CN111054875A

CN111054875A - Riveting set based on visual detection

Info

Publication number: CN111054875A
Application number: CN202010006215.XA
Authority: CN
Inventors: 章登亮; 郑奎
Original assignee: Bozhon Precision Industry Technology Co Ltd
Current assignee: Bozhon Precision Industry Technology Co Ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-04-24

Abstract

The invention provides a riveting device based on visual detection, which comprises a press riveting assembly, a visual detection assembly and a jacking assembly; the riveting assembly is vertically arranged above the riveting plane and used for applying riveting pressure; the visual detection assembly is arranged on one side of the press riveting assembly and used for detecting and acquiring the position of a rivet hole on a riveting plane; the position of the visual detection assembly and the position of the press riveting assembly are separated by a plurality of rivet holes; the jacking assembly is vertically arranged below the riveting plane and is used for supporting rivets adsorbed on the riveting suction nozzle assembly at the lower end of the pressure riveting assembly. According to the invention, the visual detection assembly is adopted to capture the position of the rivet hole from one side of the pressure riveting assembly, so that the automatic detection efficiency and precision of the rivet are improved; the invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.

Description

Riveting set based on visual detection

Technical Field

The invention belongs to the field of automation, and particularly relates to a riveting device based on visual detection.

Background

With the continuous improvement of the industrial automation degree, the manufacturing industry gradually realizes intellectualization and unmanned; in particular, the degree of mechanization of the riveting device for keyboard workpieces determines the overall production efficiency.

At present, the automatic riveting equipment of keyboard class work piece adopts equipment such as squeeze riveter more, and a large amount of rivets need be used to the keyboard riveting in-process, because the riveted structure is small and exquisite, a large amount is various, need the rivet to guarantee the process of riveting perpendicularly with the riveting face for guaranteeing the riveting quality among the automatic riveting process, but quick riveting process often accomplishes in several seconds, to this, need design a high-efficient and automatic rivet visual detection structure urgently to satisfy the actual production demand.

Disclosure of Invention

In order to overcome the defects of the prior art, the riveting device based on visual detection provided by the invention adopts the visual detection assembly to capture the position of the rivet hole from one side of the press riveting assembly, so that the automatic detection efficiency and precision of the rivet are improved; the invention has the advantages of ingenious conception and reasonable design, meets the actual requirement of automatic detection of the rivet and is convenient for popularization and application in the field of automation.

The invention provides a riveting device based on visual detection, which comprises a press riveting assembly, a visual detection assembly and a jacking assembly; wherein the content of the first and second substances,

the pressure riveting component is vertically arranged above the riveting plane and is used for applying riveting pressure;

the visual detection assembly is arranged on one side of the press riveting assembly and used for detecting and acquiring the position of a rivet hole on a riveting plane; the visual detection assembly and the press riveting assembly are separated by a plurality of rivet holes;

the jacking assembly is vertically arranged below the riveting plane and is used for supporting rivets adsorbed on the riveting suction nozzle assembly at the lower end of the pressure riveting assembly.

Preferably, the two visual detection assemblies are arranged on two sides of the press riveting assembly and respectively acquire the positions of the rivet holes on the riveting planes on the two sides of the press riveting assembly.

Preferably, the visual inspection assembly comprises a plane inspection camera, a ring light source, a plane camera adjusting seat and a point light source; wherein the content of the first and second substances,

the plane detection camera is used for capturing the position of a rivet hole on a riveting plane;

the ring light source and the point light source are used for providing ambient light;

the plane camera adjusting seat is used for installing the plane detection camera so as to adjust the position of the plane detection camera relative to the press riveting assembly.

Preferably, the riveting suction nozzle component comprises a riveting suction nozzle, a suction nozzle clamping seat, a riveting sliding block, a riveting connecting block, a riveting pressure sensor and a riveting connecting plate; wherein the rivet suction nozzle is used for sucking rivets; the suction nozzle clamping seat is used for clamping and fixing the rivet suction nozzle; the riveting sliding block is fixedly connected with the suction nozzle clamping seat and used for sliding guide; the riveting connecting block is used for elastically connecting the suction nozzle clamping seat with the riveting connecting plate; the riveting pressure sensor is arranged between the riveting connecting block and the suction nozzle clamping seat and used for acquiring and feeding back riveting pressure; the riveting connecting plate is used for transmitting riveting pressure.

