CN110587362A - Automatic valve balance device based on visual system - Google Patents

Abstract

The present invention relates to the field of automatic production equipment, in particular to an automatic valve swinging device based on a vision system, including an electric control cabinet, a feeding mechanism, a material insertion mechanism, a module traverse mechanism, a module longitudinal mechanism, and a tray transmission mechanism. The group longitudinal mechanism includes the active guide rail group and the driven guide rail group which are arranged in parallel on the electric control cabinet. On the guide rail group and the driven guide rail group, the feeding mechanism and the inserting mechanism are movably installed on the module traverse mechanism through the sliding plate, wherein the feeding direction of the feed mechanism is inclined to the horizontal traverse direction of the insert mechanism, and the beneficial effect is to combine The system realizes a more precise valve swing function, which is different from the positioning and installation of the valve material tray in the prior art. Combined with the assembly line transmission mode, it can achieve the purpose of the valve swing plate more efficiently under the continuous operation of the equipment, and the operation is more flexible. The work intensity is further reduced.

Description

Valve automatic swinging equipment based on vision system

technical field

The invention relates to the field of automatic material-holding equipment in production workshops, and in particular to an automatic plate-setting device for valves based on a vision system, which is used for unloading after valve processing and neatly arranging the valves.

Background technique

A typical machine vision system can be divided into: image acquisition part, image processing part and motion control part. The PC-based vision system consists of several parts as shown in Figure 1:

①Industrial camera and industrial lens - this part belongs to the imaging device. The usual vision system is composed of one or more sets of such imaging systems. If there are multiple cameras, the image data may be obtained by switching the image card, or it may be The data of multiple camera channels is acquired simultaneously by synchronization control. According to the needs of the application, the camera may output standard monochrome video (RS-170/CCIR), composite signal (Y/C), RGB signal, or non-standard progressive scan signal, line scan signal, high resolution signal Wait.

②Light source—as an auxiliary imaging device, it often plays a vital role in the quality of the image. Various shapes of LED lamps, high-frequency fluorescent lamps, and optical fiber halogen lamps are easy to obtain.

③Sensors—usually in the form of optical fiber switches, proximity switches, etc., are used to judge the position and state of the measured object, and inform the image sensor to perform correct acquisition.

④ Image acquisition card - usually installed in the PC in the form of a plug-in card, the main job of the image acquisition card is to transmit the image output by the camera to the computer host. It converts the analog or digital signal from the camera into an image data stream in a certain format, and at the same time it can control some parameters of the camera, such as trigger signal, exposure/integration time, shutter speed, etc. Image acquisition cards usually have different hardware structures for different types of cameras, and also have different bus forms, such as PCI, PCI64, CompactPCI, PC104, ISA, etc.

⑤PC platform—the computer is the core of a PC-style vision system, where image data processing and most of the control logic are completed. For detection-type applications, a higher-frequency CPU is usually required, which can reduce processing time . At the same time, in order to reduce the interference of electromagnetic, vibration, dust, temperature, etc. on the industrial site, it is necessary to choose an industrial-grade computer.

⑥Visual processing software - machine vision software is used to complete the processing of the input image data, and then obtain the result through certain calculations. The output result may be PASS/FAIL signal, coordinate position, string, etc. Common machine vision software appears in the form of C/C++ image library, ActiveX control, graphical programming environment, etc., which can be for special functions (such as only used for LCD inspection, BGA inspection, template alignment, etc.), or general purpose (including positioning, measurement, barcode/character recognition, spot detection, etc.).

⑦Control unit (including I/O, motion control, level conversion unit, etc.) - Once the vision software completes the image analysis (unless it is only used for monitoring), it needs to communicate with the external unit to complete the control of the production process. Simple control can directly use the I/O that comes with some image acquisition cards, while relatively complex logic/motion control must rely on an additional programmable logic control unit/motion control card to achieve the necessary actions.

The main working process of a complete machine vision system is as follows:

1. The workpiece positioning detector detects that the object has moved close to the center of the field of view of the camera system, and sends a trigger pulse to the image acquisition part.

2. The image acquisition part sends start pulses to the camera and the lighting system respectively according to the preset program and delay.

3. The camera stops the current scan and restarts a new frame scan, or the camera is in a waiting state before the start pulse arrives, and starts a frame scan after the start pulse arrives.

4. The camera opens the exposure mechanism before starting a new frame scan, and the exposure time can be set in advance.

5. Another start pulse to turn on the lighting. The lighting time should match the exposure time of the camera.

6. After the camera is exposed, the scanning and output of a frame of image officially starts.

7. The image acquisition part receives the analog video signal and digitizes it through A/D, or directly receives the digital video data after digitization of the camera.

8. The image acquisition part stores the digital image in the memory of the processor or computer.

9. The processor processes, analyzes and recognizes the image to obtain measurement results or logic control values.

10. Process the results to control the action of the assembly line, perform positioning, correct movement errors, etc.

The valve stem is an important part of the engine, which is responsible for inputting air into the engine and removing the exhaust gas after combustion. From the structure of the engine, it is divided into intake valve and exhaust valve. The function of the intake valve is to suck the air or the mixture of air and fuel into the engine, and mix it with the fuel for combustion; the function of the exhaust valve is to discharge the exhaust gas after combustion and Heat dissipation, so the role in the engine is obvious; in the actual processing and production process, there are high requirements for the product, and many processes need to be performed on the valve.

