WO2017202015A1 - Positioning structure for seeking welding seam by photographic detection - Google Patents
Positioning structure for seeking welding seam by photographic detection Download PDFInfo
- Publication number
- WO2017202015A1 WO2017202015A1 PCT/CN2016/111049 CN2016111049W WO2017202015A1 WO 2017202015 A1 WO2017202015 A1 WO 2017202015A1 CN 2016111049 W CN2016111049 W CN 2016111049W WO 2017202015 A1 WO2017202015 A1 WO 2017202015A1
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- WO
- WIPO (PCT)
- Prior art keywords
- station
- photographic
- positioning structure
- rotating
- sides
- Prior art date
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Classifications
-
- 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
- B23K31/12—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 investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
-
- 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
- B23K31/12—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 investigating the properties, e.g. the weldability, of materials
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/12—Vessels
Definitions
- the invention relates to the technical field of container manufacturing equipment, in particular to a positioning structure of a photographic inspection weld seam.
- the flat plate In the manufacturing process of the cylindrical metal container, the flat plate needs to be welded into a cylindrical structure by a welding process, and then further processed by a subsequent working position, and the welded joint of the welded cylindrical structure has different angles on the circumference, thereby making After the semi-finished product is placed on the production line, the weld seam needs to be adjusted at a circumferential angle to a position suitable for subsequent station processing.
- the existing technology uses a weld seam detector to detect the weld seam, and the weld seam detector is one or two color difference recognition. The position of the weld is identified by detecting the difference in the color of the weld on the outer wall of the barrel. Generally, it is required to rotate more than one base (one base is 360°), and the recognition rate of the color difference detection is not high, which leads to low production efficiency of the entire production line.
- the present invention provides a positioning structure for a photographic inspection weld seam, which photographs an image of a semi-finished product by photographing, and then compares the position of the weld of the semi-finished product in the image with the position of the preset weld seam, and finally drives the rotating disc.
- the semi-finished product is rotated to a predetermined position, which makes the welding seam have a small rotation angle, short time and high speed, ensuring the entire production line. Production efficiency.
- the technical solution is such that it comprises a conveying claw, which is characterized by: A photographic analysis station and a rotating station are respectively disposed on the track of the conveying claw, and a detecting camera is disposed directly above the photographic analyzing station, and the lens photographing range of the detecting camera covers the inner wall of the barrel and the barrel opening of the semi-finished product An edge, the rotating station includes an upper rotating disk, a lower rotating shaft, a lower convex axis of the upper rotating disk is coupled to an output shaft of the lower rotating electrical machine, and the detecting camera is externally connected to an input end of the data processing module through a data connection module The data processing module compares the weld position of the semi-finished product photographed by the camera with the preset weld position, analyzes the angle control parameter, and then returns the angle control parameter to the input module of the lower rotary motor, the rotation There is a follow-up station at the rear of the station.
- the detecting camera is located in a mounting bracket, and the mounting bracket is externally connected with a piston rod of a vertically vertical cylinder that is vertically lifted, and the cylinder block of the vertical cylinder is fastened to the frame of the production line, and the vertical cylinder can be driven
- the mounting bracket is vertically lifted, so that the detecting camera can be height-adjusted according to the specific height of the semi-finished product, so that the lens photographing range of the detecting camera covers the inner wall of the semi-finished product and the upper edge of the barrel mouth, thereby ensuring the versatility of the entire structure;
- the lower rotating electric machine is a bidirectional rotating electric machine, and the data processing module quickly locates the weld position according to the photo uploaded by the photo analysis station, and then compares with the preset weld position, analyzes and obtains the angle control parameter, and obtains the rotation of the lower rotating electric machine.
- the smallest forward or reverse parameter and the input module to the lower rotary motor make the energy utilization of the weld positioning the lowest, ensuring the working efficiency of the entire structure;
- the data connection module is a data line or a WiFi module to ensure normal data transmission
- the conveying claw is a stepping structure, the conveying claw comprises a swinging arm, and the swinging arms on both sides are arranged along a feeding direction of the product, and the conveying claws are placed one by one to drive the product to travel a stepping station;
- the conveying claw is specifically configured to include profiles on both sides, the profiles respectively fastening the upper ends of the swinging arms of the corresponding sides, and the feeding optical axes respectively penetrate the swinging arms on the same side and form an integral structure, the claws
- the profiles are respectively fastened to the corresponding sides in pairs, and the concave portions of the pair of the claws are arranged to face each other, which further comprises a servo motor, and connecting members are arranged between the optical axes of the two sides, the connecting members
- the two sides of the crank are respectively disposed on the corresponding side of the feeding optical axis
- the connecting member has a central shaft
- a cam is set on the central axis
- one end of the crank is set on the central axis
- the other end of the crank passes
- the rotating shaft is connected to the output end of the moving arm, and the input end of the moving arm is set on the output rotating shaft of the servo motor
- the cam is specifically a structure with a convex arc surface on
- the working principle of the conveying claw is as follows: the moving arm on the servo motor performs 360-degree rotation, and the crank connected with the crank pulls the cam to move back and forth, and the central axis moves forward and backward to drive the connecting member to move back and forth, thereby driving the feeding optical axis to move back and forth to make the barrel Moved past a bucket; While moving over a barrel position, the cam simultaneously rotates, and the roller structure oscillates around the center of the feeding optical axis under the action of the cam, and simultaneously drives the feeding optical axis to rotate a small amplitude, thereby controlling the small rotation of the swing arm, that is, The swing arm is controlled to open and close inwardly.
- the feed optical axes respectively penetrate the swing arms on the same side and form an integral structure, and the claws are respectively tightly held in pairs. Fixing the profile on the corresponding side, the concave portions of the pair of the claws are arranged opposite to each other, that is, the opening and closing of the bucket by the pair of gripper opening and closing controls, and the gripper is closed by the use of the cam
- the bucket When the bucket is in the forward conveying state, the bucket has been transported into position when the gripper is released, so that the tank body is transported from one station to the next station, and the structure of the tank is not loosened, so that the feeding is stable and ensured.
