CN111922578A

CN111922578A - System and method for accurately installing and welding electrode needle and bridge band of sealing body guided by vision

Info

Publication number: CN111922578A
Application number: CN202010475088.8A
Authority: CN
Inventors: 田军锋; 杨娜; 符磊; 荆鹏; 李西强; 王刚; 党智彬; 贾军峰
Original assignee: Xian Aerospace Precision Electromechanical Institute
Current assignee: Xian Aerospace Precision Electromechanical Institute
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2020-11-13
Anticipated expiration: 2040-05-29
Also published as: CN111922578B

Abstract

The invention provides a system and a method for accurately welding a sealing body polar needle and a bridge belt through visual guidance, which solve the problems that the polishing quality of the sealing body polar needle cannot be ensured, defective sealing bodies are more, the bridge belt is easy to damage during welding, the cost is high and the working efficiency is low in the manufacturing process of an igniter. The assembly system comprises a sealing body material tray, a conveying mechanism, and a polishing unit and a welding unit which are sequentially arranged along the conveying direction of the conveying mechanism; the welding unit comprises a manipulator, a welding working platform, a bridge belt material disc, a welding needle material disc, a middle rotary table, a second vision system, a cross sliding table, a welding mechanism and a bridge belt detection table, wherein the bridge belt material disc, the welding needle material disc, the middle rotary table, the second vision system, the cross sliding table, the welding mechanism and the bridge belt detection table are arranged on the welding working platform; the manipulator includes six robots and welding jig subassembly.

Description

System and method for accurately installing and welding electrode needle and bridge band of sealing body guided by vision

Technical Field

The invention relates to an igniter assembling technology, in particular to a system and a method for accurately welding a sealing body pole needle and a bridge belt through vision guidance.

Background

The igniter is an important component of devices such as an engine, a rocket and the like, and plays a decisive role in judging whether the engine and the rocket can ignite. The igniter is prepared by the following steps: firstly, a sealing body is manufactured, then a bridge belt is installed and welded on a pole pin of the sealing body, and finally the igniter is obtained.

The existing igniter preparation process has the following defects:

1. because the condition that the seal body was depositing, the oxidation can appear in the utmost point needle, and the welding quality that utmost point needle oxidation influenced utmost point needle and bridge area is handled before the bridge area spot welding. Existing scale removal for sealing body pole needle

The (polishing) mode is that the sealing body is usually placed under a microscope, and an oxide layer on the surface of the electrode needle is manually scraped by a scraper, and the process is to judge the removal condition of the oxide layer by experience, so that the quality of the polished sealing body electrode needle cannot be ensured; the process is manual operation, so that operators are easy to fatigue and scratch other parts of the sealing body, and more defective sealing bodies are produced;

2. before the bridge belt is welded, the qualification of the bridge belt is judged, and usually, manual work is adopted to judge and screen under a microscope, and the process of judging whether the bridge belt is qualified or not according to experience easily causes misjudgment; the operator is easy to fatigue, so that the working efficiency is low, and the diameter of the bridge belt cannot be detected;

3. the bridge belt and the sealing body are assembled in such a way that the screened bridge belt is manually clamped by tweezers and placed into the sealing body, and then the toothpick is used for shifting the bridge belt to enable the bridge belt to cover the pole needle, the bridge belt covering condition is judged by naked eyes manually, operators are easy to fatigue, the covering rate cannot be counted, and no record is recorded in the detection process;

4. the bridge belt welding adopts manual welding spot positioning, operation welding and welding bottom line switching, after welding is finished, the welding spot quality is manually detected under a microscope, a welding needle can be adhered to the bridge belt during welding, and when the welding needle is lifted upwards, the bridge belt can be torn and damaged;

5. the process of removing oxide skin by the sealing body pole needle and the process of spot welding of the bridge belt are all manual operations, the requirement on the operation level of operators is high, and at least one year is needed for cultivating a qualified operator; the defects of low working speed, long consumed time and misoperation exist, so that the igniter is high in preparation cost and low in working efficiency, and meanwhile, the qualified rate of igniter production is influenced by the instability of manual operation.

Disclosure of Invention

The invention provides a visual guide system and a visual guide method for accurately installing and welding a sealing body pole pin and a bridge belt, aiming at solving the technical problems that the polishing quality of the sealing body pole pin cannot be guaranteed, defective products of the sealing body are more, the qualification rate of the bridge belt is misjudged, the coverage rate of the bridge belt in the assembling process cannot be counted, the bridge belt is easy to damage during welding, the manufacturing cost of an igniter is high, and the working efficiency is low in the existing igniter manufacturing process.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a visual guide system for accurately installing and welding a polar needle and a bridge belt of a sealing body is characterized in that: the device comprises a sealing body tray, a conveying mechanism, a polishing unit and a welding unit, wherein the polishing unit and the welding unit are sequentially arranged along the conveying direction of the conveying mechanism;

the sealing body tray is arranged on the conveying mechanism;

the polishing unit comprises a polishing working platform, a four-axis robot, a polishing positioning mechanism and a polishing jig assembly; the four-axis robot and the polishing positioning mechanism are arranged on the polishing working platform; the polishing jig assembly is arranged on an output shaft of the four-axis robot; the sealing body material tray and the polishing positioning mechanism are both positioned in the working area of the four-axis robot; the polishing jig assembly is used for moving the sealing body in the sealing body tray to the polishing positioning mechanism, and polishing and cleaning the sealing body pole needle on the polishing positioning mechanism;

the welding unit comprises a manipulator, a welding working platform, and a bridge belt material tray, a welding needle material tray, a transfer table, a second vision system, a cross sliding table, a welding mechanism and a bridge belt detection table which are arranged on the welding working platform; the manipulator comprises a six-axis robot and a welding jig assembly; the sealing body material tray, the transfer table, the second vision system, the cross sliding table, the welding mechanism, the bridge belt detection table, the bridge belt material tray and the welding pin material tray are all positioned in the working area of the six-axis robot; the welding jig assembly is used for carrying the bridge belt, the welding pins and the polished sealing body, and visually judging the quality of the bridge belt, the polished polar pins and the quality of the welded polar pins and the bridge belt;

the transfer table is used for placing the sealing body grabbed by the sealing body grabbing jig; the first vision system is used for photographing a sealing body pole needle on the centering rotary table; the second vision system is used for photographing the bottom surface of the sealing body;

the cross sliding table comprises a two-dimensional adjusting mechanism arranged on the welding working platform and a sealing body base arranged on the two-dimensional adjusting mechanism; the two-dimensional adjusting mechanism is used for driving the sealing body on the sealing body base to move to or out of a working area of the welding mechanism; the bridge belt detection table is used for placing a bridge belt to be welded and providing a backlight source for detection.

