CN106903506A - assembly system and assembly method - Google Patents
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- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
Description
技术领域technical field
本发明涉及自动控制领域，尤其涉及一种装配系统及装配方法。The invention relates to the field of automatic control, in particular to an assembly system and an assembly method.
背景技术Background technique
随着现代工业的飞速发展,对产品性能、外形等方面的要求越来越高。快速地从复杂形状的工件中获得高精度的坐标数据具有广泛的应用,如检测过程中的工件定位和自动化标定,敏捷制造,以及逆向工程中的快速产品设计。这也对装配系统中的测量精度、装配速度、装配精度和自动化水平提出了更高的要求。使用单一传感器和传统的正交坐标系的装配系统在测量精度、装配精度和工作效率等方面容易出现产品的测量误差大、装配质量差以及效率低等诸多情况。同时，传统装配系统适用的产品单一，尤其在产品更新换代后，通常处于闲置状态，造成资源浪费。With the rapid development of modern industry, the requirements for product performance and appearance are getting higher and higher. Rapidly obtaining high-precision coordinate data from complex-shaped workpieces has a wide range of applications, such as workpiece positioning and automatic calibration in the inspection process, agile manufacturing, and rapid product design in reverse engineering. This also puts forward higher requirements for measurement accuracy, assembly speed, assembly accuracy and automation level in the assembly system. The assembly system using a single sensor and the traditional orthogonal coordinate system is prone to many situations such as large measurement errors, poor assembly quality, and low efficiency in terms of measurement accuracy, assembly accuracy, and work efficiency. At the same time, the traditional assembly system is suitable for a single product, especially after the product is updated, it is usually in an idle state, resulting in waste of resources.
发明内容Contents of the invention
本发明的目的在于提供一种装配系统及装配方法，能够灵活实现不同产品的自动化及高质量装配。The object of the present invention is to provide an assembly system and an assembly method, which can flexibly realize automation and high-quality assembly of different products.
为实现上述目的，本发明提供一种装配方法，包括：To achieve the above object, the present invention provides an assembly method, comprising:
a)第一执行机构拾取第一待组装物，将第一待组装物转运至第一检测位置，并将其固定于所述第一检测位置；a) the first actuator picks up the first object to be assembled, transfers the first object to be assembled to the first detection position, and fixes it at the first detection position;
b)第一视觉检测机构从初始位置移动至所述第一检测位置，并采集所述第一待组装物上第一组装位置的信息；b) the first visual detection mechanism moves from the initial position to the first detection position, and collects the information of the first assembly position on the first object to be assembled;
c)第二执行机构拾取第二待组装物，将第二待组装物转运至第二检测位置；c) The second actuator picks up the second object to be assembled, and transfers the second object to be assembled to the second detection position;
d)第二视觉检测机构在所述第二检测位置采集所述第二待组装物的信息；d) the second visual detection mechanism collects the information of the second object to be assembled at the second detection position;
e)将所述第一视觉检测机构和所述第二视觉机构采集到的信息传输给中央控制单元；e) transmitting the information collected by the first visual detection mechanism and the second visual detection mechanism to the central control unit;
f)所述中央控制单元根据所述第一视觉检测机构和所述第二视觉机构采集到的信息控制所述第二执行机构将所述第二待组装物转运至所述第一待组装物的所述第一组装位置处，并将其安装在所述第一待组装物上。f) The central control unit controls the second executive mechanism to transfer the second object to be assembled to the first object to be assembled according to the information collected by the first visual inspection mechanism and the second vision mechanism at the first assembly position, and install it on the first object to be assembled.
根据本发明的一个方面，所述步骤e)中，中央控制单元对采集的信息进行进一步处理；包括：According to one aspect of the present invention, in the step e), the central control unit further processes the collected information; including:
e1)所述中央控制单元根据采集的信息分别对所述第二待组装物和所述第一待组装物上的所述第一组装位置进行识别检测；e1) The central control unit identifies and detects the first assembly position on the second object to be assembled and the first assembly position on the first object to be assembled respectively according to the collected information;
e2)中央控制单元根据采集的信息得出第二执行机构的移动路径。e2) The central control unit obtains the moving path of the second actuator according to the collected information.