- the normal production goes smoothly, and the entire structure only needs one servo motor to operate, the transmission structure is simple, and the manufacturing cost is low.
- the detection camera takes a semi-finished product to ensure that the weld joint position is clearly visible, and then the photo is uploaded to the input end of the data processing module through the data connection module, the data The processing module will detect the weld position of the semi-finished product photographed by the camera and the preset weld position, analyze and obtain the angle control parameter, and then return the angle control parameter to the input module of the lower rotary motor, and the semi-finished product has been delivered to the input module.
- the rotating station rotates the semi-finished product according to the angle control parameter to rotate the weld to a preset angular position; the image of the semi-finished product is photographed by photographing, and then the weld position and the preset weld position of the semi-finished product in the image are taken.
- the rotating semi-finished product is rotated to a predetermined position by the rotating disc, which makes the welding seam have a small rotation angle, short time and high speed, and ensures the production efficiency of the entire production line.
- Figure 1 is a schematic view of the main view of the present invention (exposing a rotating disk, convenient expression);
- Figure 2 is a side view showing the structure of the present invention (removing the conveying claw);
- Figure 3 is a schematic view showing the structure of the conveying claw of the present invention.
- Conveying gripper 1 photographic analysis station 2, rotating station 3, follow-up station 4, detecting camera 5, upper rotating disc 6, lower rotating electric machine 7, lower convex shaft 8, output shaft 9, data processing module 10, data Line 11, semi-finished product 12, input module 13, mounting bracket 14, vertical cylinder 15, swing arm 16, profile 17, said profile 17, feed optical axis 18, servo motor 19, cylinder 20.
- Fig. 1, Fig. 2 it includes the conveying claw 1, the photographic analysis station 2, the rotating station 3, the follow-up station 4 are respectively arranged on the track of the conveying claw 1
- a detection camera 5 is disposed directly above the photo analysis station 2, and the lens photographing range of the detection camera 5 covers the inner wall of the barrel and the upper edge of the barrel of the semi-finished product 12, and the rotating station 3
- the upper rotating disc 6 and the lower rotating electric machine 7 are connected.
- the lower protruding shaft 8 of the upper rotating disc 6 is connected to the output shaft 9 of the lower rotating electric machine 7.
- the detecting camera 5 is externally connected to the input end of the data processing module 10 through the data connection module.
- the data connection module is The data line or the WiFi module ensures that the data is normally transmitted. In the specific embodiment, the data line 11 is
- the data processing module 10 compares the weld position of the semi-finished product 12 photographed by the camera 5 with the preset weld position, analyzes the angle control parameter, and then returns the angle control parameter to the input module 13 of the lower rotary motor 7, and rotates A follow-up station 4 is provided at the rear of the station 3.
- the detecting camera 5 is located in the mounting bracket 14, and the mounting bracket 14 is externally connected with a vertically vertical cylinder 15
- the piston rod is vertically connected to the cylinder block of the cylinder 15 to connect the upper frame of the production line (not shown, belonging to the existing mature structure), and the vertical cylinder 15 can drive the mounting bracket 14 to vertically move up and down, so that the detecting camera 5 can be height-adjusted according to the specific height of the semi-finished product 12, so that the lens photographing range of the detecting camera 5 covers the inner wall of the barrel of the semi-finished product 12 and the upper edge of the barrel mouth, thereby ensuring the versatility of the entire structure;
- the lower rotary electric machine 7 is a bidirectional rotary electric machine, and the data processing module 10 quickly locates the weld position according to the photo uploaded by the photo analysis station 2, and then compares with the preset weld position, and analyzes and obtains the angle control parameter to obtain the lower rotary motor. 7
- the forward or reverse parameter with the smallest rotation angle is transmitted to the input module 13 of the lower rotating electrical machine 7, so that the energy utilization of the weld positioning is minimized, and the working efficiency of the entire structure is ensured;
- the conveying claw 1 is a stepping structure, and the conveying claw 1 includes a swing arm 16, and the swing arms 16 on both sides are arranged along the product feeding direction, and the conveying claw 1 is conveyed.
- One clip and one release drive the product to travel a stepping station;
- the specific structure of the conveying claw 1 is shown in FIG. 3: it comprises the profiles 17 on both sides, and the profiles 17 respectively fasten the upper ends of the swinging arms 16 on the corresponding sides, and the feeding optical axes 18 respectively penetrate the swinging arms 16 on the same side, and form an integral structure.
- the grippers 30 are respectively fastened in pairs to the profiles 17 on the corresponding sides, and the concave portions of the pair of grippers 30 are arranged to face each other, which further includes a servo motor 19, and the two ends of the cylinder 20 are respectively fastened to the feed optical axes 18 on both sides.
- the cylinder 20 is located between the feed optical axes 18 on both sides.
- the presence of the cylinder 20 ensures the distance between the feed optical axes 18 on both sides, thereby ensuring the closure of the crank when the cam is turned to the crank closed state; the feed light on both sides
- a connecting member 21 is disposed between the shafts 18, and two sides of the connecting member 21 are respectively set on the feeding optical axis 18 of the corresponding side, and the connecting member
- a central shaft 22 is protruded from 21, a cam 23 is fitted to the central shaft 22, one end of the crank 24 is fitted to the central shaft 22, and the other end of the crank 24 is connected to the output end of the moving arm 25 via a rotating shaft, and the input end of the moving arm 25 is set to the servo.
