CN104308530A - Vision detection-based isolator star wheel automated assembly device - Google Patents
Vision detection-based isolator star wheel automated assembly device Download PDFInfo
- Publication number
- CN104308530A CN104308530A CN201410539780.7A CN201410539780A CN104308530A CN 104308530 A CN104308530 A CN 104308530A CN 201410539780 A CN201410539780 A CN 201410539780A CN 104308530 A CN104308530 A CN 104308530A
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- wheel
- star
- isolator
- star wheel
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A vision detection-based isolator star wheel automated assembly device comprises a main body platform, wherein an assembly mechanism is arranged on the main body platform; a machining station is arranged below the assembly mechanism; the main body platform is provided with a storage disc for placing an assembled isolator star wheel; the main body platform is provided with a camera connected with an intelligent vision detection controller; the intelligent vision detection controller comprises a positioning module, an intelligent vision detection module and a motion control module; the positioning module is used for positioning the position of the isolator star wheel to be assembled according to a shot image; the intelligent vision detection module is used for identifying the horizontal deflection angle of the isolator star wheel to be assembled according to the shot image and sending the star wheel adjusting position to a robot after hen the robot grabs the star wheel; the motion control module is used for controlling the robot to transfer the star wheel to a preset position according to an assembly procedure; the main body platform is provided with the robot which comprises a star wheel clamping claw for grabbing the isolator star wheel to be assembled and the assembled isolator star wheel. The device adopts mechanized assembly and has higher efficiency, and the labor intensity is relieved.
Description
Technical field
The present invention relates to the process equipment of Engine Parts isolator, especially a kind of isolator star-wheel flexible roller assembling device.
Background technology
Isolator is the vitals in engine, and annual is in great demand, and the star-wheel in isolator is crucial assembly process together with the assembling isolator assembling of spring, roller, now main adopt or hand assembled, and labour demand is comparatively large, inefficiency.Therefore, need in engineering practice a kind ofly to replace artificial, assembly machine efficiently.
Summary of the invention
In order to overcome, the star-wheel of existing isolator and spring, the hand assembled of roller assembling mode, labour intensity are large, the deficiency of inefficiency, the invention provides a kind of motorization assembly, reduce labor intensity, isolator star-wheel Automated assembly device that view-based access control model that efficiency is higher detects.
The technical solution adopted for the present invention to solve the technical problems is:
The isolator star-wheel Automated assembly device that a kind of view-based access control model detects, comprise main platform, described main platform installs assemble mechanism, the below of described assemble mechanism is the processing stations placing isolator star-wheel to be assembled, described main platform is arranged the material storage dish in order to place the isolator star-wheel after assembling, described main platform installs the camera carrying out vision-based detection, described camera is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel to be assembled according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot on described main platform, described robot comprises the star-wheel jaw for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
Further, described assemble mechanism comprises and turns core and jacking block, described in turn core has and join the identical star wheel groove of isolator star-wheel with waiting to turn, described in turn core below be described processing stations, turn described in described jacking block is positioned at directly over core, described jacking block is provided with the push rod with described star wheel groove form fit;
Described jacking block is positioned at the below of dividing plate, described dividing plate is fixed in frame, the end face of described jacking block is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring, the first eccentric wheel is abutted against in the top of described first driven member, and described first eccentric rotating shaft is connected with the output shaft of the first motor;
Describedly turn the lower end that core is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor, and described first rotating shaft is through described jacking block and dividing plate.
Further again, described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide, roller entrance and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor, first connecting rod and second connecting rod and expeller, the output shaft of described 3rd motor installs first connecting rod, described first connecting rod and described second connecting rod hinged, described second connecting rod and described expeller hinged;
Described turn that core is positioned at base plate turn core bore, described base plate has and the described charging aperture turning core bore and be communicated with, described expeller is positioned at the porch of described import material, and described spring loading guide, roller entrance connect with the side of described charging aperture respectively.
Further, described expeller is provided with gathering sill.