根据本发明的一个方面，所述步骤f)还进一步包括：According to one aspect of the present invention, said step f) further includes:
f1)变换第一待组装物的位置，第一视觉检测机构对第二组装位置采集信息；f1) changing the position of the first object to be assembled, and the first visual detection mechanism collects information on the second assembly position;
f2)重复步骤c)至e)，所述中央控制单元根据所述第一视觉检测机构和所述第二视觉机构采集到的信息控制所述第二执行机构将所述第二待组装物转运至所述第一待组装物的所述第二组装位置处，并将其安装在所述第一待组装物上；f2) Steps c) to e) are repeated, and the central control unit controls the second actuator to transfer the second object to be assembled according to the information collected by the first visual inspection mechanism and the second visual mechanism to the second assembly position of the first object to be assembled and mounted on the first object to be assembled;
f3)重复步骤f1)至f2)直到第二待组装物与第一待组装物上的全部组装位置组装完成。f3) Steps f1) to f2) are repeated until all assembly positions on the second object to be assembled and the first object to be assembled are assembled.
根据本发明的一个方面，还包括，According to an aspect of the present invention, it also includes,
g)中央控制单元控制第一执行机构拾取组装完成的第一待组装物并送出，第一视觉检测机构返回到初始位置。g) The central control unit controls the first actuator to pick up the assembled first object to be assembled and send it out, and the first visual detection mechanism returns to the initial position.
一种装配系统，其特征在于，包括：An assembly system, characterized in that it comprises:
用于拾取第一待组装物的第一执行机构；a first actuator for picking up a first object to be assembled;
用于拾取第二待组装物的第二执行机构；a second actuator for picking up a second object to be assembled;
用于采集第一待组装物的信息的第一视觉检测机构；a first visual inspection mechanism for collecting information on the first object to be assembled;
用于采集第二待组装物的信息的第二视觉检测机构；A second visual inspection mechanism for collecting information on a second object to be assembled;
用于支承第一待组装物的承载机构；a carrying mechanism for supporting the first object to be assembled;
用于处理信息的中央控制单元；Central control unit for processing information;
所述第一视觉检测机构设有位移装置。The first visual detection mechanism is provided with a displacement device.
根据本发明的一个方面，所述位移装置为线性移动装置。According to one aspect of the present invention, the displacement device is a linear movement device.
根据本发明的一个方面，所述承载机构设有用于检测第一待组装物到位的传感器。According to one aspect of the present invention, the carrying mechanism is provided with a sensor for detecting the position of the first object to be assembled.
根据本发明的一个方面，所述承载机构还设有驱动装置。According to one aspect of the present invention, the carrying mechanism is further provided with a driving device.
根据本发明的一个方面，所述驱动装置为伺服电机。According to one aspect of the present invention, the driving device is a servo motor.
根据本发明的一个方面，中央控制单元中储存有至少一种作业流程。According to one aspect of the present invention, at least one operation flow is stored in the central control unit.
根据本发明，采用视觉检测机构和自动化的执行机构相互配合工作，经过机器视觉对待装配组件进行信息采集并进行处理，从而精确得到待装配组件之间的相对位置，实现待装配组件之间的精确定位，保证了产品组装过程的装配精度，避免了组件在组装过程发生碰撞而导致损坏，保证了产品的质量。According to the present invention, the visual inspection mechanism and the automatic execution mechanism are used to cooperate with each other, and the information of the components to be assembled is collected and processed through machine vision, so as to accurately obtain the relative positions of the components to be assembled and realize the precise positioning of the components to be assembled. The positioning ensures the assembly accuracy of the product assembly process, avoids the damage caused by the collision of components during the assembly process, and ensures the quality of the product.