Further, the polishing jig assembly comprises a polishing jig connecting plate, a flange coupler arranged on the polishing jig connecting plate, a suction jig, a grabbing jig, a polishing jig and a blowing jig; the flange coupler is arranged in the middle of the upper surface of the polishing jig connecting plate and is connected with an output shaft of the four-axis robot; the suction jig is a vacuum generator vertically arranged in the middle of the lower surface of the polishing jig connecting plate; the grabbing jig comprises an air cylinder arranged at one end of the polishing jig connecting plate and 2 chucks driven by the air cylinder; the polishing jig comprises a miniature pneumatic polisher or a miniature electric polisher arranged at the other end of the polishing jig connecting plate; the blowing jig comprises an extension plate arranged on the polishing jig connecting plate and an air blowing pipe arranged at the extending end of the extension plate, and the fixed end of the extension plate is positioned between the suction jig and the grabbing jig or between the suction jig and the polishing jig; the lowest positions of the polishing head and the blowing pipe of the vacuum generator, the micro pneumatic polisher or the micro electric polisher are all higher than the lowest position of the chuck; the polishing positioning mechanism comprises a positioning unit and a first clamping unit; the positioning unit comprises a lifting mechanism arranged on the polishing working platform and a working plate arranged on the lifting mechanism; the working plate is provided with a positioning blind hole for placing the sealing body; the first clamping unit comprises a first clamping cylinder arranged on the grinding working platform and 2 first clamping air claws driven by the first clamping cylinder; and the 2 first clamping pneumatic claws are used for clamping and positioning the sealing body on the blind hole.

Furthermore, the inner side surfaces of the 2 first clamping air claws are provided with semicircular grooves matched with the outer surface of the sealing body; the inner side surfaces of the 2 chucks are provided with arc-shaped grooves or V-shaped grooves for clamping the sealing body; the positioning blind holes are arranged side by side and have different diameters; the semicircular grooves are arranged side by side and are different in diameter, and the number of the semicircular grooves is equal to that of the positioning blind holes and corresponds to the positioning blind holes one to one.

Further, vacuum generator is including setting up the first tool axle in tool connecting plate lower surface middle part of polishing and setting up the first sucking disc at first tool axle lower extreme.

Further, the welding jig assembly comprises a welding jig connecting plate, and a bridge belt suction jig, a sealing body grabbing jig, a welding pin grabbing jig and a first vision system which are connected to the welding jig connecting plate, wherein the sealing body grabbing jig, the welding pin grabbing jig and the first vision system are circumferentially and uniformly distributed by taking the bridge belt suction jig as a center; the welding jig connecting plate is connected with a working shaft of the six-shaft robot through a connecting flange; the bridge belt suction jig comprises a second jig shaft arranged along the central shaft of the welding jig connecting plate and a second sucker arranged at the lower end of the second jig shaft;

the sealing body grabbing jig comprises a sealing body cylinder and 2 sealing body chucks, wherein the sealing body cylinder is arranged on the welding jig connecting plate, and the lower end of the sealing body cylinder is arranged in an outward inclined mode;

the welding pin grabbing jig comprises a welding pin cylinder and 2 welding pin chucks, wherein the welding pin cylinder is arranged on the welding jig connecting plate, and the lower end of the welding pin cylinder is arranged in an outward inclined manner;

the first vision system comprises a camera arranged on the welding jig connecting plate, and the axis of the camera is parallel to the axis of the second jig shaft.

Further, the welding unit also comprises a scanning unit arranged on the welding working platform;

the scanning unit comprises a code scanner and a rotatable code scanning platform, and the code scanner is used for scanning the label of the sealing body on the code scanning platform.

Further, the cross sliding table further comprises a second clamping unit arranged on the two-dimensional adjusting mechanism;

the second clamping unit comprises a second clamping cylinder arranged on the first sliding block and 2 second clamping air claws driven by the second clamping cylinder, and the 2 second clamping air claws are used for clamping a sealing body on a sealing body base.

Further, the manipulator further comprises a base positioned between the conveying mechanism and the welding working platform, and the six-axis robot is arranged on the base; a notch for placing the base is formed in one end, close to the conveying mechanism, of the welding working platform;

the two-dimensional adjusting mechanism is positioned between the manipulator and the welding mechanism, and the manipulator, the two-dimensional adjusting mechanism and the welding mechanism are collinear;

the two-dimensional adjusting mechanism is positioned in the middle of the welding working platform;

the scanning unit, the second vision system and the transfer table are positioned on one side of the two-dimensional adjusting mechanism;

the welding needle material tray, the bridge belt material tray and the bridge belt detection table are located on the other side of the two-dimensional adjusting mechanism.

