CN107225398A - Block O-ring automatic assembling and vision inspection apparatus - Google Patents

Block O-ring automatic assembling and vision inspection apparatus Download PDF

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Publication number
CN107225398A
CN107225398A CN201710637830.9A CN201710637830A CN107225398A CN 107225398 A CN107225398 A CN 107225398A CN 201710637830 A CN201710637830 A CN 201710637830A CN 107225398 A CN107225398 A CN 107225398A
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China
Prior art keywords
magnet
station
module
blocking
ring
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Granted
Application number
CN201710637830.9A
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Chinese (zh)
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CN107225398B (en
Inventor
郑宣
武建伟
许方富
朱伟
李圣荣
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Taizhou Yun Cheng Intelligent Technology Co Ltd
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Taizhou Yun Cheng Intelligent Technology Co Ltd
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Priority to CN201710637830.9A priority Critical patent/CN107225398B/en
Publication of CN107225398A publication Critical patent/CN107225398A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02Assembly jigs

Abstract

O-ring automatic assembling and vision inspection apparatus, including turntable module, blocking feeding module, gluing module, magnet load module, drying module, O-ring seal load module, vision-based detection module, certified products cutting module and defective work cutting module are blocked the invention discloses one kind.The present invention can complete blocking, magnet, the automatic charging of O-ring seal, and magnet, O-ring seal are assembled in blocking, and detect finished product using machine vision technique, and sifting sort goes out certified products and defective work.

Description

Block O-ring automatic assembling and vision inspection apparatus
Technical field
The present invention relates to a kind of automatic assembly equipment, and in particular to one kind blocks O-ring automatic assembling and vision-based detection dress Put.
Background technology
As shown in Figure 1 and Figure 2, block to offer in o-ring groove, o-ring groove on 100 and be equipped with O-ring seal 102;The top for blocking 100 opens up fluted, for placing magnet 101.At present, by magnet 101 and O-ring seal 102 with blocking up The operation of the assembling of plug 100 can only be by manually completing, and operating efficiency is low, and the labor intensity of workman is high.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of blocking O-ring automatic assembling and vision inspection apparatus, it Magnet and O-ring seal and the mechanical automation of the assembling blocked can be realized.
In order to solve the above technical problems, the present invention blocks the technology solution party of O-ring automatic assembling and vision inspection apparatus Case is:
Including turntable module 1, block feeding module 2, gluing module 3, magnet load module 4, drying module 5, O-ring seal dress With module 6, vision-based detection module 7, certified products cutting module 8 and defective work cutting module 9;The workbench 1-1 of turntable module 1 It can rotate, workbench 1-1 is circumferentially divided into eight stations, eight stations are followed successively by:Block feeding station, gluing station, magnetic It is iron assembly station, drying station, O-ring seal assembly station, finished product vision-based detection station, certified products discharge station, unqualified Product discharge station;Block feeding station and be provided with blocking feeding module 2, block feeding module 2 and realize that the automatic of blocking 100 has Sequence feeding, will block 100 and is encased in the frock clamp 1-3 for blocking feeding station;Gluing station is provided with gluing module 3, applies Rubber moulding block 3 completes blocking the gluing work of top magnet groove;Magnet assembly station is provided with magnet load module 4, magnet In the magnet groove that load module 4 completes the automatic charging of magnet 101 and is loaded at the top of blocking;Drying station is provided with Drying module 5, drying module 5 completes the drying work of glue;O-ring seal assembly station is provided with O-ring seal fit drawing die The automatic charging of O-ring seal is realized in block 6, O-ring seal load module 6, and is fitted into blocking;Finished product vision-based detection work Position is provided with finished product vision-based detection module 7, and finished product vision-based detection module 7 completes the detection of finished product, and detection content includes magnet, close Whether whether seal have neglected loading, assemble in place;Certified products discharge station is provided with certified products cutting module 8, certified products blanking die Block 8 is used for the blanking for completing qualified finished product;The finished product detected by finished product vision-based detection module 7, if testing result display is closed Lattice, then turntable module 1 finished product is sent to certified products discharge station, the blanking of the certified products is completed by certified products cutting module 8; Defective work discharge station is provided with defective work cutting module 9, and defective work cutting module 9 is completed under unqualified finished product Material;The finished product detected by finished product vision-based detection module 7, if testing result shows unqualified, turntable module 1 is by the finished product Defective work discharge station is sent to, the blanking of the defective work is completed by defective work cutting module 9.
The turntable module 1 includes workbench 1-1, dispenser 1-2, frock clamp 1-3, de- material cylinder 1-4, workbench 1- 1 can rotate under dispenser 1-2 drive;Frock clamp 1-3 and de- material are respectively arranged with workbench 1-1 each station Cylinder 1-4;Frock clamp 1-3 is fixedly installed on workbench 1-1, takes off the lower section that material cylinder 1-4 is located at workbench 1-1;De- material Cylinder 1-4 is movably set on frock clamp 1-3, can be risen when after de- material cylinder 1-4 stress, so that by frock clamp 1-3 On workpiece jack-up and take off.
The blocking feeding module 2 includes blocking feeding vibrating disk 2-1, blocks feeding Straight line unit 2-2, blocks loading trough 2-3, blocking material-dividing groove 2-4, jam detection sensor 2-5, blocking feeding manipulator 2-6, block feeding vibrating disk 2-1 discharging Mouth connection blocks loading trough 2-3 charging aperture, blocks loading trough 2-3 discharging opening connection blocking material-dividing groove 2-4;In blocking Material hopper 2-3 is arranged on blocking feeding Straight line unit 2-2;Block and jam detection sensor 2-5 is installed on material-dividing groove 2-4, block up Blocking feeding manipulator 2-6 is provided with above plug material-dividing groove 2-4.