根据本发明，各组成部分均可实现自由运动，增加了整个系统的作业自由度，从而使整个系统变得灵活。控制第一视觉机构移动，从而能够改变第一视觉机构与第一待组装物之间的相对位置，从而实现了对不同尺寸的第一待组装物上的待组装位置的信息的精确采集。通过采用可移动的第一视觉机构避免了在不同位置布置多个视觉机构，进一步节约了整个系统的成本，并且节省了空间。同时，结合第一执行机构、第二执行机构等的组合运动实现第一待组装物上不同待组装位置及待安装第二待组装物的位置的灵活变换，进一步保证了本系统对于不同尺寸的第一待组装物的精确组装。在组装过程中，第一视觉机构通过移动位置，还可避免对第一执行机构或第二执行机构运动的干涉，保证了整个系统的运行流畅。根据本发明的系统能够自动实现产品的组装，替换了人工，从而节省成本，提高效率。According to the invention, each component can move freely, which increases the degree of freedom of operation of the whole system, thereby making the whole system flexible. The movement of the first visual mechanism is controlled so that the relative position between the first visual mechanism and the first object to be assembled can be changed, thereby realizing accurate collection of information on the position to be assembled on the first object to be assembled with different sizes. By adopting the movable first visual mechanism, arranging multiple visual mechanisms at different positions is avoided, further saving the cost of the whole system and saving space. At the same time, combined with the combined movement of the first actuator, the second actuator, etc., the flexible transformation of different positions to be assembled on the first object to be assembled and the position of the second object to be assembled to be installed further ensures that the system is suitable for different sizes. Precise assembly of the first to-be-assembled object. During the assembly process, the first vision mechanism can also avoid interference with the movement of the first actuator or the second actuator by moving its position, thus ensuring smooth operation of the entire system. The system according to the invention can automatically realize the assembly of products and replace labor, thereby saving costs and improving efficiency.
根据本发明，根据产品以及装配工序和精度，编制相应的转配方案，并且将装配方案输入到中央处理单元中，通过控制各运动机构的作业流程以及运行参数，就可以实现对不同产品进行自动化组装，做到了柔性、高效、智能化的要求。通过本发明的系统及方法还可有效缩短新产品的研发周期，通过编制新产品的作业流程，本发明就可快速实现新产品的组装，避免了重新研制新产品的组装设备，进一步减少了研发新产品的后期维护开支。According to the present invention, according to the product, assembly process and precision, a corresponding transfer plan is prepared, and the assembly plan is input into the central processing unit, and by controlling the work flow and operating parameters of each movement mechanism, it is possible to realize the automation of different products The assembly meets the requirements of flexibility, efficiency and intelligence. The system and method of the present invention can also effectively shorten the research and development cycle of new products. By compiling the operation process of new products, the present invention can quickly realize the assembly of new products, avoiding the need to redevelop the assembly equipment of new products, and further reduce the cost of research and development. Post-maintenance expenses for new products.
根据本发明，通过使用传感器的能够准确探测到第一待组装物的放置位置，保证了第一待组装物的位置精确，减小了系统装配过程的误差。同时，采用传感器能使第一执行机构将第一待组装物转运到位后，保证第一执行机构能够及时送开第一待组装物，避免出现第一执行机构压坏第一待组装物的情况。According to the present invention, the placement position of the first object to be assembled can be accurately detected by using the sensor, thereby ensuring the accuracy of the position of the first object to be assembled and reducing errors in the system assembly process. At the same time, the use of sensors can enable the first actuator to transfer the first object to be assembled in place, so as to ensure that the first actuator can send the first object to be assembled in time, and avoid the situation that the first actuator crushes the first object to be assembled .
附图说明Description of drawings
图1是示意性表示根据本发明的一种实施方式的装配系统的组成。FIG. 1 schematically shows the composition of an assembly system according to an embodiment of the present invention.
