CN101786136A - Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure - Google Patents
Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure Download PDFInfo
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- CN101786136A CN101786136A CN 201010115521 CN201010115521A CN101786136A CN 101786136 A CN101786136 A CN 101786136A CN 201010115521 CN201010115521 CN 201010115521 CN 201010115521 A CN201010115521 A CN 201010115521A CN 101786136 A CN101786136 A CN 101786136A
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Abstract
The invention discloses a three-dimensional positioning clamping mechanical hand in an engine valve electrical-upsetting hot-forging forming procedure, which comprises a visual identity camera head, an automatic integration control system, an X-direction transmission mechanism group, a Y-direction transmission mechanism group, a Z-direction transmission mechanism group and a pneumatic claw. A Y-direction movable frame of the Z-direction transmission mechanism group is formed by connecting an upper plate and a lower plate, a T-shaped plate is arranged between the upper plate and the lower plate of the Y-direction movable frame, the upper end of a Z-direction screw is connected with a Z-direction motor by a Z-direction coupling, the visual identity camera head is fixed on the T-shaped plate by a visual identity camera head bracket, and the T-shaped plate is connected with the Z-direction screw by a Z-axis screw nut. By controlling an X-direction motor, a Y-direction motor and a Z-direction motor, a processor respectively controls the pneumatic claw to move along the X direction, the Y direction and the Z direction to realize three-dimensional positioning of the pneumatic claw and distinguishes qualified products and waste products by comparing and analyzing the shape information of a valve working piece collected by the visual identity camera head and the shape information of a qualified valve in a storehouse.
Description
Technical field:
The present invention relates to the three-axis moving positioner in a kind of engine valve electric rammer hot-forging forming field, be specifically related to a kind of electric upsetting of air valve hot-forging forming operation three-dimensional positioning clamping mechanical hand with valve position identification and electric upsetting of air valve hot-forging forming process quality measuring ability.
Background technology
Available engine valve forge hot operation is mainly by manually finishing.The valve that the workman finishes the electricity rammer is sent in the friction forging press mould and carries out forge hot, treats after forge hot is finished valve to be taken out, and puts into the blanking frame.There is following shortcoming in present mode: (1) causes the valve quality there are differences because manually-operated uncertainty makes that valve temperature decline in the station transfer process is inconsistent, and percent defective increases, and man efficiency is low.(2) finish and the forge hot operation does not have the corresponding working procedures quality testing after finishing in electricity rammer operation, distinguish positive waste product, bring the waste product of a last operation into subsequent processing, reduce production efficiency, increase production cost.Transform demand at this production line automation, invented the manipulator that is used for the gripping of engine valve forge hot operation valve, cooperate forging press and last next procedure equipment to realize the automated production of engine valve.
Summary of the invention
The objective of the invention is at existing working condition, provide a kind of energy to substitute the artificial manipulator of realizing the gripping and the station transfer of engine valve, and realize that the valve crudy of inter process detects.
