CN113695776B - Ultrasonic motor multipoint positioning assembly mechanism based on machine vision and method thereof - Google Patents

Abstract

The invention proposes a multi-point positioning assembly mechanism for an ultrasonic motor based on machine vision and a method thereof, including a welding actuator, an ultrasonic motor component grabbing manipulator, a frame, a visual inspection and information sending device, a material transmission device, and a workpiece carrying device. Plate and small terminal grabbing mechanism, the invention realizes the spatial position and angle positioning of the ultrasonic electronic stator assembly by integrating machine vision, automatic assembly, feeding and welding steps, and combines it with machine learning, It can continuously learn through the actual operation data to achieve better assembly effect and welding progress.

Description

A multi-point positioning assembly mechanism and method for ultrasonic motor based on machine vision

technical field

The invention belongs to the technical field of ultrasonic motor manufacturing, and in particular relates to a machine vision-based multi-point positioning assembly mechanism for an ultrasonic motor and a method thereof.

Background technique

At present, the holes on the PCB board of the ultrasonic motor are only 1 to 2 mm in size when assembled. In the current process, the ultrasonic motor stator PCB board and the terminals are basically matched by hand due to the small holes and relatively close positions. However, when the ultrasonic motor is mass-produced, the efficiency of manual assembly is too low, and it needs to consume a lot of manpower. Therefore, it is necessary to adopt the method of machine learning and robotic assembly to reduce the use of actual manual labor and improve the accuracy of assembly.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention proposes a multi-point positioning assembly mechanism and method of ultrasonic motor based on machine vision. The addition of machine vision can complete the placement of ultrasonic motor components in complex placement positions, and complete the placement of small parts. Precise positioning and assembly to improve product yield and aesthetics.

To achieve this purpose, the present invention provides a consistent machine vision-based ultrasonic motor multi-point positioning assembly mechanism, including a welding actuator, an ultrasonic motor component grabbing manipulator, a frame, a visual inspection and information sending device, a material transmission device, and a workpiece. Carrying plate, small terminal grabbing mechanism,

The material transmission device is fixedly installed on the frame, and the material transmission device includes a track conveyor belt and a limit shaft, and the limit shaft is installed on the side of the track conveyor belt;

The workpiece carrier plate is installed on the material transmission device, and the workpiece carrier plate includes an ultrasonic motor stator PCB board and a terminal matching assembly, a composite fixture, and an ultrasonic motor stator PCB board clamp. The ultrasonic motor stator PCB board and the terminal The matching assembly and the ultrasonic motor stator PCB board fixture are respectively fixed and installed on the combined body fixture, the ultrasonic motor stator PCB board is placed on the ultrasonic motor stator PCB board board fixture and positioned, and the track conveyor belt conveys the ultrasonic motor stator PCB board to the designated The position is limited by the limit axis;

The ultrasonic motor part grasping manipulator includes a clamping mechanism, a rotating mechanism and a four-degree-of-freedom handling robot. The rotating mechanism is installed on the four-degree-of-freedom handling robot, and the clamping mechanism is installed on the rotating mechanism. The high-speed handling robot controls the clamping mechanism to clamp the ultrasonic motor stator PCB board at the specified position to the detection area under the visual inspection and information transmission device;

The visual inspection and information transmission device is located above the material transmission device. The visual inspection and information transmission device includes a visual inspection main body and an information transmission device main body. The visual inspection main body is installed on the information transmission device main body. When the workpiece carrier plate is transported to the detection area under the visual inspection body, the visual inspection body performs visual inspection on the ultrasonic motor stator PCB board on the workpiece carrier plate, and sends the visual information to the welding actuator through the main body of the information transmission device;

The welding execution mechanism includes an information processing unit, a welding execution mechanism carrying platform, a lateral transmission guide rail and a welding hand at the end of the welding mechanism. Below the mechanism carrying platform, the welding hand at the end of the welding mechanism is installed on the horizontal transmission guide rail, the information processing unit receives the visual information sent by the main body of the information sending device, and the information processing unit analyzes and processes the visual information and sends a signal to the four free The four-degree-of-freedom handling robot controls the rotating mechanism to adjust the ultrasonic motor stator PCB board to rotate according to the information, and the information processing unit sends a signal to the small terminal grabbing mechanism, and the small terminal grabbing mechanism grabs the terminal to On the ultrasonic motor stator PCB board, the lateral transmission guide rail slides and adjusts the position under the welding actuator carrying platform, and the welding hand at the end of the welding mechanism welds the terminals on the ultrasonic motor stator PCB board;

