CN113695776B - Ultrasonic motor multipoint positioning assembly mechanism based on machine vision and method thereof - Google Patents
Ultrasonic motor multipoint positioning assembly mechanism based on machine vision and method thereof Download PDFInfo
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- CN113695776B CN113695776B CN202111171777.0A CN202111171777A CN113695776B CN 113695776 B CN113695776 B CN 113695776B CN 202111171777 A CN202111171777 A CN 202111171777A CN 113695776 B CN113695776 B CN 113695776B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000000007 visual effect Effects 0.000 claims description 59
- 230000010365 information processing Effects 0.000 claims description 51
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- 238000010801 machine learning Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
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Abstract
The invention provides an ultrasonic motor multipoint positioning assembly mechanism based on machine vision and a method thereof, wherein the mechanism comprises a welding execution mechanism, an ultrasonic motor component grabbing manipulator, a rack, a vision detection and information sending device, a material transmission device, a workpiece bearing disc and a small terminal grabbing mechanism.
Description
Technical Field
The invention belongs to the technical field of ultrasonic motor manufacturing, and particularly relates to a machine vision-based ultrasonic motor multipoint positioning assembly mechanism and a machine vision-based ultrasonic motor multipoint positioning assembly method.
Background
At present, the hole position on the PCB of the ultrasonic motor is only 1 to 2 millimeters in size when the ultrasonic motor is assembled. In the prior art, the ultrasonic motor stator PCB and the terminal are basically matched manually due to the fact that hole positions are small and the positions are close to each other, and manual assembly efficiency is too low and a large amount of manpower is consumed during batch production of the ultrasonic motor. Therefore, the method of assembling the robot by matching machine learning with the manipulator is required to reduce the use of actual labor and improve the assembling precision.
Disclosure of Invention
In order to solve the problems, the invention provides an ultrasonic motor multipoint positioning assembly mechanism based on machine vision and a method thereof.
To achieve the purpose, the invention provides a consistent ultrasonic motor multipoint positioning assembly mechanism based on machine vision, which comprises a welding execution mechanism, an ultrasonic motor part grabbing manipulator, a frame, a vision detection and information sending device, a material transmission device, a workpiece bearing disc and a small terminal grabbing mechanism,
the material conveying device is fixedly arranged on the rack and comprises a track conveying belt and a limiting shaft, and the limiting shaft is arranged on the side surface of the track conveying belt;
the ultrasonic motor stator PCB is placed on the ultrasonic motor stator PCB clamp and positioned, and the rail conveying belt carries out limiting through a limiting shaft when conveying the ultrasonic motor stator PCB to a designated position;
the ultrasonic motor component grabbing manipulator comprises a clamping mechanism, a rotating mechanism and a four-degree-of-freedom transfer robot, wherein the rotating mechanism is installed on the four-degree-of-freedom transfer robot, the clamping mechanism is installed on the rotating mechanism, and the four-degree-of-freedom transfer robot controls the clamping mechanism to clamp an ultrasonic motor stator PCB at a specified position to a detection area below the visual detection and information sending device;
the visual detection and information sending device is positioned above the material conveying device and comprises a visual detection main body and an information sending device main body, the visual detection main body is arranged on the information sending device main body, when the rail conveying belt conveys the workpiece bearing disc to a detection area below the visual detection main body, the visual detection main body carries out visual detection on the ultrasonic motor stator PCB on the workpiece bearing disc and sends visual information to the welding executing mechanism through the information sending device main body;
the welding executing mechanism comprises an information processing unit, a welding executing mechanism bearing platform, a transverse transmission guide rail and a welding mechanism tail end welding hand, the information processing unit is arranged above the welding executing mechanism bearing platform, the transverse transmission guide rail is arranged below the welding executing mechanism bearing platform, the welding mechanism tail end welding hand is arranged on the transverse transmission guide rail, the information processing unit receives visual information sent by the information sending device main body, the information processing unit analyzes and processes the visual information and then sends a signal to a four-freedom-degree carrying robot, the four-freedom-degree carrying robot adjusts an ultrasonic motor stator PCB to rotate according to an information control rotating mechanism, the information processing unit sends a signal to a small terminal grabbing mechanism, and the small terminal grabbing mechanism grabs terminals onto the ultrasonic motor stator PCB, the transverse transmission guide rail slides below the bearing platform of the welding execution mechanism to adjust the position, and a welding hand at the tail end of the welding mechanism welds a terminal on a PCB (printed circuit board) of the stator of the ultrasonic motor;
the small-size terminal snatchs the mechanism and snatchs mechanism main part, terminal anchor clamps and horizontal track including fixed backplate, mobile power source, terminal, mobile power source installs in fixed backplate, the terminal snatchs the mechanism main part and installs in fixed backplate below, one side that the terminal anchor clamps are located fixed backplate is used for fixed terminal, horizontal track is installed on fixed backplate, the terminal snatchs the mechanism main part and installs on horizontal track, the terminal snatchs the mechanism main part and makes a round trip to slide on horizontal track and snatchs the terminal on the terminal anchor clamps and carry on the supersound motor stator PCB board.