Meanwhile, the invention also provides an assembly method of the accurate installing and welding system of the sealing body polar needle and the bridge band based on the visual guidance, which is characterized by comprising the following steps:

1) seal body pole needle polishing

1.1) the four-axis robot drives the grabbing jig to move to the position above the sealing body material tray and grab the sealing body in the sealing body material tray;

1.2) the four-axis robot moves the sealing body grabbed by the grabbing jig into a positioning blind hole of the working plate and clamps and fixes the sealing body through a first clamping unit;

1.3) the four-axis robot moves the polishing jig to the position of the polar needle of the sealing body to polish the surface of the polar needle;

1.4) moving the purging jig to the pole needle position of the sealing body by the four-axis robot, and purging the grinding residues;

1.5) moving the suction jig to the position of the polar needle of the sealing body by the four-axis robot, and sucking residues on the surface of the polar needle after purging;

1.6) loosening the first clamping unit, and grabbing the sealing body after polishing the pole pin by a grabbing jig of the four-axis robot;

1.7) the four-axis robot puts the grabbed sealing body back into a sealing body tray to finish polishing the polar needle of the sealing body;

2) welding of sealing body polar needle and bridge band

2.1) the six-axis robot drives the sealing body grabbing jig to move to the position above a sealing body material disc after the pole needle is polished, the sealing body to be welded in the sealing body material disc is grabbed and placed on the code scanning table, the code scanning table is driven to rotate, and the code scanning table scans the label of the sealing body on the code scanning table;

2.2) the six-axis robot drives the first vision system to move to the position above the code scanning table, the first vision system takes pictures of the polar needle of the to-be-welded sealing body and carries out polar needle polishing quality detection, and if the polar needle polishing quality is qualified, the step 2.3 is executed; if not, placing the sealing body in a waste material tray, and executing the step 2.1);

2.3) the six-axis robot drives the sealing body grabbing jig to grab the sealing body to be welded and move the sealing body to a second vision system photographing area, the second vision system photographs the bottom surface of the sealing body to be welded, the angle of the sealing body to be welded, which needs to be rotated, is calculated according to the photographing result of the bottom surface of the sealing body and the position of a base of the sealing body on the two-dimensional adjusting mechanism, and the six-axis robot drives the sealing body to be welded to rotate by a corresponding angle and places the sealing body to be welded on a transfer table;

2.4) a sealing body grabbing jig of the six-axis robot grabs a sealing body to be welded on the transfer table and moves the sealing body to a photographing area of the second vision system, the second vision system takes a picture of the bottom surface of the sealing body to be welded again, whether the deviation between the actual shape and the calibrated shape meets the requirement or not is judged according to the photographing result of the bottom surface of the sealing body, and if yes, the step 2.5 is executed; if not, placing the sealing body in a waste material tray, and executing the step 2.1);

the actual shape is the bottom surface shape of the to-be-welded sealing body on the photographed picture, and the calibration shape is the cross-sectional shape of a groove for placing the sealing body on the sealing body base;

2.5) the sealing body to be welded is inserted into the sealing body base by the sealing body grabbing jig, and the sealing body is clamped by a second clamping air claw of a second clamping unit;

2.6) driving the first vision system to move to the position of a to-be-welded sealing body on the sealing body base by the six-axis robot, and taking a picture to obtain the position of a sealing body polar needle;

2.7) moving the six-axis robot driving bridge belt suction jig to the position above the bridge belt material tray, sucking bridge belts to be welded in the bridge belt material tray and placing the bridge belts on a bridge belt detection table;

2.8) the six-axis robot drives the first vision system to move to the position above the bridge belt detection table, the bridge belt detection table provides a backlight source for detection, the first vision system takes a picture of a bridge belt to be welded and carries out bridge belt quality detection, if the bridge belt to be welded is qualified in quality, the step 2.9) is carried out, if the bridge belt to be welded is not qualified in quality, the bridge belt to be welded is placed in a waste material tray, and the step 2.7 is carried out);

2.9) calculating the angle of the bridge belt to be welded, which needs to rotate, according to the photographing result of the step 2.8) and the position of the polar needle of the sealing body in the step 2.6), sucking the bridge belt to be welded by a bridge belt sucking jig, driving the bridge belt to be welded to rotate by the corresponding angle by a six-axis robot, and putting the bridge belt to be welded on a bridge belt detection table;

2.10) resetting the six-axis robot suction jig to the position before the rotation of the bridge belt to be welded in the step 2.9), photographing the bridge belt to be welded on the bridge belt detection table again by the first vision system, judging whether the deviation between the theoretical position and the actual position meets the requirement or not according to the photographing result, and if so, executing the step 2.11); if not, placing the bridge belt to be welded in a waste material tray, and executing the step 2.7);

wherein the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a bridge area of a bridge belt to be welded;

2.11) the bridge belt suction jig sucks the bridge belt to be welded on the bridge belt detection table and places the bridge belt on the sealing body pole needle on the sealing body base;

2.12) the six-axis robot drives the welding pin grabbing jig to move above a welding pin tray, grabs the welding pins in the welding pin tray and installs the welding pins at a welding head of a welding mechanism, and the two-dimensional adjusting mechanism drives the sealing body on the sealing body base to a working area of the welding mechanism to weld the bridge belt to be welded and the sealing body polar pins;

2.13) after welding, moving the two-dimensional adjusting mechanism out of the welding mechanism, taking a picture of the welded sealing body by the first vision system, detecting the welding quality, and if the welding quality is qualified, executing the step 2.14); if not, placing the welded sealing body in a waste material tray;

2.14) the sealing body grabbing jig puts the welded sealing body back to the material disc to complete the welding of the pole needle and the bridge belt.

Further, before the step 2), the method also comprises the step A): and wiping the polished sealing body polar needle with acetone.

Compared with the prior art, the invention has the advantages that:

1. the invention discloses an accurate igniter assembling system and method.A conveying mechanism is used for conveying a sealing body material tray, a four-axis robot is used for moving the sealing body in the material tray to a polishing positioning mechanism, a polishing jig assembly is driven by the four-axis robot to polish a pole pin and clean residues after polishing, the four-axis robot moves the sealing body into the material tray after polishing is completed, the conveying mechanism conveys the sealing body material tray to a welding unit after polishing is completed, the welding jig assembly finishes conveying a bridge belt, the welding pin and the polished sealing body and visually judges the quality of the bridge belt, the polished pole pin, the pole pin and the bridge belt after welding, and a cross sliding table is used for moving the sealing body provided with the bridge belt to a welding spot position of the welding mechanism; the electrode needle is polished, and the electrode needle of the sealing body and the bridge belt are welded to form a complete automatic line production, so that the working efficiency is high, and misoperation caused by artificial fatigue is avoided.