The small terminal grabbing mechanism includes a fixed backplane, a mobile power source, a terminal grabbing mechanism main body, a terminal, a terminal clamp and a horizontal rail, the mobile power source is installed in the fixed backplane, and the terminal grabbing mechanism main body Installed under the fixed backplane, the terminal clamp is located on one side of the fixed backplane for fixing the terminals, the horizontal rail is mounted on the fixed backplane, the terminal grabbing mechanism main body is mounted on the horizontal rail, the terminal The main body of the grabbing mechanism slides back and forth on the horizontal track to grab the terminals on the terminal fixture and transport them to the ultrasonic motor stator PCB board.

The invention realizes the position and angle positioning of the ultrasonic electronic stator assembly in space by integrating the steps of machine vision, automatic assembly, feeding and welding, and is combined with machine learning to continuously pass the actual operation data. Learn to achieve better assembly results and welding progress.

As a further improvement of the present invention: the workpiece carrier tray further includes a carrier tray tray, the carrier tray tray is mounted on a track conveyor belt, the rail conveyor belt drives the carrier tray tray to slide and install, and the assembly fixture is fixedly installed on the carrier tray. The ultrasonic motor stator PCB board and the terminal matching assembly, the assembly fixture and the ultrasonic motor stator PCB board clamp are installed above the carrying tray tray to realize the fixing and installation of the above components. The carrying tray tray is installed on the track conveyor belt, and the track conveyor belt It can drive the carrying tray to transport and realize the transportation.

As a further improvement of the present invention, the ultrasonic motor component grabbing manipulator further includes a fixing seat, the four-degree-of-freedom handling robot is fixedly installed on the fixing seat, and the fixing seat is fixedly installed on the frame. The fixed seat is used to realize the fixation and installation of the four-degree-of-freedom handling robot.

As a further improvement of the present invention: the visual detection and information sending device further includes a fixing bracket, the fixing bracket is fixedly installed on the frame, the fixing bracket is installed with a cross bar and a mounting block, and the cross bar passes through The installation block is vertically connected to the fixed bracket, the main body of the information sending device is fixedly installed on the horizontal bar, and the main body of the visual inspection is installed on the main body of the information sending device. The fixing bracket is used to realize the fixing and installation of the visual inspection and information sending device, wherein the horizontal bar and the installation block can facilitate the fixing and installation of the main body of the visual inspection.

As a further improvement of the present invention: the welding actuator also includes an automatic tinning device, a welding actuator support frame, a welding mechanism motor and a drag chain, and the automatic tinning device is connected to the welding hand at the end of the welding mechanism for automatic tinning. Tin, the welding hand and the drag chain at the end of the welding mechanism are respectively connected to the motor of the welding mechanism, the drag chain is installed on the horizontal transmission guide rail, and the welding mechanism motor drives the welding mechanism end welding hand to slide on the lateral transmission guide rail through the drag chain. The automatic tinning device is used to automatically tin the welding hands at the end of the welding mechanism to prevent the welding hands at the end of the welding mechanism from working normally after the tin is used up. Installation, the motor of the welding mechanism can provide power for the welding hand at the end of the welding mechanism to make it work normally. The drag chain is connected to the motor of the welding mechanism, which can realize the adjustment of driving the welding hand at the end of the welding mechanism to slide on the horizontal transmission rail. Welding at the end of the welding mechanism Precise welding on hand position.

As a further improvement of the present invention: the small terminal grabbing mechanism further includes a terminal grabbing mechanism support, the terminal grabbing mechanism support is fixedly installed on the frame, and the fixed back plate is installed on the terminal grabbing mechanism support Implement fixed. The small terminal grabbing mechanism is provided with a terminal grabbing mechanism bracket, and the fixed back plate is mounted on the terminal grabbing mechanism support to realize fixation and installation.

