CN108526373A - A kind of flexible riveting set and its flexibility riveting system of view-based access control model guiding - Google Patents
A kind of flexible riveting set and its flexibility riveting system of view-based access control model guiding Download PDFInfo
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- CN108526373A CN108526373A CN201810364899.3A CN201810364899A CN108526373A CN 108526373 A CN108526373 A CN 108526373A CN 201810364899 A CN201810364899 A CN 201810364899A CN 108526373 A CN108526373 A CN 108526373A
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- riveting
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- feeding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/16—Drives for riveting machines; Transmission means therefor
- B21J15/20—Drives for riveting machines; Transmission means therefor operated by hydraulic or liquid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of flexible riveting sets of view-based access control model guiding, including supply assembly, riveting component, feeding riveting component, separation net, operating console, the present invention is combined using industrial camera, vision guide technology with riveting system, the riveted holes of workpiece are enable accurately to enter riveting range and accurately into riveting, so that riveting part surface is without chewing, achieve the effect that flexibility into riveting, and improves riveting work efficiency.
Description
Technical field
A kind of guided the present invention relates to workpiece riveting process technology more particularly to view-based access control model flexible riveting set and its
Flexible riveting system.
Background technology
With the development of economy and society, demand of the people to trip grows to even greater heights, and is therefore also got over to the demand of automobile
Come bigger；Thus stimulate auto manufacturing toward intelligent, unmanned, modernization construction.
For example, in the technique of vehicle dormer window guide rail, the difficulty of staking process is larger, is mainly reflected in riveting process,
Cooperation required precision on rivet and skylight guide rail between aperture, the hole position of riveted holes is high, but precision in actual production
It is required that cannot be satisfied requirement, for example it often will appear riveted holes and tooling straightness or the straightness of rivet in actual production
Decentraction, occur riveting partially, chew the problems such as riveting part surface or riveting part surface indentation are apparent；Lead to the product surface after polishing
The problems such as unevenness, Product Precision reduce, and stability is weak, bad adaptability, and product rejection rate increases, this seriously affects productivity effect.
It is current most riveting system designs that riveting efficiency how is improved under the premise of ensureing product stability, practicability
Person needs the problem of facing.
Invention content
In view of the above-mentioned state of the art, technical problem to be solved by the present invention lies in a kind of high efficiency of offer, height
The flexible riveting set and its flexible riveting system of the view-based access control model guiding of stability.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of flexible riveting dress of view-based access control model guiding
It sets, including：
Supply assembly：The supply assembly for providing and positioning the workpiece for being provided with riveted holes, the supply assembly include rollway and
The feed mechanism and cutting agency being arranged on rollway；
Rivet component：The riveting component carries out riveting for providing rivet and being directed at riveted holes to workpiece, which includes
Riveting platform, rivet storehouse pass staple rail road, riveting mechanism, can position the industrial camera for riveting hole site on workpiece, the riveting platform pair
It answers and is provided with riveted sensor immediately below rivet pressing structure；
Feeding riveting component：The feeding riveting component carries out riveting for capturing the workpiece on supply assembly and being transferred to riveting component
Then pressure sends the workpiece after riveting back to supply assembly again, which includes auxiliary dress platform, is rotatably arranged on auxiliary dress platform
Upper mechanical arm is movably connected in clip claw mechanism of the mechanical arm one end for grabbing workpiece, wherein between clip claw mechanism and mechanical arm
It is equipped with fine tuning riveting mechanism；
Separation net：For by feeding material component, riveting component, feeding riveting component shroud is in an environment；
Operating console：For monitoring various components real-time behavior, which is equipped with display screen, the feed
Component, riveting component, feeding riveting component, industrial camera are electrically connected with operating console；
Power control cabinet：For giving various components and operating console to provide power supply, the power control cabinet respectively with supply assembly, riveting group
Part, feeding riveting component, operating console are electrically connected.