Purpose of the present invention is achieved through the following technical solutions:
Engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand, comprise the visual identity camera, automatically integrated control system, X to transmission mechanism group, Y to transmission mechanism group, Z to transmission mechanism group and Pneumatic paw; Described Pneumatic paw comprises valve fixture block, a pawl and finger cylinder; The finger cylinder is fixed on the T template, and a pawl is by being bolted on the finger cylinder, and the valve fixture block is fixed on the pawl;
Described X is connected to screw mandrel with X to the feed screw nut by X to the base of transmission mechanism group, and X connects X to screw mandrel by X to shaft coupling to motor, X to screw mandrel by bearing fixing at X on bearing block, X is fixed on the base plate to bearing block; Base links to each other with V-type groove guide wheel by bolt, and V-type groove guide wheel is supported on the V-type rail, and V-type rail is fixed on the base plate;
Described Y is positioned at the upper end of base to the base panel of transmission mechanism group, line slideway is fixed on the base panel, Y is in the middle of screw mandrel is positioned at two line slideways, Y is connected with line slideway by slide block to movable stand, Y is connected to screw mandrel with Y to shaft coupling by Y to motor, and Y is connected to screw mandrel with Y to the feed screw nut by Y to movable stand;
Described Z is formed by connecting by two plates up and down to movable stand to the Y of transmission mechanism group; The T template at Y to movable stand by between two plates up and down; Z to the screw mandrel lower end by bearing fixing at Z on screw mandrel shaft block, by being bolted to Y on the lower plate of movable stand, Z is connected with the T template to the feed screw nut by Z to screw mandrel Z to screw mandrel shaft block; Z is connected to motor with Z to shaft coupling by Z to the screw mandrel upper end, and the visual identity camera is fixed on the T template by visual identity camera support; The T template is connected to Z on screw mandrel by Z axial filament stem nut; X adopts servomotor to motor and Z to motor to motor, Y;
Automatically integrated control system comprises processor and automatic integrated control system interface; Processor by control X to motor, Y to motor, Z to motor control respectively Pneumatic paw respectively along X to, Y to, Z to moving, realize the Pneumatic paw three-dimensional localization, the automatic gripping valve of Pneumatic paw workpiece; Processor with stock's certified products valve appearance information comparative analysis, is discerned positive waste product according to the appearance information of the valve workpiece of visual identity camera collection.
For further realizing the object of the invention, described Z also preferably includes 4 Z to guide rod to the transmission mechanism group, and 4 Z fix by bolt and T template to guide rod, and the upper plate of Y to movable stand passed in the upper end.
Described X to bearing block preferably by being bolted on the base plate.
Described V-type rail two ends preferably are provided with the V-type rail baffle plate, and the V-type rail baffle plate is by being bolted on the base plate.
Described valve fixture block preferably is provided with a plurality of grooves, is used for the valve clamping, and the angle that groove forms is 30 ° to 150 °, and groove surfaces covers one deck nonmetallic materials; Groove surfaces is provided with groove, and the coefficient of friction of groove surfaces and valve workpiece is greater than 0.55.
Described automatic integrated control system interface is made up of to motor control module, image pretreatment module, sensor signal integration module to motor control module, Z to motor control module, Y X; Automatically integrated control system is connected to motor with X to motor control module by X, be connected to motor with Y to motor control module by Y, be connected to motor with Z to motor control module by Z, be connected with the visual identity camera by the image pretreatment module, connect the manipulator sensor element by the sensor signal integration module.
The present invention has following advantage:
1. can realize the adjustment of Pneumatic paw three-dimensional position dynamic self-adapting according to the valve information of visual identity camera collection, adjust the pressure valve clamp fetch bit and put, realize the automatic positioning clamping of engine valve.
2. can carry out engine valve electric rammer hot-forging forming process quality according to the valve information of visual identity camera collection and detect, realize positive waste product differentiating and processing.
3. the three-dimensional positioning clamping mechanical hand control device of engine valve electric rammer hot-forging forming operation can carry out information interaction with operation control device up and down, can adjust production line flexibly.
4. the valve fixture block has a plurality of valve gripping grooves, the valve that same Pneumatic paw can different size.
5. valve fixture block groove surface covering one deck thermal conductivity factor is low, the nonmetallic materials that coefficient of friction is big, and groove surface has the coarse groove that is the certain rule shape, and the valve gripping is firm, and heat conduction is low.
Description of drawings
Fig. 1 is the structural representation of engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand.
Fig. 2 is the manipulator Pneumatic paw structural representation among Fig. 1.
Fig. 3 is a pressure valve clamp block structure schematic diagram.
Fig. 4 is automatic integrated control system signal connection layout.
Specific embodiments
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described further.
Among the present invention, X, Y, Z to representative three-dimensional three axially, X to, Y to vertical in twos with Z; X is horizontal to representative, and Y is vertical to representative, and Z is to representing above-below direction.