- the output shaft of the motor 19, the cam 23 is specifically a convex arc surface 26 on both sides, and a concave structure 27 at both ends, and the feeding optical shaft 18 is provided with a limited position sleeve 28 corresponding to the positions of the two convex arc surfaces of the cam 23,
- the inner side of the limiting sleeve 28 is respectively provided with a roller structure 29, and the two outer convex arc surfaces 26 of the cam 23 in the state of the feeding stop point are in close contact with the outer annular surface of the roller structure 29 on the corresponding side;
- the working principle of the conveying claw is as follows: the moving arm 25 on the servo motor 19 rotates 360 degrees, and the crank 24 connected thereto pulls the cam 23 back and forth, and the front and rear movement of the central shaft drives the connecting member 21 to move back and forth, thereby driving the feeding optical axis 18 Moving forward and backward, moving the bucket forward through a bucket position; while moving over a bucket position, the cam 23 simultaneously rotates, and the roller structure 29 swings around the center of the feed optical axis 18 under the action of the cam 23, and simultaneously drives
- the feeding optical axis 18 rotates a small amount, thereby controlling the small-amplitude rotation of the swing arm 16, that is, controlling the swing arm 16 to open and close inwardly, and the feeding optical axis 18 is fastened by the profile 17 respectively fastening the upper end of the swing arm 16 of the corresponding side.
- the oscillating arms 16 of the same side are respectively formed and formed into a unitary structure, and the claws 30 are respectively fastened in pairs to the profiles 17 on the corresponding sides, and the concave portions of the pair of claws 30 are arranged to face each other, that is, the swing arms 16 Opening and closing of the bucket by the gripper 30 paired with the closing control, the cam 23 is used to ensure that the bucket is in the forward conveying state when the gripper 30 is closed, and the bucket is transported into position when the gripper is released, so that the can body During the process of transporting from one station to the next, the structure of the tank will not be loosened, the feeding will be stable, the normal production will be carried out smoothly, and the whole structure only needs one servo motor to operate, and the transmission structure is simple and manufactured. low cost.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Quality & Reliability (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
Disclosed is a positioning structure for seeking a welding seam by photographic detection, comprising a conveying holding claw (1), wherein a track of the conveying holding claw (1) is provided with a photographing analysis station (2) and a rotating station (3), respectively; a detection camera (5) is arranged directly over the photographing analysis station (2), and the camera lens photographic range of the detection camera (5) covers a barrel inner wall of and an upper edge of a barrel opening of a semi-finished product; the rotating station (3) comprises an upper rotating disc (6) and a lower rotary electric motor (7); a lower convex shaft (8) of the upper rotating disc (6) is connected to an output shaft (9) of the lower rotary electric motor (7); and the detection camera (5) is externally connected to an input end of a data processing module (10) via a data connection module. The data processing module (10) compares a welding seam position of a semi-finished product that is photographed by the detection camera and a pre-set welding seam position, obtains an angle control parameter by analysis, then passes back the angle control parameter to an input module (13) of the lower rotary electric motor (7), and a subsequent station (4) is provided behind the rotating station (3). By means of the positioning structure, welding seam positioning has the advantages of a small rotation angle, short time and a fast speed, thereby ensuring the production efficiency of the whole production line.
Description
本发明涉及容器制作设备的技术领域，具体为一种照相检测寻焊缝的定位结构。 The invention relates to the technical field of container manufacturing equipment, in particular to a positioning structure of a photographic inspection weld seam.
背景技术 Background technique
圆柱形的金属容器在制作过程中，需要通过焊接工艺将平板焊接成圆柱形结构，之后再通过后续工位进一步加工，经过焊接的圆柱形结构的焊缝在圆周上的角度不一，进而使得半成品放置于产线后需要将焊缝在圆周的角度调整到适合后续工位加工的位置，现有的技术通过焊缝检测仪来进行检测焊缝，焊缝检测仪是一个或者两个色差识别器，通过检测桶外壁焊缝颜色的差别来识别焊缝位置，一般需要旋转一个基数以上（一个基数为360°)，色差检测识别率不高，进而导致整个产线的生产效率低。
In the manufacturing process of the cylindrical metal container, the flat plate needs to be welded into a cylindrical structure by a welding process, and then further processed by a subsequent working position, and the welded joint of the welded cylindrical structure has different angles on the circumference, thereby making After the semi-finished product is placed on the production line, the weld seam needs to be adjusted at a circumferential angle to a position suitable for subsequent station processing. The existing technology uses a weld seam detector to detect the weld seam, and the weld seam detector is one or two color difference recognition. The position of the weld is identified by detecting the difference in the color of the weld on the outer wall of the barrel. Generally, it is required to rotate more than one base (one base is 360°), and the recognition rate of the color difference detection is not high, which leads to low production efficiency of the entire production line.
发明内容 Summary of the invention
针对上述问题，本发明提供了一种照相检测寻焊缝的定位结构，其通过照相拍摄半成品的图像，之后将图像中半成品的焊缝位置和预设焊缝位置比对，最后通过旋转盘带动半成品旋转到预定位置，其使得焊缝定位的旋转角度小、时间短、速度快，确保整个产线
的生产效率。
In view of the above problems, the present invention provides a positioning structure for a photographic inspection weld seam, which photographs an image of a semi-finished product by photographing, and then compares the position of the weld of the semi-finished product in the image with the position of the preset weld seam, and finally drives the rotating disc. The semi-finished product is rotated to a predetermined position, which makes the welding seam have a small rotation angle, short time and high speed, ensuring the entire production line.
Production efficiency.