With the continuous development of science and technology and social production, higher and higher requirements are put forward for the performance, quality, productivity and cost of mechanical products in the processing and manufacturing industry, and the realization of mechanical processing automation is one of the important technical measures for the above requirements , it can not only improve the quality and productivity of parts, reduce production costs, but also improve the working conditions of workers, but the use of this automatic, high-efficiency equipment requires a large initial investment and a long production cycle, only in mass production Under certain conditions, there will be significant economic benefits, and the enterprise will have a certain development; and now the valves are basically produced by manual materials, and the valves are placed neatly one by one with special containers, which is inefficient and labor intensive. The labor utilization rate is low, or the method of processing assembly line is adopted, the equipment is huge, the area is large, and the cost is high, which is not conducive to the development of the enterprise.

The patent No. 201621178132.4 is "a valve automatic loading and loading mechanism". The material holding mechanism needs to manually position and place the trays each time. After each round of trays is used up, it is necessary to stop the equipment and reposition the trays. The equipment cannot be kept running, and the production efficiency is relatively slow.

Contents of the invention

In view of the technical problems existing in the prior art, the present invention provides a visual system-based valve automatic arranging device, which avoids the trouble of requiring workers to pick and arrange parts after processing, and reduces labor productivity; and, combined with the visual system Realize more accurate valve swing function, which is different from the positioning and installation of the valve material tray in the prior art. Combined with the assembly line transmission mode, the purpose of valve swing plate can be achieved more efficiently under the condition of continuous operation of the equipment, and the operation is more flexible. The strength is further reduced.

In order to achieve the above object, the technical scheme of the present invention is as follows:

The valve automatic swinging device based on the vision system includes an electric control cabinet, a feeding mechanism, a material insertion mechanism, a module traverse mechanism, a module longitudinal mechanism and a tray transmission mechanism. The active guide rail group and the driven guide rail group on the electric control cabinet, the tray transmission mechanism is erected above the electric control cabinet along the walking direction of the module longitudinal mechanism, and is located between the active guide rail group and the driven guide rail group arranged side by side During the period, the module traverse mechanism is erected on the active guide rail group and the driven guide rail group, and the feeding mechanism and the inserting mechanism are movably installed on the module traverse mechanism through the sliding plate, wherein the feeding direction of the feed mechanism is inclined to The horizontal traverse direction of the inserting mechanism.

The insertion mechanism includes a longitudinal displacement cylinder, a lateral displacement cylinder, a two-way action cylinder, and symmetrically designed left and right clamping rods. On the telescopic guide rod, the lower ends of the left clamping rod and the right clamping rod are respectively provided with valve rod clamping holes; the longitudinal displacement cylinder is installed on the sliding plate through the displacement plate, and the telescopic direction of the longitudinal displacement cylinder is transmitted towards the material tray Mechanism direction, the lateral displacement cylinder is installed on the telescopic shaft of the longitudinal displacement cylinder, and the telescopic direction of the lateral displacement cylinder is perpendicular to the telescopic direction of the longitudinal displacement cylinder, and the double-acting cylinder is installed on the telescopic shaft of the lateral displacement cylinder. When the feeding mechanism was at the reset zero point, its left clamping rod and right clamping rod clamped the valve of the downstream section of the feeding mechanism. A box frame is also arranged on the sliding plate, and a system box equipped with a vision system is fixed on the box frame.

The beneficial effect of adopting the above-mentioned design structure is: the feeding mechanism is responsible for continuously delivering valves to the material inserting mechanism, and the feeding end of the feeding mechanism is connected to the valve processing equipment. With the cooperation of the module traverse mechanism and the module longitudinal mechanism, the valves are neatly arranged vertically and horizontally on the storage tray of the tray transmission mechanism by moving in the direction of the XY axis, so as to realize the neat and regular placement of the valves. It not only facilitates the grabbing of the robot in the next processing procedure, but also ensures a good storage and transportation environment for the valve, effectively protecting the finished valve and preventing the valve from being deformed or scratched on the surface. In addition, the vision system is used to accurately locate the insertion position of the valve when inserting the material. Even when the material tray transmission mechanism is constantly moving, the left clamping rod and the right clamping rod can accurately locate the valve insertion hole, and the valve is accurately and orderly vertically and horizontally. It is no longer necessary to manually position the tray as in the prior art, and it is no longer necessary to stop the device to place the tray, and only discharge the material at both ends of the tray transfer mechanism. The tray and the retrieving tray can be used. This not only avoids the trouble of workers picking up and sorting parts after processing, but also reduces labor productivity; moreover, combined with the vision system, the valve can be more accurately placed on the plate, which is different from the positioning and installation of the valve material plate in the prior art, combined with the assembly line The transmission method achieves the purpose of valve swing plate more efficiently when the equipment is in continuous operation, the operation is more flexible, and the work intensity is reduced.

Further defined, the feeding mechanism includes a valve suspension assembly, an adjustment assembly and a distribution assembly:

The adjustment assembly is at least one group fixed on the upstream section of the valve suspension assembly, and the material distribution assembly is fixed on the downstream section of the valve suspension assembly.

The valve suspension assembly includes two suspension frames arranged at intervals in parallel and a guide carriage arranged parallel to the top of the suspension frame. The suspension frame is obliquely fixed on the sliding plate through the suspension base. carriage.

The adjustment assembly includes a gap adjustment seat, an upper gap adjustment shaft, an adjustment spring, an upper adjustment handle, a lower adjustment handle and a lower adjustment screw shaft. The gap adjustment seat is symmetrically and vertically fixed on the outer surfaces of the two guide carriages. The upper gap adjustment shaft is installed horizontally on the upper end of the gap adjustment seat. The adjustment spring is sleeved on the upper gap adjustment shaft and between the two gap adjustment seats. One end; a fixed cylinder is connected between the two parallel guide carriages, and the fixed cylinder is provided with an internal thread. The lower adjustment thread shaft passes through the gap adjustment seat and is threadedly connected with the fixed cylinder. One end of the threaded shaft.

