping plates 518 to play a role in collision avoidance, 4 pick-and-place clamping plates 518 are respectively arranged at the end parts of racks 503 and are connected with the racks 503 to clamp workpieces, the synchronous belt 519 is arranged at the periphery of two belt pulleys 523 to play a role in transmitting torque, the sleeve 520 is arranged at the periphery of the rotating shaft 516, one end of the sleeve 520 is contacted with the end face of the gear 515, the other end of the sleeve is contacted with the inner ring of the bearing 521 to play a role in axial positioning, 2 bearings 521 are respectively arranged in two gear bearing seats 509, 2 bearing end covers are arranged at the end caps 522, the two pulleys 523 are respectively arranged at the periphery of the rotating shafts 516 and connected with the gear bearing seats 509 to play a role of axially positioning the bearings 521, the two pulleys 523 are respectively arranged at the periphery of the rotating shafts 516 and connected with the rotating shafts 516 through keys, the axial positioning is performed through shaft shoulders and the bushings 525, the jig assembly couplings 524 are arranged at the periphery of the rotating shafts 516 and the rotating shafts of the jig motors 511 to play a role of transmitting torque, the bushings 525 are arranged at the periphery of the rotating shafts 516, one ends of the bushings are in contact with the jig assembly couplings 524, and the other ends of the bushings are in contact with the pulleys 523.
As shown in fig. 1 and 6, the measuring assembly 6 has two sets, each set includes a fixing frame 601, a second camera 602 and a second light source 603, wherein one set of the fixing frame 601 is disposed on the front side of the moving assembly 4, the other set is disposed on the front left side of the feeding assembly 9, the second camera 602 is fixedly connected to the fixing frame 601, and the second light source 603 is fixedly connected to the fixing frame 601 and is disposed under the second camera 602. The bottom surface of the workpiece 7 is arranged on a rotary supporting plate 810, two end walls are clamped by a pneumatic clamping plate 813, and the side walls are provided with 16 holes for assembling with the connector 10;
the turnover assembly 8 consists of a bottom supporting plate 801, a turnover driving rotating shaft 802, a turnover assembly coupler 803, a turnover motor 804, a rotary guide rail bracket 805, a pneumatic unit 806, a buffer plate 807, a supporting block 808, a supporting plate 809, a rotary supporting plate 810, a swinging rod 811, a follow-up connecting plate 812, a pneumatic clamping plate 813, a rubber block 814, a roller 815, a turnover motor bracket 816 and a hinge 817, wherein the bottom supporting plate 801 is arranged above the moving assembly 4 and is connected with the first sliding block 404 to play a role of supporting the whole turnover assembly 8, the turnover driving rotating shaft 802 is provided with two, one end is connected with the swinging rod 811, the other end is connected with the rotating shaft of the turnover motor 804 through the turnover assembly coupler 803, the turnover assembly coupler 803 is connected with the turnover driving rotating shaft 802 and the rotating shaft of the turnover motor 804 through keys to play a role of transmitting torque, the two turnover motors 804 are respectively arranged on the turnover motor brackets 816, the two rotation guide rail brackets 805 are respectively arranged at the two ends of the movable assembly 4 and are connected with the bottom support plate 801 to play a role in supporting and positioning, the two swinging rods 811 are respectively arranged at the outer sides of the rotation guide rail brackets 805 and are connected with the rolling shafts 815 and the turnover driving rotating shafts 802, the two follow-up connecting plates 812 are respectively arranged at the two ends of the rotation support plate 810 to play a role in supporting and connecting the fixed pneumatic units 806, the two pneumatic clamping plates 813 are respectively arranged at the tail ends of the pneumatic units 806 and are connected with the tail ends of the pneumatic units 806, the rolling shafts 815 are respectively arranged at 4, each two are arranged at one end of the rotation support plate 810 and one of the two are arranged in an arc-shaped groove arranged on the rotation guide rail brackets 805 to play a role in connecting the rotation support plate 810 and the swinging rods 811, the two turnover motor brackets 816 are respectively arranged at two ends of the bottom supporting plate 801 and connected with the bottom supporting plate 801, the two hinges 817 are arranged, one end of each hinge 817 is connected with the rotary supporting plate 810, and the other end of each hinge 817 is connected with the bottom supporting plate 801.
As shown in fig. 7 and 8, the loading assembly 9 is composed of a loading table 901, loading positioning angles 902 and a tooling plate 903, the loading table 901 is disposed at one end of the moving assembly 4, two loading positioning angles 902 are disposed at the upper end of the loading table 901 respectively, the loading positioning angles are diagonally arranged and connected with the loading table 901, the tooling plate 903 is positioned, and a plurality of holes are formed in the tooling plate 903 for storing the connector 10.