Preferably, two industrial cameras are also included; wherein the content of the first and second substances,

the detection light paths of the two industrial cameras are perpendicular to the axis of a rivet adsorbed on the riveting suction nozzle component; the detection light paths of the two industrial cameras are positioned on the same horizontal plane;

the two industrial cameras are at different distances from the axis of the rivet so that the two industrial cameras capture the rivet pose from different sides and different distances of the rivet respectively.

Preferably, the detection light source assembly and the industrial camera are respectively positioned at two sides of the rivet, and the detection light source assembly is used for providing a light source from one side of the rivet.

Preferably, a light shielding plate is also included; the light shielding plate is used for shielding external light.

Preferably, the included angle α between the detection light paths of the two industrial cameras is greater than or equal to 60 degrees and less than or equal to 120 degrees, and the ratio of the distance difference between the two industrial cameras and the rivet to be detected to the larger distance between the two industrial cameras and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%.

Preferably, the jacking assembly comprises a jacking driving device, a jacking cam, a supporting needle and a jacking guide structure; wherein the content of the first and second substances,

the jacking driving device is used for driving the jacking cam to rotate;

the jacking guide structure is used for guiding the movement of the support needle;

the jacking cam is abutted with the supporting needle, and the supporting needle is also fixedly connected with a guide moving part of the jacking guide structure; the guide direction of the jacking guide structure is vertical to the riveting working plane;

the jacking driving device drives the jacking cam to rotate, and the jacking cam drives the support needle to move along the guide direction of the jacking guide structure, so that the support needle periodically supports rivets.

Preferably, the jacking cam comprises a jacking concave edge which is of a groove-shaped structure and used for providing the driving force of the support needle; the jacking cam also comprises a hollow part; the jacking concave edge comprises a first slot and a second slot; the first slot is communicated with the second slot; the first open groove is a spiral groove, and the second open groove is an arc groove.

Compared with the prior art, the invention has the beneficial effects that:

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic view of the riveting apparatus based on visual inspection according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of a riveting apparatus based on visual inspection according to an embodiment of the invention;

FIG. 3 is a schematic view of a clinch assembly of an embodiment of the invention;

FIG. 4 is a schematic diagram of a visual inspection assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of a detecting light source module according to an embodiment of the present invention;

FIG. 6 is a schematic view of a riveted joint nozzle assembly in one embodiment of the invention;

FIG. 7 is a top view of a riveting apparatus based on visual inspection in one embodiment of the invention;

FIG. 8 is a schematic diagram of an overall structure of a jacking assembly according to an embodiment of the present invention;

FIG. 9 is a side view of a portion of a jacking assembly in an embodiment of the present invention;

FIG. 10 is a partial schematic view of a jacking assembly according to an embodiment of the present invention;

FIG. 11 is a schematic view of a jacking cam according to an embodiment of the present invention;

FIG. 12 is a front view of a jacking cam in an embodiment of the present invention;

shown in the figure:

the riveting component 110, the riveting motor 111, the riveting suction nozzle component 113, the rivet suction nozzle 1131, the suction nozzle holder 1132, the riveting slider 1133, the riveting connection block 1134, the riveting pressure sensor 1135, the riveting connection plate 1136, the light shielding plate 121, the industrial camera 130, the first camera 131, the first adjusting seat 132, the detection light source component 133, the detection light source 1331, the light source fixing seat 1332, the light source fixing column 1333, the visual detection component 160, the plane detection camera 161, the ring light source 162, the plane camera adjusting seat 163, the point light source 164, the jacking component 400, the jacking driving device 410, the driving rotating shaft 420, the jacking cam 430, the jacking concave edge 431, the first slot 4311, the second slot 4312, the first hollowed-out part 432, the second hollowed-out part 433, the pressing ring 434, the shaft end nut 435, the bearing 436, the supporting needle 440, the jacking guide structure 450, the stroke detection component 460, the jacking contact 470, the jacking connection base 480, the stroke blocking piece, Jacking support base 490, jacking motor fixing base 491, first jacking fixing base 492, first axle seat 493.