The gluing module 3 is included for glue pressurized tank 3-1, gluing cylinder 3-2, glue valve 3-3, for glue pressurized tank 3-1 and glue Valve 3-3 is connected, and glue can be supplied to glue valve 3-3 for glue pressurized tank 3-1;The 3-3 connections of glue valve gluing cylinder 3-2, gluing cylinder 3-2 Glue valve 3-3 can be driven to move up and down.
The magnet load module 4 includes magnet hopper 4-1, magnet sub-material groove 4-2, magnet sub-material cylinder 4-3, magnet cartridge Lower end connection magnet with cylinder 4-4, magnet assembly head 4-5, magnet detection sensor 4-6, vertically disposed magnet hopper 4-1 Material-dividing groove 4-2, magnet sub-material groove 4-2 is provided with magnet detection sensor 4-6;Magnet sub-material is provided with magnet sub-material groove 4-2 Magnet in magnet sub-material groove 4-2 can be pushed to magnet assembly station by cylinder 4-3, magnet sub-material cylinder 4-3;Magnet cartridge is matched somebody with somebody Magnet assembly head 4-5 is provided with above the frock clamp 1-3 of station, magnet assembly head 4-5 connections magnet cartridge matches somebody with somebody cylinder 4-4.
The drying module 5 includes drying support 5-1 and drying handle 5-2, and drying handle 5-2 passes through drying support 5-1 Support is realized, drying handle 5-2 is located at the frock clamp 1-3 of drying station top.
The O-ring seal load module 6 includes O-ring seal feeding vibrating disk 6-1, O-ring seal feeding Straight line unit 6-2, O-ring seal loading trough 6-3, O-ring seal material-dividing groove 6-4, O-ring seal material splitting cylinder 6-5, O-ring seal inspection Survey sensor 6-6, support ring platform 6-7, O-ring seal move material assembly manipulator 6-8, O-ring seal feeding vibrating disk 6-1, it is O-shaped close Seal feeding Straight line unit 6-2 and O-ring seal loading trough 6-3 constitutes the automatic feed mechanism of O-ring seal, O-ring seal Loading trough 6-3 discharging opening sets O-ring seal material-dividing groove 6-4;O-ring seal material-dividing groove 6-4 sets O-ring seal to detect In place whether sensor 6-6, O-ring seal detection sensor 6-6 are used to detect sealing ring;O-ring seal material-dividing groove 6-4 is set O-ring seal material splitting cylinder 6-5, O-ring seal material splitting cylinder 6-5 can be by the sealing rings in O-ring seal material-dividing groove 6-4 102 push to and treat feeding station;Treat that O-ring seal is provided with above feeding station moves material assembly manipulator 6-8, O-shaped sealing Circle, which is moved, is provided with shifting material jaw and support ring knocking over mechanism on material assembly manipulator 6-8;O-ring seal moves material assembly manipulator 6-8 Shifting material jaw can be driven to treat to move between feeding station and support ring station, while driving support ring knocking over mechanism in support ring station Moved between O-ring seal assembly station;Support ring station is provided with support ring platform 6-7;Support ring knocking over mechanism includes support ring circular cone 6-9, knocking over cylinder 6-10, knocking over set 6-11, support ring circular cone 6-9 and knocking over set 6-11 connection knocking over cylinder 6-10, knocking over cylinder 6-10 can drive support ring circular cone 6-9 and knocking over to cover 6-11 respectively and move up and down.
The finished product vision-based detection module 7 includes industrial camera 7-1, up and down light source 7-2, adjustment mechanism 7-3 and level and adjusted Complete machine structure 7-4, industrial camera 7-1 are located at the frock clamp 1-3 of finished product vision-based detection station side, and light source 7-2 is located at finished product The frock clamp 1-3 of vision-based detection station opposite side;Adjustment mechanism 7-3 and horizontal adjustment machine above and below industrial camera 7-1 connections Structure 7-4, up and down adjustment mechanism 7-3 and horizontal adjusting mechanism 7-4 be used to adjust industrial camera 7-1 position.
The certified products cutting module 8 includes certified products blanking jacking cylinder 8-1, certified products inflatable body 8-2 and qualified Product blanking slideway 8-3, certified products blanking jacking cylinder 8-1 are located at the de- material cylinder 1-4 of certified products discharge station lower section;It is qualified Certified products inflatable body 8-2, the frock clamp 1- of certified products discharge station are provided with above the frock clamp 1-3 of product discharge station 3 side is provided with certified products blanking slideway 8-3.
The defective work cutting module 9 includes defective work blanking jacking cylinder 9-1, defective work inflatable body 9-2 It is located at the de- material cylinder 1- of defective work discharge station with defective work blanking slideway 9-3, defective work blanking jacking cylinder 9-1 4 lower section;It is provided with above the frock clamp 1-3 of defective work discharge station under defective work inflatable body 9-2, defective work Expect that the frock clamp 1-3 of station side is provided with defective work blanking slideway 9-3.