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 turning motor 804, and the pneumatic unit 806 are all electrically connected to the assembly control unit 2, and the assembly control unit controls the operation.
In use, 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 assembly 4) by using the pick-and-place clamping plate 518, and then under the action of the first camera 505, the sidewall of the workpiece 7 without holes is placed on the rotating support plate 810 along the supporting plate 809. The pneumatic unit 806 moves, and the two pneumatic clamping plates 813 are extended and contracted to clamp the workpiece 7, and simultaneously perform a positioning function on the workpiece 7. The entire flipping assembly 8 is then rotated 90 degrees along the rotating track bracket 805 by the flipping motor 804. The measuring assembly 6 is then activated and the second camera 602 starts measuring the diameter of the hole in the side wall of the workpiece 7, and the moving assembly 4 is then activated and the workpiece 7 is moved so that the diameter value can be measured for all 16 holes in the side wall of the workpiece 7. The movement motor 410 in the movement assembly 4 is then reversed, causing the workpiece 7 to move back half the length of the workpiece 7. The robot body 1 clamps the connector 10 by using the pneumatic finger 502 and the pneumatic clamping jaw 501 under the action of the first camera 505 with the end jig 5, after clamping, the end jig 5 rotates 180 degrees, and then the diameter of the assembled part of the connector 10 is measured under the measuring assembly 6 at the left side of the feeding assembly 9.
In order to meet the requirements of consistency of assembly quality and assembly accuracy, the assembly tolerance of the connector 10 and the hole of the workpiece 7 is defined as S. After the diameter of the connector 10 is measured, if the assembly tolerance is less than or equal to S with respect to 16 holes in the workpiece 7, if a plurality of holes in the 16 holes are satisfied, the assembly is preferably performed from the left side of the workpiece 7, if only one hole in the 16 holes is satisfied, the measured connector 10 is directly mounted in a side wall hole of the workpiece 7, if no hole in the 16 holes is satisfied, the end jig 5 scans the bar code 302 in the buffer assembly 3 by using the first camera 505 on the 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 the connector 10 is installed in all 16 holes in the workpiece 7. Then the rotating assembly 8 rotates 90 degrees to horizontally place the workpiece 7, and the robot uses the picking and placing clamping plate 518 in the end jig 5 to pick up the assembled workpiece 7 and place the workpiece 7 on the conveyor belt for the next station. The robot body 1 then grabs the workpiece 7 to be assembled again from the conveyor belt and places it on the rotating support plate 810, and the measurement method of the first workpiece 7 is repeated, and 16 holes are measured. The robot will then prefer the connector 10 already tested in the buffer assembly 3. If the buffer assembly 3 has a plurality of connectors 10 for one hole on the workpiece 7, 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 used, the assembly is carried out by direct clamping, if the buffer assembly 3 does not have the connector 10, the measurement is carried out by clamping the connector 10 from the feeding assembly 9, and the first measurement assembly method is repeated until the 16 holes on the workpiece 7 are assembled.
In summary, in the connector sorting and assembling system based on visual measurement in the above embodiment, compared with the prior art, size sorting before connector assembling can be achieved, and assembling efficiency, assembling quality and consistency are improved; and the terminal jig has a flexible clamping function, can give consideration to a large-size shell and a small-size connector, and is worthy of popularization and use.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. Connector letter sorting assembly system based on vision measurement, its characterized in that: the robot comprises a robot body, an assembly control assembly, a buffer assembly, a moving assembly, a terminal jig, a measuring assembly, a turnover assembly and a feeding assembly; the end jig is connected with the robot body, the moving assembly is connected with the overturning assembly, connectors which are not matched with a workpiece in the current assembly process are held through the buffer assembly, the inner diameter of a connector mounting hole on the workpiece and the diameter of a connector to be assembled are respectively measured through the measuring assembly, and the connector to be assembled is stored through the feeding assembly; 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 actions;
starting a measuring assembly, starting a second camera to measure the diameter of the hole on the side wall of the workpiece, starting a moving assembly, and moving the workpiece to ensure that the diameter value of 16 holes on the side wall of the workpiece can be measured, wherein the holes on the side wall of the workpiece are connector mounting holes; then the moving motor in the moving assembly is reversed, so that the workpiece moves back by half the length of the workpiece; the robot body clamps the connector by using a pneumatic finger and a pneumatic clamping jaw under the action of a first camera with the end jig, after clamping, the end jig rotates 180 degrees, and then the diameter of the connector assembly part is measured under the measuring assembly at the left side of the feeding assembly;
defining the assembly tolerance of the connector and the hole on the workpiece as S; after the diameter of the clamped connector is measured, the clamped connector meets the requirement that the assembly tolerance is less than or equal to S with 16 holes on the workpiece at the moment, if a plurality of holes in the 16 holes are met, the assembly is carried out preferentially from the left side of the workpiece, if only one hole in the 16 holes is met, the measured connector is directly arranged in a side wall hole of the workpiece, if no hole in the 16 holes is met, a first camera on the end jig is used for scanning a bar code in a buffer assembly, and the connector is placed in a hole corresponding to the bar code on the buffer assembly; and so on until the connectors are assembled in 16 holes on the workpiece; then the rotating assembly rotates for 90 degrees to enable the workpiece to be placed horizontally, the robot body uses the picking and placing clamping plates in the tail end jig to pick away the assembled workpiece, and the workpiece is placed on the conveyor belt to carry out the next station.