The invention realizes the spatial position and angle positioning of the ultrasonic electronic stator assembly by combining the machine vision, the automatic assembly, the feeding and the welding, combines the machine learning, and can continuously learn through actual operation data to achieve better assembly effect and welding progress.
As a further improvement of the invention: the workpiece bearing plate further comprises a bearing plate tray, the bearing plate tray is installed on the track conveying belt, the track conveying belt drives the bearing plate tray to slide, and the assembly fixture is fixedly installed on the bearing plate tray. Bear a set tray top and install supersound motor stator PCB board and terminal cooperation assembly, assembly anchor clamps and supersound motor stator PCB board anchor clamps, realize the fixed and installation to above-mentioned part, bear a set tray and install on track conveyer belt, track conveyer belt can drive and bear a set tray and transport, realize carrying.
As a further improvement of the invention: the ultrasonic motor component grabbing manipulator further comprises a fixed seat, the four-degree-of-freedom carrying robot is fixedly installed on the fixed seat, and the fixed seat is fixedly installed on the rack. The fixing seat is used for fixing and installing the four-freedom-degree transfer robot.
As a further improvement of the invention: visual detection and information sending device is still including the fixed bolster, fixed bolster fixed mounting is in the frame, install horizontal pole and installation piece on the fixed bolster, the horizontal pole passes through the installation piece and connects perpendicularly on the fixed bolster, information sending device main part fixed mounting is on the horizontal pole, the visual detection main part is installed in the information sending device main part. The fixed bolster is used for realizing the fixed and installation to visual detection and information sending device, and wherein horizontal pole and installation piece can make things convenient for the fixed and installation of visual detection main part.
As a further improvement of the invention: welding actuating mechanism is still including automatic tinning device, welding actuating mechanism support frame, welding mechanism motor and tow chain, automatic tinning device is connected and is carried out automatic tinning on the terminal welding hand of welding mechanism, welding mechanism terminal welding hand, tow chain are connected respectively at the welding mechanism motor, the tow chain is installed at the lateral transfer guide rail, the welding mechanism motor passes through the tow chain and drives the terminal welding hand of welding mechanism and slide on the lateral transfer guide rail. The automatic tinning device is used for automatically tinning the tail end welding hand of the welding mechanism, the tail end welding hand of the welding mechanism can not normally work after the tin in the tail end welding hand is used up, the support frame of the welding executing mechanism is used for fixing and installing a bearing platform of the welding executing mechanism, the motor of the welding mechanism can provide electric power for the tail end welding hand of the welding mechanism, the tail end welding hand can normally work, the drag chain is connected to the motor of the welding mechanism, and the position of adjusting the tail end welding hand of the welding mechanism to slide on the transverse transmission guide rail of the movable welding mechanism can be accurately welded.
As a further improvement of the invention: the small-sized terminal grabbing mechanism further comprises a terminal grabbing mechanism support, the terminal grabbing mechanism support is fixedly installed on the rack, and the fixed back plate is installed on the terminal grabbing mechanism support to be fixed. The small-sized terminal grabbing mechanism grabs the mechanism support through being provided with a terminal, and the fixed back plate is installed on the terminal grabbing mechanism support to be fixed and installed.