Detailed Description

The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

The riveting device based on visual detection, as shown in fig. 1, includes a riveting assembly 110, a visual detection assembly 160, and a jacking assembly 400; wherein the content of the first and second substances,

the pressure riveting component 110 is vertically arranged above a riveting plane and is used for applying riveting pressure;

the visual inspection assembly 160 is disposed at one side of the press riveting assembly 110, and is used for detecting and acquiring the position of a rivet hole on a riveting plane;

the jacking assembly 400 is vertically disposed below the riveting plane, and is used for supporting rivets adsorbed on the riveting nozzle assembly 113 at the lower end of the pressure riveting assembly 110.

In a preferred embodiment, as shown in fig. 1, two visual inspection assemblies 160 are disposed on two sides of the press riveting assembly 110, and respectively acquire the positions of the rivet holes on the riveting planes on the two sides of the press riveting assembly 110. For example, as shown in fig. 7, when it is required to perform riveting on the left side of the press riveting assembly 110, the left visual inspection assembly 160 collects the position of the rivet hole on the left side, generally, the position of the visual inspection assembly 160 differs from the position of the press riveting assembly 110 by an integer number of riveting hole locations, and when the visual center of the left visual inspection assembly 160 is aligned with one riveting hole location, the riveting position of the press riveting assembly 110 is the position of several right hole locations at which the visual inspection assembly 160 is aligned with one hole location.

In a preferred embodiment, as shown in fig. 4, the vision inspection assembly 160 includes a plane inspection camera 161, a ring light source 162, a plane camera adjustment seat 163, and a point light source 164; wherein the content of the first and second substances,

the plane inspection camera 161 is used to capture the position of the rivet hole on the riveting plane;

the ring light source 162 and the point light source 164 are used for providing ambient light;

the plane camera adjusting base 163 is used for mounting the plane detection camera 161 so as to adjust the position of the plane detection camera 161 relative to the rivet pressing assembly 110.

In a preferred embodiment, as shown in FIG. 6, the riveting nozzle assembly 113 comprises a riveting nozzle 1131, a nozzle holder 1132, a riveting slider 1133, a riveting connection block 1134, a riveting pressure sensor 1135, a riveting connection plate 1136; wherein the rivet nozzle 1131 is used for sucking rivets; the nozzle holder 1132 is used for holding and fixing the rivet nozzle 1131; the riveting slider 1133 is fixedly connected with the nozzle holder 1132 for sliding guiding; the riveting connection block 1134 is used for elastically connecting the suction nozzle holder 1132 with the riveting connection plate 1136; the riveting pressure sensor 1135 is arranged between the riveting connecting block 1134 and the suction nozzle clamping seat 1132, and the riveting pressure sensor 1135 is used for acquiring and feeding back riveting pressure; the riveting connection plate 1136 is used to transmit riveting pressure. In this embodiment, the riveting connection block 1134 is connected to the riveting connection plate 1136 through a disc spring, and the elastic space of the disc spring is small, so as to meet the elastic change of a tiny size in the riveting process; it should be appreciated that the staking pressure sensor 1135 obtains the pressure value during the staking process to ensure the accuracy of the staking process.

As shown in fig. 2 and 3, the device comprises two industrial cameras 130, wherein the detection light paths of the two industrial cameras 130 are perpendicular to the axis of a rivet adsorbed on a riveting suction nozzle assembly 113, the detection light paths of the two industrial cameras 130 are located on the same horizontal plane, the distances between the two industrial cameras 130 and the axis of the rivet are different, so that the two industrial cameras 130 capture the posture of the rivet from different sides and different distances of the rivet respectively.

As shown in fig. 2 and 7, the industrial camera 130 includes a first camera 131, a first adjusting seat 132; wherein the content of the first and second substances,

the first camera 131 is used to capture a rivet pose;

the first adjusting seat 132 is used for installing the first camera 131 so as to adjust the position of the first camera 131 relative to the rivet on the riveting nozzle assembly 113. The first adjustment seat 132 includes at least two adjustment structures in perpendicular directions. In one embodiment, as shown in fig. 2, the first adjusting base 132 is a fine adjustment nut structure along three mutually perpendicular directions, so as to achieve the position adjustment of the first camera 131 in all directions.