The assemble method of the blocking O-ring automatic assembling and vision inspection apparatus comprises the following steps:
Block feeding step;Feeding vibrating disk 2-1 is blocked by vibration, blocking 100 is sequentially entered blocking loading trough 2-3; Blocking feeding Straight line unit 2-2 makes blocking 100 move to discharging opening from the charging aperture for blocking loading trough 2-3, and enters blocking point Hopper 2-4, so as to realize the automatic charging of blocking 100;After jam detection sensor 2-5 detects blocking in place, in blocking The blocking that the 2-6 crawls of material manipulator are blocked in material-dividing groove 2-4 is passed in the frock clamp 1-3 for blocking feeding station;
Magnet groove glue application step;The workbench 1-1 rotations of turntable module 1, gluing work is delivered to by the blocking for blocking feeding station Behind position, gluing cylinder 3-2 drives glue valve 3-3 to decline, and rear glue valve 3-3 work, completes gluing in place;Then gluing cylinder 3-2 is answered Position, waits gluing work next time;
Magnet feeding installation step;Magnet 101 in magnet hopper 4-1 falls successively under gravity, when the magnetic of bottom Iron 101 is fallen in magnet sub-material groove 4-2, and magnet detection sensor 4-6 detects magnet 101 in place, and magnet sub-material cylinder 4-3 will The magnet pushes to magnet assembly station;The workbench 1-1 rotations of turntable module 1, magnet cartridge is delivered to by the blocking of gluing station With station, magnet cartridge drives magnet assembly head 4-5 to decline, magnet 101 is press fit into blocking, passes through gluing work with cylinder 4-4 The gluing magnet of sharing that position is applied is with blocking;After completion magnet cartridge is matched somebody with somebody, magnet cartridge resets with cylinder 4-4, waits dress next time Match somebody with somebody;
Baking step;The workbench 1-1 rotations of turntable module 1, the blocking that completion magnet cartridge is matched somebody with somebody is sent to drying station, dried Handle 5-2 is dried to it;
O-ring seal feeding installation step;Sealing ring 102 is transported to O-ring seal point by the automatic feed mechanism of O-ring seal Hopper 6-4, after O-ring seal detection sensor 6-6 detects sealing ring 102 in place, O-ring seal material splitting cylinder 6-5 is by O Sealing ring 102 in type sealing ring material-dividing groove 6-4, which is pushed to, treats feeding station;O-ring seal is moved material assembly manipulator 6-8 and driven Material jaw and support ring knocking over mechanism kinematic are moved, when moving material jaw positioned at whne feeding station, material jaw crawl is moved and treats feeding station Sealing ring 102, at the same time, support ring knocking over mechanism is located at support ring station, and knocking over cylinder 6-10 drives support ring circular cone 6-9 downward Motion, makes in the sealing ring that support ring circular cone 6-9 is inserted on support ring platform 6-7, completes support ring;It is located at support ring station when moving material jaw When, the sealing ring 102 captured is put to support ring platform 6-7, at the same time, support ring knocking over mechanism is arrived with big sealing ring is supportted Up to O-ring seal assembly station, the workbench 1-1 of turntable module 1 rotates, and the blocking for completing drying is sent to O-ring seal Assembly station, now support ring circular cone 6-9 be exactly in directly over magnet and be in contact with it, knocking over cylinder 6-10 drives knocking over set 6- 11 are moved downward, and the sealing ring 102 on support ring circular cone 6-9 is dialled in plug for seal circle groove, complete sealing ring assembling;
Finished product vision-based detection step;The workbench 1-1 rotations of turntable module 1, the blocking for completing assembling is sent to the inspection of finished product vision Station is surveyed, finished product vision-based detection module 7 is detected;
Classification blanking step;The workbench 1-1 rotations of turntable module 1, the qualified certified products of testing result are sent under certified products Expect station, certified products blanking jacking cylinder 8-1 drives de- material cylinder 1-4 to rise, by certified products jack-up and depart from frock clamp 1- 3, then finished product is blown in certified products blanking slideway 8-3 and skidded off by certified products inflatable body 8-2, complete certified products discharging;Inspection Survey the underproof defective work of result and be sent to defective work discharge station, defective work blanking jacking cylinder 9-1 drives de- material Cylinder 1-4 rises, and by defective work jack-up and departs from frock clamp 1-3, is then blown finished product by defective work inflatable body 9-2 Skidded off in defective work blanking slideway 9-3, complete defective work discharging.
What the present invention can reach has the technical effect that:
The present invention can complete blocking, magnet, the automatic charging of O-ring seal, and magnet, O-ring seal are assembled in blocking, And finished product is detected using machine vision technique, sifting sort goes out certified products and defective work.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description:
Fig. 1 is the decomposing schematic representation blocked;
Fig. 2 is the assembling schematic diagram blocked;
Fig. 3 is the schematic diagram that the present invention blocks O-ring automatic assembling and vision inspection apparatus;
Fig. 4 is the top view of the present invention;
Fig. 5 is the schematic diagram of the turntable module of the present invention;
Fig. 6 is the partial schematic diagram of the turntable module of the present invention;
Fig. 7 is the schematic diagram of the blocking feeding module of the present invention;
Fig. 8 is the schematic diagram of the gluing module of the present invention;
Fig. 9 is the schematic diagram of the magnet load module of the present invention;
Figure 10 is the schematic diagram of another angle of the magnet load module of the present invention;
Figure 11 is the schematic diagram of the drying module of the present invention;
Figure 12 is the schematic diagram of the O-ring seal load module of the present invention;
Figure 13 is the schematic diagram of the vision-based detection module of the present invention;
Figure 14 is the schematic diagram of the certified products cutting module of the present invention;
Figure 15 is the schematic diagram of the defective work cutting module of the present invention.