The invention provides a use method of an ultrasonic motor multipoint positioning assembly mechanism based on machine vision, which comprises the following steps:
firstly, placing an ultrasonic motor stator PCB to be processed into an ultrasonic motor stator PCB clamp of a workpiece bearing disc and positioning;
secondly, transporting the workpiece bearing disc with the ultrasonic motor stator PCB on the track conveyor belt;
moving the workpiece bearing plate by the rail conveyor belt along the actual material flow direction until the workpiece bearing plate reaches a set working position, and fixing the workpiece bearing plate in a designated area by the limiting shaft;
step four, a four-degree-of-freedom transfer robot in the ultrasonic motor part grabbing manipulator goes to the upper side of the ultrasonic motor stator PCB according to a set route, grabs the ultrasonic motor stator PCB and moves the ultrasonic motor stator PCB to a detection area below the visual detection main body and the information sending device;
fifthly, the visual detection and information sending device positions the spatial position of the ultrasonic motor stator PCB reaching the detection area, records the relative positions of 4 hole sites on the ultrasonic motor stator PCB, and sends the acquired data to an information processing unit for processing information through the information sending device main body;
processing the visual information by an information processing unit for processing the information, and finally transmitting the processed data to an ultrasonic motor part grabbing manipulator and a small terminal grabbing mechanism;
step seven, the ultrasonic motor component grabbing manipulator rotates the rotating mechanism and the clamping mechanism at the tail end of the four-degree-of-freedom transfer robot according to the information transmitted by the information processing unit, and the requirement of matching with a terminal is met;
step eight, the small terminal grabbing mechanism enables the terminals to be matched with four small holes in the ultrasonic motor stator PCB according to data transmitted by the information processing unit, and sends the ready signal to the information processing unit;
welding the terminal and the ultrasonic motor stator PCB by the welding executing mechanism according to the information of the information processing unit, scanning the welded welding spot and uploading the welded welding spot to the information processing unit;
step ten, the information processing unit performs machine learning on the generated data to further improve the welding position and further improve the welding precision;
and step eleven, repeating the step one to the step ten.
The invention has the beneficial effects that:
the ultrasonic motor multipoint positioning and assembling mechanism based on the machine vision and the method thereof combine several steps of machine vision, automatic assembly, feeding and welding together, realize the position and angle positioning of an ultrasonic electronic stator assembly in space, combine with machine learning together, and can continuously learn through actual operation data, thereby achieving better assembling effect and welding progress. The ultrasonic motor parts can be placed in the complex placing positions by the aid of the machine vision, accurate positioning and assembling of small parts are achieved, and the yield and the attractiveness of products are improved.
Drawings
FIG. 1 is a schematic structural diagram of a machine vision-based ultrasonic motor multipoint positioning assembly mechanism of the present invention;
FIG. 2 is a schematic structural diagram of a welding actuator in the ultrasonic motor multipoint positioning assembly mechanism based on machine vision according to the present invention;
FIG. 3 is a schematic structural view of an ultrasonic motor part grabbing manipulator in the ultrasonic motor multipoint positioning and assembling mechanism based on machine vision according to the invention;
FIG. 4 is a schematic structural diagram of a visual detection and information transmission device in the ultrasonic motor multipoint positioning assembly mechanism based on machine vision according to the present invention;
FIG. 5 is a schematic structural diagram of a workpiece carrier plate in the ultrasonic motor multipoint positioning and assembling mechanism based on machine vision according to the present invention;
FIG. 6 is a schematic structural view of a small and medium terminal grabbing mechanism of the ultrasonic motor multipoint positioning and assembling mechanism based on machine vision.
Name of the part:
1. a welding actuator; 2. an ultrasonic motor component grabbing manipulator; 3. a frame; 4. a visual detection and information transmission device; 5. a material conveying device; 6. a workpiece carrier tray; 7. a small terminal gripping mechanism; 101. an information processing unit; 102. an automatic tin feeding device; 103. a welding actuator bearing platform; 104. a transverse transport guide rail; 105. welding an actuating mechanism supporting frame; 106. the tail end of the welding mechanism is provided with a welding hand; 107. a welding mechanism motor; 108. a drag chain; 201. a clamping mechanism; 202. an ultrasonic motor stator PCB board; 203. a rotation mechanism; 204. a four-degree-of-freedom transfer robot; 401. fixing a bracket; 402. a visual inspection subject; 403. an information transmission device main body; 404. a cross bar; 405. mounting blocks; 601. the ultrasonic motor stator PCB board and the terminal are matched with each other to form a combined body; 602. assembling a fixture; 603. a load-bearing disk tray; 604. an ultrasonic motor stator PCB clamp; 701. fixing the back plate; 702. a mobile power source; 703. a terminal gripping mechanism body; 704. a terminal gripping mechanism support; 705. a terminal; 706. a terminal clamp; 707. a horizontal rail; 8. a fixed seat.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
in the assembling process of the ultrasonic motor, the assembly of the terminal and the PCB board often needs manual participation due to the reasons of high precision and small structure, and is not beneficial to the industrialization and the integration of the ultrasonic motor. The manual assembly and welding effect is influenced by more factors, and the production effect of the ultrasonic motor product is often unstable.