The invention provides a method for using a multi-point positioning assembly mechanism of an ultrasonic motor based on machine vision, which includes the following steps:

Step 1. Put the to-be-processed ultrasonic motor stator PCB board in the ultrasonic motor stator PCB board fixture of the workpiece carrier plate and position it;

In step 2, the track conveyor belt transports the workpiece carrier plate on which the ultrasonic motor stator PCB board is placed based on the track conveyor belt;

Step 3. The workpiece carrier plate is moved along the actual material flow direction by the track conveyor belt until it reaches the set working position, and the limit shaft fixes the workpiece carrier plate in the designated area;

Step 4. The four-degree-of-freedom handling robot in the ultrasonic motor part grabbing manipulator comes to the top of the ultrasonic motor stator PCB board according to the set route, grabs the ultrasonic motor stator PCB board, and moves it to the bottom of the visual inspection body and the information sending device at the detection area;

Step 5. The visual inspection and information transmission device locates the spatial position of the ultrasonic motor stator PCB board that reaches the detection area, records the relative positions of the four holes on the ultrasonic motor stator PCB board, and passes the collected data through the information. The main body of the sending device sends the information to the information processing unit that processes the information;

Step 6: The information processing unit that processes the information processes the visual information, and the processed data is finally transmitted to the ultrasonic motor part grabbing manipulator and the small terminal grabbing mechanism;

Step 7. The ultrasonic motor part grasping manipulator will rotate the rotating mechanism and the clamping mechanism at the end of the four-degree-of-freedom handling robot according to the information transmitted by the information processing unit, so as to meet the requirements of matching with the terminal;

Step 8. The small terminal grabbing mechanism will match the terminal with the four small holes on the PCB board of the ultrasonic motor stator according to the data transmitted by the information processing unit, and send the ready signal to the information processing unit;

Step 9: The welding actuator welds the terminal and the ultrasonic motor stator PCB board according to the information of the information processing unit, scans the welded solder joints and uploads the information 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 accuracy;

Step 11. Repeat steps 1 to 10.

The beneficial effects of the present invention are:

The present application is a machine vision-based ultrasonic motor multi-point positioning assembly mechanism and method, which integrates machine vision, automatic assembly, feeding and welding steps to realize the spatial position and angle positioning of the ultrasonic electronic stator assembly, Combined with machine learning, it can continuously learn through actual operating data to achieve better assembly results and welding progress. The addition of machine vision can complete the placement of ultrasonic motor components in complex placement positions, complete the precise positioning and assembly of small parts, and improve product yield and aesthetics.

Description of drawings

Fig. 1 is the structural representation of the multi-point positioning assembly mechanism of ultrasonic motor based on machine vision of the present invention;

2 is a schematic structural diagram of a welding actuator in the multi-point positioning assembly mechanism of an ultrasonic motor based on machine vision of the present invention;

3 is a schematic structural diagram of an ultrasonic motor component grabbing manipulator in the machine vision-based ultrasonic motor multi-point positioning assembly mechanism of the present invention;

4 is a schematic structural diagram of a visual detection and information transmission device in the multi-point positioning assembly mechanism of an ultrasonic motor based on machine vision of the present invention;

5 is a schematic structural diagram of a workpiece carrier plate in the multi-point positioning assembly mechanism of an ultrasonic motor based on machine vision of the present invention;

6 is a schematic structural diagram of a small and medium-sized terminal grabbing mechanism of an ultrasonic motor multi-point positioning assembly mechanism based on machine vision according to the present invention.

Part Name:

1. Welding actuator; 2. Ultrasonic motor parts grabbing manipulator; 3. Frame; 4. Visual inspection and information sending device; 5. Material transmission device; 6. Workpiece carrier plate; 7. Small terminal grabbing mechanism; 101 , information processing unit; 102, automatic tinning device; 103, welding actuator carrying platform; 104, horizontal transmission guide rail; 105, welding actuator support frame; 106, welding mechanism end welding hand; 107, welding mechanism motor; 108, Drag chain; 201, clamping mechanism; 202, ultrasonic motor stator PCB board; 203, rotating mechanism; 204, four-degree-of-freedom handling robot; 401, fixed bracket; 402, visual inspection main body; 403, information sending device main body; 404, Cross bar; 405, mounting block; 601, ultrasonic motor stator PCB board and terminal mating combination; 602, combination fixture; 603, carrier tray; 604, ultrasonic motor stator PCB board fixture; 701, fixed backplane; 702, moving power source; 703, the main body of the terminal grabbing mechanism; 704, the terminal grabbing mechanism bracket; 705, the terminal; 706, the terminal clamp; 707, the horizontal rail; 8, the fixed seat.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

During the assembly process of the ultrasonic motor, the assembly of the terminals and the PCB board often requires manual participation due to the high precision and small structure, which is not conducive to the industrialization and integration of the ultrasonic motor. The effect of manual assembly and welding is affected by many factors, and the production effect of ultrasonic motor products is often unstable.

