CN220313383U - Multi-view vision guide assembly quality - Google Patents
Multi-view vision guide assembly quality Download PDFInfo
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- CN220313383U CN220313383U CN202320592873.0U CN202320592873U CN220313383U CN 220313383 U CN220313383 U CN 220313383U CN 202320592873 U CN202320592873 U CN 202320592873U CN 220313383 U CN220313383 U CN 220313383U
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- camera
- assembly
- mechanical arm
- end effector
- movable workbench
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- 239000012636 effector Substances 0.000 claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Abstract
The utility model relates to a multi-view vision guiding assembly device which comprises a movable workbench, a camera assembly, an end effector, a mechanical arm, a part assembly table, a part placement table and an article placement platform. Through a plurality of camera subassembly can realize multiple visual angle shooting, acquires part assembly table and part and place the platform multi-visual angle image data, and camera subassembly support design has the rotation axis, can carry out position angle adjustment according to specific demand, adapts to multiple part assembly, can adjust in a flexible way and put the gesture, and convenient transport work, through multi-visual angle picture data processing, the accurate positioning part position, by arm and end effector cooperation accomplish the assembly action. The utility model adopts a multi-view visual guiding mode, can adjust the position and angle of the camera, is suitable for various assembly scenes, adjusts the placing posture of the camera component bracket, accurately positions the assembly body and ensures the accurate assembly of parts.
Description
Technical Field
The utility model belongs to the field of automatic visual assembly, and particularly relates to a multi-view visual guide assembly device.
Background
In the manufacturing industry, automatic production plays a more important role, namely, various production and processing are completed by replacing manual work with a machine, and in the field of automatic equipment, since a production product is generally composed of a plurality of scattered parts, various parts are required to be automatically assembled through equipment in the actual production process, so that a complete product structure is formed.
Parts assembly is an important part in automated production. For the assembly action of parts, the traditional manual assembly is low in efficiency and consumes a great amount of time; for positioning and assembling of mechanical equipment, the assembling flexibility is poor, accumulated errors are easy to generate, and the accuracy is not enough; for part assembly guided by a single visual angle, the whole posture of the part is estimated insufficiently, the angle and the position of the camera are fixed and are difficult to adjust, and the assembly is also blocked to a certain extent for carrying before and after assembly, so that the flexible production capacity is poor. These problems all make automated production difficult to achieve.
The current plan is applied to assembly work with multi-view vision guide, adds rotation axis and mounting groove in camera subassembly support, adjusts camera position angle to and camera subassembly support gesture adjustment, the transportation work of convenient assembly, and the rethread multi-view vision guide is carried out accurate positioning to assembly body cooperation both sides, realizes accurate assembly by the arm.
Disclosure of Invention
The utility model aims to solve the technical problems of the prior art, and provides a multi-view vision guide assembly device, wherein a rotating shaft and a mounting groove are added in a camera component bracket to adjust the position angle of a camera and the posture of the camera component bracket, so that the assembly transportation work is convenient, the assembly part is accurately positioned by utilizing multi-view guide, and the mechanical arm is accurately assembled.
In order to solve the technical problems, the utility model provides the following technical scheme: the utility model provides a multi-view vision guide assembly quality, includes movable workbench, its characterized in that: the movable workbench is fixedly provided with a plurality of camera component brackets, a plurality of end effector placing frames, a mechanical arm, a part assembling table, a part assembling fixing clamp and a part placing table, an article placing platform is arranged below the movable workbench, a picture processing computer and a mechanical arm control cabinet are placed on the article placing platform, and the movable workbench is provided with a braked universal wheel.
Preferably, the camera assembly bottom bracket is connected with the movable workbench, a light source is installed in the middle of the camera assembly, a camera is installed on the camera assembly top bracket, a light source installation groove is used for adjusting the position of the light source, a camera installation groove is used for adjusting the position of the camera, and the brackets of the camera are connected through a rotating shaft and used for adjusting the angle of the camera and the posture of the camera assembly bracket.
Preferably, the plurality of camera assembly holders are fixedly mounted at the periphery of the parts mounting table and the parts placement table for multi-view visual guidance.
Preferably, the end effector holders are arranged on one side of the mechanical arm, the idle end effector is placed on the end effector holders, the vacuum chuck and the three-finger clamping jaw are arranged, and the empty end effector holders wait for placing the two-finger clamping jaw in use.
Preferably, the mechanical arm is fixedly arranged at the middle position of the long side line of the movable workbench, and the tail end of the mechanical arm is provided with a double-finger clamping jaw in use.
Preferably, the part assembling fixing clamps are symmetrically arranged on two sides of the part assembling table.
Preferably, the article placement platform is connected with the movable workbench through a section bar, and a picture processing computer and a mechanical arm control cabinet are placed on the platform.
Preferably, the circumference of the bottom of the movable workbench is fixedly provided with a braked universal wheel.