Beneficial effect of the present invention is mainly manifested in: motorization assembly, reduce labor intensity, efficiency is higher.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the isolator star-wheel Automated assembly device that view-based access control model detects.
Fig. 2 is the pose figure of star-wheel.
Fig. 3 is the schematic diagram of assemble mechanism.
Fig. 4 is the schematic diagram of pusher.
Fig. 5 is the schematic diagram turning core.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 5, the isolator star-wheel Automated assembly device that a kind of view-based access control model detects, comprise main platform 4, described main platform 4 installs assemble mechanism 2, the below of described assemble mechanism 2 is the processing stations placing isolator star-wheel 6 to be assembled, described main platform 4 is arranged the material storage dish 3 in order to place the isolator star-wheel after assembling, described main platform 4 installs the camera 1 carrying out vision-based detection, described camera 1 is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot 5 on described main platform 4, described robot 5 comprises the star-wheel jaw 23 for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
Further, described assemble mechanism comprises and turns core 15 and jacking block 11, described turn core 15 has join the identical star wheel groove of isolator star-wheel with waiting to turn, the described below turning core 15 is described processing stations, turn described in described jacking block 11 is positioned at directly over core 15, described jacking block 11 is provided with the push rod with described star wheel groove form fit;
Described jacking block 11 is positioned at the below of dividing plate, described dividing plate is fixed on support 7, the described end face of jacking block 11 is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring 10, the first eccentric wheel 9 is abutted against in the top of described first driven member, and the rotating shaft of described first eccentric wheel 9 is connected with the output shaft of the first motor 24;
Describedly turn the lower end that core 15 is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor 8, and described first rotating shaft is through described jacking block 11 and dividing plate.
Further again, described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide 14, roller entrance 12 and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor 19, first connecting rod and second connecting rod 18 and expeller 16, the output shaft of described 3rd motor 19 installs first connecting rod, described first connecting rod and described second connecting rod 18 hinged, described second connecting rod 18 and described expeller 16; Described 3rd motor 19 is arranged on electric machine support 20, and described electric machine support 20 is arranged on main platform 4;
Described turn that core 15 is positioned at base plate turn core bore, described base plate has and the described charging aperture 13 turning core bore and be communicated with, described expeller 16 is positioned at the porch of described import material 13, and described spring loading guide 14, roller entrance 12 connect with the side of described charging aperture 13 respectively.
Further, described expeller 16 is provided with gathering sill 17.
In the present embodiment, camera 1 support is supported on main platform 4, an assemble mechanism 7 is placed in main platform 4 centre position, the half-finished material storage dish 3 after an assembling is placed on right side, a robot 5 (such as six-joint robot) is placed in main platform 4 front portion, and robot head is a star-wheel jaw 23.Be connected with mechanical arm connection between mechanical arm and vision-based detection intelligent controller, camera 1 is connected with vision-based detection intelligent controller by connection.Under isolator star-wheel being optionally placed on the region that camera can be irradiated to, dynamic scan is carried out through vision-based detection CCD, image transmitting scanning obtained is to vision-based detection intelligent controller, and vision-based detection intelligent controller, by image processing algorithm, draws the level angle of star-wheel.Computer is again by mechanical arm connection, drift angle numerical value is passed to robot, robot is grabbed by hand and captures star-wheel, the 6th axle is carried out deflecting the star-wheel deflection angle that video camera detects subsequently by automated procedures, star-wheel is grabbed the outlet to assemble mechanism 2 times alignment springs rollers simultaneously, after completing assembling, the star-wheel after assembling is put in material storage dish by star-wheel jaw
As Fig. 2, under star-wheel is placed on camera with random position, utilize OPENCV vision storehouse, first detect the central coordinate of circle (x of star-wheel
0, y
0), then detect the tooth profile inside star-wheel, extract the pixel coordinate of each point of profile
calculate again point on profile and central coordinate of circle point square distance and, D=(x
i-x
0)
2+ (y
i-y
0)
2, obtain the minimum of a value D of D
min, and obtain the pixel coordinate value on corresponding profile
so they are brought into formula
star-wheel deflection angle γ can be obtained, thus composition one group of discernible coordinate points (x of robot
0, y
0, h, 0,0, γ), h is the actual height of isolator star-wheel.