To solve the above problems, this example discloses a machine vision-based multi-point positioning assembly mechanism for an ultrasonic motor and a method thereof.

As shown in Figure 1-6, the multi-point positioning assembly mechanism of ultrasonic motor based on machine vision includes welding actuator 1, ultrasonic motor parts grabbing manipulator 2, frame 3, visual inspection and information transmission device 4, material transmission device 5. Workpiece carrying plate 6, small terminal grabbing mechanism 7,

The material transmission device 5 is fixedly installed on the frame 3, and the material transmission device 5 includes a track conveyor belt and a limit shaft, and the limit shaft is installed on the side of the track conveyor belt;

The workpiece carrier plate 6 is installed on the material transmission device 5, and the workpiece carrier plate 6 includes an ultrasonic motor stator PCB board and a terminal matching assembly 601, an assembly fixture 602 and an ultrasonic motor stator PCB board fixture 604. The ultrasonic motor stator PCB board fixture 604. The motor stator PCB board and the terminal matching assembly 601 and the ultrasonic motor stator PCB board clamp 604 are respectively fixed and installed on the assembly clamp 602, and the ultrasonic motor stator PCB board 202 is placed on the ultrasonic motor stator PCB board clamp 604 and positioned. When the track conveyor belt conveys the ultrasonic motor stator PCB board 202 to the designated position, the position is limited by the limit shaft;

The ultrasonic motor part grabbing manipulator 2 includes a clamping mechanism 201, a rotating mechanism 203 and a four-degree-of-freedom handling robot 204. The rotating mechanism 203 is installed on the four-degree-of-freedom handling robot 204, and the clamping mechanism 201 is installed on the four-degree-of-freedom handling robot 204. On the rotating mechanism 203, the four-degree-of-freedom handling robot 204 controls the clamping mechanism 201 to clamp the ultrasonic motor stator PCB board 202 at the specified position into the detection area below the visual detection and information transmission device 4;

The visual inspection and information sending device 4 is located above the material transmission device 5. The visual inspection and information sending device 4 includes a visual inspection main body 402 and an information sending device main body 403, and the visual inspection main body 402 is installed on the information sending device main body. On 403, when the track conveyor conveys the workpiece carrier plate 6 to the detection area under the visual inspection main body 402, the visual inspection main body 402 visually inspects the ultrasonic motor stator PCB board 202 on the workpiece carrier plate 6, and sends information through The device body 403 sends visual information to the welding actuator 1;

The welding actuator 1 includes an information processing unit 101, a welding actuator carrying platform 103, a lateral transmission guide rail 104 and a welding hand 106 at the end of the welding mechanism. The information processing unit 101 is installed above the welding actuator carrying platform 103, and the The lateral transmission guide rail 104 is installed under the welding actuator carrying platform 103, the welding hand 106 at the end of the welding mechanism is installed on the lateral transmission guide rail 104, and the information processing unit 101 receives the visual information sent by the main body 403 of the information sending device, the information The processing unit 101 analyzes and processes the visual information and sends a signal to the four-degree-of-freedom handling robot 204. The four-degree-of-freedom handling robot 204 controls the rotating mechanism 203 to adjust the ultrasonic motor stator PCB board 202 to rotate according to the information. The information processing unit 101 sends The signal is sent to the small terminal grabbing mechanism 7, the small terminal grabbing mechanism 7 grabs the terminal 705 to the ultrasonic motor stator PCB board 202, the lateral transmission rail 104 slides and adjusts the position under the welding actuator carrying platform 103, and the The welding hand 106 at the end of the welding mechanism welds the terminal 705 on the ultrasonic motor stator PCB board 202;

The small terminal grabbing mechanism 7 includes a fixed backplane 701 , a moving power source 702 , a terminal grabbing mechanism body 703 , terminals 705 , a terminal clamp 706 and a horizontal rail 707 , and the moving power source 702 is installed on the fixed backplane 701 . , the terminal grabbing mechanism main body 703 is installed under the fixed backplane 701, the terminal clamp 706 is located on one side of the fixed backplane 701 for fixing the terminals 705, and the horizontal rail 707 is installed on the fixed backplane 701, The terminal grabbing mechanism main body 703 is mounted on the horizontal rail 707 , and the terminal grabbing mechanism main body 703 slides back and forth on the horizontal rail 707 to grab the terminals 705 on the terminal fixture 706 and transport them to the ultrasonic motor stator PCB board 202 .