In order to solve the problems, the embodiment discloses an ultrasonic motor multipoint positioning assembly mechanism based on machine vision and a method thereof.
As shown in fig. 1-6, the ultrasonic motor multipoint positioning and assembling mechanism based on machine vision comprises a welding executing mechanism 1, an ultrasonic motor component grabbing manipulator 2, a frame 3, a vision detection and information sending device 4, a material transmission device 5, a workpiece bearing disc 6 and a small terminal grabbing mechanism 7,
the material conveying device 5 is fixedly arranged on the rack 3, the material conveying device 5 comprises a track conveying belt and a limiting shaft, and the limiting shaft is arranged on the side surface of the track conveying belt;
the workpiece bearing disc 6 is installed on the material conveying device 5, the workpiece bearing disc 6 comprises an ultrasonic motor stator PCB and terminal matching assembly 601, an assembly fixture 602 and an ultrasonic motor stator PCB fixture 604, the ultrasonic motor stator PCB and terminal matching assembly 601 and the ultrasonic motor stator PCB fixture 604 are respectively and fixedly installed on the assembly fixture 602, the ultrasonic motor stator PCB 202 is placed on the ultrasonic motor stator PCB fixture 604 and is positioned, and the rail conveying belt carries out limiting through a limiting shaft when conveying the ultrasonic motor stator PCB 202 to a designated position;
the ultrasonic motor component grabbing manipulator 2 comprises a clamping mechanism 201, a rotating mechanism 203 and a four-degree-of-freedom transfer robot 204, wherein the rotating mechanism 203 is installed on the four-degree-of-freedom transfer robot 204, the clamping mechanism 201 is installed on the rotating mechanism 203, and the four-degree-of-freedom transfer robot 204 controls the clamping mechanism 201 to clamp the ultrasonic motor stator PCB 202 at the specified position to a detection area below the visual detection and information sending device 4;
the visual detection and information sending device 4 is positioned above the material conveying device 5, the visual detection and information sending device 4 comprises a visual detection main body 402 and an information sending device main body 403, the visual detection main body 402 is installed on the information sending device main body 403, when the rail conveying belt conveys the workpiece bearing disc 6 to a detection area below the visual detection main body 402, the visual detection main body 402 carries out visual detection on the ultrasonic motor stator PCB 202 on the workpiece bearing disc 6, and sends visual information to the welding executing mechanism 1 through the information sending device main body 403;
the welding executing mechanism 1 comprises an information processing unit 101, a welding executing mechanism bearing platform 103, a transverse transmission guide rail 104 and a welding mechanism tail end welding hand 106, wherein the information processing unit 101 is installed above the welding executing mechanism bearing platform 103, the transverse transmission guide rail 104 is installed below the welding executing mechanism bearing platform 103, the welding mechanism tail end welding hand 106 is installed on the transverse transmission guide rail 104, the information processing unit 101 receives visual information sent by an information sending device main body 403, the information processing unit 101 analyzes and processes the visual information and then sends a signal to a four-freedom-degree carrying robot 204, the four-freedom-degree carrying robot 204 adjusts the ultrasonic motor stator PCB 202 to rotate according to an information control rotating mechanism 203, the information processing unit 101 sends a signal to a small terminal grabbing mechanism 7, and the small terminal grabbing mechanism 7 grabs a terminal 705 to the ultrasonic motor stator PCB 202, the transverse transmission guide rail 104 slides below the bearing platform 103 of the welding executing mechanism to adjust the position, and the welding hand 106 at the tail end of the welding mechanism welds a terminal 705 on the ultrasonic motor stator PCB 202;
the small terminal grabbing mechanism 7 comprises a fixed back plate 701, a moving power source 702, a terminal grabbing mechanism body 703, a terminal 705, a terminal clamp 706 and a horizontal rail 707, wherein the moving power source 702 is installed in the fixed back plate 701, the terminal grabbing mechanism body 703 is installed below the fixed back plate 701, the terminal clamp 706 is located on one side of the fixed back plate 701 and used for fixing the terminal 705, the horizontal rail 707 is installed on the fixed back plate 701, the terminal grabbing mechanism body 703 is installed on the horizontal rail 707, and the terminal grabbing mechanism body 703 slides back and forth on the horizontal rail 707 to grab the terminal 705 on the terminal clamp 706 and conveys the terminal to the ultrasonic motor stator PCB 202.