The material distribution assembly includes a material distribution push plate, a material retaining rod, a discharge rod, a material distribution cylinder and an L-shaped fixed seat, and a material distribution hole is arranged on the suspension frame at the position where the material distribution assembly is installed, and the L-shaped fixed seat It is installed perpendicular to the outer side of the suspension frame, the material distribution cylinder is installed on the L-shaped fixed seat and the action direction of the material distribution cylinder is towards the side of the suspension frame, and the material distribution push plate is fixed on the telescopic shaft of the material distribution cylinder, The material distribution push plate is U-shaped and spans the direction of the bottom side of two suspension frames arranged in parallel. The rod portion of the material rod extends through the material distribution hole to the valve passage between the two suspension frames.

The beneficial effects of the above design are: the valve is a shouldered shaft part, the valve channels of the two suspension frames can allow the valve shoulders to hang upwards and the valve rods to hang downwards, and the suspension frame can be tilted at an angle of 45° to 70°. The valves slide down automatically, and they are arranged in order. Although the valves on the suspension frame will be crowded and irregular during the initial production test run, and it is impossible to keep a row of valves on the same line, but after later corrections, increased Adjust the assembly, by adjusting the distance between the two parallel suspension frames, and using the guide slide to suppress and adjust the valve shoulder, the valve can be hung neatly and kept on the same straight line to slide up and down to the position of the distribution assembly, and the distribution cylinder controls the gear The material rod and the discharge rod are closed or opened, so that the precisely arranged valves can be assigned to the insertion mechanism one by one in this cycle. When the control system controls, only when one of the valves falls into the insertion mechanism, the next valve is assigned. The material assembly is opened and released, so that the material insertion mechanism can clamp the valves one by one, ensuring high efficiency to complete the work.

It is further defined that the end of the downstream section of the suspension frame is provided with elastic sheets symmetrically installed on the inner surfaces of the two suspension frames, and the minimum distance between the two elastic sheets is less than or equal to the diameter of the valve stem of the smallest specification. The maximum separation distance after the deformation of the elastic plates is less than or equal to the diameter of the valve stem part of the largest specification, and it is necessary to ensure that each valve that is swung on the device can be under the clamping tension of the left clamping rod and the right clamping rod, Pass the limit of the two elastic pieces smoothly, and complete the first step of the valve feeding of the plate.

It is further defined that the module traversing mechanism and the active guide rail group include a servo motor, a ball screw, a screw slider, a C-shaped slider seat and a guide rail frame, and the ball screw is erected at both ends of the guide rail frame and One end is connected to the servo motor, the screw slider is set on the ball screw, and the screw slider is also connected to the C-shaped slider seat that is stuck on the guide rail frame and moves. In addition, the module traverse mechanism The sliding plate is fixed on the C-shaped slider seat of the active guide rail group, and the guide rail frame is supported on the C-shaped slider seat on the active guide rail group; among them, the guide rail frame of the active guide rail group is installed on the electric control cabinet through the supporting base, and the module moves horizontally. The guide rail frame of the mechanism is installed on the C-shaped slider seat of the active guide rail group and moves along the guide rail frame.

Further limit, because of the self-weight problem of the module traverse mechanism, in order to strengthen the support of the active guide rail teaming module traverse mechanism, the active guide rail group also includes linear guide rails placed on the parallel sides of the ball screw and sleeved on the linear guide rails. The upper guide rail slider, the C-type slider seat of the active guide rail group is connected to the screw slider and the guide rail slider to move, and the guide rail slider shares the pressure of the screw slider, so that the module traverse mechanism can move more smoothly .

It is further defined that the driven guide rail group includes a driven slider, a driven linear guide rail and a slide rail frame, the two ends of the driven linear guide rail are mounted on the slide rail frame, and the driven slider is sleeved on On the linear guide rail, one end of the guide rail frame of the module traverse mechanism is installed on the driven slider, and the other end is installed on the C-shaped slider seat of the active guide rail frame.

It is further defined that the tray transmission mechanism includes a conveyor belt assembly and a storage tray, the conveyor belt assembly is installed above the electric control cabinet and between the guide rail frame of the active guide rail group and the slide rail frame of the driven guide rail group, and the conveyor belt The conveying direction is parallel to the direction that the module traverse mechanism moves along the module longitudinal mechanism, and the storage tray includes a tray frame and a tray body fixed on the tray frame, and the tray body is provided with longitudinal, The valve sockets are arranged horizontally, and the tray holder is placed on the belt of the conveyor belt assembly. The vision system can accurately identify the position of the valve socket, so that the valve clamped on the left clamping rod and the right clamping rod can be accurately aligned with the position of the valve socket, and then released to complete the swinging work of the valve. It reduces the tedious work of the staff to position and place the tray body, and also reduces the parts and assembly process of the equipment, and reduces the manufacturing cost of the equipment.

It is further defined that the guide rail frame of the module traverse mechanism is also provided with a line drag chain for installing lines. Regularize the wiring of various electrical parts and start-up parts to make the overall cleanliness and aesthetics of the equipment better, and also provide leakage protection to protect the safety of operators.

It is further defined that the types of the longitudinal displacement cylinder and the lateral displacement cylinder belong to the double-piston rod slider cylinder, the lateral displacement cylinder is installed on the cylinder block slider of the longitudinal displacement cylinder, and the two-way action cylinder is installed on the lateral displacement cylinder. On the slider of the cylinder block, the installation is quick, and the cylinder blocks can be directly connected together with bolts.