Description of reference numerals in figure:
1 is turntable module, and 2 is block feeding module,
3 be gluing module, and 4 be magnet load module,
5 be drying module, and 6 be O-ring seal load module,
7 be vision-based detection module, and 8 be certified products cutting module,
9 be defective work cutting module,
1-1 is workbench, and 1-2 is dispenser,
1-3 is frock clamp, and 1-4 is de- material cylinder,
2-1 is blocks feeding vibrating disk, and 2-2 is blocking feeding Straight line unit,
2-3 is blocks loading trough, and 2-4 is blocking material-dividing groove,
2-5 is jam detection sensor, and 2-6 is blocking feeding manipulator,
3-1 is to supply glue pressurized tank, and 3-2 is gluing cylinder,
3-3 is glue valve,
4-1 is magnet hopper, and 4-2 is magnet sub-material groove,
4-3 is magnet sub-material cylinder, and 4-4 is that magnet cartridge matches somebody with somebody cylinder,
4-5 is magnet assembly head, and 4-6 is magnet detection sensor,
5-1 is drying support, and 5-2 is drying handle,
6-1 is O-ring seal feeding vibrating disk, and 6-2 is O-ring seal feeding Straight line unit,
6-3 is O-ring seal loading trough, and 6-4 is O-ring seal material-dividing groove,
6-5 is O-ring seal material splitting cylinder, and 6-6 is O-ring seal detection sensor,
6-7 is support ring platform, and 6-8 is that O-ring seal moves material assembly manipulator,
6-9 is support ring circular cone, and 6-10 is knocking over cylinder,
6-11 is knocking over set,
7-1 is industrial camera, and 7-2 is light source,
7-3 is adjustment mechanism up and down, and 7-4 is horizontal adjusting mechanism,
8-1 is certified products blanking jacking cylinder, and 8-2 is certified products inflatable body,
8-3 is certified products blanking slideway,
9-1 is defective work blanking jacking cylinder, and 9-2 is defective work inflatable body,
9-3 is defective work blanking slideway,
100 is block, and 101 be magnet,
102 be O-ring seal.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention Accompanying drawing, the technical scheme to the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair Bright a part of embodiment, rather than whole embodiments.Based on described embodiments of the invention, ordinary skill The every other embodiment that personnel are obtained on the premise of without creative work, belongs to the scope of protection of the invention.Remove Non- other definition, technical term or scientific terminology used herein are should be in art of the present invention with general technical ability The ordinary meaning that personage is understood." first " used herein, " second " and similar word be not offered as any order, Quantity or importance, and be used only to distinguish different parts.The similar word such as " comprising " means occur before the word The element or object in face are covered the element or object for appearing in the word presented hereinafter and its are equal, and are not excluded for other elements Or object.The similar word such as " connection " or " connected " is not limited to physics or machinery connection, but can be with It is either directly or indirect including electrical connection." on ", " under ", "left", "right" etc. are only used for representing relative position Relation, after the absolute position for being described object changes, then the relative position relation may also correspondingly change.
As shown in Figure 3, Figure 4, the present invention blocks O-ring automatic assembling and vision inspection apparatus, including turntable module 1, stifled Fill in feeding module 2, gluing module 3, magnet load module 4, drying module 5, O-ring seal load module 6, vision-based detection module 7th, certified products cutting module 8 and defective work cutting module 9;
The workbench 1-1 of turntable module 1 can be rotated, and workbench 1-1 is circumferentially divided into eight stations, and eight stations are followed successively by: Block feeding station, gluing station, magnet assembly station, drying station, O-ring seal assembly station, finished product vision-based detection work Position, certified products discharge station, defective work discharge station;
Block feeding station and be provided with blocking feeding module 2, block the automatic order feeding that feeding module 2 realizes blocking 100, will 100 are blocked to be encased in the frock clamp 1-3 for blocking feeding station;
Gluing station is provided with gluing module 3, and gluing module 3 completes blocking the gluing work of top magnet groove;
Magnet assembly station is provided with magnet load module 4, magnet load module 4 complete the automatic charging of magnet 101 and by its It is encased in the magnet groove at the top of blocking;
Drying station is provided with drying module 5, and drying module 5 completes the drying work of glue;
O-ring seal assembly station is provided with O-ring seal load module 6, and O-ring seal is realized in O-ring seal load module 6 Automatic charging, and fitted into blocking;
Finished product vision-based detection station is provided with finished product vision-based detection module 7, and finished product vision-based detection module 7 completes the detection of finished product, Detection content includes whether magnet, sealing ring have neglected loading, whether assemble in place;
Certified products discharge station is provided with certified products cutting module 8, and certified products cutting module 8 is used to complete under qualified finished product Material;The finished product detected by finished product vision-based detection module 7, if testing result shows qualified, turntable module 1 send the finished product To certified products discharge station, the blanking of the certified products is completed by certified products cutting module 8;
Defective work discharge station is provided with defective work cutting module 9, and defective work cutting module 9 completes unqualified finished product Blanking;The finished product detected by finished product vision-based detection module 7, if testing result shows unqualified(Unqualified situation includes:Magnetic Iron is unassembled or magnet cartridge is unassembled or sealing ring assembling is not in place with not in place or sealing ring), then turntable module 1 is by the finished product Defective work discharge station is sent to, the blanking of the defective work is completed by defective work cutting module 9.
As shown in Figure 5, Figure 6, turntable module 1 includes workbench 1-1, dispenser 1-2, frock clamp 1-3, de- material cylinder 1- 4, workbench 1-1 can rotate under dispenser 1-2 drive;Frock folder is respectively arranged with workbench 1-1 each station Have 1-3 and de- material cylinder 1-4, frock clamp 1-3 is fixedly installed on workbench 1-1, take off material cylinder 1-4 and be located at workbench 1-1 Lower section;De- material cylinder 1-4 is movably set on frock clamp 1-3, can be risen when after de- material cylinder 1-4 stress, so that will Workpiece jack-up on frock clamp 1-3 is simultaneously taken off.
As shown in fig. 7, blocking feeding module 2 including in blocking feeding vibrating disk 2-1, blocking feeding Straight line unit 2-2, blocking Expect hopper 2-3, block material-dividing groove 2-4, jam detection sensor 2-5, block feeding manipulator 2-6, block feeding vibrating disk 2-1 Discharging opening connection block loading trough 2-3 charging aperture, the discharging opening connection for blocking loading trough 2-3 blocks material-dividing groove 2-4; Loading trough 2-3 is blocked to be arranged on blocking feeding Straight line unit 2-2;Block and jam detection sensor is installed on material-dividing groove 2-4 2-5, blocks and blocking feeding manipulator 2-6 is provided with above material-dividing groove 2-4.