In the above structure:
the material transmission device 5 transports the workpiece bearing disc 6 to a set position, the ultrasonic motor part grabbing mechanical arm 2 carries the ultrasonic motor stator PCB 202 from the workpiece bearing disc 6 to a detection area below the visual detection and information sending device 4, the information sending device main body 403 sends the collected information to the information processing unit 101, the information processing unit 101 integrates the visual detection information to perform machine learning and verification operation, the information is processed by the information processing unit 101 and then is distributed to the ultrasonic motor part grabbing mechanical arm 2 below for posture adjustment processing, meanwhile, the small terminal grabbing mechanism 7 performs matching operation according to the information sent by the information processing unit 101, and after the matching operation is completed, the information processing unit 101 sends an instruction to the welding executing mechanism 1 to a designated position for welding operation, and the information of the measured welding point and the distance passing through the rear part is uploaded to the information processing unit 101 to further improve the effect of machine learning.
After the information processing unit 101 receives the information, the welding mechanism motor 107 drives the rotary screw to enable the welding mechanism tail end welding hand 106 to reach a designated position on the transverse transmission guide rail 104 according to the information, and then the automatic tinning device 102 cooperates with the welding mechanism tail end welding hand 106 to perform welding operation on the terminal 705 and the ultrasonic motor stator PCB 202.
After the information processing unit 101 receives the visual detection and information sending device 4, the four-degree-of-freedom transfer robot 204 moves to a position set by data, the clamping mechanism 201 clamps the ultrasonic motor stator PCB 202 to the visual detection and information sending device 4 for shooting, the information processing unit 101 stores the generated visual information data and sends the data after machine learning, and the rotating mechanism 203 and the four-degree-of-freedom transfer robot 204 perform posture adjustment processing so as to facilitate next-step assembly.
The visual inspection main body 402 is fixed to the fixing bracket 401, and when it is detected that the ultrasonic motor stator PCB 202 has completely entered the inspection area, the spatial position information of the components is started to be taken and transmitted to the information processing unit 101 by the information transmission device main body 403.
The assembly fixture 602 and the ultrasonic motor stator PCB clamp 604 are fixed on the carrier tray 603, the ultrasonic motor stator PCB 202 is placed on the ultrasonic motor stator PCB clamp 604, and the ultrasonic motor stator PCB and terminal matching assembly 601 is placed on the assembly fixture 602.
The moving power source 702 and the horizontal rail 707 are fixed to the terminal gripping mechanism holder 704, and when receiving information from the information processing unit 101, the terminal gripper 706 fixed to the fixed back plate 701 starts to prepare the terminal 705, and the terminal gripping mechanism main body 703 grips the terminal 705 to move to a fixed position.
As a further improvement of the invention: the workpiece bearing tray 6 further comprises a bearing tray 603, the bearing tray 603 is installed on a track conveying belt, the track conveying belt drives the bearing tray 603 to slide, and the assembly clamp 602 is fixedly installed on the bearing tray 603.
In the above structure: bear a set tray 603 top and install supersound motor stator PCB board and terminal cooperation assembly 601, assembly anchor clamps 602 and supersound motor stator PCB board anchor clamps 604, realize the fixed and installation to above-mentioned part, bear a set tray 603 and install on track conveyer belt, track conveyer belt can drive and bear a set tray 603 and transport, realize carrying.
As a further improvement of the invention: the ultrasonic motor component grabbing manipulator 2 further comprises a fixed seat 8, the four-degree-of-freedom transfer robot 204 is fixedly installed on the fixed seat 8, and the fixed seat 8 is fixedly installed on the rack 3.
In the above structure: the fixed base 8 is used for fixing and installing the four-degree-of-freedom transfer robot 204.
As a further improvement of the invention: the visual detection and information sending device 4 further comprises a fixing support 401, the fixing support 401 is fixedly installed on the rack 3, a cross rod 404 and an installation block 405 are installed on the fixing support 401, the cross rod 404 is vertically connected to the fixing support 401 through the installation block 405, the information sending device main body 403 is fixedly installed on the cross rod 404, and the visual detection main body 402 is installed on the information sending device main body 403.
In the above structure: the fixing bracket 401 is used to fix and mount the visual detection and information transmission apparatus 4, wherein the cross bar 404 and the mounting block 405 can facilitate the fixing and mounting of the visual detection main body 402.
As a further improvement of the invention: the welding executing mechanism 1 further comprises an automatic tin feeding device 102, a welding executing mechanism supporting frame 105, a welding mechanism motor 107 and a drag chain 108, the automatic tin feeding device 102 is connected to the welding mechanism end welding hand 106 for automatic tin feeding, the welding mechanism end welding hand 106 and the drag chain 108 are respectively connected to the welding mechanism motor 107, the drag chain 108 is installed on the transverse transmission guide rail 104, and the welding mechanism motor 107 drives the welding mechanism end welding hand 106 to slide on the transverse transmission guide rail 104 through the drag chain 108.