-种照相检测寻焊缝的定位结构，其技术方案是这样的：其包括输送抱爪，其特征在于 ：
所述输送抱爪的轨道上分别设置有照相分析工位、旋转工位，所述照相分析工位的正上方设置有检测摄像头，所述检测摄像头的镜头拍照范围覆盖半成品的桶内壁和桶口上边缘，所述旋转工位包括上部旋转盘、下部旋转电机，所述上部旋转盘的下凸轴连接所述下部旋转电机的输出轴，所述检测摄像头通过数据连接模块外接数据处理模块的输入端，所述数据处理模块将检测摄像头拍摄的半成品的焊缝位置和预设焊缝位置比对、分析得出角度控制参数，之后将角度控制参数回传至下部旋转电机的输入模块，所述旋转工位的后方设置有后续工位。 - A photographic inspection of the positioning structure of the weld seam, the technical solution is such that it comprises a conveying claw, which is characterized by:
A photographic analysis station and a rotating station are respectively disposed on the track of the conveying claw, and a detecting camera is disposed directly above the photographic analyzing station, and the lens photographing range of the detecting camera covers the inner wall of the barrel and the barrel opening of the semi-finished product An edge, the rotating station includes an upper rotating disk, a lower rotating shaft, a lower convex axis of the upper rotating disk is coupled to an output shaft of the lower rotating electrical machine, and the detecting camera is externally connected to an input end of the data processing module through a data connection module The data processing module compares the weld position of the semi-finished product photographed by the camera with the preset weld position, analyzes the angle control parameter, and then returns the angle control parameter to the input module of the lower rotary motor, the rotation There is a follow-up station at the rear of the station.
其进一步特征在于 ：
所述检测摄像头位于安装支架内，所述安装支架外接有可垂直升降的垂直向气缸的活塞杆，所述垂直向气缸的缸座紧固连接产线的机架，所述垂直向气缸可带动安装支架垂直向升降，使得检测摄像头可以根据半成品的具体高度进行高度调整，使得检测摄像头的镜头拍照范围覆盖半成品的桶内壁和桶口上边缘，进而确保整个结构的通用性； It is further characterized by:
The detecting camera is located in a mounting bracket, and the mounting bracket is externally connected with a piston rod of a vertically vertical cylinder that is vertically lifted, and the cylinder block of the vertical cylinder is fastened to the frame of the production line, and the vertical cylinder can be driven The mounting bracket is vertically lifted, so that the detecting camera can be height-adjusted according to the specific height of the semi-finished product, so that the lens photographing range of the detecting camera covers the inner wall of the semi-finished product and the upper edge of the barrel mouth, thereby ensuring the versatility of the entire structure;
所述下部旋转电机为双向旋转电机，数据处理模块根据照相分析工位上传的照片快速定位焊缝位置、进而和预设焊缝位置比对、分析得出角度控制参数，得出下部旋转电机旋转角度最小的正转或反转参数、传至下部旋转电机的输入模块，使得焊缝定位的能源利用率最低，确保整个结构的工作效率；
The lower rotating electric machine is a bidirectional rotating electric machine, and the data processing module quickly locates the weld position according to the photo uploaded by the photo analysis station, and then compares with the preset weld position, analyzes and obtains the angle control parameter, and obtains the rotation of the lower rotating electric machine. The smallest forward or reverse parameter and the input module to the lower rotary motor make the energy utilization of the weld positioning the lowest, ensuring the working efficiency of the entire structure;
所述数据连接模块为数据线或WiFi模块，确保数据正常传输即可； The data connection module is a data line or a WiFi module to ensure normal data transmission;
所述输送抱爪为步进结构，所述输送抱爪包括有摆动臂，两侧的所述摆动臂沿着产品送料方向布置，输送抱爪一夹一放带动产品行进一个步进工位；
The conveying claw is a stepping structure, the conveying claw comprises a swinging arm, and the swinging arms on both sides are arranged along a feeding direction of the product, and the conveying claws are placed one by one to drive the product to travel a stepping station;
所述输送抱爪具体结构为：其包括两侧的型材，所述型材分别紧固对应侧的摆动臂的上端，送料光轴分别贯穿同侧的所述摆动臂、并形成整体结构，抱爪成对分别紧固于对应侧的所述型材，成对的所述抱爪的内凹部分相向布置，其还包括伺服电机，两侧的送料光轴之间设置有连接件，所述连接件的两侧分别套装于对应侧的所述送料光轴，所述连接件上凸有中心轴，凸轮套装于所述中心轴，曲柄的一端套装于所述中心轴，所述曲柄的另一端通过转轴连接运动臂的输出端，所述运动臂的输入端套装于伺服电机的输出转轴，所述凸轮具体为两侧为外凸圆弧面、两端内凹的结构，所述送料光轴对应于所述凸轮的两外凸圆弧面位置处套装有限位套，所述限位套的内侧分别设置有滚轮结构，送罐停止点状态下的所述凸轮的两外凸圆弧面紧贴对应侧的所述滚轮结构的外环面；
The conveying claw is specifically configured to include profiles on both sides, the profiles respectively fastening the upper ends of the swinging arms of the corresponding sides, and the feeding optical axes respectively penetrate the swinging arms on the same side and form an integral structure, the claws The profiles are respectively fastened to the corresponding sides in pairs, and the concave portions of the pair of the claws are arranged to face each other, which further comprises a servo motor, and connecting members are arranged between the optical axes of the two sides, the connecting members The two sides of the crank are respectively disposed on the corresponding side of the feeding optical axis, the connecting member has a central shaft, a cam is set on the central axis, one end of the crank is set on the central axis, and the other end of the crank passes The rotating shaft is connected to the output end of the moving arm, and the input end of the moving arm is set on the output rotating shaft of the servo motor, and the cam is specifically a structure with a convex arc surface on both sides and a concave end at both ends, and the feeding optical axis corresponds to a finite sleeve is disposed at a position of the two convex arc surfaces of the cam, and a roller structure is respectively disposed on an inner side of the limiting sleeve, and two convex arc surfaces of the cam in a state of stopping the feeding tank are closely attached The roller on the corresponding side The outer surface configuration;