During work, manually multiple blockings 100 are disorderly poured into blocking feeding vibrating disk 2-1;Block feeding vibrating disk 2-1 makes blocking 100 sequentially enter blocking loading trough 2-3 by vibration;Blocking feeding Straight line unit 2-2 makes blocking 100 from blocking Loading trough 2-3 charging aperture moves to discharging opening, and enters and block material-dividing groove 2-4, thus realize block 100 it is automatic on Material;After jam detection sensor 2-5 detects blocking in place, block feeding manipulator 2-6 crawls and block in material-dividing groove 2-4 Block and be passed in the frock clamp 1-3 for blocking feeding station.
As shown in figure 8, gluing module 3 is included for glue pressurized tank 3-1, gluing cylinder 3-2, glue valve 3-3, for glue pressurized tank 3- 1 is connected with glue valve 3-3, and glue can be supplied to glue valve 3-3 for glue pressurized tank 3-1;Glue valve 3-3 connection gluing cylinder 3-2, gluing gas Cylinder 3-2 can drive glue valve 3-3 to move up and down.
After the blocking for blocking feeding station is sent to gluing station, gluing cylinder 3-2 drives glue valve 3-3 to decline, in place Glue valve 3-3 works afterwards, completes gluing;Then gluing cylinder 3-2 resets, and waits gluing work next time.
As shown in Figure 9, Figure 10, magnet load module 4 includes magnet hopper 4-1, magnet sub-material groove 4-2, magnet sub-material gas Cylinder 4-3, magnet cartridge match somebody with somebody cylinder 4-4, magnet assembly head 4-5, magnet detection sensor 4-6, magnet hopper 4-1 lower end connection magnetic Iron material-dividing groove 4-2, magnet sub-material groove 4-2 is provided with magnet detection sensor 4-6;Magnet point is provided with magnet sub-material groove 4-2 Expect that the magnet in magnet sub-material groove 4-2 can be pushed to magnet assembly station by cylinder 4-3, magnet sub-material cylinder 4-3;Magnet cartridge Magnet assembly head 4-5 is provided with above frock clamp 1-3 with station, magnet assembly head 4-5 connections magnet cartridge matches somebody with somebody cylinder 4- 4。
Manually magnet 101 is put into magnet hopper 4-1, magnet 101 falls successively under gravity, when bottom Magnet 101 is fallen in magnet sub-material groove 4-2, and magnet detection sensor 4-6 detects magnet 101 in place, magnet sub-material cylinder 4-3 The magnet is pushed into assembly station(Now, the blocking for completing gluing has been sent to magnet assembly station), magnet cartridge distribution Cylinder 4-4 drives magnet assembly head 4-5 to decline, and magnet 101 is press fit into blocking, and gluing magnetic is shared by what gluing station was applied Iron is with blocking;After completion magnet cartridge is matched somebody with somebody, magnet cartridge resets with cylinder 4-4, waits assembling next time.
As shown in figure 11, drying module 5 includes drying support 5-1 and drying handle 5-2, drying handle 5-2 pass through drying Support 5-1 realizes support, and drying handle 5-2 is located at the frock clamp 1-3 of drying station top.
The blocking that completion magnet cartridge is matched somebody with somebody is sent to drying station, and drying handle 5-2 is dried to it.
As shown in figure 12, O-ring seal load module 6 includes O-ring seal feeding vibrating disk 6-1, O-ring seal feeding It is Straight line unit 6-2, O-ring seal loading trough 6-3, O-ring seal material-dividing groove 6-4, O-ring seal material splitting cylinder 6-5, O-shaped close Seal detection sensor 6-6, support ring platform 6-7, O-ring seal move material assembly manipulator 6-8, support ring circular cone 6-9, knocking over cylinder 6- 10th, knocking over set 6-11, shifting material jaw, O-ring seal feeding vibrating disk 6-1, O-ring seal feeding Straight line unit 6-2 and O-shaped sealing The automatic feed mechanism that loading trough 6-3 constitutes O-ring seal is enclosed, O-ring seal loading trough 6-3 discharging opening sets O-shaped Sealing ring material-dividing groove 6-4;O-ring seal material-dividing groove 6-4 sets O-ring seal detection sensor 6-6, and O-ring seal detection is passed In place whether sensor 6-6 be used to detect sealing ring;O-ring seal material-dividing groove 6-4 sets O-ring seal material splitting cylinder 6-5, O-shaped Sealing ring 102 in O-ring seal material-dividing groove 6-4 can be pushed to and treat feeding station by sealing ring material splitting cylinder 6-5;Treat feeding O-ring seal is provided with above station and moves material assembly manipulator 6-8, O-ring seal is moved to be provided with material assembly manipulator 6-8 Move material jaw and support ring knocking over mechanism;O-ring seal, which moves material assembly manipulator 6-8, can drive shifting material jaw treating feeding station Moved between support ring station, while driving support ring knocking over mechanism to be moved between support ring station and assembly station;Support ring station It is provided with support ring platform 6-7;
Support ring knocking over mechanism includes support ring circular cone 6-9, knocking over cylinder 6-10, knocking over set 6-11, support ring circular cone 6-9 and knocking over set 6- 11 connection knocking over cylinder 6-10, knocking over cylinder 6-10 can drive support ring circular cone 6-9 and knocking over to cover 6-11 up and down motions respectively.