In the above structure: the automatic tin feeding device 102 is used for automatically feeding tin to the welding mechanism tail end welding hand 106 to prevent the welding mechanism tail end welding hand 106 from being incapable of normally working after tin in the welding mechanism tail end welding hand is used up, the welding execution mechanism supporting frame 105 is used for fixing and installing the welding execution mechanism bearing platform 103, the welding mechanism motor 107 can provide power for the welding mechanism tail end welding hand 106 to enable the welding mechanism tail end welding hand to normally work, the drag chain 108 is connected to the welding mechanism motor 107, and accurate welding can be carried out by adjusting the position of the welding mechanism tail end welding hand 106 when the drag welding mechanism tail end welding hand 106 slides on the transverse transmission guide rail 104.
As a further improvement of the invention: the small-sized terminal grabbing mechanism 7 further comprises a terminal grabbing mechanism support 704, the terminal grabbing mechanism support 704 is fixedly installed on the rack 3, and the fixing backboard 701 is installed on the terminal grabbing mechanism support 704 to be fixed.
In the above structure: the small terminal grabbing mechanism 7 is provided with a terminal grabbing mechanism support 704, and the fixing backboard 701 is installed on the terminal grabbing mechanism support 704 to realize fixing and installation.
A use method of an ultrasonic motor multipoint positioning assembly mechanism based on machine vision comprises the following steps:
firstly, placing an ultrasonic motor stator PCB 202 to be processed into an ultrasonic motor stator PCB clamp 604 of a workpiece bearing disc 6 and positioning;
secondly, transporting the workpiece bearing disc 6 with the ultrasonic motor stator PCB 202 on the track conveyor belt;
thirdly, the workpiece bearing disc 6 is moved by the rail conveyer belt along the actual material flow direction until reaching the set working position, and the workpiece bearing disc 6 is fixed in the designated area by the limiting shaft;
step four, the four-degree-of-freedom transfer robot 204 in the ultrasonic motor component grabbing manipulator 2 goes to the upper side of the ultrasonic motor stator PCB 202 according to a set route, grabs the ultrasonic motor stator PCB 202 and moves the ultrasonic motor stator PCB 202 to a detection area below the visual detection main body 402 and the information sending device main body 403;
fifthly, the visual detection and information sending device 4 positions the spatial position of the ultrasonic motor stator PCB 202 reaching the detection area, records the relative positions of 4 hole sites on the ultrasonic motor stator PCB 202, and sends the acquired data to the information processing unit 101 for processing information through the information sending device main body 403;
step six, the information processing unit 101 for processing information processes the visual information, and the processed data is finally transmitted to the ultrasonic motor component grabbing manipulator 2 and the small terminal grabbing mechanism 7;
step seven, the ultrasonic motor component grabbing mechanical arm 2 rotates the rotating mechanism 203 and the clamping mechanism 201 at the tail end of the four-degree-of-freedom transfer robot 204 according to the information transmitted by the information processing unit 101, and the requirement of matching with the terminal 705 is met;
step eight, the small terminal grabbing mechanism 7 matches the terminal 705 with the four small holes on the ultrasonic motor stator PCB 202 according to the data transmitted by the information processing unit 101, and sends a ready signal to the information processing unit 101;
step nine, the welding executing mechanism 1 welds the terminal 705 and the ultrasonic motor stator PCB 202 according to the information of the information processing unit 101, scans the welded welding points and uploads the welded welding points to the information processing unit 101;
step ten, the information processing unit 101 performs machine learning on the generated data to further improve the welding position and further improve the welding precision;
and step eleven, repeating the steps from the first step to the tenth step.
The invention integrates the machine vision, the automatic assembly, the feeding and the welding, realizes the position and the angle positioning of the ultrasonic electronic stator assembly in the space, is combined with the machine learning, can continuously learn through the actual operation data, and achieves better assembly effect and welding progress. The ultrasonic motor parts can be placed in the complex placing positions by the aid of the machine vision, accurate positioning and assembling of small parts are achieved, and the yield and the attractiveness of products are improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any modifications or equivalent variations made in accordance with the technical spirit of the present invention may fall within the scope of the present invention as claimed.
