CN107344288B - Intelligent hub bearing online flexible automatic assembly system based on mechanical vision - Google Patents
Intelligent hub bearing online flexible automatic assembly system based on mechanical vision Download PDFInfo
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- CN107344288B CN107344288B CN201710681121.0A CN201710681121A CN107344288B CN 107344288 B CN107344288 B CN 107344288B CN 201710681121 A CN201710681121 A CN 201710681121A CN 107344288 B CN107344288 B CN 107344288B
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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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/008—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an intelligent hub bearing online flexible automatic assembly system based on mechanical vision, which comprises a machine vision acquisition device, a machine vision central processing unit, a conveying mechanism, an assembly station and a clamp, wherein the machine vision acquisition device, the assembly station and a clamp surround the hub conveying mechanism; the accessory comprises a first bearing, a middle spacer bush, a support ring and a second bearing; the machine vision central processing unit is connected with the machine vision central processing unit through a cable. According to the intelligent hub bearing online flexible automatic assembly system based on the mechanical vision, information such as the type and the size of a hub is collected, processed and judged through the machine vision, so that each accessory with the corresponding size is matched, meanwhile, whether turning steps are acceptable in the hub assembly process can be judged, and full-automatic assembly of hubs with different types and sizes can be achieved.
Description
Technical Field
The invention belongs to the field of machinery for assembling various different components into a combined unit, and particularly relates to an intelligent hub bearing online flexible automatic assembling system based on mechanical vision.
Background
Machine vision is a technology for automatically and completely detecting the appearance characteristics of a product in an industrial production process instead of human vision, and generally refers to detection equipment carrying a visual image system, wherein the image system is mainly constructed by optical instruments such as a camera, a lens, a light source and the like, and the principle is that a computer or an image processor and related equipment simulate the human visual behavior to finish obtaining information obtained by the human visual system. With the arrival of the 4.0 era of industry, the role of machine vision in the field of intelligent manufacturing becomes more and more important.
Machine vision is widely applied to the industrial fields of production, manufacturing, detection and the like, and is used for ensuring product quality, controlling production flow, sensing environment and the like. The machine vision system converts the shot target into an image signal, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination.
The existing assembly system of accessories such as hubs, bearings and the like can only assemble hubs of single set type and size according to fixed steps and modes, and has the problems that the assembly system can only assemble the hubs of set size and type and the accessories thereof and can not process hubs of different types and sizes. Meanwhile, some hubs need to be turned over in the assembling process, others do not need to be turned over, and a traditional assembling system can only be turned over or not according to a set program and cannot automatically identify whether turning over and turning over operation are needed or not. The assembly system of prior art to the wheel hub assembly of difference, needs artifical naked eye discernment wheel hub's model, size, and then selects to carry the accessory of corresponding model, size by conveying system, assembles through each accessory of anchor clamps centre gripping, needs each product to carry out once setting, and the operation is numerous and diverse, and degree of automation is low.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent hub bearing online flexible automatic assembly system based on mechanical vision, which is used for collecting, processing and judging information such as the type and the size of a hub through machine vision so as to match accessories with corresponding sizes, can judge whether turning steps in the hub assembly process are acceptable or not, and can realize full-automatic assembly of hubs with different types and sizes.
An intelligent hub bearing online flexible automatic assembly system based on mechanical vision comprises the following components:
the machine vision acquisition device is used for acquiring the vision information of the hub;
the machine vision central processing unit is used for judging and matching corresponding hub accessories according to the collected hub vision information, conveying the hub accessories to a corresponding feeding system, controlling the hub to turn over in the assembling process to judge the type and size of the hub, then matching the type and size of the accessories matched with the hub, and judging whether the hub needs to turn over after the first bearing is installed;
the conveying mechanism is used for conveying the hub conveying mechanism and the accessories and comprises a hub conveying mechanism, a first bearing conveying mechanism, an intermediate sleeve conveying mechanism, a support ring conveying mechanism and a second bearing conveying mechanism; the accessory comprises a first bearing, a middle spacer bush, a support ring and a second bearing;
the assembly station and the fixture comprise a first bearing assembly station, a hub overturning station, a C-shaped press station and a fixture corresponding to the C-shaped press station; the hub overturning station receives a signal of a central processing unit and overturns or does not overturn the hub; assembling a middle spacer bush, a support ring and a second bearing on the hub which completes the installation and the turning/non-turning of the first bearing by the C-shaped press; the hub conveying among the first bearing assembling station, the hub overturning station and the C-shaped press is realized through the hub conveying mechanism; the accessory is conveyed by an accessory conveying mechanism;
the machine vision central processing unit is connected with the machine vision central processing unit through a cable.