Further, the feed mechanism includes feeding platen, is arranged in parallel in upper left material group and upper right on feeding platen
Material group, and the direction of the upper left material group and upper right material group is reversed, the upper left material group and upper right material group include symmetrically setting
The feeding platform set, wherein left and right on the feeding platform of one end to be arranged in parallel with rectangular jacking block and T-type jacking block, the feeding platform of the other end
On be provided with L-type jacking block, and between rectangular jacking block, the T-type jacking block and back side of L-type jacking block is corresponded on feeding platform respectively and is respectively provided with
The positioning column of fixed workpiece can be worn by having, in addition, the cutting agency includes blanking rack, is arranged in parallel on blanking rack
Lower-left material group and bottom right material group, and the direction of the lower-left material group and bottom right material group is reversed, the lower-left material group and bottom right material group
Include symmetrically arranged blanking bench, wherein be arranged in parallel with rectangular locating piece and T-type positioning with left and right on the blanking bench at end
Block is provided with L-type locating piece on the blanking bench of the other end, to reach, to reach Full-automatic feeding and the blanking of workpiece
Effect.
Further, the riveting mechanism includes the riveting frame being erected on riveting platform, the riveting being arranged on riveting frame
Group, the positive hyte of adjustable rivet, is connect with rivet storehouse by passing staple rail road and adjustable the riveting position being located at immediately below riveting group
The positive hyte of whole rivet and the servo group that rivet is transferred to riveting position from positive hyte, wherein：
The riveting group includes riveting cylinder and riveting pressure head, and the riveting cylinder is fixed on riveting frame from vertical output direction
On, the riveting pressure head is connect with the output end of riveting cylinder；
The riveting position is located on riveting platform, and the riveting hyte includes T-type riveted block, wears T-type riveted block and pass through spring
With the riveting fore-set of riveting platform elastic connection, which is in riveting pressure head on same vertical line；
The positive hyte and riveting bit parallel, which includes T-type normotopia block, and normotopia slot is provided on the T-type normotopia block, described
The output end and normotopia slot for passing staple rail road are connected；
The servo group includes horizontal slide rail, longitudinal slide rail and the clamp mechanism that can be used for picking up rivet in normotopia slot, described
Horizontal slide rail is fixed on by fixed seat on riveting platform, and the longitudinal slide rail is slided perpendicular to horizontal slide rail and with the horizontal slide rail
It connects, being slipped in the longitudinal slide rail has driver plate, the clamp mechanism to be fixed on driver plate, which includes holder, folder
Pawl cylinder, left clamp and right clamping plate, the left clamp and right clamping plate symmetrically slip on holder, and the clamping jaw cylinder is also secured at folder
On seat, and the left clamp and right clamping plate clamp workpiece by clamping jaw cylinder, and the holder is fixed on driver plate.
Further, rotation is provided with mounting base on the auxiliary dress platform, which is turned by first motor and auxiliary dress platform
Dynamic connection, the mechanical arm include upper joint arm and ShiShimonoseki joint arm, and the upper joint arm includes arm body and is rotatably arranged on arm
Armed lever in body, wherein one end of ShiShimonoseki joint arm is hinged by the second motor and mounting base, the other end of ShiShimonoseki joint arm
Hinged by the arm body of third motor and upper joint arm, one end which corresponds to ShiShimonoseki joint arm is equipped with the 4th motor, described
The other end of armed lever is hinged by the 5th motor and clip claw mechanism, and the fine tuning riveting mechanism is connected on clip claw mechanism, and its
In：
The clip claw mechanism includes that connecting rod, pickup frame, the upper holder for being fixed on pickup frame both sides and upper holder are symmetrical
Lower holder, wherein the pickup frame is connect by connecting rod with upper joint arm, which is flexibly connected with pickup frame,
It is fixed with lifting cylinder by corresponding upper holder on the pickup frame, which connect with lower holder.
The fine tuning riveting mechanism includes the 6th motor, and the output end of the 6th motor is connect with connecting rod.