Claims (7)
1. The utility model provides an supersound motor multiple spot positioning assembly devices based on machine vision, snatchs manipulator (2), frame (3), visual detection and information sending device (4), material transmission device (5), work piece bear dish (6), small-size terminal and snatch mechanism (7) including welding actuating mechanism (1), supersound motor part, its characterized in that: the material conveying device (5) is fixedly arranged on the rack (3), the material conveying device (5) comprises a track conveying belt and a limiting shaft, and the limiting shaft is arranged on the side surface of the track conveying belt; the workpiece bearing disc (6) is installed on the material conveying device (5), the workpiece bearing disc (6) comprises an ultrasonic motor stator PCB and terminal matching assembly (601), an assembly fixture (602) and an ultrasonic motor stator PCB fixture (604), the ultrasonic motor stator PCB and terminal matching assembly (601) and the ultrasonic motor stator PCB fixture (604) are fixedly installed on the assembly fixture (602) respectively, the ultrasonic motor stator PCB (202) is placed on the ultrasonic motor stator PCB fixture (604) and is positioned, and the rail conveying belt is used for limiting through a limiting shaft when conveying the ultrasonic motor stator PCB (202) to a designated position; the ultrasonic motor component grabbing manipulator (2) comprises a clamping mechanism (201), a rotating mechanism (203) and a four-degree-of-freedom transfer robot (204), wherein the rotating mechanism (203) is installed on the four-degree-of-freedom transfer robot (204), the clamping mechanism (201) is installed on the rotating mechanism (203), and the four-degree-of-freedom transfer robot (204) controls the clamping mechanism (201) to clamp an ultrasonic motor stator PCB (202) at a specified position to a detection area below the visual detection and information sending device (4); the visual detection and information sending device (4) is positioned above the material conveying device (5), the visual detection and information sending device (4) comprises a visual detection main body (402) and an information sending device main body (403), the visual detection main body (402) is installed on the information sending device main body (403), when the rail conveying belt conveys the workpiece bearing disc (6) to a detection area below the visual detection main body (402), the visual detection main body (402) performs visual detection on the ultrasonic motor stator PCB (202) on the workpiece bearing disc (6), and sends visual information to the welding executing mechanism (1) through the information sending device main body (403); the welding execution mechanism (1) comprises an information processing unit (101), a welding execution mechanism bearing platform (103), a transverse transmission guide rail (104) and a welding mechanism tail end welding hand (106), wherein the information processing unit (101) is installed above the welding execution mechanism bearing platform (103), the transverse transmission guide rail (104) is installed below the welding execution mechanism bearing platform (103), the welding mechanism tail end welding hand (106) is installed on the transverse transmission guide rail (104), the information processing unit (101) receives visual information sent by an information sending device main body (403), the information processing unit (101) analyzes and processes the visual information and then sends a signal to a four-freedom-degree carrying robot (204), and the four-freedom-degree carrying robot (204) adjusts an ultrasonic motor stator PCB (202) to rotate according to an information control rotating mechanism (203), the information processing unit (101) sends a signal to a small terminal grabbing mechanism (7), the small terminal grabbing mechanism (7) grabs a terminal (705) onto an ultrasonic motor stator PCB (202), the transverse transmission guide rail (104) slides below a welding execution mechanism bearing platform (103) to adjust the position, and a welding hand (106) at the tail end of the welding mechanism welds the terminal (705) onto the ultrasonic motor stator PCB (202); the small terminal grabbing mechanism (7) comprises a fixed back plate (701), a movable power source (702), a terminal grabbing mechanism body (703), a terminal (705), a terminal clamp (706) and a horizontal rail (707), wherein the movable power source (702) is installed in the fixed back plate (701), the terminal grabbing mechanism body (703) is installed below the fixed back plate (701), the terminal clamp (706) is located on one side of the fixed back plate (701) and used for fixing the terminal (705), the horizontal rail (707) is installed on the fixed back plate (701), the terminal grabbing mechanism body (703) is installed on the horizontal rail (707), and the terminal grabbing mechanism body (703) slides back and forth on the horizontal rail (707) to grab the terminal (705) on the terminal clamp (706) and conveys the terminal to the ultrasonic motor stator PCB (202).
2. The ultrasonic motor multipoint positioning assembly mechanism based on machine vision as claimed in claim 1, characterized in that: the workpiece bearing plate (6) further comprises a bearing plate tray (603), the bearing plate tray (603) is installed on the track conveying belt, the track conveying belt drives the bearing plate tray (603) to slide, and the assembly clamp (602) is fixedly installed on the bearing plate tray (603).