具体实施方式detailed description
为详细说明本发明的装配方法，结合本发明的一种实施方式的装配系统进行具体阐述。In order to describe the assembly method of the present invention in detail, it will be specifically described in conjunction with an assembly system according to an embodiment of the present invention.
图1是示意性表示根据本发明的一种实施方式的装配系统的组成。如图所示，根据本发明的一种实施方式，本装配系统包括：第一执行机构、第二执行机构、第一视觉检测机构、第二视觉检测机构、承载机构和中央控制单元。在本实施方式中，第一执行机构、第二执行机构、第一视觉检测机构、第二视觉检测机构和承载机构均与中央控制单元电连接。中央控制单元中储存有装配产品的作业流程，通过调用中央控制单元中的作业流程，就可以使中央控制单元对上述各机构的自动控制，并且进行信息接收与处理，从而完成产品的组装。在本实施方式中，第一执行机构和第二执行机构可采用机械手。为便于拾取物体，可以在第一执行机构和第二执行机构的端部安装便于拾取物体的工装。FIG. 1 schematically shows the composition of an assembly system according to an embodiment of the present invention. As shown in the figure, according to an embodiment of the present invention, the assembly system includes: a first actuator, a second actuator, a first visual detection mechanism, a second visual detection mechanism, a carrying mechanism and a central control unit. In this embodiment, the first actuator, the second actuator, the first visual detection mechanism, the second visual detection mechanism and the carrying mechanism are all electrically connected to the central control unit. The operation process of assembling products is stored in the central control unit. By invoking the operation process in the central control unit, the central control unit can automatically control the above-mentioned mechanisms, and receive and process information, so as to complete the product assembly. In this embodiment, the first actuator and the second actuator may use manipulators. For the convenience of picking up objects, tooling for picking up objects can be installed at the ends of the first actuator and the second actuator.
根据本发明的一种实施方式，中央控制单元可以控制第一执行机构和第二执行机构的运行，并且第一执行机构和第二执行机构能够相互独立运行。在实施方式中，在中央控制单元的控制下，第一执行机构按照作业流程拾取第一待组装物，将第一待组装物转运至承载机构上(即第一检测位置)，随后承载机构将第一待组装物夹紧固定。在本实施方式中，承载机构可以采用具有夹具的旋转平台或十字滑台等，具体按照实际情况确定。承载机构上设有传感器。第一待组装物被放置到承载机构上时，传感器被触发，中央控制单元接收到信号后控制承载机构夹紧第一待组装物。通过使用传感器的能够准确探测到第一待组装物的放置位置，保证了第一待组装物的位置精确，减小了系统装配过程的误差。同时，采用传感器能使第一执行机构将第一待组装物转运到位后，保证第一执行机构能够及时送开第一待组装物，避免出现第一执行机构压坏第一待组装物的情况。According to an embodiment of the present invention, the central control unit can control the operation of the first actuator and the second actuator, and the first actuator and the second actuator can operate independently of each other. In an embodiment, under the control of the central control unit, the first actuator picks up the first object to be assembled according to the work flow, and transfers the first object to be assembled to the carrying mechanism (that is, the first detection position), and then the carrying mechanism will The first object to be assembled is clamped and fixed. In this embodiment, the carrying mechanism may be a rotating platform with a clamp or a cross slide, which is determined according to actual conditions. Sensors are arranged on the carrying mechanism. When the first object to be assembled is placed on the carrying mechanism, the sensor is triggered, and the central control unit controls the carrying mechanism to clamp the first object to be assembled after receiving the signal. By using the sensor, the placement position of the first object to be assembled can be accurately detected, which ensures that the position of the first object to be assembled is accurate, and reduces errors in the system assembly process. At the same time, the use of sensors can enable the first actuator to transfer the first object to be assembled in place, so as to ensure that the first actuator can send the first object to be assembled in time, and avoid the situation that the first actuator crushes the first object to be assembled .