2. The polishing jig assembly is integrated with a grabbing jig, a polishing jig, a suction jig and a blowing jig, the grabbing, polishing and post-polishing residue cleaning work of the sealing body can be realized, the sealing body is taken through the grabbing jig, the speed of taking out the sealing body is greatly increased, and the grabbing jig is arranged at the end part of a connecting plate of the polishing jig and is located at the lowest position, so that the sealing body is more conveniently grabbed; meanwhile, when the material is grabbed, other jigs are prevented from damaging other sealing bodies in the material tray; a micro device is adopted in the polishing process, so that the damage to the surface of the polar needle is small; the suction jig and the blowing jig clean the polished residues, and ensure that the surfaces of the polar pins of the sealing body are smooth and have no residues.

3. The inner side surface of the first clamping air claw in the polishing unit is provided with a semicircular groove, so that a sealing body can be clamped conveniently.

4. The polishing unit is provided with a plurality of positioning blind holes on the working plate and a plurality of semicircular grooves on the first clamping air claw, and is suitable for processing sealing bodies of different models;

5. the processes of polishing, sucking and purging the sealing body are finished on the positioning unit, the height of the working plate can be adjusted through the lifting mechanism, and the sealing body processing device is suitable for processing sealing bodies of different models.

6. According to the polishing jig assembly, the grabbing jig and the polishing jig are arranged at two ends of the polishing jig connecting plate, the suction jig is located in the middle of the polishing jig connecting plate, the blowing jig is located on the outer side of the polishing jig connecting plate, the four jigs are arranged at intervals, when any jig works, the rest jigs cannot influence the working process of the jig, the grabbing jig and the polishing jig are located at the end portions, grabbing and polishing are facilitated, and the polishing jig assembly is small in overall size.

7. The grinding unit can finish the processes of grabbing of the sealing body, grinding the electrode pin and cleaning through one robot, the welding unit can realize multiple functions of bridge belt suction, grabbing of the sealing body, grabbing of the welding pin and quality detection of the electrode pin of the sealing body by using one six-axis robot, and the welding unit has the characteristics of simplicity and convenience in operation, high working efficiency, low cost and small occupied space and further improves the production efficiency of the igniter.

8. The inner side surface of the chuck of the grabbing jig is provided with the arc-shaped groove or the V-shaped groove, so that the clamping of the sealing body is facilitated.

9. The welding unit is provided with a scanning unit for scanning the label of the sealing body, so that the technical process, the quality record and the traceability are realized.

10. The welding jig assembly comprises a bridge belt suction jig, a sealing body grabbing jig, a welding pin grabbing jig and a vision system, wherein before welding, the first vision system shoots a sealing body pole pin to detect the quality of the sealing body pole pin, and the detection precision and accuracy are high; arranging a bridge belt suction jig in the middle of a welding jig connecting plate, so that the bridge belt suction jig can rotate conveniently, the sucked bridge belt can rotate, and the bridge area rotated to the bridge belt is just corresponding to the position of a sealing body pole needle; the axis of the camera is parallel to the axis of the second jig shaft, after the camera takes photos of the polar needle, the second sucker sucks the bridge belt and rotates to a proper position, and the bridge belt on the second sucker is translated, so that errors cannot be generated in the mounting positions of the bridge belt and the polar needle, and the mounting precision is high; the sealing body grabbing jig and the welding pin grabbing jig are positioned on the outer side of the welding jig connecting plate and are arranged obliquely, so that the sealing body and the electrode pin can be grabbed conveniently, and meanwhile, the oblique arrangement is used for preventing the jigs from damaging other parts in the material tray in the grabbing process; the manipulator can realize the processes of bridge belt suction, sealing body grabbing, welding pin grabbing and sealing body pole pin quality detection through a six-axis robot, realizes automation of operation, and has high working efficiency and reduced errors caused by manual operation.

11. The welding unit of the invention adopts visual identification and robot high-precision positioning technology to realize automatic assembly and welding of the bridge belt tiny parts, and solves the problems that the pole needle cannot be seen when the bridge belt is matched with the pole needle by manual operation with tweezers, the bridge belt is placed into an igniter sealing body, the coverage rate of a bridge area and the pole needle is only completed by experience, and the like. The position of the pole pin and the bridge belt is guaranteed to be recorded and calibrated before assembly, the coverage rate of a bridge area and the pole pin after welding is guaranteed to reach 100%, and the qualified rate of products is improved.

12. The welding unit shoots the sealing body through the first vision system, so that the quality of the polar needle of the sealing body is detected, and the detection accuracy is high; the first vision system is matched with the bridge belt detection table to realize the detection of the quality of the bridge belt, and the first vision system photographs the bridge belt to obtain the diameter of the bridge belt.

Drawings

FIG. 1 is a schematic structural diagram of a vision-guided precision assembling and welding system for a pole needle and a bridge belt of a sealing body of the invention;

FIG. 2 is a schematic structural diagram of a polishing unit in the visual-guided precision assembling and welding system for the pole needle and the bridge band of the sealing body of the invention;

FIG. 3 is a first schematic structural diagram of a polishing jig assembly in the vision-guided precision assembly and welding system for the sealing body pole needle and the bridge belt of the present invention;

FIG. 4 is a schematic structural diagram of a second polishing jig assembly in the vision-guided precision assembly and welding system for the sealing body pole needle and the bridge belt of the present invention;

FIG. 5 is a third schematic structural view of a polishing jig assembly in the vision-guided precision assembly and welding system for the sealing body pole needle and the bridge belt of the present invention;

FIG. 6 is a first schematic view of the assembly of a grinding jig assembly and a four-axis robot in the vision-guided precision assembly and welding system for a sealing body pole pin and a bridge band according to the present invention;

FIG. 7 is a second schematic view of the assembly of a grinding jig assembly and a four-axis robot in the vision-guided precision assembly and welding system for the pole pins and the bridge band of the sealing body of the invention;

FIG. 8 is a schematic structural view of a polishing positioning mechanism in the precise welding system for the sealing body pole needle and the bridge belt guided by vision according to the present invention;

FIG. 9 is a first schematic structural diagram of a welding unit in the visual guidance precision assembly and welding system for the pole needle and the bridge band of the sealing body of the invention;