3. The ultrasonic motor multipoint positioning assembly mechanism based on machine vision as claimed in claim 1, characterized in that: the ultrasonic motor component grabbing manipulator (2) further comprises a fixing seat (8), the four-degree-of-freedom transfer robot (204) is fixedly installed on the fixing seat (8), and the fixing seat (8) is fixedly installed on the rack (3).
4. The machine vision-based ultrasonic motor multipoint positioning assembly mechanism of claim 1, wherein: visual detection and information sending device (4) are still including fixed bolster (401), fixed bolster (401) fixed mounting is in frame (3), install horizontal pole (404) and installation piece (405) on fixed bolster (401), horizontal pole (404) are connected perpendicularly on fixed bolster (401) through installation piece (405), information sending device main part (403) fixed mounting is on horizontal pole (404), visual detection main part (402) are installed on information sending device main part (403).
5. The machine vision-based ultrasonic motor multipoint positioning assembly mechanism of claim 1, wherein: welding actuating mechanism (1) is still including automatic tinning device (102), welding actuating mechanism support frame (105), welding mechanism motor (107) and tow chain (108), automatic tinning device (102) are connected and are gone up tin on welding mechanism terminal welding hand (106) automatically, welding mechanism terminal welding hand (106), tow chain (108) are connected respectively at welding mechanism motor (107), tow chain (108) are installed at horizontal transmission guide rail (104), welding mechanism motor (107) drive welding mechanism terminal welding hand (106) through tow chain (108) and slide on horizontal transmission guide rail (104).
6. The ultrasonic motor multipoint positioning assembly mechanism based on machine vision as claimed in claim 1, characterized in that: the small-sized terminal grabbing mechanism (7) further comprises a terminal grabbing mechanism support (704), the terminal grabbing mechanism support (704) is fixedly installed on the rack (3), and the fixed back plate (701) is installed on the terminal grabbing mechanism support (704) to be fixed.
7. The use method of the ultrasonic motor multipoint positioning assembly mechanism based on the machine vision according to any one of the claims 1 to 6 is characterized by comprising the following specific steps:
firstly, placing an ultrasonic motor stator PCB (202) to be processed into an ultrasonic motor stator PCB clamp (604) of a workpiece bearing disc (6) and positioning;
secondly, conveying the workpiece bearing disc (6) with the ultrasonic motor stator PCB (202) on the track conveyor belt;
moving the workpiece bearing disc (6) by the rail conveyor belt along the actual material flow direction until the workpiece bearing disc reaches a set working position, and fixing the workpiece bearing disc (6) in a designated area by a limiting shaft;
fourthly, a four-degree-of-freedom transfer robot (204) in the ultrasonic motor component grabbing manipulator (2) goes to the upper side of the ultrasonic motor stator PCB (202) according to a set route, grabs the ultrasonic motor stator PCB (202) and moves the ultrasonic motor stator PCB to a detection area below the visual detection main body (402) and the information sending device main body (403);
fifthly, the visual detection and information sending device (4) positions the spatial position of the ultrasonic motor stator PCB (202) reaching the detection area, records the relative positions of 4 hole sites on the ultrasonic motor stator PCB (202), and sends the acquired data to an information processing unit (101) for processing information through an information sending device main body (403);
processing the visual information by an information processing unit (101) for processing the information, and finally transmitting the processed data to an ultrasonic motor component grabbing manipulator (2) and a small terminal grabbing mechanism (7);
step seven, the ultrasonic motor component grabbing manipulator (2) can rotate the rotating mechanism (203) and the clamping mechanism (201) at the tail end of the four-degree-of-freedom transfer robot (204) according to the information transmitted by the information processing unit (101) to meet the requirement of matching with the terminal (705);
step eight, the small terminal grabbing mechanism (7) matches the terminal (705) with four small holes on the ultrasonic motor stator PCB (202) according to data transmitted by the information processing unit (101) and sends a ready signal to the information processing unit (101);
step nine, the welding executing mechanism (1) welds the terminal (705) and the ultrasonic motor stator PCB (202) according to the information of the information processing unit (101), scans the welded welding points and uploads the welded welding points to the information processing unit (101);
step ten, the information processing unit (101) performs machine learning on the generated data to further improve the welding position and further improve the welding precision;
and step eleven, repeating the step one to the step ten.
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| WO2018236407A1 (en) * | 2017-06-23 | 2018-12-27 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN108297134B (en) * | 2018-03-16 | 2024-02-02 | 杭州西奥电梯有限公司 | Hole site detects automatic feeding based on vision sensor |
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