根据本发明的一种实施方式，第一视觉检测机构和第二视觉检测机构主要用于采集图像信息，第一视觉检测机构和第二视觉检测机构同样受到中央控制单元的控制，并且中央控制单元将第一视觉检测机构和第二视觉检测机构采集到的信息进行汇总处理。在本实施方式中，第一视觉检测机构用于采集第一待组装物的图像信息。第一视觉检测机构设有位移装置，从而实现第一视觉检测机构的位置的移动。在本实施方式中，第一视觉检测机构上的位移装置为线性移动装置。在实际应用过程中，位移装置可以采用直线电机或电缸或气缸等实现直线运动的装置。第一待组装物被承载机构夹紧后，中央控制单元控制第一视觉检测机构移动到第一待组装物的上方，并且清晰成像。在本实施方式中，第一视觉检测机构对第一待组装物上第一组装位置的信息进行采集。通过位移装置能够快捷地实现第一视觉检测机构与第一待组装物之间位置的调整，从而达到第一视觉检测机构快速及清晰成像的要求，进一步的第一视觉检测机构通过位移装置可以针对不同尺寸的第一待组装物都能清晰成像，从而使本发明能够满足不同规格产品的组装要求，进一步增加了本发明的系统的通用性，提高了整个系统的利用率，节约了资源。通过采用可移动的第一视觉机构避免了在不同位置布置多个视觉机构，进一步节约了整个系统的成本，并且节省了空间。在组装过程中，第一视觉机构通过移动位置，还可避免对第一执行机构或第二执行机构运动的干涉，保证了整个系统的运行流畅。在本实施方式中，第一视觉检测机构可采用智能相机进行图像信息的采集。According to an embodiment of the present invention, the first visual detection mechanism and the second visual detection mechanism are mainly used to collect image information, the first visual detection mechanism and the second visual detection mechanism are also controlled by the central control unit, and the central control unit The information collected by the first visual detection mechanism and the second visual detection mechanism is collected and processed. In this embodiment, the first visual detection mechanism is used to collect image information of the first object to be assembled. The first visual detection mechanism is provided with a displacement device, so as to realize the movement of the position of the first visual detection mechanism. In this embodiment, the displacement device on the first visual inspection mechanism is a linear movement device. In the actual application process, the displacement device can use a linear motor or an electric cylinder or a cylinder to achieve linear motion. After the first object to be assembled is clamped by the carrying mechanism, the central control unit controls the first visual inspection mechanism to move above the first object to be assembled and image it clearly. In this embodiment, the first visual detection mechanism collects the information of the first assembly position on the first object to be assembled. The position adjustment between the first visual detection mechanism and the first object to be assembled can be quickly realized through the displacement device, so as to meet the requirements of fast and clear imaging of the first visual detection mechanism. Further, the first visual detection mechanism can be aimed at through the displacement device The first objects to be assembled of different sizes can be clearly imaged, so that the present invention can meet the assembly requirements of products of different specifications, further increases the versatility of the system of the present invention, improves the utilization rate of the entire system, and saves resources. By adopting the movable first visual mechanism, arranging multiple visual mechanisms at different positions is avoided, further saving the cost of the whole system and saving space. During the assembly process, the first vision mechanism can also avoid interference with the movement of the first actuator or the second actuator by moving its position, thus ensuring smooth operation of the entire system. In this embodiment, the first visual detection mechanism may use a smart camera to collect image information.