In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; further, image capture is performed using industrial cameras 130 at different distances from the rivet, resulting in image capture of rivet images at different distances; as shown in fig. 7, the distance difference L between the industrial cameras 130 on both sides in one direction, on one hand, when the rivet posture is captured, it is first captured and determined whether the rivet posture where the industrial camera 130 is closer to the rivet axis is qualified, and if it is determined that the rivet detection does not pass, a discarding action is performed; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.

As shown in fig. 5, the inspection light source assembly 133 is further included, the inspection light source assembly 133 and the industrial camera 130 are respectively disposed at two sides of the rivet, and the inspection light source assembly 133 is used for providing light from one side of the rivet. In this embodiment, the detecting light source assembly 133 includes a detecting light source 1331 and a light source holder 1332; the two detection light sources 1331 are respectively fixed on the light source fixing seat 1332, and the two detection light sources 1331 are respectively aligned with one of the industrial cameras 130. As shown in fig. 5, the light source fixing seat 1332 is W-shaped, and the middle of the light source fixing seat is fixed by a light source fixing post 1333. As shown in fig. 7, the two detection light sources 1331 are respectively disposed on the detection light path of the industrial camera 130, and the detection light source 1331 is turned on to achieve the light supplement effect. In a preferred embodiment, as shown in fig. 1, a light shield 121 is further included; the light shielding plate 121 is used for shielding external light to ensure that the rivet image is not affected by the external light.

A visual inspection method of rivets for riveting comprises the following steps:

configuring the two industrial cameras 130 with detection light paths located on the same horizontal plane, at least including adjusting the distance between the industrial camera 130 and the rivet axis on the riveting suction nozzle assembly 113, so that the distances between the two industrial cameras 130 and the rivet axis are different;

the two industrial cameras 130 capture the rivet pose from different sides and distances of the rivet, respectively;

when the rivet postures captured by the two industrial cameras 130 are qualified, judging that the rivet detection is passed, and executing riveting action; otherwise, judging that the rivet detection is not passed, and executing discarding action.

In the embodiment, the two industrial cameras 130 respectively capture the rivet from two sides, so as to avoid uncertainty in single-side capture and ensure that the rivet is vertically riveted to the adsorption plane of the suction nozzle assembly 113, thereby ensuring the riveting quality; furthermore, the industrial camera 130 with different distances from the rivet is used for image capture to obtain image capture of the rivet image at different distances, on one hand, when the rivet gesture is captured, whether the rivet gesture of the industrial camera 130 close to the rivet axis is qualified is captured and judged, and if the rivet detection is judged not to pass, a discarding action is executed; it should be appreciated that the rivet pose can be determined to be unacceptable when the error is outside the acceptable range for near capture, without having to make a further determination on the image captured at a distance, thereby freeing up part of the computational effort. On the other hand, the industrial camera 130 for remote capturing may also be configured as a main detection basis in the lateral direction, that is, when capturing the rivet gesture, first capturing and determining whether the rivet gesture of the industrial camera 130 farther from the rivet axis is qualified, and if determining that the rivet detection does not pass, performing a discarding action; it should be appreciated that the rivet pose can be determined to be unacceptable if the error exceeds the acceptable range for the far capture, without having to make a further determination on the near captured image, thereby freeing up part of the computational effort. It should be noted that the two industrial cameras 130, although having different distances from the rivet, can both capture good visual images; generally, the ratio of the distance difference between the two industrial cameras 130 and the rivet to be detected to the larger distance between the two industrial cameras 130 and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%, image noise increases when the ratio is too large, and discrimination caused by the distance cannot be reflected when the ratio is too small; since the image noise increases with an increase in distance, the near-field captured image detection is more accurate, and it is preferable to determine the rivet image captured near first, thereby reducing the number of image processing and determination.