1. a kind of flexible riveting system of view-based access control model guiding, including industrial camera module, vision operation guide module,
PLC control modules, mechanical arm control module, the industrial camera module are located at the upper end of vision operation guide module, the vision
Operation guide module is located at the upper end of PLC control modules, which is located at the upper end of mechanical arm control module, wherein：
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera, to work
Riveted holes on part carry out camera shooting acquisition, and the Pixel Information of image is transferred to vision operation guide mould by Ethernet interface
Block；
Vision operation guide module, the vision operation guide module include filtering group, noise reduction group, visual instantiation group successively, are somebody's turn to do
Filtering group connect and is received with industrial camera the Pixel Information of industrial camera module acquisition and be sequentially delivered to filtering group and filtered
Wave processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the instantiation that visual instantiation group carries out Pixel Information,
The difference of workpiece riveted holes is calculated, and the difference is sent to PLC control modules；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, and the mechanical arm control module is respectively with first
Motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control modules, the PLC control modules be PLC controller, the PLC control modules respectively with mechanical arm control module, regard
Feel the connection of operation guide module, wherein it is right that PLC control modules receive and process the data that vision operation guide module is sent
Data command is sent to mechanical arm control module afterwards, which controls first motor, the second motor, third again
Motor, the 4th motor, the 5th motor, the 6th motor carry out the movement locus of control machinery arm.
Compared with the prior art, the advantages of the present invention are as follows：The present invention is using industrial camera, vision guide technology and riveting
System combines so that the riveted holes of workpiece can accurately enter riveting range and accurately into riveting so that riveting part surface reaches without chewing
Flexibility and improves riveting work efficiency into the effect of riveting, and reasonable design of the present invention accords with the demands of the market, and is suitble to promote.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram in addition to separation net of the present invention；
Fig. 3 is the structural schematic diagram of supply assembly of the present invention；
Fig. 4 is the structural schematic diagram of present invention riveting component；
Fig. 5 is the structural schematic diagram on the riveting platform of present invention riveting component；
Fig. 6 is the structural schematic diagram of present invention riveting position and positive hyte；
Fig. 7 is the structural schematic diagram of present clip mechanism；
Fig. 8 is the structural schematic diagram of feeding riveting component of the present invention；
Fig. 9 is the system construction drawing of the present invention.
Specific implementation mode
As shown in figures 1-8, a kind of flexible riveting set of view-based access control model guiding, including：
Supply assembly 1：For the supply assembly 1 for providing and positioning the workpiece for being provided with riveted holes, which includes rollway
The 1-1 and feed mechanism 1-2 being arranged on rollway 1-1 and cutting agency 1-3, the feed mechanism 1-1 include feeding platen
1-1-1, upper left material group 1-1-2 and upper right material group 1-1-3 on feeding platen 1-1-1, and the upper left material group 1- are arranged in parallel in
The direction of 1-2 and upper right material group 1-1-3 are reversed, and upper left material group 1-1-2 and upper right material group 1-1-3 include being symmetrical arranged
Feeding platform 1-1-4, wherein it is left and right on the feeding platform 1-1-4 of one end to be arranged in parallel with rectangular jacking block 1-1-5 and T-type jacking block 1-