根据本发明的一种实施方式，第二执行机构与第一执行机构同时进行作业，第二执行机构拾取第二待组装物，将第二待组装物转运至第二视觉检测机构的位置(即第二检测位置)。在本实施方式中，第二视觉检测机构为位置固定的，第二执行机构调整第二待组装物与第二视觉检测机构之间的距离，从而保证第二视觉检测机构能够对第二待组装物清晰成像。第二执行机构与第一执行机构同时进行作业，提高了整个系统的作业速度，保证了作业的高效率，进一步提高了产能。在本实施方式中，第二视觉检测机构可采用智能相机进行图像信息的采集。According to one embodiment of the present invention, the second actuator and the first actuator work simultaneously, the second actuator picks up the second object to be assembled, and transfers the second object to be assembled to the position of the second visual inspection mechanism (i.e. second detection position). In this embodiment, the second visual detection mechanism is fixed in position, and the second actuator adjusts the distance between the second object to be assembled and the second visual detection mechanism, so as to ensure that the second visual detection mechanism can detect the second object to be assembled. Objects are clearly imaged. The second actuator and the first actuator operate at the same time, which increases the operating speed of the entire system, ensures high operating efficiency, and further increases production capacity. In this embodiment, the second visual detection mechanism may use a smart camera to collect image information.
根据本发明的一种实施方式，中央控制单元接收第一视觉检测机构和第二视觉机构采集到的信息。在本实施方式中，中央控制单元接收到第一视觉检测机构传输的图像信息后，对第一待组装物上的第一组装位置进行识别检测。其中，中央控制单元需要对第一组装位置进行定位，并且检测第一组装位置是否有异物、缺陷等情况。同样地，中央控制单元接收到第二视觉检测机构传输的图像信息后，对第二待组装物进行识别检测。其中，中央控制单元需要对第二待组装物进行位置定位，并且检测第二待组装物是否有缺陷或损坏。中央控制单元对第一组装位置和第二待组装物检测通过后，根据采集到的第一组装位置和第二待组装物的定位信息，确定第一组装位置和第二待组装物的相对位置，并得出第二执行机构需要运送第二待组装物的移动路径。According to an embodiment of the present invention, the central control unit receives the information collected by the first visual detection mechanism and the second visual detection mechanism. In this embodiment, the central control unit recognizes and detects the first assembly position on the first object to be assembled after receiving the image information transmitted by the first visual detection mechanism. Wherein, the central control unit needs to locate the first assembly position, and detect whether there are foreign objects, defects, etc. in the first assembly position. Similarly, after receiving the image information transmitted by the second visual detection mechanism, the central control unit performs recognition detection on the second object to be assembled. Wherein, the central control unit needs to locate the second object to be assembled and detect whether the second object to be assembled is defective or damaged. After the central control unit passes the detection of the first assembly position and the second object to be assembled, it determines the relative position of the first assembly position and the second object to be assembled according to the collected positioning information of the first assembly position and the second object to be assembled , and obtain the moving path that the second actuator needs to transport the second object to be assembled.
根据本发明的一种实施方式，中央控制单元对第一视觉检测机构和第二视觉机构采集到的信息进行处理后，驱动第二执行机构将第二待组装物转运至第一待组装物的第一组装位置处，并将第二待组装物安装在所述第一待组装物上。通过中央控制单元对第一视觉检测机构和第二视觉机构采集到的信息进行处理，能够精确识别出第一组装位置和第二待组装物的相对位置，保证了第二执行机构能够精确地将第二待组装物组装到第一组装位置。进一步保证了本发明组装的产品的质量，避免第二待组装物在组装过程中出现损坏。According to one embodiment of the present invention, after the central control unit processes the information collected by the first visual detection mechanism and the second visual mechanism, it drives the second actuator to transfer the second object to be assembled to the first object to be assembled. at the first assembly position, and install the second object to be assembled on the first object to be assembled. Through the central control unit processing the information collected by the first visual inspection mechanism and the second visual mechanism, the relative position of the first assembly position and the second object to be assembled can be accurately identified, ensuring that the second actuator can accurately place the The second object to be assembled is assembled to the first assembly position. The quality of the assembled product of the present invention is further ensured, and damage to the second object to be assembled is avoided during the assembly process.