The assembling device of the present embodiment comprises a main platform 4, camera 1 is had at the left frame of main platform 4, isolator star-wheel 6 to be assembled is placed under camera, main body assembler 2 is had in the centre of workbench 4, be placed with accumulator 3 on the right side of workbench, place six-joint robot 5 in the front of workbench.Described main body assembler has main assembly support 7, is divided into three lattice generally.Have the second motor 8 in topmost portion, centre is fixed with eccentric mechanism 9, by driven by motor.Back-moving spring 10 is placed between jacking block 11 and support.As Fig. 5, turn core 15 and be fixed in the bottom of main assembly support, it is driven by motor 8.Be fixed with spring material loading track 14 in the bottom front portion of support, bottom top is fixed with pusher guide rail.Described pusher is as Fig. 4, and it is by pusher jacking block 16, crank connecting link 18, and drive motors 19 forms.Pusher jacking block has gathering sill 17.Manipulator jaw 23 is connected to the terminal shaft of six-joint robot.
Concrete assembling process is as follows:
(1) isolator star-wheel 6 to be assembled is placed on the surveyed area under camera 1;
(2) computer obtains the star-wheel original image information that camera obtains, and carries out image procossing, calculates centre coordinate and the star-wheel drift angle (x of star-wheel
0, y
0, h, 0,0, γ);
(3) coordinate information is transferred to robot 5 by connection by computer, and mechanical arm captures star-wheel 6, and mechanical arm terminal shaft driving mechanical hand jaw 23 rotates subsequently, and the groove of star-wheel is alignd with the groove 22 turning core 15.
(4) while mechanical arm captures, spring carries out material loading along spring loading guide 14, roller falls from the hole kicker baffle 12, then pushing material component pushes spring and roller and turns in core 15, and the second motor 8 rotates 72 °, repeats material loading action 5 times, until turn core groove to be filled position, first motor 24 is with movable eccentric wheel to rotate, and is pushed away for 11 times by jacking block, spring and ball is pushed in the groove of star-wheel 6.
(5) complete assembling action, the star-wheel after assembling is put in material storage dish 3 by mechanical arm.
Above-described is only principle of the present invention and preferred embodiment.It should be pointed out that to those skilled in the art, under the premise without departing from the principles of the invention, some modification and improvement can also be made, also should be considered as belonging to protection scope of the present invention.
Claims (4)
1. the isolator star-wheel Automated assembly device of a view-based access control model detection, it is characterized in that: comprise main platform, described main platform installs assemble mechanism, the below of described assemble mechanism is the processing stations placing isolator star-wheel to be assembled, described main platform is arranged the material storage dish in order to place the isolator star-wheel after assembling, described main platform installs the camera carrying out vision-based detection, described camera is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot on described main platform, described robot comprises the star-wheel jaw for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
2. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 1, it is characterized in that: described assemble mechanism comprises and turns core and jacking block, described turn core has join the identical star wheel groove of isolator star-wheel with waiting to turn, the described below turning core is described processing stations, turn described in described jacking block is positioned at directly over core, described jacking block is provided with the push rod with described star wheel groove form fit;
Described jacking block is positioned at the below of dividing plate, described dividing plate is fixed in frame, the end face of described jacking block is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring, the first eccentric wheel is abutted against in the top of described first driven member, and described first eccentric rotating shaft is connected with the output shaft of the first motor;
Describedly turn the lower end that core is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor, and described first rotating shaft is through described jacking block and dividing plate.
3. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 2, it is characterized in that: described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide, roller entrance and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor, first connecting rod and second connecting rod and expeller, the output shaft of described 3rd motor installs first connecting rod, described first connecting rod and described second connecting rod hinged, described second connecting rod and described expeller hinged;
Described turn that core is positioned at base plate turn core bore, described base plate has and the described charging aperture turning core bore and be communicated with, described expeller is positioned at the porch of described import material, and described spring loading guide, roller entrance connect with the side of described charging aperture respectively.
4. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 3, is characterized in that: described expeller is provided with gathering sill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410539780.7A CN104308530B (en) | 2014-10-14 | 2014-10-14 | The isolator star-wheel Automated assembly device of view-based access control model detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410539780.7A CN104308530B (en) | 2014-10-14 | 2014-10-14 | The isolator star-wheel Automated assembly device of view-based access control model detection |
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| CN104308530A true CN104308530A (en) | 2015-01-28 |
| CN104308530B CN104308530B (en) | 2016-09-14 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106782008A (en) * | 2016-12-22 | 2017-05-31 | 北京华航唯实机器人科技有限公司 | A kind of industrial robot teaching station |
| CN110640430A (en) * | 2019-10-30 | 2020-01-03 | 广东利元亨智能装备股份有限公司 | Assembly executing device |
| CN113682808A (en) * | 2021-10-26 | 2021-11-23 | 江苏中昇电子科技有限公司 | Manipulator for processing electronic components |
| CN115026568A (en) * | 2022-05-30 | 2022-09-09 | 玉环普天单向器有限公司 | Automatic assembly production line for one-way clutch |
| CN115661726A (en) * | 2022-12-26 | 2023-01-31 | 江苏中车数字科技有限公司 | Autonomous video acquisition and analysis method for rail train workpiece assembly |
| CN116330304A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
| WO2023221160A1 (en) * | 2022-05-20 | 2023-11-23 | 玉环普天单向器有限公司 | One-way clutch intelligent assembly system and assembly method therefor |
| WO2023221159A1 (en) * | 2022-05-20 | 2023-11-23 | 玉环普天单向器有限公司 | Real-time detection system in intelligent assembly system of one-way clutch |
| WO2023236300A1 (en) * | 2022-06-10 | 2023-12-14 | 玉环普天单向器有限公司 | Real-time detection system for machining of star wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110640430A (en) * | 2019-10-30 | 2020-01-03 | 广东利元亨智能装备股份有限公司 | Assembly executing device |
| CN113682808A (en) * | 2021-10-26 | 2021-11-23 | 江苏中昇电子科技有限公司 | Manipulator for processing electronic components |
| WO2023221160A1 (en) * | 2022-05-20 | 2023-11-23 | 玉环普天单向器有限公司 | One-way clutch intelligent assembly system and assembly method therefor |
| WO2023221159A1 (en) * | 2022-05-20 | 2023-11-23 | 玉环普天单向器有限公司 | Real-time detection system in intelligent assembly system of one-way clutch |
| CN115026568A (en) * | 2022-05-30 | 2022-09-09 | 玉环普天单向器有限公司 | Automatic assembly production line for one-way clutch |
| CN115026568B (en) * | 2022-05-30 | 2024-03-15 | 玉环普天单向器有限公司 | Automatic assembly production line for one-way clutch |
| WO2023236300A1 (en) * | 2022-06-10 | 2023-12-14 | 玉环普天单向器有限公司 | Real-time detection system for machining of star wheel |
| CN115661726A (en) * | 2022-12-26 | 2023-01-31 | 江苏中车数字科技有限公司 | Autonomous video acquisition and analysis method for rail train workpiece assembly |
| CN116330304A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
| CN116330304B (en) * | 2023-05-29 | 2023-08-01 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
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Effective date of registration: 20191209 Address after: 314000 No.8, Zhenghua Road, Wanghai street, Haiyan County, Jiaxing City, Zhejiang Province Patentee after: ZHEJIANG SHENGDI TECHNOLOGY CO.,LTD. Address before: 310018 Room 1004-1006, 17 Block 57, Baiyang Street Science Park Road, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee before: Zhejiang Qibo Intellectual Property Operation Co.,Ltd. Effective date of registration: 20191209 Address after: 310018 Room 1004-1006, 17 Block 57, Baiyang Street Science Park Road, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee after: Zhejiang Qibo Intellectual Property Operation Co.,Ltd. Address before: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee before: Zhejiang University of Technology |
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