输送抱爪的工作原理如下:伺服电机上的运动臂做360度转动，与之相连的曲柄拉动凸轮前后运动，中心轴前后移动带动连接件前后移动，进而带动送料光轴前后移动，使桶
往前移过一个桶位 ；
在移过一个桶位的同时，凸轮同时作旋转运动，滚轮结构在凸轮的作用下绕着送料光轴的中心摆动，同时带动送料光轴小幅度转动，进而控制摆动臂的小幅度转动，即控制着摆动臂往里往外打开与闭合，由于所述型材分别紧固对应侧的摆动臂的上端，送料光轴分别贯穿同侧的所述摆动臂、并形成整体结构，抱爪成对分别紧固于对应侧的所述型材，成对的所述抱爪的内凹部分相向布置，即摆动臂打开与闭合控制成对的抱爪对桶的打开与闭合，由于采用凸轮，使得抱爪闭合时确保桶处于向前输送状态，抱爪松开时，桶已输送到位，使得罐体由一个工位输送到下一工位的过程中，抱罐结构不会出现松动，使得送料稳定，确保正常的生产顺利进行，且整个结构只需要一个伺服电机即可运转，传动结构简单，制造成本低。
The working principle of the conveying claw is as follows: the moving arm on the servo motor performs 360-degree rotation, and the crank connected with the crank pulls the cam to move back and forth, and the central axis moves forward and backward to drive the connecting member to move back and forth, thereby driving the feeding optical axis to move back and forth to make the barrel
Moved past a bucket;
While moving over a barrel position, the cam simultaneously rotates, and the roller structure oscillates around the center of the feeding optical axis under the action of the cam, and simultaneously drives the feeding optical axis to rotate a small amplitude, thereby controlling the small rotation of the swing arm, that is, The swing arm is controlled to open and close inwardly. Since the profiles respectively fasten the upper ends of the swing arms on the corresponding sides, the feed optical axes respectively penetrate the swing arms on the same side and form an integral structure, and the claws are respectively tightly held in pairs. Fixing the profile on the corresponding side, the concave portions of the pair of the claws are arranged opposite to each other, that is, the opening and closing of the bucket by the pair of gripper opening and closing controls, and the gripper is closed by the use of the cam When the bucket is in the forward conveying state, the bucket has been transported into position when the gripper is released, so that the tank body is transported from one station to the next station, and the structure of the tank is not loosened, so that the feeding is stable and ensured. The normal production goes smoothly, and the entire structure only needs one servo motor to operate, the transmission structure is simple, and the manufacturing cost is low.
采用本发明后，半成品被输送至照相分析工位后，检测摄像头拍下半成品，确保焊缝连接位置的清晰可见，之后将该照片通过数据连接模块上传至数据处理模块的输入端，所述数据处理模块将检测摄像头拍摄的半成品的焊缝位置和预设焊缝位置比对、分析得出角度控制参数，之后将角度控制参数回传至下部旋转电机的输入模块，此时半成品已被输送至旋转工位，旋转工位根据角度控制参数带动半成品进行旋转，使得焊缝转动至预设的角度位置;其通过照相拍摄半成品的图像，之后将图像中半成品的焊缝位置和预设焊缝位置比对，最后通过旋转盘带动半成品旋转到预定位置，其使得焊缝定位的旋转角度小、时间短、速度快，确保整个产线的生产效率。
After adopting the invention, after the semi-finished product is transported to the photographic analysis station, the detection camera takes a semi-finished product to ensure that the weld joint position is clearly visible, and then the photo is uploaded to the input end of the data processing module through the data connection module, the data The processing module will detect the weld position of the semi-finished product photographed by the camera and the preset weld position, analyze and obtain the angle control parameter, and then return the angle control parameter to the input module of the lower rotary motor, and the semi-finished product has been delivered to the input module. The rotating station rotates the semi-finished product according to the angle control parameter to rotate the weld to a preset angular position; the image of the semi-finished product is photographed by photographing, and then the weld position and the preset weld position of the semi-finished product in the image are taken. In comparison, the rotating semi-finished product is rotated to a predetermined position by the rotating disc, which makes the welding seam have a small rotation angle, short time and high speed, and ensures the production efficiency of the entire production line.
附图说明 DRAWINGS
图1是本发明的主视图结构示意图（露出旋转盘、方便表达）； Figure 1 is a schematic view of the main view of the present invention (exposing a rotating disk, convenient expression);
图2是本发明的侧视图结构示意图（去除输送抱爪）； Figure 2 is a side view showing the structure of the present invention (removing the conveying claw);
图3是本发明的输送抱爪的结构示意图； Figure 3 is a schematic view showing the structure of the conveying claw of the present invention;
图中名称及对应的序号如下： The names and corresponding serial numbers in the figure are as follows:
输送抱爪1、照相分析工位2、旋转工位3、后续工位4、检测摄像头5、上部旋转盘6、下部旋转电机7、下凸轴8、输出轴9、数据处理模块10、数据线11、半成品12、输入模块13、安装支架14、垂直向气缸15、摆动臂16、型材17，所述型材17、送料光轴18、伺服电机19、气缸
20、连接件21、中心轴22、凸轮23、曲柄24、运动臂25、外凸圆弧面26、内凹结构27、限位套28、滚轮结构29、抱爪30。
Conveying gripper 1, photographic analysis station 2, rotating station 3, follow-up station 4, detecting camera 5, upper rotating disc 6, lower rotating electric machine 7, lower convex shaft 8, output shaft 9, data processing module 10, data Line 11, semi-finished product 12, input module 13, mounting bracket 14, vertical cylinder 15, swing arm 16, profile 17, said profile 17, feed optical axis 18, servo motor 19, cylinder
20. The connecting member 21, the central shaft 22, the cam 23, the crank 24, the moving arm 25, the convex arc surface 26, the concave structure 27, the limiting sleeve 28, the roller structure 29, and the gripper 30.