根据本发明的一种实施方式，第一待组装物需要组装至少两个第二待组装物时，还需要变换第一待组装物的位置，使第一待组装物上的第二组装位置正对第一视觉检测机构。在本实施方式中，承载机构设有驱动装置，通过驱动装置使得承载机构带动第一待组装物实现位置的变换，从而使第一待组装物上的第二组装位置正对第一视觉检测机构。在本实施方式中，承载机构上的驱动装置可采用伺服电机，通过伺服电机可以使承载机构实现精确转动或移动，从而保证了第二组装位置能够精确对准第一视觉检测机构，进一步保证本发明组装过程的稳定。当然驱动装置还可采用电缸等，依据实际应用情况确定。第一视觉检测机构对第二组装位置采集信息，同时，第二执行机构拾取第二待组装物，将第二待组装物转运至第二视觉检测机构的位置(即第二检测位置)。第二执行机构调整第二待组装物与第二视觉检测机构之间的距离，从而保证第二视觉检测机构能够对第二待组装物清晰成像。According to one embodiment of the present invention, when the first object to be assembled needs to assemble at least two second objects to be assembled, it is also necessary to change the position of the first object to be assembled so that the second assembly position on the first object to be assembled is correct. For the first visual inspection mechanism. In this embodiment, the carrying mechanism is provided with a driving device, through which the carrying mechanism drives the first object to be assembled to realize position change, so that the second assembly position on the first object to be assembled is facing the first visual detection mechanism . In this embodiment, the driving device on the carrying mechanism can use a servo motor, and the carrying mechanism can be accurately rotated or moved through the servo motor, thereby ensuring that the second assembly position can be accurately aligned with the first visual detection mechanism, further ensuring this The stability of the invention assembly process. Of course, the driving device can also use electric cylinders, etc., which are determined according to actual application conditions. The first visual detection mechanism collects information on the second assembly position, and at the same time, the second actuator picks up the second object to be assembled, and transfers the second object to be assembled to the position of the second visual detection mechanism (ie, the second detection position). The second actuator adjusts the distance between the second object to be assembled and the second visual detection mechanism, so as to ensure that the second visual detection mechanism can clearly image the second object to be assembled.
根据本发明的一种实施方式，第二待组装物与第一待组装物上的第二组装位置的组装过程与前述第二待组装物与第一待组装物上的第一组装位置的组装过程相同。中央控制单元接收到第一视觉检测机构传输的图像信息后，对第一待组装物上的第二组装位置进行识别检测。其中，中央控制单元需要对第二组装位置进行定位，并且检测第二组装位置是否有异物、缺陷等情况。同样地，中央控制单元接收到第二视觉检测机构传输的图像信息后，对第二待组装物进行识别检测。其中，中央控制单元需要对第二待组装物进行位置定位，并且检测第二待组装物是否有缺陷或损坏。中央控制单元对第二组装位置和第二待组装物检测通过后，根据采集到的第二组装位置和第二待组装物的定位信息，确定第二组装位置和第二待组装物的相对位置，并得出第二执行机构需要运送第二待组装物的移动路径。According to one embodiment of the present invention, the assembly process of the second object to be assembled and the second assembly position on the first object to be assembled is the same as the assembly process of the second object to be assembled and the first assembly position on the first object to be assembled The process is the same. After receiving the image information transmitted by the first visual detection mechanism, the central control unit recognizes and detects the second assembly position on the first object to be assembled. Wherein, the central control unit needs to locate the second assembly position, and detect whether there are foreign objects, defects, etc. in the second assembly position. Similarly, after receiving the image information transmitted by the second visual detection mechanism, the central control unit performs recognition detection on the second object to be assembled. Wherein, the central control unit needs to locate the second object to be assembled and detect whether the second object to be assembled is defective or damaged. After the central control unit passes the detection of the second assembly position and the second object to be assembled, it determines the relative position of the second assembly position and the second object to be assembled according to the collected positioning information of the second assembly position and the second object to be assembled , and obtain the moving path that the second actuator needs to transport the second object to be assembled.