It is provided with L-type jacking block 1-1-7 on 1-6, the feeding platform 1-1-4 of the other end, and corresponds to rectangular jacking block 1- on feeding platform 1-1-4 respectively
The back side of 1-1-6 and L-type jacking block 1-1-7 are both provided with the positioning column 1-1-8 that can wear fixed workpiece between 1-5, T-type jacking block,
In addition, the cutting agency 1-2 includes blanking rack 1-2-1, the lower-left material group 1-2- that is arranged in parallel on blanking rack 1-2-1
2 and bottom right material group 1-2-3, and the direction of lower-left material group 1-2-2 and bottom right material group 1-2-3 are reversed, the lower-left material group 1-
2-2 and bottom right material group 1-2-3 includes symmetrically arranged blanking bench 1-2-4, wherein with left and right flat on the blanking bench 1-2-4 at end
Row is provided with rectangular locating piece 1-2-5 and T-type locating piece 1-2-6, and L-type locating piece is provided on the blanking bench 1-2-4 of the other end
1-2-7, to reach, to achieve the effect that Full-automatic feeding and the blanking of workpiece；
Rivet component 2：The riveting component 2 carries out riveting, the riveting component 2 packet for providing rivet and being directed at riveted holes to workpiece
Riveting platform 2-1, rivet storehouse 2-2 are included, staple rail road 2-3 is passed, riveting mechanism 2-4, the industrial phase for riveting hole site on workpiece can be positioned
Machine 2-5, the riveting platform 2-1, which is corresponded to, is provided with riveted sensor 2-6 immediately below rivet pressing structure 2-4, the riveting mechanism 2-
4 include be erected on riveting platform 2-1 riveting frame 2-4-1, be arranged on riveting frame 2-4-1 riveting group 2-4-2, be located at riveting
The positive hyte 2-4-4 of riveting position 2-4-3, adjustable rivet immediately below group 2-4-2, pass through biography staple rail road 2-3 and rivet storehouse 2-2
Connection and the positive hyte 2-4-4 of adjustable rivet and the servo group that rivet is transferred to riveting position 2-4-3 from positive hyte 2-4-4
2-4-5, wherein：
The riveting group 2-4-2 include riveting cylinder 2-4-2-1 and riveting pressure head 2-4-2-2, the riveting cylinder 2-4-2-1 from
Vertical output direction is fixed on riveting frame 2-4-1, the output end of riveting the pressure head 2-4-2-2 and riveting cylinder 2-4-2-1
Connection；
The riveting position 2-4-3 is located on riveting platform 2-1, and the riveting position 2-4-3 groups include T-type riveted block 2-4-3-1, wear
T-type riveted block 2-4-3-1 simultaneously passes through the riveting fore-set 2-4-3-3 of spring 2-4-3-2 and riveting platform 2-1 elastic connections, the riveting
Fore-set 2-4-3-3 is in riveting pressure head 2-4-2-2 on same vertical line；
The positive hyte 2-4-4 is parallel with riveting position 2-4-3, which includes T-type normotopia block 2-4-4-1, the T-type
Normotopia slot 2-4-4-2 is provided on normotopia block 2-4-4-1, the output end for passing staple rail road 2-3 is connected with normotopia slot 2-4-4-2；
The servo group 2-4-5 includes horizontal slide rail 2-4-5-1, longitudinal slide rail 2-4-5-2 and can be used for picking up normotopia slot 2-
The clamp mechanism 2-4-5-3 of rivet, the horizontal slide rail 2-4-5-1 are fixed on by fixed seat on riveting platform 2-1 in 4-4-2,
The longitudinal slide rail 2-4-5-2 is perpendicular to horizontal slide rail 2-4-5-1 and sliding with horizontal slide rail 2-4-5-1, the longitudinal slide rail
Being slipped on 2-4-5-2 has driver plate 2-4-5-4, and the clamp mechanism 2-4-5-3 is fixed on driver plate 2-4-5-4, the fixture
Mechanism 2-4-5-3 includes holder 2-4-5-3-1, clamping jaw cylinder 2-4-5-3-2, left clamp 2-4-5-3-3 and right clamping plate 2-4-5-
3-4, left clamp 2-4-5-3-3 and right clamping plate 2-4-5-3-4 symmetrically slip on holder 2-4-5-3-1, the clamping jaw cylinder
2-4-5-3-2 is also secured on holder 2-4-5-3-1, and the left clamp 2-4-5-3-3 and right clamping plate 2-4-5-3-4 pass through folder
Pawl cylinder 2-4-5-3-2 clamps workpiece, and the holder 2-4-5-3-1 is fixed on driver plate 2-4-5-4.