Description of drawings

Fig. 1 is the front view structure schematic diagram of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram of the feeding mechanism and the inserting mechanism of the present invention at the reset zero point of the module traverse mechanism;

Fig. 3 is the three-dimensional structure schematic diagram of the working state when the present invention is in valve swing;

Fig. 4 is a three-dimensional structural schematic diagram of the feeding mechanism and the inserting mechanism of the present invention on the mounting module traverse mechanism;

Fig. 5 is a three-dimensional structural schematic diagram of the insertion mechanism of the present invention;

6 is a schematic diagram of a three-dimensional explosion structure of the feeding mechanism of the present invention;

Fig. 7 is a three-dimensional structural schematic diagram of the distribution assembly of the present invention;

Fig. 8 is a partially enlarged three-dimensional structural schematic diagram of the elastic sheet of the present invention installed on the suspension frame;

Fig. 9 is a three-dimensional structural schematic diagram of the cooperative installation of the module traverse mechanism and the module longitudinal mechanism of the present invention;

Fig. 10 is a schematic diagram of a three-dimensional explosion structure in which the module traverse mechanism and the module longitudinal mechanism are installed in cooperation;

Fig. 11 is a schematic perspective view of the three-dimensional structure of the tray transmission mechanism of the present invention.

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

As shown in Figure 1, Figure 2, and Figure 3, the valve automatic swinging device based on the vision system includes an electric control cabinet 1, a feeding mechanism 2, a material insertion mechanism 3, a module traverse mechanism 4, and a module longitudinal mechanism 5 And the tray transmission mechanism 6, the module wale mechanism 5 includes the active guide rail group 51 and the driven guide rail group 52 arranged in parallel on the electric control cabinet, and the tray transmission mechanism 6 is along the length of the module wale mechanism 5 The walking direction is erected above the electric control cabinet 1, and between the active guide rail group 51 and the driven guide rail group 52 arranged side by side, the module traverse mechanism 4 is erected on the active guide rail group 51 and the driven guide rail group 52, The feeding mechanism 2 and the inserting mechanism 3 are movably installed on the module traversing mechanism 4 through the sliding plate 7, wherein the feeding direction of the feeding mechanism 2 is inclined to the horizontal traversing direction of the inserting mechanism 3, and the inclination angle is about 30° The design reason that the feeding mechanism 2 is obliquely installed on the slide plate 7 is to allow the valves stacked above to slide down automatically and slowly under the action of gravity. The module traverse mechanism 4 and the module longitudinal mechanism 5 are equivalent to the X and Y axis paths of the feeding mechanism 2 and the inserting mechanism 3. The middle tray transmission mechanism 6 is the operation of the feeding mechanism 2 and the inserting mechanism 3. The benchmark is always moving within the range of the working surface of the tray transmission mechanism 6 in the XY axis direction, in order to arrange the valves neatly in vertical and horizontal order to achieve a high-efficiency working mode of automatic valve swing.

As shown in Figures 4 and 5, the inserting mechanism 3 includes a longitudinal displacement cylinder 30, a lateral displacement cylinder 31, a bidirectional action cylinder 32, and symmetrically designed left clamping rods 33 and right clamping rods 34, the left clamping rods 33 and the upper ends of the right clamping rod 34 are respectively installed on the two telescopic guide rods of the two-way action cylinder 32. When the two-way action cylinder 32 acts once, the left clamping rod 33 and the right clamping rod 34 move to opposite directions respectively, and the left clamping rod 33 and the lower end of the right clamping rod 34 are provided with valve rod clamping hole 35 respectively, and the rod portion of valve 8 is clamped in the middle when two triangular half-type valve rod clamping holes 35 are merged together, and valve rod clamping hole 35 is not limited to Triangular, but also semi-curved. The longitudinal displacement cylinder 30 is installed on the sliding plate 7 through the displacement plate 36, and the telescopic direction of the longitudinal displacement cylinder 30 is toward the direction of the tray transmission mechanism 6, and the lateral displacement cylinder 31 is installed on the telescopic shaft of the longitudinal displacement cylinder 30, And the telescopic direction of lateral displacement cylinder 31 is perpendicular to the telescopic direction of longitudinal displacement cylinder 30, and described double-acting cylinder 32 is installed on the telescopic axis of lateral displacement cylinder 31, and its left clamping bar 33 and right clamping rod 33 of inserting material mechanism 3 are in reset zero point. Clamp bar 31 clamps the air valve of feeding mechanism 2 downstream sections. The left clamping rod 33 and the right clamping rod 34 are non-standard pneumatically driven clamps, and a valve is inserted every 2S-5S.

In this embodiment, a box frame 71 is also provided on the sliding plate 7, and a system box 72 equipped with a vision system is fixed on the box frame 71. The application of the vision system is used to assist the longitudinal displacement of the cylinder 30, Lateral displacement cylinder 31, two-way action cylinder 32 make it cooperate with each other to complete the swing plate work of valve 8. Preferably, the types of the longitudinal displacement cylinder 30 and the lateral displacement cylinder 31 belong to a double-piston rod slider cylinder, the lateral displacement cylinder 31 is installed on the cylinder body slider of the longitudinal displacement cylinder 30, and the two-way action cylinder 32 is installed On the cylinder body slider of lateral displacement cylinder 31.

In this embodiment, as shown in Fig. 4, Fig. 6 and Fig. 7, the feeding mechanism 2 includes a valve suspension assembly 20, an adjustment assembly 21 and a distribution assembly 22, and the adjustment assembly 21 is two groups fixed on the valve suspension assembly 20, one group is located in the upstream section of the valve suspension assembly 20, one group is located in the middle of the valve suspension assembly 20, and the two groups are arranged and installed along the valve conveying direction of the valve suspension assembly 20. The material distribution assembly 22 is fixed on the valve suspension assembly The downstream section of 20, when the equipment is running, fill a valve on the valve suspension assembly 20 at least 30 minutes.