Sealing ring 102 is transported to O-ring seal material-dividing groove 6-4 by the automatic feed mechanism of O-ring seal, when O-shaped sealing After circle detection sensor 6-6 detects sealing ring 102 in place, O-ring seal material splitting cylinder 6-5 is by O-ring seal material-dividing groove 6-4 Interior sealing ring 102, which is pushed to, treats feeding station;O-ring seal, which moves material assembly manipulator 6-8 and drives to move, expects that jaw and support ring are de- Loop mechanism is moved, when moving material jaw positioned at whne feeding station, the sealing ring 102 that feeding station is treated in material jaw crawl is moved, with this Meanwhile, support ring knocking over mechanism is located at support ring station, and knocking over cylinder 6-10 drives support ring circular cone 6-9 to move downward, makes support ring circular cone 6-9 is inserted into the sealing ring on support ring platform 6-7, completes support ring;It is close by what is captured when moving material jaw positioned at support ring station Seal 102 is put to support ring platform 6-7, at the same time, and support ring knocking over mechanism reaches assembly station with big sealing ring is supportted, now Support ring circular cone 6-9 is exactly in directly over magnet and is in contact with it, and knocking over cylinder 6-10 drives knocking over set 6-11 to move downward, will Sealing ring 102 on support ring circular cone 6-9 is dialled in plug for seal circle groove, completes sealing ring assembling.
As shown in figure 13, finished product vision-based detection module 7 include industrial camera 7-1, light source 7-2, up and down adjustment mechanism 7-3 and Horizontal adjusting mechanism 7-4, industrial camera 7-1 are located at the frock clamp 1-3 of finished product vision-based detection station side, light source 7-2 In the frock clamp 1-3 of finished product vision-based detection station opposite side;
Adjustment mechanism 7-3 and horizontal adjusting mechanism 7-4 above and below industrial camera 7-1 connections, up and down adjustment mechanism 7-3 and horizontal adjustment Mechanism 7-4 is used for the position for adjusting industrial camera 7-1.
As shown in figure 14, certified products cutting module 8 includes certified products blanking jacking cylinder 8-1, certified products inflatable body 8-2 It is located at certified products blanking slideway 8-3, certified products blanking jacking cylinder 8-1 under the de- material cylinder 1-4 of certified products discharge station Side;Certified products inflatable body 8-2, the work of certified products discharge station are provided with above the frock clamp 1-3 of certified products discharge station Clamps 1-3 side is provided with certified products blanking slideway 8-3.
After certified products are sent to certified products discharge station, certified products blanking jacking cylinder 8-1 is driven on de- material cylinder 1-4 Rise, by certified products jack-up and depart from frock clamp 1-3, finished product is then blown into certified products blanking by certified products inflatable body 8-2 Skidded off in slideway 8-3, complete certified products discharging.
Defective work cutting module 9 is including defective work blanking jacking cylinder 9-1, defective work inflatable body 9-2 and not Certified products blanking slideway 9-3, defective work blanking jacking cylinder 9-1 are located at the de- material cylinder 1-4's of defective work discharge station Lower section;Defective work inflatable body 9-2, defective work blanking are provided with above the frock clamp 1-3 of defective work discharge station The frock clamp 1-3 of station side is provided with defective work blanking slideway 9-3.
After defective work is sent to defective work discharge station, defective work blanking jacking cylinder 9-1 drives de- material circle Post 1-4 rises, and by defective work jack-up and departs from frock clamp 1-3, is then blown to finished product by defective work inflatable body 9-2 Skidded off in defective work blanking slideway 9-3, complete defective work discharging.
Although embodiments of the present invention are hereinbefore described in detail, show for those skilled in the art And be clear to, various modifications and variations can be carried out to these embodiments.However, it is understood that this modifications and variations are all Belong within the scope and spirit of the present invention described in claims.Moreover, the present invention described herein can have others Embodiment, and can be practiced or carried out in several ways.

Claims (10)

1. one kind blocks O-ring automatic assembling and vision inspection apparatus, it is characterised in that:Including turntable module(1), block feeding Module(2), gluing module(3), magnet load module(4), drying module(5), O-ring seal load module(6), vision-based detection Module(7), certified products cutting module(8)With defective work cutting module(9);
Turntable module(1)Workbench(1-1)It can rotate, workbench(1-1)Circumferentially be divided into eight stations, eight stations according to It is secondary to be:Block feeding station, gluing station, magnet assembly station, drying station, O-ring seal assembly station, the inspection of finished product vision Survey station, certified products discharge station, defective work discharge station;
Block feeding station and be provided with blocking feeding module(2), block feeding module(2)Realize and block(100)Automatic order Feeding, will be blocked(100)It is encased in the frock clamp for blocking feeding station(1-3)It is interior;
Gluing station is provided with gluing module(3), gluing module(3)Complete blocking the gluing work of top magnet groove;
Magnet assembly station is provided with magnet load module(4), magnet load module(4)Complete magnet(101)Automatic charging And be loaded into the magnet groove at the top of blocking;
Drying station is provided with drying module(5), drying module(5)Complete the drying work of glue;
O-ring seal assembly station is provided with O-ring seal load module(6), O-ring seal load module(6)Realize O-shaped close The automatic charging of seal, and fitted into blocking;
Finished product vision-based detection station is provided with finished product vision-based detection module(7), finished product vision-based detection module(7)Complete the inspection of finished product Survey, detection content includes whether magnet, sealing ring have neglected loading, whether assemble in place;
Certified products discharge station is provided with certified products cutting module(8), certified products cutting module(8)For completing qualified finished product Blanking;By finished product vision-based detection module(7)The finished product of detection, if testing result shows qualified, turntable module(1)Should Finished product is sent to certified products discharge station, by certified products cutting module(8)Complete the blanking of the certified products;
Defective work discharge station is provided with defective work cutting module(9), defective work cutting module(9)Complete it is unqualified into The blanking of product;By finished product vision-based detection module(7)The finished product of detection, if testing result shows unqualified, turntable module (1)The finished product is sent to defective work discharge station, by defective work cutting module(9)Complete the blanking of the defective work.
2. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:The rotating disk Module(1)Including workbench(1-1), dispenser(1-2), frock clamp(1-3), de- material cylinder(1-4), workbench(1-1) Dispenser(1-2)Drive under can rotate;Workbench(1-1)Each station on be respectively arranged with frock clamp(1-3)With De- material cylinder(1-4);Frock clamp(1-3)It is fixedly installed on workbench(1-1)On, take off material cylinder(1-4)Positioned at workbench(1- 1)Lower section;De- material cylinder(1-4)It is movably set in frock clamp(1-3)On, when de- material cylinder(1-4)After stress can on Rise, so that by frock clamp(1-3)On workpiece jack-up and take off.
3. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:It is described to block Feeding module(2)Including blocking feeding vibrating disk(2-1), block feeding Straight line unit(2-2), block loading trough(2-3), block Material-dividing groove(2-4), jam detection sensor(2-5), block feeding manipulator(2-6), block feeding vibrating disk(2-1)Discharging Mouth connection blocks loading trough(2-3)Charging aperture, block loading trough(2-3)Discharging opening connection block material-dividing groove(2-4); Block loading trough(2-3)It is arranged at blocking feeding Straight line unit(2-2)On;Block material-dividing groove(2-4)On jam detection is installed Sensor(2-5), block material-dividing groove(2-4)Top be provided with blocking feeding manipulator(2-6).
4. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:The gluing Module(3)Including supplying glue pressurized tank(3-1), gluing cylinder(3-2), glue valve(3-3), for glue pressurized tank(3-1)With glue valve(3-3) It is connected, for glue pressurized tank(3-1)Can be to glue valve(3-3)For glue;Glue valve(3-3)Connect gluing cylinder(3-2), gluing cylinder (3-2)Glue valve can be driven(3-3)Move up and down.
5. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:The magnet Load module(4)Including magnet hopper(4-1), magnet sub-material groove(4-2), magnet sub-material cylinder(4-3), magnet cartridge match somebody with somebody cylinder (4-4), magnet assembly head(4-5), magnet detection sensor(4-6), vertically disposed magnet hopper(4-1)Lower end connection magnetic Iron material-dividing groove(4-2), magnet sub-material groove(4-2)It is provided with magnet detection sensor(4-6);Magnet sub-material groove(4-2)It is interior to set There is magnet sub-material cylinder(4-3), magnet sub-material cylinder(4-3)Can be by magnet sub-material groove(4-2)Interior magnet pushes to magnet Assembly station;The frock clamp of magnet assembly station(1-3)Top be provided with magnet assembly head(4-5), magnet assembly head(4- 5)Connect magnet cartridge and match somebody with somebody cylinder(4-4).
6. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:The drying Module(5)Including drying support(5-1)With drying handle(5-2), dry handle(5-2)Pass through drying support(5-1)Realize branch Support, dries handle(5-2)Positioned at the frock clamp of drying station(1-3)Top.
7. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:It is described O-shaped close Seal load module 6 includes O-ring seal feeding vibrating disk(6-1), O-ring seal feeding Straight line unit(6-2), O-ring seal Loading trough(6-3), O-ring seal material-dividing groove(6-4), O-ring seal material splitting cylinder(6-5), O-ring seal detection sensor (6-6), support ring platform(6-7), O-ring seal move material assembly manipulator(6-8), O-ring seal feeding vibrating disk(6-1), it is O-shaped close Seal feeding Straight line unit(6-2)With O-ring seal loading trough(6-3)The automatic feed mechanism of O-ring seal is constituted, it is O-shaped close Seal loading trough(6-3)Discharging opening set O-ring seal material-dividing groove(6-4);O-ring seal material-dividing groove(6-4)Set O-shaped Sealing ring detection sensor(6-6), O-ring seal detection sensor(6-6)For detecting sealing ring whether in place;O-shaped sealing Enclose material-dividing groove(6-4)O-ring seal material splitting cylinder is set(6-5), O-ring seal material splitting cylinder(6-5)Can be by O-ring seal Material-dividing groove(6-4)Interior sealing ring(102)Push to and treat feeding station;Treat to be provided with O-ring seal shifting above feeding station Expect assembly manipulator(6-8), O-ring seal, which is moved, expects assembly manipulator(6-8)On be provided with shifting material jaw and support ring knocking over mechanism; O-ring seal moves material assembly manipulator(6-8)Shifting material jaw can be driven to treat to move between feeding station and support ring station, together When drive support ring knocking over mechanism moved between support ring station and O-ring seal assembly station;Support ring station is provided with support ring platform (6-7);
Support ring knocking over mechanism includes support ring circular cone(6-9), knocking over cylinder(6-10), knocking over set(6-11), support ring circular cone(6-9)With Knocking over set(6-11)Connect knocking over cylinder(6-10), knocking over cylinder(6-10)Support ring circular cone can be driven respectively(6-9)And knocking over Set(6-11)Move up and down.
8. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:The finished product Vision-based detection module(7)Including industrial camera(7-1), light source(7-2), adjustment mechanism up and down(7-3)And horizontal adjusting mechanism(7- 4), industrial camera(7-1)Positioned at the frock clamp of finished product vision-based detection station(1-3)Side, light source(7-2)Regarded positioned at finished product Feel the frock clamp of detection station(1-3)Opposite side;Industrial camera(7-1)Adjustment mechanism above and below connection(7-3)Adjusted with level Complete machine structure(7-4), adjustment mechanism up and down(7-3)And horizontal adjusting mechanism(7-4)For adjusting industrial camera(7-1)Position.
9. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that:It is described qualified Product cutting module(8)Including certified products blanking jacking cylinder(8-1), certified products inflatable body(8-2)With certified products blanking slideway (8-3), certified products blanking jacking cylinder(8-1)Positioned at the de- material cylinder of certified products discharge station(1-4)Lower section;Under certified products Expect the frock clamp of station(1-3)Top is provided with certified products inflatable body(8-2), the frock clamp of certified products discharge station (1-3)Side be provided with certified products blanking slideway(8-3).
10. blocking O-ring automatic assembling according to claim 1 and vision inspection apparatus, it is characterised in that the blocking The assemble method of O-ring automatic assembling and vision inspection apparatus comprises the following steps:
Block feeding step;Block feeding vibrating disk(2-1)By vibration, make blocking(100)Sequentially enter blocking loading trough (2-3);Block feeding Straight line unit(2-2)Make blocking(100)From blocking loading trough(2-3)Charging aperture move to discharging opening, And enter blocking material-dividing groove(2-4), so as to realize blocking(100)Automatic charging;When jam detection sensor(2-5)Detect After blocking in place, feeding manipulator is blocked(2-6)Crawl blocks material-dividing groove(2-4)Interior blocking is passed to blocking feeding work The frock clamp of position(1-3)It is interior;
Magnet groove glue application step;Turntable module(1)Workbench(1-1)Rotation, painting is delivered to by the blocking for blocking feeding station After glue station, gluing cylinder(3-2)Drive glue valve(3-3)Decline, in place rear glue valve(3-3)Work, completes gluing;Then gluing Cylinder(3-2)Reset, wait gluing work next time;
Magnet feeding installation step;Magnet hopper(4-1)Interior magnet(101)Fall successively under gravity, work as bottom Magnet(101)Fall on magnet sub-material groove(4-2)It is interior, magnet detection sensor(4-6)Detect magnet(101)In place, magnet Material splitting cylinder(4-3)The magnet is pushed into magnet assembly station;Turntable module(1)Workbench(1-1)Rotation, by gluing work Magnet assembly station is delivered in the blocking of position, and magnet cartridge matches somebody with somebody cylinder(4-4)Drive magnet assembly head(4-5)Decline, by magnet(101) It is press fit into blocking, the gluing magnet of sharing applied by gluing station is with blocking;After completion magnet cartridge is matched somebody with somebody, magnet cartridge matches somebody with somebody cylinder (4-4)Reset, wait assembling next time;
Baking step;Turntable module(1)Workbench(1-1)Rotation, the blocking that completion magnet cartridge is matched somebody with somebody is sent to drying station, Dry handle(5-2)It is dried;
O-ring seal feeding installation step;The automatic feed mechanism of O-ring seal is by sealing ring(102)It is transported to O-ring seal Material-dividing groove(6-4), when O-ring seal detection sensor(6-6)Detect sealing ring(102)After in place, O-ring seal sub-material gas Cylinder(6-5)By O-ring seal material-dividing groove(6-4)Interior sealing ring(102)Push to and treat feeding station;O-ring seal moves material dress With manipulator(6-8)Drive and move material jaw and support ring knocking over mechanism kinematic, when shifting material jaw is located at whne feeding station, move material gas Pawl captures the sealing ring for treating feeding station(102), at the same time, support ring knocking over mechanism is located at support ring station, knocking over cylinder(6- 10)Drive support ring circular cone(6-9)Move downward, make support ring circular cone(6-9)It is inserted into support ring platform(6-7)On sealing ring in, it is complete Into support ring;When moving material jaw positioned at support ring station, by the sealing ring captured(102)Put to support ring platform(6-7)On, it is same with this When, support ring knocking over mechanism reaches O-ring seal assembly station, turntable module with big sealing ring is supportted(1)Workbench(1-1) Rotation, the blocking for completing drying is sent to O-ring seal assembly station, now support ring circular cone(6-9)It is exactly in magnet just Top is simultaneously in contact with it, knocking over cylinder(6-10)Drive knocking over set(6-11)Move downward, by support ring circular cone(6-9)On sealing Circle(102)Dial in plug for seal circle groove, complete sealing ring assembling;
Finished product vision-based detection step;Turntable module(1)Workbench(1-1)Rotation, the blocking of completion assembling is sent to finished product and regarded Feel detection station, finished product vision-based detection module(7)Detected;
Classification blanking step;Turntable module(1)Workbench(1-1)Rotation, it is qualified that the qualified certified products of testing result are sent to Product discharge station, certified products blanking jacking cylinder(8-1)Drive de- material cylinder(1-4)Rise, by certified products jack-up and depart from work Clamps(1-3), then by certified products inflatable body(8-2)Finished product is blown into certified products blanking slideway(8-3)Inside skid off, complete Certified products discharge;The underproof defective work of testing result is sent to defective work discharge station, defective work blanking jacking gas Cylinder(9-1)Drive de- material cylinder(1-4)Rise, by defective work jack-up and depart from frock clamp(1-3), then by defective work Inflatable body(9-2)Finished product is blown into defective work blanking slideway(9-3)Inside skid off, complete defective work discharging.
CN201710637830.9A 2017-07-31 2017-07-31 Block O-ring automatic assembling and vision inspection apparatus Active CN107225398B (en)

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CN107716215A (en) * 2017-10-24 2018-02-23 苏州润桐专利运营有限公司 A kind of capacitance body glue spreading method based on capacitance body automatic double surface gluer
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CN108296794A (en) * 2018-03-31 2018-07-20 温州职业技术学院 The processing of medical sector and on-line checking technique
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CN111438500A (en) * 2020-04-01 2020-07-24 宇山自动化技术(深圳)有限公司 Automatic assembling and detecting equipment for condenser
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