FIG. 10 is a schematic structural diagram of a welding unit in the vision-guided precision assembling and welding system for the pole needle and the bridge band of the sealing body of the invention;

FIG. 11 is a third structural diagram of a welding unit in the vision-guided precision assembling and welding system for the pole needle and the bridge band of the sealing body of the invention;

FIG. 12 is a schematic view of a robot in a welding unit of the vision-guided precision seal pin and bridge strap assembly welding system of the present invention (the base only shows a portion);

FIG. 13 is a first schematic view of a welding jig assembly in a welding unit of the vision-guided precision assembly and welding system for a sealing body pole needle and a bridge band according to the present invention;

FIG. 14 is a schematic structural diagram of a second welding jig assembly in the welding unit of the vision-guided system for accurately installing and welding the needle of the sealing body and the bridge belt according to the present invention;

FIG. 15 is an enlarged view of a portion of FIG. 11 at I;

FIG. 16 is a flow chart of the welding of the seal body polar pin and the bridge band in step 2) of the method for accurately welding the seal body polar pin and the bridge band according to the invention;

wherein the reference numbers are as follows:

0-1-a polishing unit, 0-2-a welding unit,

01-grinding jig connecting plate, 02-suction jig, 021-first jig shaft, 022-first suction cup, 03-gripping jig, 031-jig mounting plate, 032-cylinder, 033-cartridge holder, 034-sliding guide, 035-cartridge, 0351-arc groove, 04-grinding jig, 041-mounting holder, 0411-first plate, 0412-second plate, 042-motor, 043-grinding head, 05-purging jig, 051-extension plate, 0511-fixed end, 0512-overhanging end, 052-blowing pipe, 06-flange coupling, 061-coupling, 0611-expansion groove, 062-flange, 063-screw, 07-four-axis robot, 071-output shaft, 08-grinding jig assembly, 09-grinding positioning mechanism, 091-positioning unit, 0911-lifting mechanism, 0912-working plate, 0913-positioning blind hole, 092-first clamping unit, 0921-cylinder bracket, 0922-first clamping cylinder, 0923-first clamping air claw, 0924-semicircular groove and 012-grinding working platform.

9-manipulator, 1-six-axis robot, 11-first axis, 12-second axis, 13-third axis, 14-fourth axis, 15-fifth axis, 16-working axis; 2-welding jig assembly, 21-welding jig connecting plate, 22-connecting flange, 23-bridge belt suction jig, 231-second jig shaft, 232-second sucker, 24-sealing body gripping jig, 241-sealing body air cylinder, 242-sealing body chuck, 243-first mounting plate, 25-welding needle gripping jig, 251-welding needle air cylinder, 252-welding needle chuck, 253-second mounting plate, 26-first vision system, 261-camera, 262-camera mounting plate and 27-positioning block; 3-a conveying mechanism, 31-a sealing body tray; 4-welding working platform, 41-code scanner, 42-code scanner, 43-transfer table, 44-bridge belt detection table, 45-bridge belt tray, 46-welding needle tray; 5-second vision system, 51-camera mount, 52-fixed camera; 6-a cross sliding table, 61-a two-dimensional adjusting mechanism; 6111-a first guide rail seat, 6112-a first guide rail, 6113-a first sliding block, 6114-a first ball screw kinematic pair and 6115-a first servo motor; 6121-a second guide rail seat, 6122-a second guide rail, 6123-a second sliding block, 6124-a second ball screw kinematic pair and 6125-a second servo motor; 62-a sealing body base, 63-a second clamping unit, 631-a second clamping cylinder, 632-a second clamping air claw and 64-a drag chain; 7-a welding mechanism; 8-base.

Detailed Description

The invention is described in further detail below with reference to the figures and specific embodiments.

As shown in figure 1, the accurate welding system for the seal body polar needle and the bridge belt guided by vision comprises a seal body tray 31, a conveying mechanism 3, and a grinding unit 0-1 and a welding unit 0-2 which are sequentially arranged along the conveying direction of the conveying mechanism 3.

The sealing body tray 31 is arranged on the conveying mechanism 3, and the conveying mechanism 3 conveys the sealing body tray 31 to the working areas of the grinding unit 0-1 and the welding unit 0-2.

As shown in fig. 2, the polishing unit 0-1 includes a polishing work platform 012, a four-axis robot 07, a polishing positioning mechanism 09, and a polishing jig assembly 08; the four-axis robot 07 and the polishing positioning mechanism 09 are arranged on the polishing work platform 012; the grinding jig assembly 08 is arranged on an output shaft 071 of the four-axis robot 07; the sealing body charging tray 31 and the polishing positioning mechanism 09 are located in the working area of the four-axis robot 07, the sealing body charging tray 31 is transmitted through the conveying mechanism 3, the four-axis robot 07 moves the sealing bodies in the charging tray to the working plate 0912, the four-axis robot 07 polishes the polar pins in the working plate 0912, and the residue process after polishing is cleaned.

As shown in fig. 3 to 5, the polishing jig assembly 08 includes a polishing jig connecting plate 01, a flange coupler 06, a suction jig 02, a gripping jig 03, a polishing jig 04, and a purging jig 05, and the polishing jig assembly integrates the gripping jig 03, the polishing jig 04, the suction jig 02, and the purging jig 05, so that the operations of gripping a sealing body, polishing a pole pin, and cleaning residues after polishing can be realized, and the work efficiency is improved.

The flange coupler 06 is arranged in the middle of the upper surface of the polishing jig connecting plate 01 and comprises a coupler 061 and a flange 062 fixedly connected to one end of the coupler 061; the coupler 061 is provided with a through expansion groove 0611 in the axial direction; the coupler 061 is provided with a mounting hole communicated with the expansion groove 0611, and the coupler 061 on the two sides of the expansion groove 0611 is pressed tightly through the mounting hole by a screw 063. The output shaft of the four-axis robot and the matching position of the shaft coupling can be adjusted through the screws on the expansion slots, so that the height of the polishing jig assembly is adjusted, and the polishing head is prevented from being worn to cause insufficient contact with the sealing body pole needle, and the polishing effect is prevented from being influenced.