2. A vision measurement based connector sort assembly system as set forth in claim 1, wherein: the movable assembly comprises a movable motor, a supporting table, a base plate, first guide rails, first sliding blocks, a screw rod and movable nuts, wherein the base plate is arranged on the supporting table, the movable motor is arranged on the base plate and connected with the screw rod, the movable nuts are sleeved on the screw rod, the number of the first guide rails is at least two, the two first guide rails are arranged on the base plate in parallel, and the first sliding blocks are in sliding connection with the first guide rails.
3. A vision measurement based connector sort assembly system as set forth in claim 2, wherein: the terminal jig comprises a pneumatic clamping jaw for clamping a connector to be assembled, a jig supporting plate, a jig motor, a picking and placing clamping plate for picking and placing a workpiece and a clamping plate size adjusting module, wherein the jig supporting plate is connected with the robot body, the jig motor is arranged on the jig supporting plate, the picking and placing clamping plate is connected with the clamping plate size adjusting module, and the pneumatic clamping jaw is connected with the picking and placing clamping plate.
4. A vision measurement based connector sort assembly system according to claim 3, wherein: the clamping plate size adjusting module comprises racks, gears and rotating shafts, the number of the racks is four, 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 both in rotary connection with the jig supporting plate, the gears are arranged on the rotating shafts, two racks in a group are respectively arranged on two sides of the gears and are in meshed transmission with the gears, the racks are in sliding connection with the jig supporting plate, the picking and placing clamping plates are respectively provided with end parts of the racks, one rotating shaft is connected with the rotating shaft of the jig motor, two pulleys are respectively arranged on the rotating shafts, and the two pulleys are in rotary connection through synchronous belts.
5. The vision-based connector sort assembly system of claim 4, wherein: the end jig further comprises a first light source and a first camera, wherein the first light source and the first camera are connected with the jig supporting plate.
6. The vision-based connector sort assembly system of claim 4, wherein: the quantity 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 second camera is located above the moving assembly, and the other second camera is located above the feeding assembly.
7. The vision-based connector sort assembly system of claim 6, wherein: the turnover assembly comprises a bottom supporting plate, a turnover motor, a rotary guide rail bracket 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 bracket is arranged at two ends of the bottom supporting plate, and the rotary supporting plate is rotationally connected with the bottom supporting plate, is slidingly connected with the rotary guide rail bracket and is also connected with a rotating shaft of the turnover motor.
8. The vision measurement based connector sort assembly system of claim 7, wherein: the rotary turnover device is characterized in that a swing rod is arranged between a rotating shaft of the turnover motor and the rotary support plate, a rolling shaft is arranged between the swing rod and the rotary support plate, the rolling shaft far away from the turnover motor penetrates through an arc-shaped groove arranged on 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 rolling shaft, and the swing rod is connected with the rotating shaft of the turnover motor.
9. The vision measurement based connector sort assembly system of claim 8, wherein: the turnover assembly further comprises two workpiece clamping modules, the workpiece clamping modules are respectively arranged at two ends of a 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 units, and the pneumatic units are connected with the rotary supporting plate through the follow-up connecting plates.
10. The vision-based connector sort assembly system of claim 9, wherein: the robot body, the mobile motor, the pneumatic clamping jaw, the jig motor, the first camera, the second camera, the turnover motor and the pneumatic unit are all electrically connected with the assembly control assembly and controlled by the assembly control assembly to act.
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| CN202011255130.1A CN112452798B (en) | 2020-11-11 | 2020-11-11 | Connector sorting and assembling system based on vision measurement |
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