具体实施方式 detailed description
-种照相检测寻焊缝的定位结构，见图1、图2:其包括输送抱爪1，输送抱爪1的轨道上分别设置有照相分析工位2、旋转工位3、后续工位4，照相分析工位2的正上方设置有检测摄像头5，检测摄像头5的镜头拍照范围覆盖半成品12的桶内壁和桶口上边缘，旋转工位3
包括上部旋转盘6、下部旋转电机7，上部旋转盘6的下凸轴8连接下部旋转电机7的输出轴9，检测摄像头5通过数据连接模块外接数据处理模块10的输入端，数据连接模块为数据线或WiFi模块，确保数据正常传输即可，具体实施例中为数据线11，
- Photographing detection of the positioning structure of the weld seam, see Fig. 1, Fig. 2: it includes the conveying claw 1, the photographic analysis station 2, the rotating station 3, the follow-up station 4 are respectively arranged on the track of the conveying claw 1 A detection camera 5 is disposed directly above the photo analysis station 2, and the lens photographing range of the detection camera 5 covers the inner wall of the barrel and the upper edge of the barrel of the semi-finished product 12, and the rotating station 3
The upper rotating disc 6 and the lower rotating electric machine 7 are connected. The lower protruding shaft 8 of the upper rotating disc 6 is connected to the output shaft 9 of the lower rotating electric machine 7. The detecting camera 5 is externally connected to the input end of the data processing module 10 through the data connection module. The data connection module is The data line or the WiFi module ensures that the data is normally transmitted. In the specific embodiment, the data line 11 is
数据处理模块10将检测摄像头5拍摄的半成品12的焊缝位置和预设焊缝位置比对、分析得出角度控制参数，之后将角度控制参数回传至下部旋转电机7的输入模块13，旋转工位3的后方设置有后续工位4。
The data processing module 10 compares the weld position of the semi-finished product 12 photographed by the camera 5 with the preset weld position, analyzes the angle control parameter, and then returns the angle control parameter to the input module 13 of the lower rotary motor 7, and rotates A follow-up station 4 is provided at the rear of the station 3.
检测摄像头5位于安装支架14内，安装支架14外接有可垂直升降的垂直向气缸15
的活塞杆，垂直向气缸15的缸座紧固连接产线的上部机架（图中未画出，属于现有成熟结构），垂直向气缸15可带动安装支架14垂直向升降，使得检测摄像头5可以根据半成品12的具体高度进行高度调整，使得检测摄像头5的镜头拍照范围覆盖半成品12的桶内壁和桶口上边缘，进而确保整个结构的通用性； The detecting camera 5 is located in the mounting bracket 14, and the mounting bracket 14 is externally connected with a vertically vertical cylinder 15
The piston rod is vertically connected to the cylinder block of the cylinder 15 to connect the upper frame of the production line (not shown, belonging to the existing mature structure), and the vertical cylinder 15 can drive the mounting bracket 14 to vertically move up and down, so that the detecting camera 5 can be height-adjusted according to the specific height of the semi-finished product 12, so that the lens photographing range of the detecting camera 5 covers the inner wall of the barrel of the semi-finished product 12 and the upper edge of the barrel mouth, thereby ensuring the versatility of the entire structure;
下部旋转电机7为双向旋转电机，数据处理模块10根据照相分析工位2上传的照片快速定位焊缝位置、进而和预设焊缝位置比对、分析得出角度控制参数，得出下部旋转电机
7旋转角度最小的正转或反转参数、传至下部旋转电机7的输入模块13，使得焊缝定位的能源利用率最低，确保整个结构的工作效率；
The lower rotary electric machine 7 is a bidirectional rotary electric machine, and the data processing module 10 quickly locates the weld position according to the photo uploaded by the photo analysis station 2, and then compares with the preset weld position, and analyzes and obtains the angle control parameter to obtain the lower rotary motor.
7 The forward or reverse parameter with the smallest rotation angle is transmitted to the input module 13 of the lower rotating electrical machine 7, so that the energy utilization of the weld positioning is minimized, and the working efficiency of the entire structure is ensured;
输送抱爪1为步进结构，输送抱爪1包括有摆动臂16，两侧的摆动臂16沿着产品送 料方向布置，输送抱爪1
一夹一放带动产品行进一个步进工位； The conveying claw 1 is a stepping structure, and the conveying claw 1 includes a swing arm 16, and the swing arms 16 on both sides are arranged along the product feeding direction, and the conveying claw 1 is conveyed.