The valve suspension assembly 20 includes two suspension frames 201 arranged at intervals in parallel and a guide carriage 202 arranged above the suspension frames 201 in parallel. The assembly 21 connects and supports the suspension frame 201 and the guide carriage 202 . In order to facilitate the valve suspension assembly to hang enough valves each time and reduce the number of times the staff loads the valves, two suspension rods 204 are connected at the feeding end of the suspension frame 201 .

The adjustment assembly 21 includes a gap adjustment seat 210, an upper gap adjustment shaft 211, an adjustment spring 212, an upper adjustment handle 213, a lower adjustment handle 214 and a lower adjustment screw shaft (the lower adjustment screw shaft and the lower adjustment handle 214 are integrally designed). The gap adjustment seat 210 is symmetrically and vertically fixed on the outer surfaces of the two guide carriages 202, the upper gap adjustment shaft 211 is horizontally erected and installed on the upper end of the gap adjustment seat 210, and the adjustment spring 212 is sleeved on the upper gap adjustment shaft. On the shaft 211 and between the two gap adjustment seats 210, the upper adjustment rocker 213 is sleeved on one end of the upper gap adjustment shaft 211; a fixed cylinder 205 is connected between the two parallel guide carriages 202, and the fixed cylinder 205 An internal thread is provided inside, and the lower adjusting threaded shaft passes through the clearance adjusting seat 210 and is threadedly connected with the fixing cylinder 205, and the lower adjusting handle 214 is sleeved on one end of the lower adjusting threaded shaft. The upper gap adjustment shaft 211 and the lower adjustment screw shaft are fixed on the gap adjustment seat 210 according to the upper and lower relationship along the vertical direction of the suspension frame 201, and the upper adjustment rocker 213 adjusts the distance between the two suspension frames 201 for The valves 8 of different diameters are suspended and stored, and the lower adjustment handle 214 is used to adjust the relative position of the horizontal misalignment of the two guide carriages 202 relative to the two suspension frames 201, so that the guide carriages 202 can adjust the side-by-side valves 8 to maintain the same horizontal line superior. In addition, a bar-shaped hole can also be set on the gap adjustment seat 210, which is used to adjust the height difference distance between the lower adjustment screw shaft and the upper gap adjustment shaft 211, so that the height difference between the guide carriage 202 and the suspension frame 201 can be adjusted. The distance makes it easier for the valves 8 of different sizes and lengths to be hung and placed more neatly in the suspension frame 201, which is convenient for the subsequent material distribution assembly 22 to separate the single valve 8 to the insertion mechanism 3 more conveniently and more orderly.

The material distribution assembly 22 includes a material distribution push plate 220, a material retaining rod 221, a discharge rod 222, a material distribution cylinder 223 and an L-shaped fixed seat 224, and a material distribution device is arranged on the suspension frame 201 at the position where the material distribution assembly 22 is installed. hole, the L-shaped fixed seat 224 is installed perpendicular to the outer side of the suspension frame 201, the material distribution cylinder 223 is installed on the L-shaped fixed seat 224 and the direction of action of the material distribution cylinder 223 is towards the suspension frame 201 side, the The material distribution push plate 220 is fixed on the telescopic shaft of the material distribution cylinder 223, and the material distribution push plate 220 is U-shaped across the direction of the bottom side of two suspension frames 201 arranged in parallel. Dislocation is installed on the two pairs of side panels of the material distribution push plate 220, and the rods of the material blocking rod 221 and the material discharge rod 222 extend through the material distribution hole to the valve passage between the two suspension frames 201. When the stopper rod 221 blocks the valve 8 of the upstream section under the action of the material distribution cylinder 223, so that the valve 8 stops sliding, the discharge rod 22 designed in a dislocation in the horizontal plane just opens the valve passage, and let go the valve channel that was previously located on the stopper rod. 221 and the discharge bar 222 are waiting for the left valve 8 clamped by the left clamp bar 33 and the right clamp bar 34. After the position valve 8 is released, the discharge rod 222 blocks the valve channel, and the material stop rod 221 opens the valve passage. Waiting in between, after the insertion mechanism 3 clamps the last valve 8 away, the standby valve 8 at this position is released and continues to descend, slides to the bottom of the suspension frame 201 and waits for the left clamping rod 33 of the insertion mechanism 3 Clamp with right clamping bar 34.

In this embodiment, as shown in FIG. 8 , the downstream end of the suspension frame 201 is provided with elastic pieces 205 symmetrically installed on the inner surfaces of the two suspension frames 201, and the minimum distance between the two elastic pieces 205 is is less than or equal to the diameter of the stem portion of the valve with the smallest specification, and the maximum distance between the two elastic pieces 205 after deformation is less than or equal to the diameter of the stem portion of the valve with the largest specification. The diameter range of the clamped valve stem is φ5～φ12. When the inserting mechanism 3 resets to zero, the left clamping lever 33 and the right clamping lever 34 are in the position directly under the elastic sheet 205 to clamp the valve 8 at this position. The elastic sheet 205 is made of a soft material with an elastic function, and when installed, one end is installed at a certain angle with the suspension frame 201, and the other end is suspended in the air, so that when the valve 8 falls to this position, the left clamping rod 33 And before the right clamping rod 34 is not clamped, the elastic sheet 205 blocks the valve 8 and stabilizes the valve 8 at this position; after that, the longitudinal displacement cylinder 30 moves after the left clamping rod 33 and the right clamping rod 34 clamp the valve 8, then the valve 8 just has a pulling force that is taken away, and under this pulling force again, two elastic sheets 205 are opened, and valve 8 is clamped away and carries out swinging.