In the above structure:

The material conveying device 5 transports the workpiece carrier plate 6 to the set position, and the ultrasonic motor part grabs the manipulator 2 to transport the ultrasonic motor stator PCB board 202 from the workpiece carrier plate 6 to the detection area under the visual inspection and information transmission device 4, and the information is transmitted. The device main body 403 sends the collected information to the information processing unit 101, and the information processing unit 101 will integrate the information of the visual inspection to perform machine learning and verification operations, and after the information processing unit 101 has processed the information, it will distribute the information to the lower ultrasonic motor parts for grabbing The manipulator 2 performs posture adjustment processing, and at the same time, the small terminal grabbing mechanism 7 performs a cooperative operation according to the information sent by the information processing unit 101. After the cooperation is completed, the information processing unit 101 sends an instruction to the welding actuator 1 to perform the welding operation at the designated position. The subsequent information of measuring the solder joints and distances will be 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 motor 107 of the welding mechanism drives and rotates the lead screw, so that the welding hand 106 at the end of the welding mechanism reaches the designated position on the horizontal transmission guide 104 according to the information, and then the automatic tinning device 102 cooperates with the welding hand 106 at the end of the welding mechanism. A welding operation is performed on the terminals 705 and the ultrasonic motor stator PCB board 202 .

After the information processing unit 101 receives the visual detection and information transmission device 4, the four-degree-of-freedom handling robot 204 will move to the position set by the data, and the clamping mechanism 201 clamps the ultrasonic motor stator PCB board 202 to the visual detection and information transmission device. The information processing unit 101 saves the generated visual information data after machine learning and sends the data, and the rotating mechanism 203 and the four-degree-of-freedom transport robot 204 perform posture adjustment processing to facilitate the next assembly.

The visual inspection main body 402 is fixed on the fixed bracket 401. When it is detected that the ultrasonic motor stator PCB board 202 has completely entered the inspection area, the spatial position information of the components starts to be collected and sent to the information processing unit 101 by the main body 403 of the information transmission device. .

The assembly fixture 602 and the ultrasonic motor stator PCB board fixture 604 are fixed on the carrier tray 603, the ultrasonic motor stator PCB board 202 is placed on the ultrasonic motor stator PCB board board fixture 604, and the ultrasonic motor stator PCB board and the terminals are placed in the combination body 601 on the assembly fixture 602 .

The mobile power source 702 and the horizontal rail 707 are fixed on the terminal grabbing mechanism bracket 704. When receiving the information from the information processing unit 101, the terminal clamp 706 fixed on the fixed backplane 701 starts to prepare the terminal 705, and the terminal grabbing mechanism main body 703 The grab terminal 705 is moved to a fixed position.

As a further improvement of the present invention: the workpiece carrier tray 6 further includes a carrier tray tray 603, the carrier tray tray 603 is mounted on a track conveyor belt, and the track conveyor belt drives the carrier tray tray 603 to slide and set, the combination The body clamp 602 is fixedly mounted on the carrier tray 603 .

In the above structure: the ultrasonic motor stator PCB board and the terminal matching assembly 601, the assembly fixture 602 and the ultrasonic motor stator PCB board clamp 604 are installed above the carrier tray 603 to realize the fixing and installation of the above-mentioned components, and the carrier tray 603 is installed On the orbital conveyor belt, the orbital conveyor belt can drive the carrier tray 603 to convey to realize conveyance.

As a further improvement of the present invention: the ultrasonic motor part grabbing manipulator 2 further includes a fixing base 8, the four-degree-of-freedom handling robot 204 is fixedly installed on the fixing base 8, and the fixing base 8 is fixedly installed on the frame 3 superior.

In the above structure, the fixing base 8 is used to realize the fixing and installation of the four-degree-of-freedom transport robot 204 .

As a further improvement of the present invention: the visual detection and information sending device 4 further includes a fixing bracket 401, the fixing bracket 401 is fixedly installed on the rack 3, and the fixing bracket 401 is installed with a cross bar 404 and a mounting block 405 , the horizontal bar 404 is vertically connected to the fixing bracket 401 through the mounting block 405 , the information sending device main body 403 is fixedly installed on the horizontal bar 404 , and the visual inspection body 402 is installed on the information sending device main body 403 .