Feeding riveting component 3：The feeding riveting component 3 is for capturing the workpiece on supply assembly 1 and being transferred to riveting group
Part 2 carries out riveting and then sends the workpiece after riveting back to supply assembly 1 again, which includes auxiliary dress platform 3-1, turns
It is dynamic that mechanical arm 3-2, the clip claw mechanism 3- for being movably connected in the one end mechanical arm 3-2 for grabbing workpiece are set on auxiliary dress platform 3-1
3, fine tuning riveting mechanism 3-4 is equipped between wherein clip claw mechanism 3-3 and mechanical arm 3-2, rotate and set on the auxiliary dress platform 3-1
It is equipped with mounting base 3-5, mounting base 3-5 is rotatablely connected by first motor 3-6 and auxiliary dress platform 3-1, and the mechanical arm 3-2 includes
Upper joint arm 3-2-1 and ShiShimonoseki joint arm 3-2-2, the upper joint arm 3-2-1 include arm body 3-2-1-1 and are rotatably arranged on arm
Armed lever 3-2-1-2 in body 3-2-1-1, wherein one end of ShiShimonoseki joint arm 3-2-2 passes through the second motor 3-2-3 and installation
Seat 3-5 is hinged, the arm body 3-2-1- that the other end of ShiShimonoseki joint arm 3-2-2 passes through third motor 3-2-4 and upper joint arm 3-2-1
1 is hinged, and one end that armed lever 3-2-1-2 corresponds to ShiShimonoseki joint arm 3-2-2 is equipped with the 4th motor 3-2-5, the armed lever 3-2-1-2
The other end it is hinged by the 5th motor 3-2-6 and clip claw mechanism 3-3, the fine tuning riveting mechanism 3-4 is connected in clip claw mechanism
On 3-3, and wherein：
The clip claw mechanism 3-3 includes connecting rod 3-3-1, pickup frame 3-3-2, the upper folder for being fixed on the both sides pickup frame 3-3-2
Seat 3-3-3 and lower holder 3-3-4 symmetrical upper holder 3-3-3, wherein the pickup frame 3-3-2 passes through connecting rod 3-3-
1 connect with upper joint arm 3-2-1, and connecting rod 3-3-1 is flexibly connected with pickup frame 3-3-2, corresponding on pickup frame 3-3-2
It is fixed with lifting cylinder 3-3-5 by upper holder 3-3-3, lifting cylinder 3-3-5 is connect with lower holder 3-3-4.
The fine tuning riveting mechanism 3-4 includes the 6th motor 3-4-1, the output end and connecting rod of the 6th motor 3-4-1
Part 3-3-1 connections；
Separation net 4：For by feeding material component 1, riveting component 2,3 shroud of feeding riveting component is in an environment；
Operating console 5：For monitoring various components real-time behavior, which is equipped with display screen, the confession
Material component 1, riveting component 2, feeding riveting component 3, industrial camera 2-5 are electrically connected with operating console 5；
Power control cabinet 6：For giving various components and operating console 5 to provide power supply, the power control cabinet respectively with supply assembly 1, riveting
Component 2, feeding riveting component 3, operating console 5 are electrically connected.
2. as shown in figure 9, a kind of flexible riveting system of view-based access control model guiding, including industrial camera module, vision operation
Guiding module, PLC control modules, mechanical arm control module, the industrial camera module are located at the upper of vision operation guide module
End, the vision operation guide module are located at the upper end of PLC control modules, which is located at mechanical arm control module
Upper end, wherein：
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera, to work
Riveted holes on part carry out camera shooting acquisition, and the Pixel Information of image is transferred to vision operation guide mould by Ethernet interface
Block；
Vision operation guide module, the vision operation guide module include filtering group, noise reduction group, visual instantiation group successively, are somebody's turn to do
Filtering group connect and is received with industrial camera the Pixel Information of industrial camera module acquisition and be sequentially delivered to filtering group and filtered
Wave processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the instantiation that visual instantiation group carries out Pixel Information,
The difference of workpiece riveted holes is calculated, and the difference is sent to PLC control modules；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, and the mechanical arm control module is respectively with first
Motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control modules, the PLC control modules be PLC controller, the PLC control modules respectively with mechanical arm control module, regard
Feel the connection of operation guide module, wherein it is right that PLC control modules receive and process the data that vision operation guide module is sent
Data command is sent to mechanical arm control module afterwards, which controls first motor, the second motor, third again
Motor, the 4th motor, the 5th motor, the 6th motor carry out the movement locus of control machinery arm.