In this embodiment, as shown in Figure 9 and Figure 10, the driving principles of the module traverse mechanism 4 and the module longitudinal mechanism 5 are the same, except that one is the X-axis lateral movement direction, and the other is the Y-axis longitudinal direction. The moving direction is driven by the motor to rotate the lead screw, and when the lead screw rotates, it drives the slider on the lead screw to move horizontally, thereby driving the parts connected with the slider to walk. Therefore, the module traversing mechanism 4 and the active guide rail group 51 all include a servo motor 40, a ball screw 41, a screw slider 42, a C-shaped slider seat 43 and a guide rail frame 44, and the ball screw 41 erects The two ends of the guide rail frame 44 and one of the ends is connected with the servo motor 40, the screw slider 42 is sleeved on the ball screw 41, and the screw slider 42 is also connected with a motor that is stuck on the guide rail frame 44 and moves. C-type slider seat 43, in addition, on the C-type slider seat 43 of module traverse mechanism 4, slide plate 7 is fixed, and on the C-type slider seat 43 on the active guide rail group 51, guide rail frame 44 is supported and installed. Among them, the guide rail frame 44 of the active guide rail group 51 is installed on the electric control cabinet 1 through the support base 53, and the guide rail frame 44 of the module traverse mechanism 4 is installed on the C-shaped slider seat 43 of the active guide rail group 51 and along the guide rail The frame 44 moves. The guide rail frame 51 of the module traverse mechanism 4 is also provided with a line drag chain 45 for installing the circuit, and the power circuit of the main integrated module traverse mechanism 4 in the circuit drag chain 45, and a plurality of parts of the integrated inserting mechanism 3 The gas supply pipeline of the cylinder and the connecting circuit of the vision system are used to prevent the circuit from affecting the valve swing action of the inserting mechanism 3, and the circuit is neat and tidy, so that even if a circuit failure occurs, it can be quickly repaired.

In this embodiment, because the weight of the module traverse mechanism 4 is relatively heavy, only a single lead screw slider 42 is used to support the weight of the module traverse mechanism 4 on the active guide rail group 51 to make it run smoothly. . Therefore, in order to strengthen the driving bearing capacity of the active guide rail group 51, the active guide rail group 51 also includes linear guide rails 54 placed on the parallel sides of the ball screw 41 and guide rail sliders 55 sleeved on the linear guide rails 54. The active guide rail group The C-shaped slide block seat 43 of 51 is connected on the lead screw slide block 42 and the guide rail slide block 55 and moves. In this embodiment, the driven guide rail group 52 is driven by the active guide rail group 51 without the power of the original servo motor, guided by the module traverse mechanism 4 in the middle, and plays the role of horizontally supporting the module traverse mechanism 4 . The driven guide rail group 52 includes a driven slide block 56, a driven linear guide rail 57 and a slide rail frame 58, the two ends of the driven linear guide rail 57 are erected on the slide rail frame 58, and the driven slide block 56 Covered on the driven linear guide rail 57, one end of the guide rail frame 44 of the module traverse mechanism 4 is mounted on the driven slider 56, and the other end is mounted on the C-shaped slider seat 43 of the active guide rail frame 51 superior.

In this embodiment, as shown in FIG. 2 and FIG. 11 , the tray transmission mechanism 6 includes and stores trays 61, and the conveyor belt assembly 60 is installed above the electric control cabinet 1 and on the guide rail frame of the active guide rail group 51 44 and the slide rail frame 58 of the driven guide rail group 52, and the transmission direction of the conveyor belt assembly 60 is parallel to the direction in which the module traverse mechanism 4 moves along the module longitudinal mechanism 5, the conveyor belt assembly 60 in this design is The existing conventional conveyor belt belongs to common knowledge, and its specific structure and operating principle are not described in this embodiment. The storage tray 61 includes a tray frame and a tray body fixed on the tray frame. The body is provided with valve sockets arranged vertically and horizontally, and the tray frame is placed on the belt of the conveyor belt assembly 60 . The storage trays 61 are placed side by side on the belt in the form of a row of multiple placements. Workers place the storage trays 61 on the loading position A at one end of the conveyor belt assembly 60, and the conveyor belt assembly 60 sequentially transports the storage trays 61 forward. When the equipment is assembled, the loading level of the belt is facing the module traverse mechanism 4 and is directly below the reset zero position of the module longitudinal mechanism 5, so that once the sensor installed at the loading level A detects that there is a storage tray After 61 is placed on the belt, the belt will run slowly or stop running, and then the feeding mechanism 2, the inserting mechanism 3, the module traverse mechanism 4 and the module longitudinal mechanism 5 will start to work together, and the insert mechanism 3 will The parts of the valve 8 are placed in a certain position. When the visual system detects the jack position without the valve, the belt will continue to move forward or accelerate for one pitch (the width of one storage tray is one pitch), so Circulation, knowing that the detection sensor installed at the lower material level B of the belt detects that the storage tray 61 is filled with no one to take the tray, and sends a signal to remind manual unloading. Similarly, a detection sensor is also installed at the upper material level. When the visual system detects that there is no storage tray 61 , it sends a signal to remind people to store the tray 61 manually.

The equipment is used in conjunction with processing and production machine tools and automatic loading and unloading industrial manipulators. The functions of the automatic production and processing machine tools and manipulators, as well as the requirements for this automatic plate-setting equipment are as follows:

1. The fixture of the processing machine tool in the automatic production line has the function of automatic clamping and loosening, and realizes the function of automatic clamping and loosening under the control of the signal of the manipulator system to cooperate with the loading and unloading action;

2. The processing machine tools of the automated production line are equipped with automatic door modules and provide corresponding electric control signals for communication with industrial manipulators;

3. The processing machine tool of the automated production line has communication with the manipulator through the connection mode of the heavy-duty connector (or aviation plug);

4. The processing machine tool of the automated production line has an internal (interference) space larger than the safety range of the action of the industrial manipulator's claw;

5. The processing machine tool of the automatic production line ensures that there is no residual iron filings on the positioning surface of the fixture, and if necessary, increase air blowing cleaning (the chuck needs to be rotated during cleaning);

6. The processing machine tool of the automatic production line has good chip breaking, and if necessary, add an auxiliary chip breaking device;

7. When the processing machine tool of the automatic production line needs the machine tool spindle to stop accurately, add this function and provide the corresponding electrical signal;

8. The automatic production line has enough space to adjust the position of the machine tool equipment;

9. The machine tool factory is responsible for the transformation of the handshake signal between the machine tool and the industrial manipulator (automatic door, robot interface).