In the above structure, the fixing bracket 401 is used to realize the fixing and installation of the visual detection and information sending device 4 , wherein the horizontal bar 404 and the installation block 405 can facilitate the fixing and installation of the visual detection main body 402 .

As a further improvement of the present invention: the welding actuator 1 further includes an automatic tinning device 102, a welding actuator support frame 105, a welding mechanism motor 107 and a drag chain 108, and the automatic tinning device 102 is connected to the end of the welding mechanism Automatic tinning is performed on the welding hand 106. The welding hand 106 and the drag chain 108 at the end of the welding mechanism are respectively connected to the welding mechanism motor 107. The drag chain 108 is installed on the lateral transmission guide rail 104, and the welding mechanism motor 107 passes through the drag chain. 108 drives the welding hand 106 at the end of the welding mechanism to slide on the lateral transmission guide rail 104 .

In the above structure: the automatic tinning device 102 is used to automatically tin the welding hand 106 at the end of the welding mechanism to prevent the welding hand 106 at the end of the welding mechanism from working normally after the tin is used up. The welding actuator carrying platform 103 is fixed and installed. The welding mechanism motor 107 can provide power for the welding hand 106 at the end of the welding mechanism to make it work normally. The drag chain 108 is connected to the welding mechanism motor 107, which can realize the welding of the end of the driving welding mechanism. The hand 106 slides on the lateral transmission guide rail 104 to adjust the position of the welding hand 106 at the end of the welding mechanism to perform precise welding.

As a further improvement of the present invention: the small terminal grabbing mechanism 7 further includes a terminal grabbing mechanism bracket 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 The gripping mechanism bracket 704 is fixed.

In the above structure, the small terminal grabbing mechanism 7 is provided with the terminal grabbing mechanism support 704, and the fixed back plate 701 is installed on the terminal grabbing mechanism support 704 to realize fixing and installation.

A method for using a multi-point positioning assembly mechanism for an ultrasonic motor based on machine vision, comprising the following steps:

Step 1. Put the ultrasonic motor stator PCB board 202 to be processed in the ultrasonic motor stator PCB board fixture 604 of the workpiece carrier plate 6 and position it;

Step 2, the track conveyor belt transports the workpiece carrier plate 6 on which the ultrasonic motor stator PCB board 202 is placed based on the track conveyor belt;

Step 3, the workpiece carrier plate 6 is moved along the actual material flow by the track conveyor belt until it reaches the set working position, and the limit shaft fixes the workpiece carrier plate 6 in the designated area;

Step 4. The four-degree-of-freedom handling robot 204 in the ultrasonic motor part grabbing robot 2 comes to the top of the ultrasonic motor stator PCB board 202 according to the set route, grabs the ultrasonic motor stator PCB board 202, and moves it to the visual inspection body 402 and at the detection area below the main body 403 of the information sending device;

Step 5. The visual detection and information transmission device 4 locates the spatial position of the ultrasonic motor stator PCB board 202 that reaches the detection area, records the relative positions of the four holes on the ultrasonic motor stator PCB board 202, and records the collected data. The data is sent to the information processing unit 101 that processes the information through the information sending device main body 403;

Step 6: 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 robot 2 and the small terminal grabbing mechanism 7;

Step 7. The ultrasonic motor part grasping robot 2 will rotate the rotating mechanism 203 and the clamping mechanism 201 at the end of the four-degree-of-freedom handling robot 204 according to the information transmitted by the information processing unit 101, so as to meet the requirements of cooperation with the terminal 705;

Step 8: The small terminal grabbing mechanism 7 will match the terminal 705 with the four holes on the ultrasonic motor stator PCB board 202 according to the data transmitted by the information processing unit 101, and send the ready signal to the information processing unit 101;

Step 9: The welding execution mechanism 1 welds the terminal 705 and the ultrasonic motor stator PCB board 202 according to the information of the information processing unit 101 , scans the welded joints and uploads the information 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 accuracy;

Step 11. Repeat steps 1 to 10.

The invention integrates several steps of machine vision, automatic assembly, feeding and welding, realizes the position and angle positioning of the ultrasonic electronic stator assembly in space, and is combined with machine learning, which can be continuously carried out through actual operation data. Learn to achieve better assembly results and welding progress. The addition of machine vision can complete the placement of ultrasonic motor components in complex placement positions, complete the precise positioning and assembly of small parts, and improve product yield and aesthetics.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any other form, and any modifications or equivalent changes made according to the technical essence of the present invention still fall within the scope of protection of the present invention. .