As shown in Figure 1, engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand comprise visual identity camera 10, automatically integrated control system 26, X to transmission mechanism group, Y to transmission mechanism group, Z to transmission mechanism group and Pneumatic paw 7; As shown in Figure 2, Pneumatic paw 7 comprises valve fixture block 7-1, a pawl 7-2 and finger cylinder 7-3.Finger cylinder 7-3 is by being bolted on the T template 8, and a pawl 7-2 is by being bolted on the finger cylinder 7-3, and valve fixture block 7-1 is by being bolted on the pawl 7-2.As shown in Figure 3, valve fixture block 7-1 has a plurality of grooves, is used for the valve clamping, and groove can be same size, also can be different size, and the angle that groove forms is 30 ° to 150 °, and it is low that groove surfaces covers one deck thermal conductivity factor, the nonmetallic materials that coefficient of friction is big; Groove surfaces has the coarse groove that is definite shape, certain rule, and the coefficient of friction of groove surfaces and valve workpiece is greater than 0.55.In the present embodiment, valve fixture block 7-1 has 2 grooves, be used for the valve clamping, the groove specification is respectively the valve that the gripping diameter is φ 6 and φ 10, the angle that groove forms is 100 °, and groove surface is laminated with one deck silicon rubber, groove surfaces have coarse along the valve workpiece spindle to being the triangle grooved, along being the groove of rectangular channel circumferentially, the coefficient of friction of groove and valve workpiece is 0.65.
X to the transmission mechanism group comprise V-type rail baffle plate 1, V-type rail 2, V-type groove guide wheel 3, X to bearing block 4, base 5, X to feed screw nut 27, X to screw mandrel 28, X to shaft coupling 29, X to motor 30 and base plate 31; Base 5 is connected to screw mandrel 28 with X to feed screw nut 27 by X, X connects X to screw mandrel 28 by X to shaft coupling 29 to motor 30, driving X rotates to screw mandrel 28, thereby drive base 5 along X to moving, X to screw mandrel 28 by bearing fixing at X on bearing block 4, X to bearing block 4 by being bolted on the base plate 31.Base 5 links to each other with V-type groove guide wheel 3 by bolt, and V-type groove guide wheel 3 is supported on the V-type rail 2, and V-type rail 2 two ends are provided with V-type rail baffle plate 1, and V-type rail 2 and V-type rail baffle plate 1 are by being bolted on the base plate 31.X adopts servomotor to motor 30.
Y to the transmission mechanism group comprise Y to screw mandrel shaft block 6, Y to movable stand 18, Y to feed screw nut 19, Y to screw mandrel 20, Y to shaft coupling 21, Y to motor 22, line slideway 23, slide block 24 and base panel 25; Base panel 25 is positioned at the upper end of base 5, line slideway 23 is fixed on base panel 25, Y is in the middle of screw mandrel 20 is positioned at two line slideways 23, Y is connected with line slideway 23 by slide block 24 to movable stand 18, Y is connected to screw mandrel 20 with Y to shaft coupling 21 by Y to motor 22, and Y is connected to screw mandrel 20 with Y to feed screw nut 19 by Y to movable stand 18; Y adopts servomotor to motor.
Z to the transmission mechanism group comprise T template 8, Z to linear bearing 11, Z to guide rod 12, Z to motor 13, Z to shaft coupling 14, Z to feed screw nut 15, Z to screw mandrel 16 and Z to screw mandrel shaft block 17; Y is formed by connecting by two plates up and down to movable stand 18; T template 8 at Y to movable stand 18 by between two plates up and down; Z to screw mandrel 16 lower ends by bearing fixing at Z on screw mandrel shaft block 17, by being bolted to Y on the lower plate of movable stand 18, Z is connected with T template 8 to feed screw nut 15 by Z to screw mandrel 16 Z to screw mandrel shaft block 17; Z is connected to motor 13 with Z to shaft coupling 14 by Z to screw mandrel 16 upper ends, and Z drives Z to motor 13 and rotates to screw mandrel 16, moves up and down thereby drive T template 8; Pneumatic paw 7 is by being bolted on the T template 8, and 4 Z are fixing by bolt and T template 8 to guide rod 12, and the upper plate of Y to movable stand 18 passed in the upper end, is convenient to T template 8 and steadily moves up and down.Visual identity camera 10 is fixed on the T template 8 by visual identity camera support 9, moves with the T template.Z adopts servomotor to motor.T template 8 is connected to Z on screw mandrel by Z axial filament stem nut, can move up and down to screw mandrel 16 directions along Z, and Pneumatic paw 7 can realize that in its stroke range Z locatees to the optional position.Equally, Y can be along Y to the screw mandrel axial-movement to the feed screw nut, and Pneumatic paw can realize that Y locatees to the optional position in its stroke range.X is connected to shaft coupling 29 by X to screw mandrel 28 with X to motor 30, and X can be along X to screw mandrel 28 axial-movements to feed screw nut 27, and Pneumatic paw can realize that X locatees to the optional position in its stroke range.