As shown in fig. 8, the jacking assembly 400 includes a jacking driving device 410, a jacking cam 430, a supporting pin 440, and a jacking guide structure 450; as shown in fig. 1 and 2, the jacking cam 430 abuts against the supporting pin 440, and the supporting pin 440 is further fixedly connected with the guide moving part of the jacking guide structure 450; the guiding direction of the jacking guide structure 450 is vertical to the riveting working plane; the jacking driving device 410 drives the jacking cam 430 to rotate, and the jacking cam 430 drives the supporting pin 440 to move along the guiding direction of the jacking guiding structure 450, so that the supporting pin 440 periodically supports rivets. In one embodiment, the supporting pin 440 is made of Polyetheretherketone (PEEK) resin, and has the advantages of excellent mechanical properties, good self-lubrication, chemical corrosion resistance, flame retardance, peeling resistance and wear resistance compared with other special engineering plastics, and is softer than a riveting carrier, so that the carrier or a workpiece is not easily scratched in the supporting and working processes.

In a preferred embodiment, as shown in fig. 8-11, the jacking assembly 400 further comprises a jacking contact 470, a jacking connection base plate 480; the jacking contact piece 470 is fixed on the jacking connection base plate 480; the jacking contact 470 is to abut the jacking cam 430; the jacking connection substrate 480 is fixedly connected with the support pin 440. In this embodiment, as shown in fig. 11, the jacking contact piece 470 is a screw with a cylindrical nail cap, and the jacking cam 430 is contacted by the smooth nail cap, so as to realize power transmission.

The jacking driving device 410 is used for driving the jacking cam 430 to rotate; in one embodiment, the jacking driving device 410 is a servo motor; preferably, the jacking assembly 400 further comprises a driving rotating shaft 420; the driving rotating shaft 420 is connected with the jacking driving device 410 through a coupler; the jacking cam 430 is fixedly connected with the driving rotating shaft 420; in this embodiment, as shown in fig. 8, the servo motor is fixed on the jacking motor fixing seat 491, and as shown in fig. 9, the output shaft of the servo motor and the driving rotating shaft 420 are fixed together by a coupling, and are supported together by the first jacking fixing seat 492 and the first shaft seat 493; as shown in fig. 8, the jacking motor fixing seat 491, the first jacking fixing seat 492 and the first shaft seat 493 are fixed on the jacking support base 490 through a connection pad, so as to form an integral support structure.

The jacking guide structure 450 is used for guiding the movement of the support pin 440; the jacking guide structure 450 includes, but is not limited to, a slider guide rail structure, a guide post and guide bushing structure, and a guide wheel guide rail structure, and in one embodiment, as shown in fig. 8 and 10, the jacking guide structure 450 is a slider guide rail structure; in a preferred embodiment, the jacking assembly 400 further comprises a stroke detection assembly 460; the stroke detection element 460 is used to detect the position of the support pin 440, as shown in fig. 10, the stroke detection element 460 is a photoelectric sensor, and the two photoelectric sensors are respectively distributed on two sides of the support pin 440 to detect the limit position of the support pin 440; correspondingly, the two sides of the supporting pin 440 are provided with the stroke stopping pieces 481 for stopping the optical fibers of the photoelectric sensor, the stroke stopping pieces 481 are vertically arranged, the stroke stopping pieces 481 are in a non-riveting working position in the state shown in fig. 10, and after the jacking cam 430 rotates clockwise, the supporting pin 440 vertically moves upwards to a riveting working position.

In a preferred embodiment, as shown in fig. 9 and 11, the jacking assembly 400 further comprises a pressing ring 434 and a bearing 436; the jacking cam 430, the pressing ring 434 and the bearing 436 are sequentially sleeved on the driving rotating shaft 420; the pressing ring 434 is used for abutting against the jacking cam 430; the bearing 436 is used to fix the driving shaft 420 on the first shaft seat 493. In this embodiment, the pressing ring 434 eliminates the axial gap of the jacking cam 430, and effectively prevents the jacking cam 430 from moving axially in the rotating process, thereby improving the accuracy of the jacking process; preferably, the pressing ring 434 is made of an elastic material, and the pressing ring 434 sufficiently abuts against the end surface of the lifting cam 430 through a certain elastic deformation to eliminate the axial clearance.