The working process of the valve automatic swinging device based on the vision system includes the following steps:

The control circuit of the control system and the PLC control circuit board are installed in the electric control cabinet. Before the system starts, the air valve must be loaded on the suspension frame 201, and the storage tray 61 is prepared. The workers at each position are ready to be in place, and this equipment can also be operated by one person, responsible for loading and hanging the valve, responsible for placing the empty tray on the storage tray, and responsible for the handling of the full tray and the lower section of the storage tray.

After the system is started, firstly, the distributing cylinder 223 is started, so that the stop rod 221 and the discharge rod 222 cooperate with each other, release a valve and slide to the position of the two elastic pieces 205 at the end of the downstream section of the suspension frame 201;

After that, the two-way action cylinder 32 of the insertion mechanism 3 opens the left clamp bar 33 and the right clamp bar 34 in the opposite direction, and the lateral displacement cylinder 31 acts to push the two-way action cylinder 32 out, so that the left clamp bar 33 and the right clamp bar 34 operate To the right below the two elastic pieces 205, clamp the valve stem, clamp the valve and reset the lateral displacement cylinder 31;

Next, the servo motor of the module traversing mechanism 4 drives the sliding plate 7 to move, and the sliding plate 7 drives the insertion mechanism 3 and the feeding mechanism 2 to move. According to the guidance of the vision system, the module traversing mechanism 4 and the module longitudinal mechanism 5 Cooperate with the movement, so that the clamped valve 8 reaches the designated position of the storage tray 61, the longitudinal displacement cylinder 30 acts telescopically, inserts the high-position valve 8 into the storage tray 61, resets after insertion, and then circulates the above process until A storage tray 61 with a pitch of 1 is filled with air valves.

Finally, the conveyor belt assembly 60 moves the pitch position under the operation of the vision system and the control system, and transports the storage tray 61 filled with valves in the direction of the lower material level B, and also transports the empty storage tray 61 at the upper material level A. To the plate position directly below the inserting mechanism 3, in this way, the material is continuously loaded and unloaded to complete the plate position of the valve 8. During this period, always pay attention to the number of valves on the suspension frame 201, replenish in time, or use the manipulator to automatically replenish .

The above is a detailed introduction of the valve automatic plate swinging device based on the vision system provided by the present invention. The description of the specific embodiment is only used to help understand the method of the present invention and its core idea. It should be pointed out that for those of ordinary skill in the art, some improvements can also be made to the present invention without departing from the principles of the present invention. and modifications, these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (9)