The present invention is combined using industrial camera, vision guide technology with riveting system so that the riveted holes of workpiece can be accurate
Into riveting range and accurately into riveting so that riveting part surface achievees the effect that flexibility into riveting without chewing, and improves riveting work effect
Rate, reasonable design of the present invention, accords with the demands of the market, and is suitble to promote.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of skill in the art that it still can be right
Technical solution recorded in foregoing embodiments is modified, or is replaced on an equal basis to which part technical characteristic；And this
A little modification or replacements, the spirit and model of various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (5)
1. a kind of flexible riveting set of view-based access control model guiding, which is characterized in that including：
Supply assembly：The supply assembly for providing and positioning the workpiece for being provided with riveted holes, the supply assembly include rollway and
The feed mechanism and cutting agency being arranged on rollway；
Rivet component：The riveting component carries out riveting for providing rivet and being directed at riveted holes to workpiece, which includes
Riveting platform, rivet storehouse pass staple rail road, riveting mechanism, can position the industrial camera for riveting hole site on workpiece, the riveting platform pair
It answers and is provided with riveted sensor immediately below rivet pressing structure；
Feeding riveting component：The feeding riveting component carries out riveting for capturing the workpiece on supply assembly and being transferred to riveting component
Then pressure sends the workpiece after riveting back to supply assembly again, which includes auxiliary dress platform, is rotatably arranged on auxiliary dress platform
Upper mechanical arm is movably connected in clip claw mechanism of the mechanical arm one end for grabbing workpiece, wherein between clip claw mechanism and mechanical arm
It is equipped with fine tuning riveting mechanism；
Separation net：For by feeding material component, riveting component, feeding riveting component shroud is in an environment；
Operating console：For monitoring various components real-time behavior, which is equipped with display screen, the feed
Component, riveting component, feeding riveting component, industrial camera are electrically connected with operating console；
Power control cabinet：For giving various components and operating console to provide power supply, the power control cabinet respectively with supply assembly, riveting group
Part, feeding riveting component, operating console are electrically connected.
2. a kind of flexible riveting set of view-based access control model guiding according to claim 1, which is characterized in that the feeder
Structure includes feeding platen, is arranged in parallel in upper left material group and upper right material group on feeding platen, and the upper left material group and upper right material
The direction of group is reversed, and the upper left material group and upper right material group include symmetrically arranged feeding platform, wherein the feeding platform of one end
It is above left and right to be arranged in parallel with rectangular jacking block and T-type jacking block, L-type jacking block is provided on the feeding platform of the other end, and divide on feeding platform
It does not correspond between rectangular jacking block, T-type jacking block and the back side of L-type jacking block is both provided with the positioning column that can wear fixed workpiece, separately
Outside, the cutting agency include blanking rack, the lower-left material group that is arranged in parallel on blanking rack and bottom right material group, and the lower-left
The direction of material group and bottom right material group is reversed, and the lower-left material group and bottom right material group include symmetrically arranged blanking bench, wherein
It is arranged in parallel with rectangular locating piece and T-type locating piece with left and right on the blanking bench at end, L-type is provided on the blanking bench of the other end
Locating piece.