Optionally, the hub visual information includes the model and size of the hub; the machine vision acquisition device, the assembling station and the clamp surround the hub conveying mechanism; the first bearing conveying mechanism surrounds the first bearing assembling station, and the middle spacer sleeve conveying mechanism, the support ring conveying mechanism and the second bearing conveying mechanism surround the C-shaped press station; the machine vision acquisition device is arranged on the hub conveying mechanism positioned in front of the first bearing assembling station;
optionally, the machine vision collecting device includes a machine vision collecting support and a machine vision collecting device; the machine vision acquisition equipment acquires information of the hub transported on the hub conveying mechanism along a direction perpendicular to the hub conveying mechanism; the machine vision acquisition equipment is a camera.
Optionally, the wheel hub conveying mechanism comprises a wheel hub conveying support, roller fixing beams fixed on two sides of the top end of the wheel hub conveying support and chain wheel rollers arranged on the roller fixing beams, the chain wheel rollers are in transmission connection, and any one of the chain wheel rollers is connected with the motor shaft.
Optionally, the first bearing conveying mechanism and the second bearing conveying mechanism respectively comprise a bearing turntable, an upward vertical bearing rod arranged on the bearing turntable, and a clamp, and the clamp clamps the bearing from bottom to top and is mounted upward.
Optionally, the middle spacer sleeve conveying mechanism comprises a base, a roller rotating shaft, a middle spacer sleeve bottom plate, a middle spacer sleeve tray and a push rod; the rotary drum shafts are respectively arranged at the front end and the rear end of the base; the middle spacer sleeve bottom plate is powered by the rotary drum rotating shaft to drive the middle spacer sleeve tray to reciprocate for feeding and discharging, and the push rod pushes out the middle spacer sleeve in the middle spacer sleeve tray to the side of the clamp when the middle spacer sleeve tray reaches a target position so as to be clamped by the clamp.
Optionally, the support ring conveying mechanism includes a support ring turntable, an upward vertical support ring rod arranged on the support ring turntable, and a clamp.
Optionally, the first bearing assembling station comprises a first bearing assembling support, a first bearing assembling cylinder and a clamp, wherein the upper part of the first bearing assembling support crosses over the hub conveying mechanism; and a fixing block connected with the shaft of the first bearing assembly cylinder downwards penetrates through the cavity of the hub to be in contact with the hub.
Optionally, the hub turnover station includes a hub turnover base, a vertical guide rail bracket arranged on one side of the hub turnover base, two vertical guide rails arranged on the vertical guide rail bracket, vertical sliders arranged on the vertical guide rails, a connecting seat for fixing the two vertical sliders, a stepping motor arranged on the side of the connecting seat, a horizontal guide rail bracket connected with an output shaft of the stepping motor, two horizontal guide rails arranged on the horizontal guide rail bracket, horizontal sliders arranged on the horizontal guide rails, two supporting seats connected with the two horizontal sliders, two clamping arms arranged on the supporting seats, and a flat rail cylinder connected with the two clamping arms; the stepping motor and the flat rail air cylinder are connected with the machine vision central processing unit through electric signals.
Optionally, the C-shaped press station includes a C-shaped press and a hub continuous grabbing system, and the hub continuous grabbing system includes a hub continuous grabbing support, a hub continuous grabbing platform which is arranged on the hub continuous grabbing support and can horizontally rotate 180 degrees, and hub continuous grabbing arms which are respectively arranged on two sides of the hub continuous grabbing platform, can slide up and down and are 180 degrees.
Optionally, the device further comprises a shell, and the shell covers the middle sleeve conveying mechanism, the support ring conveying mechanism, the second bearing conveying mechanism and the station of the C-shaped press; the whole automatic assembly system is provided with a position sensor; the position sensor is connected with a machine vision central processing unit through an electric signal, and a three-color lamp, a display screen and a control switch which are respectively connected with the vision central processing unit through an electric signal are arranged on the shell.
In the present invention, the processing of the images acquired by the machine vision acquisition device and the associated algorithms are conventional algorithms of the prior art.
The invention has the beneficial effects that:
according to the intelligent hub bearing online flexible automatic assembly system based on the mechanical vision, information such as the type and the size of a hub is collected, processed and judged through machine vision, and then each accessory with the corresponding size is matched.