Claims (7)

1. A machine vision-based multi-point positioning assembly mechanism for an ultrasonic motor, comprising a welding actuator (1), an ultrasonic motor component grabbing manipulator (2), a frame (3), a visual inspection and information sending device (4) , a material transmission device (5), a workpiece carrying plate (6), and a small terminal grabbing mechanism (7), characterized in that: the material transmission device (5) is fixedly installed on the frame (3), and the material transmission The device (5) includes a track conveyor belt and a limit shaft, the limit shaft is installed on the side of the track conveyor belt; the workpiece carrying plate (6) is installed on the material transmission device (5), and the workpiece carrying plate (6) including an ultrasonic motor stator PCB board and a terminal mating assembly (601), an assembly fixture (602), and an ultrasonic motor stator PCB board clamp (604), the ultrasonic motor stator PCB board and the terminal mating assembly (601) ) and the ultrasonic motor stator PCB board fixture (604) are respectively fixed on the assembly fixture (602), the ultrasonic motor stator PCB board (202) is placed on the ultrasonic motor stator PCB board fixture (604) and positioned, the rails When the conveyor belt conveys the ultrasonic motor stator PCB board (202) to a designated position, the position is limited by a limit shaft; the ultrasonic motor component grabbing manipulator (2) includes a clamping mechanism (201), a rotating mechanism (203) and four A transport robot (204) with degrees of freedom, the rotation mechanism (203) is mounted on the transport robot (204) with four degrees of freedom, the clamping mechanism (201) is mounted on the rotation mechanism (203), and the transport robot with four degrees of freedom (204) Controlling the clamping mechanism (201) to clamp the ultrasonic motor stator PCB board (202) at a specified position into the detection area below the visual detection and information transmission device (4); the visual detection and information transmission device (4) ) is located above the material transmission device (5), the visual inspection and information transmission device (4) includes a visual inspection main body (402) and an information transmission device main body (403), and the visual inspection main body (402) is installed on the information transmission device (402). On the device main body (403), when the track conveyor belt transports the workpiece carrying tray (6) to the detection area below the visual inspection main body (402), the visual inspection main body (402) will respond to the ultrasonic motor on the workpiece carrying tray (6). The stator PCB board (202) performs visual inspection, and sends visual information to the welding actuator (1) through the information transmitting device main body (403); the welding actuator (1) includes an information processing unit (101), a welding actuator A carrying platform (103), a lateral transmission guide rail (104) and a welding hand (106) at the end of the welding mechanism, the information processing unit (101) is installed above the welding actuator carrying platform (103), the lateral transmission guide rail (104) It is installed under the welding actuator carrying platform (103), the welding hand (106) at the end of the welding mechanism is installed on the lateral transmission guide rail (104), and the information processing unit (101) receives the information. The visual information sent by the main body of the information sending device (403), the information processing unit (101) analyzes and processes the visual information and sends a signal to the four-degree-of-freedom handling robot (204), and the four-degree-of-freedom handling robot (204) according to the information The rotation mechanism (203) is controlled to adjust the ultrasonic motor stator PCB board (202) to rotate, the information processing unit (101) sends a signal to the small terminal grabbing mechanism (7), and the small terminal grabbing mechanism (7) grabs the The terminal (705) is placed on the ultrasonic motor stator PCB board (202), the lateral transmission guide rail (104) slides and adjusts the position under the welding actuator carrying platform (103), and the welding hand (106) at the end of the welding mechanism moves the terminal (106). 705) Welded on the ultrasonic motor stator PCB board (202); the small terminal grabbing mechanism (7) includes a fixed backplane (701), a mobile power source (702), a terminal grabbing mechanism main body (703), a terminal (705), a terminal clamp (706) and a horizontal rail (707), the moving power source (702) is installed in the fixed backplane (701), and the terminal grabbing mechanism main body (703) is installed on the fixed backplane (703). Below 701), the terminal clamp (706) is located on one side of the fixed backplane (701) for fixing the terminal (705), the horizontal rail (707) is installed on the fixed backplane (701), the terminal catches The pick-up mechanism main body (703) is installed on the horizontal rail (707), and the terminal grabbing mechanism main body (703) slides back and forth on the horizontal rail (707) to grab the terminal (705) on the terminal clamp (706) and deliver it to the ultrasonic on the motor stator PCB board (202). 