The suction jig 02 includes a first jig shaft 021 vertically disposed in the middle of the lower surface of the polishing jig connecting plate 01 and a first suction disc 022 disposed at the lower end of the first jig shaft 021, the upper end of the first jig shaft 021 is connected to the polishing jig connecting plate 01 through a flange 062, and the suction disc is connected to an external vacuum generator.

The grabbing jig 03 comprises a jig mounting plate 031, a cylinder 032, chuck supports 033 and 2 oppositely-arranged chucks 035, wherein the jig mounting plate 031 is vertically arranged at one end of the polishing jig connecting plate 01, the cylinder 032 is arranged on the jig mounting plate 031, the chuck supports 033 are arranged on the lower end face of the cylinder, sliding guide rails 034 are arranged on the lower end faces of the chuck supports 033, the upper parts of the 2 chucks 035 are arranged in the sliding guide rails 034, and the 2 chucks 035 can move in the sliding guide rails 034 in the opposite direction or in the opposite direction under the driving of an external air source and are used for clamping or loosening a sealing body; in order to further clamp the sealing body, the inner side surfaces of the 2 collets 035 are respectively provided with an arc-shaped groove 0351 or a V-shaped groove for clamping the sealing body.

The polishing jig 04 comprises a mounting bracket 041 arranged at the other end of the polishing jig connecting plate 01 and a micro electric polisher, and the micro electric polisher comprises a motor 042 and a micro pneumatic polishing head driven by the motor 042; the mounting support 041 is arranged on the end face of the other end of the polishing jig connecting plate 01, the mounting support 041 is an L-shaped mounting plate and comprises a first flat plate 0411 and a second flat plate 0412 which are vertically connected, the first flat plate 0411 is connected with the polishing jig connecting plate 01, a first mounting through hole is formed in the second flat plate 0412, the axis of the first mounting through hole is parallel to the axis of the first jig shaft 021, the motor 042 is arranged on the second flat plate 0412, the upper end of the miniature pneumatic grinding head penetrates through the first mounting through hole to be in output connection with the motor 042, the grinding head 043 is made of rubber, a miniature device is adopted in the polishing process, and the damage to the surface of a polar needle is small. In other embodiments, the grinding jig 04 may also include a mounting bracket 041 and a micro pneumatic grinder.

The blowing jig 05 comprises an extension plate 051 and an air blowing pipe 052, the extension plate 051 comprises a fixed end 0511 arranged on the polishing jig connecting plate 01 and an extending end 0512 positioned on the outer side of the polishing jig connecting plate 01, and the fixed end 0511 is positioned between the suction jig 02 and the grabbing jig 03 or between the suction jig 02 and the polishing jig 04; the outer extension end 0512 is provided with a second mounting through hole, the axis of the second mounting through hole is parallel to the axis of the first tool shaft 021, and the air blow pipe 052 penetrates through the second mounting through hole;

the lowest positions of the first suction disc 022, the polishing head 043 and the gas blow pipe 052 in the height direction are all higher than the lowest position of the chuck 035; and the central line of the polishing head 043 and the axis of the air pipe are both parallel to the axis of the first tool shaft 021.

In the embodiment, the polishing jig assembly grabs the sealing body through the grabbing jig 03, so that the speed of taking out the sealing body is greatly increased, and the grabbing jig 03 is arranged at the end of the polishing jig connecting plate 01 and is located at the lowest position, so that the sealing body can be grabbed more conveniently; meanwhile, when the material is grabbed, other jigs are prevented from damaging other sealing bodies in the material tray; and the suction jig 02 and the blowing jig 05 clean the polished residues to ensure that the surfaces of the sealing body pole needles are smooth and have no residues. Snatch tool 03 and the tool 04 of polishing and arrange in the both ends of the tool connecting plate 01 of polishing, absorb tool 02 and be located the tool connecting plate 01 middle part of polishing, sweep tool 05 and be located the outside of the tool connecting plate 01 of polishing, four tools are interval arrangement, and wherein any tool is at the during operation, all the other tools can not produce the influence to it, and snatch tool 03 and the tool 04 of polishing and be located the tip, are convenient for snatch and polish, and whole volume is less.

As shown in fig. 8, the sanding positioning mechanism 09 includes a positioning unit 091 and a first clamping unit 092; the positioning unit 091 comprises a lifting mechanism 0911 arranged on the grinding working platform 012, and a working plate 0912 arranged on the lifting mechanism 0911, and the height of the working plate 0912 is adjusted by the lifting mechanism 0911 so as to adapt to sealing bodies of different specifications; a positioning blind hole 0913 matched with the excircle of the sealing body is formed in the working plate 0912, so that the sealing body can be conveniently placed on the station plate; the first clamping unit 092 includes a cylinder holder 0921 disposed on the grinding work platform 012, a first clamping cylinder 0922 disposed on the cylinder holder 0921, and 2 first clamping air claws 0923 driven by the first clamping cylinder 0922, where the 2 first clamping air claws 0923 rotate relative to the first clamping cylinder 0922 under the driving of the first clamping cylinder 0922, that is, the 2 first clamping air claws 0923 perform opening and closing motions, and the 2 first clamping air claws 0923 are driven by the first clamping cylinder 0922 to clamp the sealing body on the positioning blind hole 0913.

In order to improve the clamping effect of the first clamping air claw 0923 on the sealing body, the inner side surfaces of the 2 first clamping air claws 0923 are respectively provided with a semicircular groove 0924 matched with the outer surface of the sealing body, the 2 first clamping air claws 0923 are driven by the first clamping air cylinder 0922 to be buckled and then are parallelly positioned above the working plate 0912, and a circular hole formed by the semicircular grooves 0924 on the 2 first clamping air claws 0923 is positioned above the positioning blind hole 0913.

In order to facilitate the positioning and clamping effects on the sealing bodies with different specifications, a plurality of positioning blind holes 0913 which are arranged side by side and have different diameters are arranged on the working plate 0912; correspondingly, the semicircular grooves 0924 are also arranged side by side and have different diameters, and the number of the semicircular grooves 0924 is equal to that of the positioning blind holes 0913, and the semicircular grooves are in one-to-one correspondence.