3. a kind of flexible riveting set of view-based access control model guiding according to claim 1 or 2, which is characterized in that the riveting
Press mechanism includes the riveting frame being erected on riveting platform, the riveting group being arranged on riveting frame, the riveting being located at immediately below riveting group
Connect position, the positive hyte of adjustable rivet, the positive hyte for being connect with rivet storehouse by passing staple rail road and can adjust rivet and by riveting
The servo group that riveting position is transferred to from positive hyte is followed closely, wherein：
The riveting group includes riveting cylinder and riveting pressure head, and the riveting cylinder is fixed on riveting frame from vertical output direction
On, the riveting pressure head is connect with the output end of riveting cylinder；
The riveting position is located on riveting platform, and the riveting hyte includes T-type riveted block, wears T-type riveted block and pass through spring
With the riveting fore-set of riveting platform elastic connection, which is in riveting pressure head on same vertical line；
The positive hyte and riveting bit parallel, which includes T-type normotopia block, and normotopia slot is provided on the T-type normotopia block, described
The output end and normotopia slot for passing staple rail road are connected；
The servo group includes horizontal slide rail, longitudinal slide rail and the clamp mechanism that can be used for picking up rivet in normotopia slot, described
Horizontal slide rail is fixed on by fixed seat on riveting platform, and the longitudinal slide rail is slided perpendicular to horizontal slide rail and with the horizontal slide rail
It connects, being slipped in the longitudinal slide rail has driver plate, the clamp mechanism to be fixed on driver plate, which includes holder, folder
Pawl cylinder, left clamp and right clamping plate, the left clamp and right clamping plate symmetrically slip on holder, and the clamping jaw cylinder is also secured at folder
On seat, and the left clamp and right clamping plate clamp workpiece by clamping jaw cylinder, and the holder is fixed on driver plate.
4. a kind of flexible riveting set of view-based access control model guiding according to claim 3, which is characterized in that the auxiliary dress platform
Upper rotation is provided with mounting base, which is rotatablely connected by first motor and auxiliary dress platform, and the mechanical arm includes upper joint
Arm and ShiShimonoseki joint arm, the upper joint arm include arm body and the armed lever that is rotatably arranged in arm body, wherein ShiShimonoseki joint arm
One end it is hinged by the second motor and mounting base, the arm body that the other end of ShiShimonoseki joint arm passes through third motor and upper joint arm
Hinged, one end which corresponds to ShiShimonoseki joint arm is equipped with the 4th motor, and the other end of the armed lever passes through the 5th motor and folder
Pawl mechanism is hinged, and the fine tuning riveting mechanism is connected on clip claw mechanism, and wherein：
The clip claw mechanism includes that connecting rod, pickup frame, the upper holder for being fixed on pickup frame both sides and upper holder are symmetrical
Lower holder, wherein the pickup frame is connect by connecting rod with upper joint arm, which is flexibly connected with pickup frame,
It is fixed with lifting cylinder by corresponding upper holder on the pickup frame, which connect with lower holder.
The fine tuning riveting mechanism includes the 6th motor, and the output end of the 6th motor is connect with connecting rod.
5. a kind of flexible riveting system of view-based access control model guiding, which is characterized in that including industrial camera module, vision operation guide
Module, PLC control modules, mechanical arm control module, the industrial camera module are located at the upper end of vision operation guide module, should
Vision operation guide module is located at the upper end of PLC control modules, which is located at the upper end of mechanical arm control module,
Wherein：
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera, to work
Riveted holes on part carry out camera shooting acquisition, and the Pixel Information of image is transferred to vision operation guide mould by Ethernet interface
Block；
Vision operation guide module, the vision operation guide module include filtering group, noise reduction group, visual instantiation group successively, are somebody's turn to do
Filtering group connect and is received with industrial camera the Pixel Information of industrial camera module acquisition and be sequentially delivered to filtering group and filtered
Wave processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the instantiation that visual instantiation group carries out Pixel Information,
The difference of workpiece riveted holes is calculated, and the difference is sent to PLC control modules；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, and the mechanical arm control module is respectively with first
Motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control modules, the PLC control modules be PLC controller, the PLC control modules respectively with mechanical arm control module, regard
Feel the connection of operation guide module, wherein it is right that PLC control modules receive and process the data that vision operation guide module is sent
Data command is sent to mechanical arm control module afterwards, which controls first motor, the second motor, third again
Motor, the 4th motor, the 5th motor, the 6th motor carry out the movement locus of control machinery arm.