Compared with the prior art, the multi-view vision guiding assembly device provided by the utility model comprises a movable workbench, a camera component, an end effector, a mechanical arm, a part assembly table, a part placement table and an article placement platform. The camera component support comprises a rotating shaft, position angle adjustment can be carried out according to specific conditions, the camera component support is suitable for various component assembly, the placing gesture of the camera component support can be flexibly adjusted, carrying work is convenient, the image processing computer is used for processing assembly image data through multi-view image data processing, the position of a component is accurately positioned, the optimal motion path of the mechanical arm is calculated, the mechanical arm is controlled to move by the mechanical arm control cabinet, and the end effector is used for carrying out component acquisition and component release to complete assembly actions.
The utility model adopts a multi-view visual guiding mode, can adjust the position and angle of the camera, is suitable for various assembly scenes, can adjust the placing posture of the camera component bracket, accurately positions both assemblies, ensures the accurate assembly of parts, and completes assembly work by the mechanical arm and the end effector.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used will be briefly described below.
FIG. 1 is a schematic diagram of the overall structure of the present utility model.
FIG. 2 is a second general structural diagram of the present utility model.
Fig. 3 is one of the overall schematic angles of the camera assembly holder of the present utility model.
Fig. 4 is a schematic view of a second general structure of the camera module holder according to the present utility model.
Wherein: 1. a movable table; 2. a camera assembly holder; 201. a camera assembly bottom bracket; 202. a camera assembly intermediate mount; 203. a camera assembly top mount; 204. a light source installation groove; 205. a camera mounting groove; 206. a rotation shaft; 3. a light source; 4. a camera; 5. a vacuum chuck; 6. three-finger clamping jaw; 7. an end effector carriage; 8. double-finger clamping jaw; 9. a mechanical arm; 10. a part assembly table; 11. a part assembling and fixing clamp; 12. a part placement table; 13. an article placement platform; 14. a picture processing computer; 15. a mechanical arm control cabinet; 16. the universal wheel can be braked.
Detailed Description
In order to make the objects, technical solutions and effects of the present utility model clearer and more obvious, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and it is apparent that the specific embodiments described herein are only preferred embodiments of the present utility model, but not all embodiments. Elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation. Based on the examples in the embodiments, those skilled in the art can obtain other examples without making any inventive effort, which fall within the scope of the utility model.
Referring to fig. 1 to 4, the present utility model provides a technical solution: the utility model provides a multi-view vision guide assembly quality, including portable workstation 1, fixed mounting has a plurality of camera subassembly supports 2, a plurality of end effector racks 7, arm 9, part assembly platform 10, part assembly mounting fixture 11, part place the platform 12 on the portable workstation 1, portable workstation 1 below is provided with article placing platform 13, places picture processing computer 14 and arm control cabinet 15 on article placing platform 13, and portable workstation 1 is furnished with the universal wheel 16 that can brake.
In this embodiment, the camera assembly bottom bracket 201 is connected to the movable table 1, the camera assembly middle bracket 202 is provided with the light source 3, the camera assembly top bracket 203 is provided with the camera 4, the light source mounting groove 204 is used for adjusting the position of the light source 3, the camera mounting groove 205 is used for adjusting the position of the camera 4, and the camera brackets are connected through the rotation shaft 206 for adjusting the angle of the camera 4 and the posture of the camera assembly bracket 2. The camera component brackets 2 can adjust the position and the angle of the camera according to different assembly scenes, and the placing posture of the camera component brackets 2 can be adjusted, so that the carrying work is convenient.
In the present embodiment, a plurality of camera module holders 2 are fixedly installed around the parts mounting stage 10 and the parts placement stage 12. The plurality of camera assembly holders 2 are used for multi-angle visual guidance so as to obtain more accurate part positions and ensure assembly accuracy.
In this embodiment, a plurality of end effector holders 7 are arranged on one side of the robot arm 9, and the end effector holders 7 are placed with idle end effectors, vacuum cups 5 and three-finger jaws 6, and an idle end effector holder 7 is provided with two-finger jaws 8 to be placed in use. The end effector can be applied to different assembly parts, so that the production flexibility is promoted, and the device is more universal.
In the embodiment, the mechanical arm 9 is fixedly arranged at the middle position of the long side line of the movable workbench 1, and the tail end of the mechanical arm 9 is provided with the double-finger clamping jaw 8 in use.
In this embodiment, the component mounting stand 10 is symmetrically provided with the component mounting fixture 11 on both sides. The part assembly fixture 11 fixes the part base to be assembled, so that the assembly process is more stable.
In this embodiment, the object placement platform 13 is connected to the movable table 1 through a profile, and a picture processing computer 14 and a robot arm control cabinet 15 are placed on the platform.
In this embodiment, the braked universal wheel 16 is fixedly installed around the bottom of the movable workbench 1, so as to facilitate the movement and braking of the device of the utility model.