In a preferred embodiment, as shown in fig. 9 and 11, the jacking assembly 400 further comprises a stub nut 435; the shaft end nut 435 is fixed to the end of the driving shaft 420 to press the inner ring of the bearing 436. In this embodiment, the inner ring of the bearing 436 is pressed by the shaft end nut 435, and the pressure is transmitted to the pressing ring 434, so as to press the lifting cam 430, and further prevent the lifting cam 430 from moving axially during the rotation process.

In a preferred embodiment, as shown in fig. 10 to 12, the lifting cam 430 includes a lifting flange 431, and the lifting flange 431 has a groove-shaped structure to provide an urging force for the supporting pin 440. In this embodiment, the slot width of the jacking flange 431 is the same as the nail head diameter of the jacking contact piece 470, the jacking flange 431 limits the jacking contact piece 470 in a slot-type structure, preferably, the surface of the jacking flange 431 is subjected to wear-resisting treatment, the service life of the jacking cam 430 is prolonged, and the jacking contact piece 470 can be replaced quickly after being worn by screws which are easy to detach and replace.

In a preferred embodiment, the jacking cam 430 further comprises a hollow-out portion. As shown in fig. 11 and 12, the hollow portion includes a first hollow portion 432 and a second hollow portion 433, on one hand, the hollow portion reduces the overall weight of the jacking cam 430, on the other hand, the hollow portion is used for balancing the groove-shaped structure of the jacking concave edge 431, the rotation balance of the jacking cam 430 is damaged after the groove-shaped structure of the jacking concave edge 431 is formed, and the new rotation balance of the jacking cam 430 is achieved by arranging the first hollow portion 432 in the shape of an arc groove and the second hollow portion 433 in the shape of a circular hole.

In a preferred embodiment, the lifting flange 431 includes a first slot 4311, a second slot 4312; the first slot 4311 is in communication with the second slot 4312; the first open slot 4311 is a spiral slot, and the second open slot 4312 is an arc slot. In the present embodiment, as shown in fig. 12, the radius R1 of the first slot 4311 is smaller than the radius R2, the radius R3 is the position where the first slot 4311 meets the second slot 4312, the radius R2 of the first slot 4311 is smaller than the radius R3, and the radius R3 of the second slot 4312 is equal to the radius R4. When the jacking cam 430 rotates, the jacking contact piece 470 contacts the spiral line groove, so that the supporting pin 440 is lifted stably, when the jacking contact piece 470 contacts the second slot 4312, the supporting pin 440 is not lifted in the vertical direction, at the moment, the supporting pin 440 maintains a time interval, the riveting process is completed, the control requirement of the jacking driving device 410 can be greatly reduced by the design of the second slot 4312, namely, when the jacking contact piece 470 contacts any position of the second slot 4312, the supporting pin 440 keeps the riveting supporting position stationary, on the other hand, the rotation angle of the jacking driving device 410 can be configured by combining the time intervals of all the processes, and the accurate control of the riveting process is achieved.

The automatic feeding device is ingenious in structure and reasonable in design, meets the actual requirements of automatic production, and is convenient to popularize and apply in the field of automation.

In the description of the present invention, it should be noted that the terms "inside" and "inside" are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is usually placed in when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or the element to be referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance. In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. Riveting set based on visual detection, its characterized in that: the riveting device comprises a riveting component (110), a visual detection component (160) and a jacking component (400); wherein the content of the first and second substances,

the pressure riveting component (110) is vertically arranged above a riveting plane and is used for applying riveting pressure;

the visual detection assembly (160) is arranged on one side of the press riveting assembly (110) and used for detecting and acquiring the position of a rivet hole on a riveting plane; the position of the visual detection assembly (160) and the position of the press riveting assembly (110) are separated by a plurality of rivet holes;

the jacking assembly (400) is vertically arranged below the riveting plane and is used for supporting rivets adsorbed on the riveting suction nozzle assembly (113) at the lower end of the pressure riveting assembly (110).

2. The vision inspection-based riveting apparatus according to claim 1, wherein: the two visual detection assemblies (160) are arranged on two sides of the press riveting assembly (110) and are used for respectively acquiring the positions of rivet holes in the riveting planes on the two sides of the press riveting assembly (110).