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| CN201810364899.3A CN108526373A (en) | 2018-04-23 | 2018-04-23 | A kind of flexible riveting set and its flexibility riveting system of view-based access control model guiding |
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| CN201810364899.3A CN108526373A (en) | 2018-04-23 | 2018-04-23 | A kind of flexible riveting set and its flexibility riveting system of view-based access control model guiding |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109175199A (en) * | 2018-10-25 | 2019-01-11 | 锴轶（上海）智能科技有限公司 | A kind of flexible robot's pressure riveting device |
| CN109822502A (en) * | 2019-03-25 | 2019-05-31 | 盛裕科技(苏州)有限公司 | The automation rotated riveting device of vehicle dormer window machinery group and the rotation rivetting method for applying it |
| CN111054875A (en) * | 2020-01-03 | 2020-04-24 | 博众精工科技股份有限公司 | Riveting set based on visual detection |
| CN112059097A (en) * | 2020-07-24 | 2020-12-11 | 凌云工业股份有限公司 | Automatic riveting flexibility control method based on visual guidance |
| CN112170764A (en) * | 2020-11-09 | 2021-01-05 | 兰州交通大学 | Automatic riveting mechanism for hollow rivets |
| CN112388656A (en) * | 2020-12-08 | 2021-02-23 | 兰州交通大学 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
| CN112483555A (en) * | 2020-11-19 | 2021-03-12 | 芜湖安普机器人产业技术研究院有限公司 | Ball bearing riveting device |
| CN113714456A (en) * | 2021-08-03 | 2021-11-30 | 东北大学 | Hole making and riveting quality control method and device based on machine vision |
| CN114192727A (en) * | 2021-10-22 | 2022-03-18 | 浙江巨力电机成套设备有限公司 | Machine shell riveting device |
| CN117531948A (en) * | 2024-01-10 | 2024-02-09 | 南京航空航天大学 | Man-machine cooperation riveting system and cooperation riveting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109175199A (en) * | 2018-10-25 | 2019-01-11 | 锴轶（上海）智能科技有限公司 | A kind of flexible robot's pressure riveting device |
| CN109822502A (en) * | 2019-03-25 | 2019-05-31 | 盛裕科技(苏州)有限公司 | The automation rotated riveting device of vehicle dormer window machinery group and the rotation rivetting method for applying it |
| CN109822502B (en) * | 2019-03-25 | 2024-01-23 | 苏州盛贸汽车部件有限公司 | Automatic spin riveting device of automobile skylight mechanical group and spin riveting method using same |
| CN111054875A (en) * | 2020-01-03 | 2020-04-24 | 博众精工科技股份有限公司 | Riveting set based on visual detection |
| CN112059097A (en) * | 2020-07-24 | 2020-12-11 | 凌云工业股份有限公司 | Automatic riveting flexibility control method based on visual guidance |
| CN112170764A (en) * | 2020-11-09 | 2021-01-05 | 兰州交通大学 | Automatic riveting mechanism for hollow rivets |
| CN112483555A (en) * | 2020-11-19 | 2021-03-12 | 芜湖安普机器人产业技术研究院有限公司 | Ball bearing riveting device |
| CN112483555B (en) * | 2020-11-19 | 2022-06-17 | 芜湖安普机器人产业技术研究院有限公司 | Ball bearing riveting device |
| CN112388656A (en) * | 2020-12-08 | 2021-02-23 | 兰州交通大学 | Automatic assembly mechanism for wire drawing rivets by using mechanical arm |
| CN113714456A (en) * | 2021-08-03 | 2021-11-30 | 东北大学 | Hole making and riveting quality control method and device based on machine vision |
| CN114192727A (en) * | 2021-10-22 | 2022-03-18 | 浙江巨力电机成套设备有限公司 | Machine shell riveting device |
| CN114192727B (en) * | 2021-10-22 | 2024-03-19 | 浙江巨力电机成套设备有限公司 | Shell riveting device |
| CN117531948A (en) * | 2024-01-10 | 2024-02-09 | 南京航空航天大学 | Man-machine cooperation riveting system and cooperation riveting method |
| CN117531948B (en) * | 2024-01-10 | 2024-04-05 | 南京航空航天大学 | Man-machine cooperation riveting system and cooperation riveting method |
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Application publication date: 20180914 |