One clip and one release drive the product to travel a stepping station;
输送抱爪1具体结构见图3:其包括两侧的型材17，型材17分别紧固对应侧的摆动臂16的上端，送料光轴18分别贯穿同侧的摆动臂16、并形成整体结构，抱爪30成对分别紧固于对应侧的型材17，成对的抱爪30的内凹部分相向布置，其还包括伺服电机19，气缸20的两端分别紧固两侧的送料光轴18，气缸20位于两侧的送料光轴18之间，气缸20的存在确保了两侧的送料光轴18之间的距离，进而确保凸轮转到曲柄闭合状态时曲柄的闭合;两侧的送料光轴18之间设置有连接件21，连接件21的两侧分别套装于对应侧的送料光轴18，连接件
21上凸有中心轴22，凸轮23套装于中心轴22，曲柄24的一端套装于中心轴22，曲柄24的另一端通过转轴连接运动臂25的输出端，运动臂25的输入端套装于伺服电机19的输出转轴，凸轮23具体为两侧为外凸圆弧面26、两端内凹结构27，送料光轴18对应于凸轮23的两外凸圆弧面位置处套装有限位套28，限位套28的内侧分别设置有滚轮结构29，送罐停止点状态下的凸轮23的两外凸圆弧面26紧贴对应侧的滚轮结构29的外环面；
The specific structure of the conveying claw 1 is shown in FIG. 3: it comprises the profiles 17 on both sides, and the profiles 17 respectively fasten the upper ends of the swinging arms 16 on the corresponding sides, and the feeding optical axes 18 respectively penetrate the swinging arms 16 on the same side, and form an integral structure. The grippers 30 are respectively fastened in pairs to the profiles 17 on the corresponding sides, and the concave portions of the pair of grippers 30 are arranged to face each other, which further includes a servo motor 19, and the two ends of the cylinder 20 are respectively fastened to the feed optical axes 18 on both sides. The cylinder 20 is located between the feed optical axes 18 on both sides. The presence of the cylinder 20 ensures the distance between the feed optical axes 18 on both sides, thereby ensuring the closure of the crank when the cam is turned to the crank closed state; the feed light on both sides A connecting member 21 is disposed between the shafts 18, and two sides of the connecting member 21 are respectively set on the feeding optical axis 18 of the corresponding side, and the connecting member
A central shaft 22 is protruded from 21, a cam 23 is fitted to the central shaft 22, one end of the crank 24 is fitted to the central shaft 22, and the other end of the crank 24 is connected to the output end of the moving arm 25 via a rotating shaft, and the input end of the moving arm 25 is set to the servo. The output shaft of the motor 19, the cam 23 is specifically a convex arc surface 26 on both sides, and a concave structure 27 at both ends, and the feeding optical shaft 18 is provided with a limited position sleeve 28 corresponding to the positions of the two convex arc surfaces of the cam 23, The inner side of the limiting sleeve 28 is respectively provided with a roller structure 29, and the two outer convex arc surfaces 26 of the cam 23 in the state of the feeding stop point are in close contact with the outer annular surface of the roller structure 29 on the corresponding side;
输送抱爪的工作原理如下：伺服电机19上的运动臂25做360度转动，与之相连的曲柄24拉动凸轮23前后运动，中心轴前后移动带动连接件21前后移动，进而带动送料光轴18
前后移动，使桶往前移过一个桶位;在移过一个桶位的同时，凸轮23同时作旋转运动，滚轮结构29在凸轮23的作用下绕着送料光轴18的中心摆动，同时带动送料光轴18小幅度转动，进而控制摆动臂16的小幅度转动，即控制着摆动臂16往里往外打开与闭合，由于型材17分别紧固对应侧的摆动臂16的上端，送料光轴18分别贯穿同侧的摆动臂16、并形成整体结构，抱爪30成对分别紧固于对应侧的型材17，成对的抱爪30的内凹部分相向布置，即摆动臂16
打开与闭合控制成对的抱爪30对桶的打开与闭合，由于采用凸轮23，使得抱爪30闭合时确保桶处于向前输送状态，抱爪松开时，桶已输送到位，使得罐体由一个工位输送到下一工位的过程中，抱罐结构不会出现松动，使得送料稳定，确保正常的生产顺利进行，且整个结构只需要一个伺服电机即可运转，传动结构简单，制造成本低。
The working principle of the conveying claw is as follows: the moving arm 25 on the servo motor 19 rotates 360 degrees, and the crank 24 connected thereto pulls the cam 23 back and forth, and the front and rear movement of the central shaft drives the connecting member 21 to move back and forth, thereby driving the feeding optical axis 18
Moving forward and backward, moving the bucket forward through a bucket position; while moving over a bucket position, the cam 23 simultaneously rotates, and the roller structure 29 swings around the center of the feed optical axis 18 under the action of the cam 23, and simultaneously drives The feeding optical axis 18 rotates a small amount, thereby controlling the small-amplitude rotation of the swing arm 16, that is, controlling the swing arm 16 to open and close inwardly, and the feeding optical axis 18 is fastened by the profile 17 respectively fastening the upper end of the swing arm 16 of the corresponding side. The oscillating arms 16 of the same side are respectively formed and formed into a unitary structure, and the claws 30 are respectively fastened in pairs to the profiles 17 on the corresponding sides, and the concave portions of the pair of claws 30 are arranged to face each other, that is, the swing arms 16
Opening and closing of the bucket by the gripper 30 paired with the closing control, the cam 23 is used to ensure that the bucket is in the forward conveying state when the gripper 30 is closed, and the bucket is transported into position when the gripper is released, so that the can body During the process of transporting from one station to the next, the structure of the tank will not be loosened, the feeding will be stable, the normal production will be carried out smoothly, and the whole structure only needs one servo motor to operate, and the transmission structure is simple and manufactured. low cost.
以上对本发明的具体实施例进行了详细说明，但内容仅为本发明创造的较佳实施例，不能被认为用于限定本发明创造的实施范围。凡依本发明创造申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。
The specific embodiments of the present invention have been described in detail above, but are not intended to limit the scope of the present invention. Equivalent changes and improvements made in accordance with the scope of application of the present invention should still fall within the scope of the patent of the present invention.
Claims (9)
- 一种照相检测寻焊缝的定位结构 ， 其包括输送抱爪，其特征在于：所述输送抱爪的轨道上分别设置有照相分析工位、旋转工位，所述照相分析工位的正上方设置有检测摄像头，所述检测摄像头的镜头拍照范围覆盖半成品的桶内壁和桶口上边缘，所述旋转工位包括上部旋转盘、下部旋转电机，所述上部旋转盘的下凸轴连接所述下部旋转电机的输出轴，所述检测摄像头通过数据连接模块外接数据处理模块的输入端，所述数据处理模块将检测摄像头拍摄的半成品的焊缝位置和预设焊缝位置比对、分析得出角度控制参数，之后将角度控制参数回传至下部旋转电机的输入模块，所述旋转工位的后方设置有后续工位。A photographic detection weld positioning structure, The utility model comprises a conveying claw, wherein: a photographic analysis station and a rotating station are respectively arranged on the track of the conveying claw, and a detecting camera is arranged directly above the photographic analysis station, and the lens of the detecting camera is arranged The photographing range covers the inner wall of the barrel and the upper edge of the barrel, the rotating station includes an upper rotating disc and a lower rotating electric machine, and a lower convex shaft of the upper rotating disc is connected to an output shaft of the lower rotating electric machine, and the detecting camera passes The data connection module is externally connected to the input end of the data processing module, and the data processing module compares the weld position of the semi-finished product photographed by the camera with the preset weld position, analyzes and obtains the angle control parameter, and then returns the angle control parameter to An input module of the lower rotating electrical machine is provided with a subsequent station behind the rotating station.