3. The visual inspection-based riveting apparatus according to claim 1 or 2, wherein: the visual detection assembly (160) comprises a plane detection camera (161), a ring light source (162), a plane camera adjusting seat (163) and a point light source (164); wherein the content of the first and second substances,

the plane detection camera (161) is used for capturing the position of a rivet hole on a riveting plane;

the ring light source (162), the point light source (164) to provide ambient light;

the plane camera adjusting seat (163) is used for installing the plane detection camera (161) so as to adjust the position of the plane detection camera (161) relative to the press riveting assembly (110).

4. The vision inspection-based riveting apparatus according to claim 1, wherein: the riveting suction nozzle assembly (113) comprises a riveting suction nozzle (1131), a suction nozzle clamping seat (1132), a riveting sliding block (1133), a riveting connecting block (1134), a riveting pressure sensor (1135) and a riveting connecting plate (1136); wherein the rivet nozzle (1131) is used for adsorbing rivets; the nozzle clamping seat (1132) is used for clamping and fixing the rivet nozzle (1131); the riveting sliding block (1133) is fixedly connected with the suction nozzle clamping seat (1132) and used for guiding in a sliding manner; the riveting connecting block (1134) is used for elastically connecting the suction nozzle clamping seat (1132) with the riveting connecting plate (1136); the riveting pressure sensor (1135) is arranged between the riveting connecting block (1134) and the suction nozzle clamping seat (1132), and the riveting pressure sensor (1135) is used for acquiring and feeding back riveting pressure; the riveting connection plate (1136) is used for transferring riveting pressure.

5. The vision inspection-based riveting apparatus according to claim 1, wherein: further comprising two industrial cameras (130); wherein the content of the first and second substances,

the detection light paths of the two industrial cameras (130) are vertical to the axis of a rivet adsorbed on the riveting suction nozzle component (113); the detection light paths of the two industrial cameras (130) are positioned on the same horizontal plane;

the two industrial cameras (130) are at different distances from the rivet axis such that the two industrial cameras (130) capture rivet poses from different sides and at different distances of the rivet, respectively.

6. The vision inspection-based riveting apparatus according to claim 5, wherein: the detection light source assembly (133) and the industrial camera (130) are respectively positioned at two sides of the rivet, and the detection light source assembly (133) is used for providing light source from one side of the rivet.

7. The vision inspection-based riveting apparatus according to claim 6, wherein: also includes a light shielding plate (121); the light shielding plate (121) is used for shielding external light.

8. The riveting device based on visual inspection according to claim 5, wherein the included angle α between the detection light paths of the two industrial cameras (130) is greater than or equal to 60 degrees and less than or equal to 120 degrees, and the ratio of the distance difference between the two industrial cameras (130) and the rivet to be detected to the larger distance between the two industrial cameras (130) and the rivet to be detected is greater than or equal to 10% and less than or equal to 30%.

9. The vision inspection-based riveting apparatus according to claim 1, wherein: the jacking assembly (400) comprises a jacking driving device (410), a jacking cam (430), a supporting needle (440) and a jacking guide structure (450); wherein the content of the first and second substances,

the jacking driving device (410) is used for driving the jacking cam (430) to rotate;

the jacking guide structure (450) is used for guiding the movement of the support needle (440);

the jacking cam (430) is abutted with the supporting needle (440), and the supporting needle (440) is also fixedly connected with a guide moving part of the jacking guide structure (450); the guiding direction of the jacking guiding structure (450) is vertical to the riveting working plane;

the jacking driving device (410) drives the jacking cam (430) to rotate, and the jacking cam (430) drives the supporting needle (440) to move along the guiding direction of the jacking guiding structure (450), so that the supporting needle (440) periodically supports rivets.

10. The vision inspection-based riveting apparatus of claim 9, wherein: the jacking cam (430) comprises a jacking concave edge (431), and the jacking concave edge (431) is of a groove-shaped structure and is used for providing the driving force of the supporting needle (440); the jacking cam (430) further comprises a hollow-out part; the jacking flange (431) comprises a first slot (4311) and a second slot (4312); the first slot (4311) is in communication with the second slot (4312); the first open groove (4311) is a spiral groove, and the second open groove (4312) is a circular arc groove.