Drawings
FIG. 1 is a block diagram showing the construction of an automatic assembling system according to embodiment 1;
FIG. 2 is a rear view schematically showing the structure of the automatic assembling system according to embodiment 1;
FIG. 3 is a schematic front view of the automatic assembling system according to embodiment 1;
FIG. 4 is a schematic side view of the hub conveying mechanism of the automatic assembling system of the embodiment 1;
FIG. 5 is a front view showing the structure of a hub transporting mechanism of the automatic assembling system according to embodiment 1;
FIG. 6 is a schematic structural view of a bearing conveying structure of the automatic assembling system of the embodiment 1;
FIG. 7 is a schematic structural view of a spacer transport structure in the automatic assembling system according to embodiment 1;
FIG. 8 is a schematic structural view of a support ring conveying structure of the automatic assembling system of the embodiment 1;
FIG. 9 is a schematic structural view of a first bearing assembling station of the automatic assembling system according to embodiment 1;
FIG. 10 is a rear view schematically showing the structure of a hub turnover station of the automatic assembling system of the embodiment 1;
FIG. 11 is a schematic structural view of a C-type press station of the automatic assembling system of the embodiment 1;
FIG. 12 is a rear external view of the automatic assembling system of embodiment 2;
the drawings in the above figures are not to scale uniformly, and the drawings are appropriately scaled from the prior drawings for clarity of viewing.
In the figure, a machine vision collecting device 1, a machine vision central processing unit 2, a hub conveying mechanism 31, a first bearing conveying mechanism 32, an intermediate sleeve conveying mechanism 33, a support ring conveying mechanism 34, a second bearing conveying mechanism 35, a first bearing assembling station 41, a hub overturning station 42, a C-shaped press station 43, a hub conveying bracket 311, a roller fixing beam 312, a sprocket roller 313, a bearing turntable 321, a bearing rod 322, a base 331, a roller rotating shaft 332, an intermediate sleeve bottom plate 333, an intermediate sleeve tray 334 and a push rod 335, a support ring turntable 341, a support ring rod 342, a first bearing assembling bracket 411, a first bearing assembling air cylinder 412, a hub overturning base 421, a vertical guide rail bracket 422, a vertical guide rail 423, a vertical slide block 424, a connecting seat 425, a shaft 426 of a stepping motor, a horizontal guide rail bracket 427, a horizontal slide block 428, a supporting seat 429, a clamping arm 4210, a flat rail air cylinder 4211, a C-shaped press 431, a hub continuous grabbing bracket 432, a hub continuous grabbing platform 433, a hub continuous grabbing arm 434.
Detailed Description
In order to explain the technical content, structural features, attained objects and effects of the present invention in detail, the following embodiments are exemplified.
Example 1
An intelligent hub bearing online flexible automatic assembly system based on mechanical vision is shown in fig. 1, 2 and 3 and comprises the following components:
the machine vision acquisition device 1 is used for acquiring the vision information of the hub;
the machine vision central processing unit 2 is used for judging and matching corresponding hub accessories according to the collected hub vision information, conveying the hub accessories to a corresponding feeding system, controlling the hub to turn over in the assembling process to judge the type and size of the hub, matching the type and size of accessories matched with the hub, and judging whether the hub needs to turn over after a first bearing is installed;
the conveying mechanism is used for conveying the hub conveying mechanism 31 and accessories and comprises the hub conveying mechanism 31, a first bearing conveying mechanism 32, a middle spacer conveying mechanism 33, a support ring conveying mechanism 34 and a second bearing conveying mechanism 35; the accessory comprises a first bearing, a middle spacer bush, a support ring and a second bearing;
the assembly station and the fixture comprise a first bearing assembly station 41, a hub overturning station 42, a C-shaped press station 43 and corresponding fixtures; the first bearing assembling station 41 is used for installing a first bearing on the hub, and the hub overturning station 41 is used for receiving a signal of a central processing unit and overturning or not overturning the hub; the C-press 41 assembles the spacer bush, the support ring and the second bearing onto the hub which completes the first bearing mounting and the turning/non-turning; the hub conveying among the first bearing assembling station, the hub overturning station and the C-shaped press is realized through the hub conveying mechanism 31; the accessories are conveyed by an accessory conveying mechanism;
the machine vision central processing unit 2 is connected with a machine vision central processing unit through a power supply.