As shown in fig. 6 and 7, an output shaft 071 of the four-axis robot 07 is connected to the flange coupler 06 of the polishing jig assembly 08, specifically, the output shaft 071 of the four-axis robot 07 is disposed in the coupler 061, and passes through the mounting holes on both sides of the expansion groove 0611 of the coupler 061 through a screw 063, so as to compress the couplers 061 on both sides of the expansion groove 0611, thereby fixing the output shaft 071 and the coupler 061 of the four-axis robot 07, and further connecting the four-axis robot 07 to the polishing jig assembly. The polishing unit of the embodiment can complete four actions through the four-axis robot 07, polishing of the sealing body pole needle is automatically achieved, and operation efficiency is high.

The polishing unit of the embodiment further comprises an air source, wherein the air source is used for providing power sources for the suction jig 02, the blowing jig 05, the grabbing jig 03, the first clamping unit 092 and the like, and the processes of grabbing, polishing, cleaning residues and positioning and clamping the sealing body are achieved.

After the polishing of the seal body polar needle is completed, the welding process of the seal body polar needle and the bridge belt is carried out, as shown in fig. 9 to 11, a welding unit 0-2 comprises a welding working platform 4, a manipulator 9, a scanning unit, a transfer table 43, a second vision system 5, a cross sliding table 6, a welding mechanism 7, a bridge belt detection table 44, a bridge belt material tray 45 and a welding needle material tray 46; the conveying mechanism 3 conveys the sealing body tray 31 after the sealing body polar needle is polished, and the sealing body tray is conveyed to a working area of the manipulator 9; the transfer table 43, the scanning unit, the second vision system 5, the cross sliding table 6, the welding mechanism 7, the welding needle material disc 46, the bridge belt material disc 45 and the bridge belt detection table 44 are all arranged on the welding working platform 4, and the transfer table 43 is arranged close to the second vision system 5; the sealing body tray 31, the transfer table 43, the scanning unit, the second vision system 5, the cross sliding table 6, the welding mechanism 7, the welding needle tray 46, the bridge belt tray 45 and the bridge belt detection table 44 are all located in the working area of the manipulator 9. The welding unit adopts a conveying mechanism to transmit a sealing body material tray, a sealing body grabbing jig of a six-axis robot realizes the transportation, rotation and insertion of the sealing body on a sealing body base, a bridge belt sucking jig realizes the sucking, rotation and loading of a bridge belt into the position of a sealing body pole needle, and a welding needle grabbing jig realizes the transportation and insertion of a welding needle into a welding mechanism; the first vision system and the second vision system judge the polishing quality of the polar needle of the sealing body, calculate the rotation angle of the sealing body, calculate the welding spot position of the polar needle, judge the quality of the bridge belt and calculate the rotation angle of the bridge belt, and the cross sliding table realizes that the sealing body assembled with the bridge belt is moved to the welding spot position of the welding mechanism; the welding unit forms a complete automatic line production, has high working efficiency and avoids misoperation caused by artificial fatigue.

The manipulator 9 is positioned between the conveying mechanism 3 and the welding working platform 4, and as shown in fig. 12, the manipulator 9 comprises a base 8, a six-axis robot 1 and a welding jig assembly 2; six axles of six axis robot 1 are the primary shaft 11, secondary shaft 12, third axle 13, fourth axle 14, fifth axle 15 and the working shaft 16 that set gradually respectively, and six axis robot 1 sets up on base 8, and the one end that welding work platform 4 is close to transport mechanism 3 is equipped with the breach that is used for placing base 8.

As shown in fig. 13 and 14, the welding jig assembly 2 includes a welding jig connecting plate 21, a connecting flange 22, a bridge belt suction jig 23, a sealing body gripping jig 24, a welding pin gripping jig 25 and a first vision system 26, the connecting flange 22 is located in the middle of the upper surface of the welding jig connecting plate 21, the bridge belt suction jig 23 is located in the middle of the lower surface of the welding jig connecting plate 21, and the sealing body gripping jig 24, the welding pin gripping jig 25 and the first vision system 26 are circumferentially and uniformly distributed with the bridge belt suction jig 23 as a center; (ii) a The position of the sucking disc should be the lowest, so that interference between other jigs and the workbench when the bridge belt is sucked is avoided; the welding jig assembly 2 can realize bridge belt suction, seal body grabbing, welding pin grabbing and seal body pole pin detection, and improves the working efficiency.

The connecting flange 22 is used for connecting the welding jig connecting plate 21 with the working shaft 16 of the six-axis robot 1, specifically, one end of the connecting flange 22 is arranged in the middle of the upper surface of the welding jig connecting plate 21, and the other end of the connecting flange is connected with the working shaft 16 of the six-axis robot 1.

Bridge area suction jig 23 includes perpendicular setting at the second tool axle 231 of welding jig connecting plate 21 lower surface middle part and sets up second sucking disc 232 at second tool axle 231 lower extreme, second tool axle 231 upper end is passed through the flange and is connected with welding jig connecting plate 21, polytetrafluoroethylene can be adopted to the material of second sucking disc 232, because the bridge area is very light, there is the bridge area in the condition of bridge area with the adhesion of second sucking disc after traditional resin second sucking disc adsorbs to target in place, cause the bridge area installation not to target in place, resin second sucking disc is softer simultaneously, repeated positioning accuracy is lower, can not satisfy the requirement of assembly quality and assembly accuracy, consequently, adopt the second sucking disc of polytetrafluoroethylene self-control, the problem that adhesion and repeated positioning accuracy are low has been avoided.