根据本发明的一种实施方式，中央控制单元对第一视觉检测机构和第二视觉机构采集到的信息进行处理后，驱动第二执行机构将第二待组装物转运至第一待组装物的第二组装位置处，并将第二待组装物安装在所述第一待组装物上。重复上述过程完成第二待组装物与第一待组装物上所有组装位置的组装，从而完成整个产品的组装生产，在此不再赘述。According to one embodiment of the present invention, after the central control unit processes the information collected by the first visual detection mechanism and the second visual mechanism, it drives the second actuator to transfer the second object to be assembled to the first object to be assembled. at the second assembly position, and install the second object to be assembled on the first object to be assembled. Repeat the above process to complete the assembly of the second object to be assembled and all assembly positions on the first object to be assembled, thereby completing the assembly and production of the entire product, which will not be repeated here.
根据本发明的一种实施方式，第一待组装物与第二待组装物组装完成后，承载机构将第一待组装物松开。中央控制单元控制第一执行机构重新拾取第一待组装物，并将第一待组装物送出本发明的系统，完成组装后出料。完成产品的出料后，本系统重复完成上述过程，直到所有产品组装完成。在此过程中，本系统能够自主完成待组装物的上料与成品出料，达到了生产过程的自动化，替换了人工，从而节省成本，提高了生产效率。According to an embodiment of the present invention, after the first object to be assembled and the second object to be assembled are assembled, the carrying mechanism releases the first object to be assembled. The central control unit controls the first actuator to pick up the first object to be assembled again, and sends the first object to be assembled out of the system of the present invention, and discharges the material after assembly is completed. After the product is discharged, the system repeats the above process until all products are assembled. During this process, the system can independently complete the loading of the object to be assembled and the output of the finished product, achieving the automation of the production process and replacing labor, thereby saving costs and improving production efficiency.
根据本发明的一种实施方式，根据待装配的产品的工序及精度要求制定作业流程，并将制定的作业流程存储到中央控制单元中，中央控制单元可以按照作业流程控制本发明的系统各机构之间协同工作。根据实际需要可以编制多种产品的作业流程存储到中央控制单元中，当需要装配产品时，只需要从中央控制单元中调取即可。在中央控制单元中，至少可以储存一种产品的作业流程。本发明只需要选取不同的作业流程就可以装配不同的产品，适用范围广，达到了生产中对设备柔性、高效、智能化的要求。并且在研制新产品的过程中，通过编制新产品的作业流程，本发明就可快速实现新产品的组装，有效缩短新产品的研发周期，避免了重新研制新产品的组装设备，进一步减少了研发新产品的后期维护开支。According to one embodiment of the present invention, the operation process is formulated according to the process and precision requirements of the product to be assembled, and the formulated operation process is stored in the central control unit, and the central control unit can control each mechanism of the system of the present invention according to the operation process work together. According to actual needs, the operation process of various products can be compiled and stored in the central control unit. When the product needs to be assembled, it only needs to be called from the central control unit. In the central control unit, at least one product operation flow can be stored. The present invention can assemble different products only by selecting different operation processes, has a wide application range, and meets the requirements of flexible, efficient and intelligent equipment in production. And in the process of developing a new product, by compiling the operation flow of the new product, the present invention can quickly realize the assembly of the new product, effectively shorten the research and development cycle of the new product, avoid re-developing the assembly equipment of the new product, and further reduce the cost of research and development. Post-maintenance expenses for new products.
上述内容仅为本发明的具体实施方式的例举，对于其中未详尽描述的设备和结构，应当理解为采取本领域已有的通用设备及通用方法来予以实施。The above content is only an example of the specific embodiments of the present invention, and the equipment and structures not described in detail herein should be understood to be implemented by adopting the existing general equipment and general methods in the art.
以上所述仅为本发明的一个实施方式而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above description is only an embodiment of the present invention, and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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