The hub visual information comprises the model and the size of the hub; the machine vision acquisition device 1, the assembling station and the clamp surround the hub conveying mechanism 31; the first bearing conveying mechanism 32 surrounds the first bearing assembling station 41, and the middle sleeve conveying mechanism 33, the support ring conveying mechanism 34 and the second bearing conveying mechanism 35 surround the C-shaped press station 43; the machine vision acquisition device 1 is arranged on the hub conveying mechanism 31 positioned in front of the first bearing assembling station 41;
the machine vision acquisition device 1 comprises a machine vision acquisition bracket and machine vision acquisition equipment; the machine vision acquisition equipment acquires information of the wheel hub transported on the wheel hub conveying mechanism 31 along a direction perpendicular to the wheel hub conveying mechanism 31; the machine vision acquisition equipment is a camera.
Referring to fig. 4 and 5, the hub conveying mechanism 31 includes a hub conveying bracket 311, roller fixing beams 312 fixed to both sides of the top end of the hub conveying bracket 311, and sprocket rollers 313 arranged on the roller fixing beams 312, wherein the sprocket rollers 313 are connected in a transmission manner, and any one of the sprocket rollers 313 is connected to a motor shaft.
As shown in fig. 6, each of the first bearing conveying mechanism 32 and the second bearing conveying mechanism 35 includes a bearing turntable 321, a bearing rod 322 disposed on the bearing turntable 321 and vertically upward, and a clamp, which is configured to clamp the bearing from bottom to top and is installed upward.
As shown in fig. 7, the middle spacer conveying mechanism 33 includes a base 331, a roller rotating shaft 332, a middle spacer base plate 333, a middle spacer tray 334, and a push rod 335; the roller rotating shaft 332 is respectively arranged at the front end and the rear end of the base 331; the middle spacer base plate 333 is powered by the roller rotating shaft 332 to drive the middle spacer tray 334 to reciprocate for loading and unloading, and the push rod 335 pushes out the middle spacer in the middle spacer tray 334 to the clamp side when the middle spacer tray 334 reaches the target position, so that the clamp can clamp the middle spacer.
As shown in fig. 8, the support ring conveying mechanism 34 includes a support ring rotating table 341, an upward vertical support ring rod 342 disposed on the support ring rotating table 341, and a clamp.
As shown in fig. 9, the first bearing assembling station 41 includes a first bearing assembling bracket 411 whose upper portion crosses over the hub conveying mechanism 31, a first bearing assembling cylinder 412 located at the upper portion of the first bearing assembling bracket 411, and a clamp; a fixing block connected to the shaft of the first bearing assembling cylinder 412 passes downward through the hollow of the hub to contact the hub.
As shown in fig. 10, the hub flipping station 42 includes a hub flipping base 421, a vertical guide rail support 422 disposed on one side of the hub flipping base 421, two vertical guide rails 423 disposed on the vertical guide rail support 422, a vertical slider 424 disposed on the vertical guide rail 423, a connecting seat 425 for fixing the two vertical sliders 424, a stepping motor disposed on the connecting seat 425 side, a horizontal guide rail support 427 connected to a shaft 426 of the stepping motor, two horizontal guide rails disposed on the horizontal guide rail support 427, a horizontal slider 428 disposed on the horizontal guide rail, two supporting seats 429 connected to the two horizontal sliders 428, two clamping arms 4210 disposed on the supporting seats 429, and a flat rail cylinder 4211 for connecting the two clamping arms 4210; the stepping motor and the flat rail air cylinder 4211 are connected with the machine vision central processing unit 2 through electric signals.
Referring to fig. 11, the C-type press station 43 includes a C-type press 431 and a hub continuous grabbing system, and the hub continuous grabbing system includes a hub continuous grabbing bracket 432, a hub continuous grabbing platform 433 which is arranged on the hub continuous grabbing bracket 432 and can rotate 180 ° horizontally, and hub continuous grabbing arms 434 which are respectively arranged on both sides of the hub continuous grabbing platform 433 and can slide up and down and present 180 °.
The online flexible automatic assembly system based on the mechanical vision intelligent hub bearing can achieve machine vision information acquisition of hubs of any model, and control a machining process and an accessory feeding system to select corresponding models.