In the embodiment, referring to the general structural schematic diagram 1 of the present utility model, a part to be assembled is placed on a part assembling table 10, clamped and fixed by a part assembling and fixing clamp 11, the part to be assembled is placed on a part placing table 12, the position and angle of a camera 4 on a peripheral camera assembly bracket 2 are adjusted, then the illumination condition is supplemented by a light source 3, multi-view image data is obtained, the data is transmitted to a picture processing computer 14 for processing, the accurate positions of the parts on the part assembling table 10 and the part placing table 12 are obtained, the optimal motion path of a mechanical arm 9 is calculated, the motion planning result is transmitted to a mechanical arm control cabinet 15 to control the motion of the mechanical arm, and then the parts are obtained and released by an end effector, and the present utility model is provided with three end effectors: the double-finger clamping jaw 8, the three-finger clamping jaw 6 and the vacuum chuck 5 are applied to various assemblies to complete multi-view guiding assembly work. Through the visual guidance of multiple views, the assembly body is precisely positioned by matching both sides, and precise assembly is realized by the mechanical arm.
In the embodiment, referring to the general structural schematic diagram 2 of the utility model, the posture of the camera component bracket 2 is adjusted, so that the carrying work of part assembly is convenient, and the problem of stiffness of the traditional device is solved.
In an embodiment, referring to fig. 3 and 4, a camera assembly bracket according to the present utility model is shown in a schematic view, wherein a rotation shaft 206, a camera mounting groove 204, a light source mounting groove 204, a camera position angle adjustment, and a camera assembly bracket posture adjustment are added to the camera assembly bracket 2, so as to adapt to different component assemblies.
The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It should be understood by those skilled in the art that the present utility model is not limited by the foregoing embodiments, but only by the preferred embodiments of the present utility model, and not by limiting the scope of the present utility model, and that the present utility model is not limited by the foregoing embodiments and the description of the present utility model and the accompanying drawings, but is modified or changed by the equivalent structures described in the present specification and drawings, and the modifications or changes should fall within the scope of the appended claims.
Claims (7)
1. The utility model provides a multi-view vision guide assembly quality, includes movable workstation (1), its characterized in that: a plurality of camera component brackets (2), a plurality of end effector holders (7), a mechanical arm (9), a part assembling table (10), a part assembling fixed clamp (11) and a part placing table (12) are arranged on the movable workbench (1), an article placing platform (13) is arranged below the movable workbench (1), a picture processing computer (14) and a mechanical arm control cabinet (15) are placed on the article placing platform (13), and the movable workbench (1) is provided with a braked universal wheel (16);
the camera assembly support (2) comprises a camera assembly bottom support (201), a camera assembly middle support (202), a camera assembly top support (203), a light source mounting groove (204) and a camera mounting groove (205), wherein the camera assembly bottom support (201) is connected with the movable workbench (1), the camera assembly middle support (202) is provided with a light source (3), the camera assembly top support (203) is provided with a camera (4), the light source mounting groove (204) is used for adjusting the position of the light source (3), the camera mounting groove (205) is used for adjusting the position of the camera (4), and the camera supports are connected through a rotating shaft (206) and are used for adjusting the angle of the camera (4) and the posture of the camera assembly support (2).
2. A multi-view visual guide assembly device according to claim 1, wherein: the plurality of camera assembly brackets (2) are fixedly mounted at the periphery of the part assembly table (10) and the part placement table (12) for multi-view visual guidance.
3. A multi-view visual guide assembly device according to claim 1, wherein: the end effector holders (7) are arranged on one side of the mechanical arm (9), idle end effectors are placed on the end effector holders (7), the vacuum chuck (5) and the three-finger clamping jaw (6) are arranged, and the empty end effector holders (7) are used for waiting to place the two-finger clamping jaw (8) which is in use.
4. A multi-view visual guide assembly device according to claim 1, wherein: the mechanical arm (9) is fixedly arranged at the middle position of the long side line of the movable workbench (1), and the tail end of the mechanical arm (9) is provided with a double-finger clamping jaw (8) which is in use.
5. A multi-view visual guide assembly device according to claim 1, wherein: the part assembly fixing clamp (11) is symmetrically arranged on two sides of the part assembly table (10).
6. A multi-view visual guide assembly device according to claim 1, wherein: the article placing platform (13) is connected with the movable workbench (1) through a section bar, and a picture processing computer (14) and a mechanical arm control cabinet (15) are placed on the platform.
7. A multi-view visual guide assembly device according to claim 1, wherein: the periphery of the bottom of the movable workbench (1) is fixedly provided with a braked universal wheel (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320592873.0U CN220313383U (en) | 2023-03-23 | 2023-03-23 | Multi-view vision guide assembly quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320592873.0U CN220313383U (en) | 2023-03-23 | 2023-03-23 | Multi-view vision guide assembly quality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220313383U true CN220313383U (en) | 2024-01-09 |
Family
ID=89416557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320592873.0U Active CN220313383U (en) | 2023-03-23 | 2023-03-23 | Multi-view vision guide assembly quality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220313383U (en) |
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2023
- 2023-03-23 CN CN202320592873.0U patent/CN220313383U/en active Active
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