- 如权利要求1所述的一种照相检测寻焊缝的定位结构，其特征在于：所述检测摄像头位于安装支架内，所述安装支架外接有可垂直升降的垂直向气缸的活塞杆，所述垂直向气缸的缸座紧固连接产线的机架，所述垂直向气缸可带动安装支架垂直向升降。The photographic detecting weld seam positioning structure according to claim 1, wherein the detecting camera is located in a mounting bracket, and the mounting bracket is externally connected with a vertical moving cylinder piston rod vertically movable, The frame of the production line is fastened to the cylinder block of the cylinder vertically, and the vertical cylinder can drive the mounting bracket to vertically move up and down.
- 如权利要求1或2所述的一种照相检测寻焊缝的定位结构，其特征在于：所述下部旋转电机为双向旋转电机，数据处理模块根据照相分析工位上传的照片快速定位焊缝位置、进而和预设焊缝位置比对、分析得出角度控制参数，得出下部旋转电机旋转角度最小的正转或反转参数、传至下部旋转电机的输入模块。A positioning structure for photographic inspection weld seam according to claim 1 or 2, wherein the lower rotary electric machine is a bidirectional rotary electric machine, and the data processing module quickly locates the weld position according to the photo uploaded by the photo analysis station. Then, compared with the preset weld position, the angle control parameter is obtained, and the forward or reverse parameter with the smallest rotation angle of the lower rotary motor and the input module transmitted to the lower rotary motor are obtained.
- 如权利要求1所述的一种照相检测寻焊缝的定位结构，其特征在于：所述数据连接模块为数据线或WiFi模块。The photographic detection weld seam positioning structure according to claim 1, wherein the data connection module is a data line or a WiFi module.
- 如权利要求1所述的一种照相检测寻焊缝的定位结构，其特征在于：所述输送抱爪为步进结构，所述输送抱爪包括有摆动臂，两侧的所述摆动臂沿着产品送料方向布置，输送抱爪一夹一放带动产品行进一个步进工位。A positioning structure for photographic inspection weld seam according to claim 1, wherein said conveying claw is a stepping structure, said conveying claw comprises a swing arm, and said swing arm sides on both sides The product feeding direction is arranged, and the conveying claws are placed one by one to drive the product to travel a stepping station.
- 如权利要求5所述的一种照相检测寻焊缝的定位结构，其特征在于：所述输送抱爪具体结构包括两侧的型材，所述型材分别紧固对应侧的摆动臂的上端，送料光轴分别贯穿同侧的所述摆动臂、并形成整体结构，抱爪成对分别紧固于对应侧的所述型材，成对的所述抱爪的内凹部分相向布置。The positioning structure of the photographic inspection weld seam according to claim 5, wherein the conveying claw specific structure comprises profiles on both sides, and the profiles respectively fasten the upper ends of the swing arms of the corresponding sides, and feed The optical axes respectively penetrate the swinging arms on the same side and form a unitary structure, and the claws are respectively fastened to the profiles on the corresponding sides, and the concave portions of the pair of the claws are arranged to face each other.
- 如权利要求6所述的一种照相检测寻焊缝的定位结构，其特征在于：所述输送抱爪具体结构还包括伺服电机，两侧的送料光轴之间设置有连接件，所述连接件的两侧分别套装于对应侧的所述送料光轴，所述连接件上凸有中心轴，凸轮套装于所述中心轴，曲柄的一端套装于所述中心轴，所述曲柄的另一端通过转轴连接运动臂的输出端，所述运动臂的输入端套装于伺服电机的输出转轴。The positioning structure of the photographic inspection weld seam according to claim 6, wherein the specific structure of the conveying claw further comprises a servo motor, and connecting members are arranged between the optical axes of the two sides, and the connection is The two sides of the piece are respectively set on the feeding optical axis of the corresponding side, the connecting piece has a central axis protruding thereon, the cam is set on the central axis, one end of the crank is set on the central axis, and the other end of the crank is The output end of the moving arm is connected by a rotating shaft, and the input end of the moving arm is set on the output rotating shaft of the servo motor.
- 如权利要求7所述的一种照相检测寻焊缝的定位结构，其特征在于：所述凸轮具体为两侧为外凸圆弧面、两端内凹的结构，所述送料光轴对应于所述凸轮的两外凸圆弧面位置处套装有限位套。The positioning structure of the photographic inspection weld seam according to claim 7, wherein the cam is specifically a structure having a convex arc surface on both sides and a concave end at both ends, wherein the feeding optical axis corresponds to A finite position sleeve is set at the position of the two convex arc surfaces of the cam.
- 如权利要求8所述的一种照相检测寻焊缝的定位结构，其特征在于：所述限位套的内侧分别设置有滚轮结构，送罐停止点状态下的所述凸轮的两外凸圆弧面紧贴对应侧的所述滚轮结构的外环面。The positioning structure of the photographic inspection weld seam according to claim 8, wherein the inner side of the limiting sleeve is respectively provided with a roller structure, and the two outer convex circles of the cam in the state of stopping the feeding tank The curved surface abuts the outer annular surface of the roller structure on the corresponding side.
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| CN201610363070.2A CN105817784B (en) | 2016-05-27 | 2016-05-27 | The location structure of weld seam is sought in a kind of photograph detection |
| CN2016103630702 | 2016-05-27 |
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| CN105817784A (en) | 2016-08-03 |
| CN105817784B (en) | 2018-09-14 |
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