Example 2
The difference from the embodiment 1 is that, as shown in fig. 12, the device further comprises a housing which is covered on the septum conveying mechanism 33, the support ring conveying mechanism 34, the second bearing conveying mechanism 35 and the C-shaped press station 43; the whole automatic assembly system is provided with a position sensor; the position sensor is connected with the machine vision central processing unit 2 through an electric signal, and the shell is provided with a three-color lamp, a display screen and a control switch which are respectively connected with the vision central processing unit 2 through an electric signal.
According to the online flexible automatic assembly system based on the mechanical vision intelligent hub bearing, the vision central processing unit 2 receives signals of the position sensor and can provide functions of alarming, parameter display, emergency shutdown and the like.
It should be understood that the above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, so that the equivalent changes and modifications made in the light of the above disclosure and the appended claims are all within the scope of the present invention.
Claims (3)
1. The utility model provides an online flexible automatic assembly system of intelligent wheel hub bearing based on machine vision which characterized in that includes following subassembly:
the machine vision acquisition device (1) is used for acquiring the vision information of the hub;
the machine vision central processing unit (2) is used for judging and matching corresponding wheel hub accessories according to the collected wheel hub vision information, conveying the wheel hub accessories to a corresponding feeding system, controlling the wheel hub to turn over in the assembling process to judge the type and size of the wheel hub, matching the type and size of the accessories matched with the wheel hub, and judging whether the wheel hub needs to turn over after a first bearing is installed; the conveying mechanism is used for conveying the hub conveying mechanism (31) and accessories and comprises a hub conveying mechanism (31), a first bearing conveying mechanism (32), an intermediate sleeve conveying mechanism (33), a support ring conveying mechanism (34) and a second bearing conveying mechanism (35); the accessory comprises a first bearing, a middle spacer bush, a support ring and a second bearing;
the assembly station and the clamp comprise a first bearing assembly station (41), a hub overturning station (42), a C-shaped press station (43) and a clamp corresponding to the C-shaped press station; wherein the first bearing assembly station (41) mounts a first bearing on the hub, and the hub overturning station (42) receives a signal of a machine vision central processing unit and overturns or does not overturn the hub; the C-shaped press station (43) assembles a middle spacer bush, a support ring and a second bearing on the hub which completes the installation and the turning/non-turning of the first bearing; the hub conveying among the first bearing assembling station, the hub overturning station and the C-shaped press station is realized through the hub conveying mechanism (31); the accessory is conveyed by an accessory conveying mechanism;
the machine vision central processing unit (2) is connected with the accessory feeding system through an electric signal;
the hub visual information comprises the model and the size of the hub; the machine vision acquisition device (1), the assembling station and the clamp surround the hub conveying mechanism (31); the first bearing conveying mechanism (32) surrounds the first bearing assembling station (41), and the middle spacer sleeve conveying mechanism (33), the support ring conveying mechanism (34) and the second bearing conveying mechanism (35) surround the C-shaped press station (43);
the machine vision acquisition device (1) is arranged on a hub conveying mechanism (31) positioned in front of the first bearing assembly station (41);
the machine vision acquisition device (1) comprises a machine vision acquisition bracket and machine vision acquisition equipment; the machine vision acquisition equipment acquires information of the wheel hub transported on the wheel hub conveying mechanism (31) along a direction perpendicular to the wheel hub conveying mechanism (31); the machine vision acquisition equipment is a camera;
the wheel hub conveying mechanism (31) comprises a wheel hub conveying support (311), roller fixing beams (312) fixed on two sides of the top end of the wheel hub conveying support (311) and chain wheel rollers (313) arranged on the roller fixing beams (312), the chain wheel rollers (313) are in transmission connection, and any one chain wheel roller (313) is connected with a motor shaft;
the first bearing conveying mechanism (32) and the second bearing conveying mechanism (35) respectively comprise a bearing turntable (321), an upward vertical bearing rod (322) arranged on the bearing turntable (321) and a clamp, and the clamp clamps the bearing from bottom to top and is installed upwards;