1. The valve automatic arranging device based on the vision system is characterized in that it includes an electric control cabinet (1), a feeding mechanism (2), a material insertion mechanism (3), a module traverse mechanism (4), and a module longitudinal Mechanism (5) and tray transmission mechanism (6), The module wale mechanism (5) includes an active guide rail group (51) and a driven guide rail group (52) arranged in parallel on the electric control cabinet (1), and the tray transmission mechanism (6) moves along the module The running direction of the longitudinal mechanism (5) is erected above the electric control cabinet (1), and is between the active guide rail group (51) and the driven guide rail group (52) arranged side by side, and the module traverse mechanism (4 ) is installed on the active guide rail group (51) and the driven guide rail group (52), and the feeding mechanism (2) and the insertion mechanism (3) are movably installed on the module traverse mechanism (4) through the sliding plate (7). , wherein the feeding direction of the feeding mechanism (2) is inclined to the horizontal direction of the insertion mechanism (3); The insertion mechanism (3) includes a longitudinal displacement cylinder (30), a lateral displacement cylinder (31), a bidirectional action cylinder (32), and symmetrically designed left clamping rods (33) and right clamping rods (34). The upper ends of the left clamping rod (33) and the right clamping rod (34) are respectively installed on the two telescopic guide rods of the two-way action cylinder (32), and the lower ends of the left clamping rod (33) and the right clamping rod (34) Valve rod clamp holes (35) are respectively provided; the longitudinal displacement cylinder (30) is installed on the slide plate (7) through the displacement plate, and the telescopic direction of the longitudinal displacement cylinder (30) faces the direction of the tray transmission mechanism (6) , the lateral displacement cylinder (31) is installed on the telescopic shaft of the longitudinal displacement cylinder (30), and the telescopic direction of the lateral displacement cylinder (31) is perpendicular to the telescopic direction of the longitudinal displacement cylinder (30), the double-acting cylinder ( 32) Installed on the telescopic shaft of the lateral displacement cylinder (31), when the insertion mechanism (3) is at the reset zero point, its left clamping rod (33) and right clamping rod (34) clamp the valve of the downstream section of the feeding mechanism (2) ; A box frame (71) is also arranged on the sliding plate (7), and a system box equipped with a vision system is fixed on the box frame (71). 2. The valve automatic swinging device based on the vision system according to claim 1, characterized in that: the feeding mechanism (2) includes a valve suspension assembly (20), an adjustment assembly (21) and a distribution assembly (22) , the adjustment assembly (21) is at least one group fixed on the upstream section of the valve suspension assembly (20), and the material distribution assembly (22) is fixed on the downstream section of the valve suspension assembly (20); The valve suspension assembly (20) comprises two suspension frames (201) arranged at intervals in parallel and a guide carriage (202) arranged above the suspension frame (201) parallel to the suspension frame (201), and the suspension frame (201) is obliquely fixed on the suspension base (201) On the sliding plate (7), the adjustment assembly (21) connects and supports the suspension frame (201) and the guide carriage (202); The adjustment assembly (21) includes a gap adjustment seat (210), an upper gap adjustment shaft (211), an adjustment spring (212), an upper adjustment handle (213), a lower adjustment handle (214) and a lower adjustment threaded shaft. The gap adjustment seat (210) is symmetrically and vertically fixed on the outer surfaces of the two guide carriages (202), and the upper gap adjustment shaft (211) is horizontally installed on the upper end of the gap adjustment seat (210). The spring (212) is sleeved on the upper gap adjustment shaft (211) and between the two gap adjustment seats (210), and the upper adjustment rocker (213) is sleeved on one end of the upper gap adjustment shaft (211); two parallel A fixed cylinder (205) is connected between the set guide carriages (202), and the fixed cylinder (205) is provided with an internal thread, and the lower adjustment thread shaft passes through the gap adjustment seat (210) and the fixed cylinder (205) thread Connection, the lower adjusting rocker (214) is sleeved on one end of the lower adjusting threaded shaft. The material distribution assembly (22) includes a material distribution push plate (220), a material retaining rod (221), a discharge rod (222), a material distribution cylinder (223) and an L-shaped fixed seat (224). The suspension frame (201) at the position of the component (22) is provided with distribution holes, the L-shaped fixing seat (224) is installed perpendicular to the outer side of the suspension frame (201), and the distribution cylinder (223) is installed on the L On the fixed seat (224) and the direction of action of the material distribution cylinder (223) is towards the suspension frame (201) side, the material distribution push plate (220) is fixed on the telescopic shaft of the material distribution cylinder (223), and the material distribution The push plate (220) is U-shaped and straddles the direction of the bottom side of the two parallel suspension frames (201), and the stop rod (221) and the discharge rod (222) are misplaced and installed on the distribution push plate (220). On the two pairs of side panels, and the rods of the stop rod (221) and the discharge rod (222) pass through the distribution hole and extend to the valve passage between the two suspension brackets (201). 3. The valve automatic plate swinging device based on the vision system according to claim 2, characterized in that: the end of the downstream section of the suspension frame (201) is provided with a symmetrically mounted on the inner surface of the two suspension frames (201). elastic pieces (205), the minimum distance between the two elastic pieces (205) is less than or equal to the diameter of the valve stem of the smallest specification, and the maximum separation distance between the two elastic pieces (205) after deformation is less than or equal to the largest specification valve The diameter of the stem. 4. The valve automatic plate swinging device based on the vision system according to claim 3, characterized in that: the module traversing mechanism (4) and the active guide rail group (51) include a servo motor (40), a ball screw (41), lead screw slider (42), C-type slider seat (43) and guide rail frame, described ball screw (41) is erected on the two ends of guide rail frame and wherein one end is connected with servomotor (40) , the screw slider (42) is sleeved on the ball screw (41), and the screw slider (42) is also connected to the C-type slider seat (43) that is stuck on the rail frame and moves. In addition, The slide plate is fixed on the C-type slider seat (43) of the module traverse mechanism, and the guide rail frame is supported and installed on the C-type slider seat (43) on the active guide rail group (51); Among them, the guide rail frame of the active guide rail group (51) is installed on the electric control cabinet (1) through the supporting base, and the guide rail frame of the module traverse mechanism (4) is installed on the C-shaped slider seat ( 43) Go up and move along the rail frame. 5. The valve automatic swing plate device based on the vision system according to claim 4, characterized in that: the active guide rail group (51) also includes linear guide rails placed on the parallel sides of the ball screw (41) and sleeved on The guide rail slide block on the linear guide rail, the C type slide block seat (43) of active guide rail group (51) is connected and moves on leading screw slide block (42) and guide rail slide block. 6. The valve automatic plate swinging device based on the vision system according to claim 5, characterized in that: the driven guide rail group (52) comprises a driven slide block (56), a driven linear guide rail (57) and a slide rail frame (58), the two ends of the driven linear guide rail (57) are erected on the slide rail frame (58), the driven slider (56) is sleeved on the driven linear guide rail (57), the One of the ends of the guide rail frame of the module traverse mechanism is erected on the driven slide block (56), and the other end is erected on the C-shaped slide block seat (43) of the active guide rail frame. 7. The valve automatic swing plate device based on the vision system according to claim 6, characterized in that: the tray transmission mechanism (6) includes a conveyor belt assembly and a storage tray, and the conveyor belt assembly is installed in an electric control cabinet ( 1) Above and between the guide rail frame of the active guide rail group (51) and the slide rail frame (58) of the driven guide rail group (52), and the conveying direction of the conveyor belt is parallel to the module traverse mechanism along the longitudinal direction of the module The moving direction of the mechanism (5), the storage tray includes a tray frame and a tray body fixed on the tray frame, the tray body is provided with valve jacks arranged vertically and horizontally, and the tray frame Place on the belt of the conveyor belt assembly. 8. The valve automatic plate swinging device based on the vision system according to claim 4, characterized in that: the guide rail frame (44) of the module traverse mechanism (4) is also provided with a line drag chain for installing lines. 9. The valve automatic plate swinging device based on the vision system according to claim 1, characterized in that: the type of the longitudinal displacement cylinder (30) and the lateral displacement cylinder (31) belongs to a double-piston rod slider cylinder, and the The lateral displacement cylinder (31) is installed on the cylinder body slider of the longitudinal displacement cylinder (30), and the described two-way action cylinder (32) is installed on the cylinder body slider of the lateral displacement cylinder (31).