2. A machine vision-based ultrasonic motor multi-point positioning assembly mechanism according to claim 1, characterized in that: the workpiece carrier tray (6) further comprises a carrier tray tray (603), and the carrier tray tray (603) is installed on a track conveyor belt, the track conveyor belt drives the carrying tray tray (603) to slide and set, and the assembly clamp (602) is fixedly installed on the carrying tray tray (603). 3. A machine vision-based ultrasonic motor multi-point positioning assembly mechanism according to claim 1, characterized in that: the ultrasonic motor component grabbing manipulator (2) further comprises a fixing seat (8), the four The degree-of-freedom handling robot (204) is fixedly installed on a fixed seat (8), and the fixed seat (8) is fixedly installed on the frame (3). 4. A machine vision-based ultrasonic motor multi-point positioning assembly mechanism according to claim 1, characterized in that: the visual detection and information transmission device (4) further comprises a fixed bracket (401), and the fixed The bracket (401) is fixedly installed on the rack (3), the fixed bracket (401) is provided with a cross bar (404) and a mounting block (405), and the cross bar (404) is perpendicular to the mounting block (405) Connected to the fixed bracket (401), the information sending device main body (403) is fixedly installed on the crossbar (404), and the visual inspection main body (402) is installed on the information sending device main body (403). 5. A machine vision-based ultrasonic motor multi-point positioning assembly mechanism according to claim 1, characterized in that: the welding actuator (1) further comprises an automatic tinning device (102), a welding actuator support A frame (105), a welding mechanism motor (107) and a drag chain (108), the automatic tinning device (102) is connected to the welding mechanism end welding hand (106) for automatic tinning, and the welding mechanism end welding hand (106), the drag chain (108) is respectively connected to the motor (107) of the welding mechanism, the drag chain (108) is installed on the transverse transmission guide rail (104), and the motor (107) of the welding mechanism is driven by the drag chain (108) The welding hand (106) at the end of the welding mechanism slides on the transverse transport guide (104). 6. A machine vision-based multi-point positioning assembly mechanism for an ultrasonic motor according to claim 1, wherein the small terminal grabbing mechanism (7) further comprises a terminal grabbing mechanism bracket (704), wherein The terminal grabbing mechanism bracket (704) is fixedly installed on the frame (3), and the fixed backboard (701) is installed on the terminal grabbing mechanism support (704) to realize fixation. 7. the using method of a kind of ultrasonic motor multi-point positioning assembly mechanism based on machine vision according to any one of claims 1-6, the concrete steps are, it is characterized in that: Step 1. Put the ultrasonic motor stator PCB board (202) to be processed into the ultrasonic motor stator PCB board fixture (604) of the workpiece carrier plate (6) and position it; In step 2, the track conveyor belt transports the workpiece carrier plate (6) on which the ultrasonic motor stator PCB board (202) is placed based on the track conveyor belt; Step 3, the workpiece carrier plate (6) is moved along the actual material flow direction by the track conveyor belt until it reaches the set working position, and the limit shaft fixes the workpiece carrier plate (6) in the designated area; Step 4: The four-degree-of-freedom handling robot (204) in the ultrasonic motor part grabbing manipulator (2) comes to the top of the ultrasonic motor stator PCB board (202) according to the set route, and grabs the ultrasonic motor stator PCB board (202), Move it to the detection area below the visual inspection main body (402) and the information sending device main body (403); Step 5: The visual detection and information transmission device (4) locates the spatial position of the ultrasonic motor stator PCB board (202) that reaches the detection area, and performs the relative positions of the four holes on the ultrasonic motor stator PCB board (202). record, and send the collected data to the information processing unit (101) that processes the information through the main body of the information sending device (403); In step 6, 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 7. The ultrasonic motor part grabbing manipulator (2) will rotate the rotation mechanism (203) and the clamping mechanism (201) at the end of the four-degree-of-freedom handling robot (204) according to the information transmitted by the information processing unit (101), so as to satisfy the (705) Requirements for cooperation; Step 8. The small terminal grabbing mechanism (7) will match the terminal (705) with the four small holes on the ultrasonic motor stator PCB board (202) according to the data transmitted by the information processing unit (101), and send the ready signal to the information processing unit (101); Step 9. The welding actuator (1) welds the terminal (705) and the ultrasonic motor stator PCB board (202) according to the information of the information processing unit (101), scans the welded joints and uploads the information to the information processing unit (101). ); In 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 accuracy; Step 11. Repeat steps 1 to 10.

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