Automatically integrated control system 26 is made up of to motor control module 26-3, image pretreatment module 26-4, sensor signal integration module 26-5 and processor to motor control module 26-2, Z to motor control module 26-1, Y X.Processor model is TMS320F28335; Automatically integrated control system 26 is connected to motor 30 with X to motor control module 26-1 by X, be connected to motor 22 with Y to motor control module 26-2 by Y, be connected to motor 13 with Z to motor control module 26-3 by Z, be connected with visual identity camera 10 by image pretreatment module 26-4, connect manipulator all the sensors element by sensor signal integration module 26-5.Processor is connected with sensor signal integration module 26-5 signal to motor control module 26-3, image pretreatment module 26-4 to motor control module 26-2, Z to motor control module 26-1, Y with X respectively.
During application, after electricity rammer or hot-forging forming operation are finished, the valve workpiece moves on to when preparing station, visual identity camera 10 is gathered the image information of valve workpiece automatically, image information reaches automatic integrated control system 26, compare with the stock level image, automatically integrated control system 26 calculates the workpiece three-dimensional coordinate information, and according to three-dimensional coordinate information, by controlling X to motor 30, Y is to motor 22, Z drives X respectively to the transmission mechanism group to motor 13, Y is to the transmission mechanism group, thereby Z to transmission mechanism group control Pneumatic paw 7 respectively along X to, Y to, Z is to motion, realize Pneumatic paw 7 three-dimensional localization, after finish the location, Pneumatic paw 7 automatic gripping valve workpiece; Meanwhile, automatically the appearance information of the valve workpiece gathered according to visual identity camera 10 of integrated control system 26 is analyzed with stock's certified products valve appearance information, discerns positive waste product, manipulator is transported to certified products on the conveyer belt, and waste product is sent into the waste product frame.Automatically integrated control system 26 possesses the signaling interface that carries out information interaction with front and back operation control device simultaneously, is used for the line production system scheduling.
Claims (6)
1. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand is characterized in that: comprise the visual identity camera, automatically integrated control system, X to transmission mechanism group, Y to transmission mechanism group, Z to transmission mechanism group and Pneumatic paw; Described Pneumatic paw comprises valve fixture block, a pawl and finger cylinder; The finger cylinder is fixed on the T template, and a pawl is by being bolted on the finger cylinder, and the valve fixture block is fixed on the pawl;
Described X is connected to screw mandrel with X to the feed screw nut by X to the base of transmission mechanism group, and X connects X to screw mandrel by X to shaft coupling to motor, X to screw mandrel by bearing fixing at X on bearing block, X is fixed on the base plate to bearing block; Base links to each other with V-type groove guide wheel by bolt, and V-type groove guide wheel is supported on the V-type rail, and V-type rail is fixed on the base plate;
Described Y is positioned at the upper end of base to the base panel of transmission mechanism group, line slideway is fixed on the base panel, Y is in the middle of screw mandrel is positioned at two line slideways, Y is connected with line slideway by slide block to movable stand, Y is connected to screw mandrel with Y to shaft coupling by Y to motor, and Y is connected to screw mandrel with Y to the feed screw nut by Y to movable stand;
Described Z is formed by connecting by two plates up and down to movable stand to the Y of transmission mechanism group; The T template at Y to movable stand by between two plates up and down; Z to the screw mandrel lower end by bearing fixing at Z on screw mandrel shaft block, by being bolted to Y on the lower plate of movable stand, Z is connected with the T template to the feed screw nut by Z to screw mandrel Z to screw mandrel shaft block; Z is connected to motor with Z to shaft coupling by Z to the screw mandrel upper end, and the visual identity camera is fixed on the T template by visual identity camera support; The T template is connected to Z on screw mandrel by Z axial filament stem nut; X adopts servomotor to motor and Z to motor to motor, Y;
Automatically integrated control system comprises processor and automatic integrated control system interface; Processor by control X to motor, Y to motor, Z to motor control respectively Pneumatic paw respectively along X to, Y to, Z to moving, realize the Pneumatic paw three-dimensional localization, the automatic gripping valve of Pneumatic paw workpiece; Processor with stock's certified products valve appearance information comparative analysis, is discerned positive waste product according to the appearance information of the valve workpiece of visual identity camera collection.
2. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand according to claim 1, it is characterized in that: described Z comprises also that to the transmission mechanism group 4 Z are to guide rod, 4 Z fix by bolt and T template to guide rod, and the upper plate of Y to movable stand passed in the upper end.
3. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand according to claim 1 is characterized in that: described X to bearing block by being bolted on the base plate.
4. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand according to claim 1, it is characterized in that: described V-type rail two ends are provided with the V-type rail baffle plate, and the V-type rail baffle plate is by being bolted on the base plate.
5. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand according to claim 1, it is characterized in that: described valve fixture block is provided with a plurality of grooves, be used for the valve clamping, the angle that groove forms is 30 ° to 150 °, and groove surfaces covers one deck nonmetallic materials; Groove surfaces is provided with groove, and the coefficient of friction of groove surfaces and valve workpiece is greater than 0.55.
6. engine valve electric rammer hot-forging forming operation three-dimensional positioning clamping mechanical hand according to claim 1 is characterized in that: described automatic integrated control system interface is made up of to motor control module, image pretreatment module, sensor signal integration module to motor control module, Z to motor control module, Y X; Automatically integrated control system is connected to motor with X to motor control module by X, be connected to motor with Y to motor control module by Y, be connected to motor with Z to motor control module by Z, be connected with the visual identity camera by the image pretreatment module, connect the manipulator sensor element by the sensor signal integration module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010115521 CN101786136A (en) | 2010-02-26 | 2010-02-26 | Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure |
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| CN 201010115521 CN101786136A (en) | 2010-02-26 | 2010-02-26 | Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure |
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| CN104066531A (en) * | 2012-01-09 | 2014-09-24 | 福瑞盛有限公司 | Gripper assembly for a manipulator and method of use |
| CN105165415A (en) * | 2015-07-15 | 2015-12-23 | 浙江大学 | Vegetable-seedling three-dimensional positioning and clamping device for grafting machine |
| CN105575240A (en) * | 2016-03-02 | 2016-05-11 | 苏州大学 | Human spine three-dimensional motion simulation device caused by breathing |
| CN106348211A (en) * | 2016-11-21 | 2017-01-25 | 秦皇岛首钢长白结晶器有限责任公司 | Material clamping device and fork comprising same |
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| CN110666089A (en) * | 2019-11-05 | 2020-01-10 | 青岛嘉乐智能自动化科技有限公司 | Single-arm forging manipulator |
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| CN110044580B (en) * | 2019-05-23 | 2024-05-24 | 重庆大学 | Physical simulation method and device for coupling wave and movable downward storm |
| CN110666089A (en) * | 2019-11-05 | 2020-01-10 | 青岛嘉乐智能自动化科技有限公司 | Single-arm forging manipulator |
| CN113250002A (en) * | 2021-04-21 | 2021-08-13 | 杭州科技职业技术学院 | Automatic production device and production process for Yuan book paper |
| CN113265897A (en) * | 2021-04-21 | 2021-08-17 | 浙江大学 | Automatic paper fishing device and method for Yuan book paper |
| CN113250002B (en) * | 2021-04-21 | 2023-08-15 | 杭州科技职业技术学院 | Automatic production device and production process for metabook paper |
| CN114192729A (en) * | 2021-12-03 | 2022-03-18 | 中核（天津）机械有限公司 | Automatic machining and forming equipment for taper pipe |
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Open date: 20100728 |