the middle spacer sleeve conveying mechanism (33) comprises a base (331), a roller rotating shaft (332), a middle spacer sleeve bottom plate (333), a middle spacer sleeve tray (334) and a push rod (335); the rotary drum rotating shafts (332) are respectively arranged at the front end and the rear end of the base (331); the middle spacer sleeve bottom plate (333) is powered by the roller rotating shaft (332) to drive the middle spacer sleeve tray (334) to reciprocate for feeding and discharging, and the push rod (335) pushes out the middle spacer sleeve in the middle spacer sleeve tray (334) to the side of the clamp when the middle spacer sleeve tray (334) reaches a target position so as to be clamped by the clamp;
the support ring conveying mechanism (34) comprises a support ring turntable (341), a support ring rod (342) and a clamp, wherein the support ring rod is arranged on the support ring turntable (341) and is vertical upwards;
the first bearing assembling station (41) comprises a first bearing assembling support (411) with the upper part crossing the hub conveying mechanism (31), a first bearing assembling cylinder (412) positioned on the upper part of the first bearing assembling support (411) and a clamp; a fixing block connected with a shaft of the first bearing assembly cylinder (412) downwards penetrates through a cavity of the hub to be in contact with the hub;
the hub overturning station (42) comprises a hub overturning base (421), a vertical guide rail support (422) arranged on one side of the hub overturning base (421), two vertical guide rails (423) arranged on the vertical guide rail support (422), two vertical sliding blocks (424) arranged on the vertical guide rails (423), a connecting seat (425) for fixing the two vertical sliding blocks (424), a stepping motor arranged on the side of the connecting seat (425), a horizontal guide rail support (427) connected with an output shaft (426) of the stepping motor, two horizontal guide rails arranged on the horizontal guide rail support (427), a horizontal sliding block (428) arranged on the horizontal guide rail, two supporting seats (429) connected with the two horizontal sliding blocks (428), two clamping arms (4210) arranged on the supporting seats (429) and a flat rail cylinder (4211) for connecting the two clamping arms (4210);
the stepping motor and the flat rail air cylinder (4211) are connected with the machine vision central processing unit (2) through electric signals.
2. The on-line flexible automatic assembly system for the intelligent hub bearing based on the machine vision is characterized in that the C-shaped press station (43) comprises a C-shaped press (431) and a hub continuous grabbing system, the hub continuous grabbing system comprises a hub continuous grabbing bracket (432), a hub continuous grabbing platform (433) which is arranged on the hub continuous grabbing bracket (432) and can horizontally rotate for 180 degrees, and hub continuous grabbing arms (434) which are respectively arranged on two sides of the hub continuous grabbing platform (433), can slide up and down and are 180 degrees.
3. The intelligent hub bearing online flexible automatic assembly system based on machine vision as claimed in any one of claims 1-2, further comprising a housing, wherein the housing covers the middle spacer sleeve conveying mechanism (33), the support ring conveying mechanism (34), the second bearing conveying mechanism (35) and the C-shaped press station (43); the whole automatic assembly system is provided with a position sensor; the position sensor is connected with the machine vision central processing unit (2) through an electric signal, and the shell is provided with a three-color lamp, a display screen and a control switch which are respectively connected with the machine vision central processing unit (2) through an electric signal.
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| CN201710681121.0A CN107344288B (en) | 2017-08-10 | 2017-08-10 | Intelligent hub bearing online flexible automatic assembly system based on mechanical vision |
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| CN201710681121.0A CN107344288B (en) | 2017-08-10 | 2017-08-10 | Intelligent hub bearing online flexible automatic assembly system based on mechanical vision |
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| CN107344288B true CN107344288B (en) | 2023-04-07 |
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| CN204171637U (en) * | 2014-08-18 | 2015-02-25 | 驻马店中集华骏铸造有限公司 | A kind of press-loading apparatus of hub bearing outer ring |
| CN104444360B (en) * | 2014-12-09 | 2017-01-18 | 华中科技大学无锡研究院 | Five-axis hub transfer robot and clamping manipulator |
| CN104670847A (en) * | 2015-02-28 | 2015-06-03 | 江苏天宏自动化科技有限公司 | Hub pattern recognition device of automatic conveying chain |
| CN104801948B (en) * | 2015-04-14 | 2017-03-01 | 海宁奥通汽车零件有限公司 | A kind of full-automatic numerical control hub-bearing unit sealing member press-fits, on-line checking machine |
| CN105059872A (en) * | 2015-08-28 | 2015-11-18 | 江苏天宏自动化科技有限公司 | Visual system for recognizing model of hub and deburring window |
| CN205363229U (en) * | 2015-12-09 | 2016-07-06 | 青岛力鼎自动化设备有限公司 | Wheel hub brake drum automatic assembly and wheel hub assembly automatic processing production line |
| CN106112511B (en) * | 2016-07-20 | 2018-01-16 | 广东富华重工制造有限公司 | A kind of hub assembly is pressed production line |
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2017
- 2017-08-10 CN CN201710681121.0A patent/CN107344288B/en active Active
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