The sealing body grabbing jig 24 comprises a first mounting plate 243, a sealing body cylinder 241, a sealing body chuck support and 2 sealing body chucks 242 which are arranged oppositely, the first mounting plate 243 is obliquely arranged on the welding jig connecting plate 21, the sealing body cylinder 241 is arranged on the first mounting plate 243, the sealing body chuck support is arranged on the lower end face of the sealing body cylinder 241, a sliding guide rail is arranged on the lower end face of the sealing body chuck support, the 2 sealing body chucks 242 are arranged in the sliding guide rail, the 2 sealing body chucks 242 can move in the sliding guide rail in a reverse direction or in a reverse direction under the driving of an external air source and are used for clamping or loosening a sealing body, and in order to further clamp the sealing body, first V-shaped grooves used for clamping the sealing body are formed in the inner side faces of the 2 sealing body chucks 242; in other embodiments, the inner side of each of the 2 pin holders 252 may be formed with a second V-shaped groove.

The welding needle grabbing jig 25 comprises a second mounting plate 253, a welding needle cylinder 251, a welding needle chuck support and 2 welding needle chucks 252 arranged oppositely, the second mounting plate 253 is obliquely arranged on the welding jig connecting plate 21, the welding needle cylinder 251 is arranged on the second mounting plate 253, the welding needle chuck support is arranged on the lower end face of the welding needle cylinder 251, a sliding guide rail is arranged on the lower end face of the welding needle chuck support, the 2 welding needle chucks 252 are arranged in the sliding guide rail, the 2 welding needle chucks 252 can move in the sliding guide rail in the opposite directions or move in the opposite directions under the driving of the welding needle cylinder 251 and are used for clamping or loosening a welding needle, in order to further clamp the welding needle, a second V-shaped groove is formed in the inner side face of one welding needle chuck 252 of the 2 welding needle chucks 252.

The structure of the welding pin grabbing jig 25 is the same as that of the sealing body grabbing jig 24, but the shape of the welding pin is smaller than that of the sealing body, so that the size and the specification of the welding pin grabbing jig 25 are smaller than those of the sealing body grabbing jig 24, correspondingly, the size of the welding pin chuck 252 is smaller than that of the sealing body chuck 242, and the second V-shaped groove is also smaller than that of the first V-shaped groove.

In order to improve the stability of the first mounting plate 243 and the second mounting plate 253, a positioning block 27 is provided on the welding jig connecting plate 21 for positioning the first mounting plate 243 and the second mounting plate 253.

First vision system 26 is including setting up camera mounting panel 262 on welding jig connecting plate 21 and setting up the camera 261 on camera mounting panel 262, and the axis of camera 261 is parallel with the axis of second jig axle 231, after camera 261 takes pictures to the utmost point needle, second sucking disc 232 absorbs the bridge area and from the rotation to suitable position after, six axis robot will weld jig subassembly 2 translations, and then make the bridge area translation on the second sucking disc 232 to the body welding needle position of sealing, the bridge area can not produce the error with utmost point needle mounted position, the installation accuracy is high.

The manipulator of the welding unit of the embodiment further comprises an air source, and the air source is used for providing power sources for parts which need the power sources, such as the sealing body grabbing jig 24, the welding pin grabbing jig 25, the bridge belt sucking jig 23 and the like, and realizing the functions of grabbing and sucking parts and the like.

The scanning unit comprises a rotatable code scanning platform 42 and a code scanning device 41 which are arranged on the welding working platform 4, wherein a sealing body grabbed by the manipulator 9 from a sealing body tray 31 is placed on the code scanning platform 42, the code scanning platform 42 drives the sealing body on the code scanning platform to rotate, and the code scanning device 41 scans a label of the sealing body on the code scanning platform 42.

The transfer table 43 is used for placing the sealing body grabbed by the manipulator 9 from the code scanning table 42; the camera of the first vision system 26 is used for photographing the sealing body pole needle on the centering rotary table 43, so as to detect the quality of the sealing body pole needle.

The second vision system 5 photographs the bottom surface of the sealing body grasped by the sealing body grasping jig 24 to obtain the angle of the sealing body required to rotate so as to facilitate the positioning and assembly of the sealing body and the sealing body base 62 on the cross sliding table 6; the second vision system 5 includes a camera support 51 and a fixed camera 52 disposed on the welding work platform 4, and an included angle exists between the fixed camera 52 and the welding work platform 4.

As shown in fig. 11 and 15, the cross slide table 6 includes a two-dimensional adjusting mechanism 61 provided on the welding work platform 4 and a sealing body base 62 provided on the two-dimensional adjusting mechanism 61; the two-dimensional adjusting mechanism 61 is used for driving the sealing body base 62 to move to or out of a working area of the welding mechanism 7, and further driving the sealing body on the sealing body base 62 to move to or out of a welding machine structure position; the two-dimensional adjusting mechanism 61 is positioned between the manipulator 9 and the welding mechanism 7, and the manipulator 9, the two-dimensional adjusting mechanism 61 and the welding mechanism 7 are collinear;

the two-dimensional adjusting mechanism 61 comprises a first linear motion assembly and a second linear motion assembly; the first linear motion assembly comprises a first guide rail seat 6111 arranged on the welding work platform 4, a first guide rail 6112 arranged on the first guide rail seat 6111, a first sliding block 6113 linearly moving along the first guide rail 6112, a first ball screw motion pair 6114 positioned in the first guide rail seat 6111 and a first servo motor 6115 connected with a first screw of the first ball screw motion pair 6114, and a nut of the first ball screw motion pair is fixedly connected with the first sliding block 6113; the second linear motion assembly comprises a second guide rail seat 6121, a second guide rail 6122 arranged on the second guide rail seat 6121, a second sliding block 6123 linearly moving along the second guide rail 6122, a second ball screw motion pair 6124 positioned in the second guide rail seat 6121 and a second servo motor 6125 connected with a second screw of the second ball screw motion pair 6124, and a nut of the second ball screw motion pair 6124 is fixedly connected with the second sliding block 6123; the moving direction of the first sliding block 6113 is perpendicular to the moving direction of the conveying mechanism 3; the second guide rail seat 6121 is fixedly connected with the first slide block 6113, and the second guide rail 6122 is perpendicular to the first guide rail 6112; the second slider 6123 is connected to the sealing body base 62 located above it.

A second clamping unit 63 on the end face of the second slider 6123 for improving the stability of the sealing body on the sealing body base 62; the second clamping unit 63 includes a second clamping cylinder 631 disposed on the first slider 6113 and 2 second clamping air claws 632 driven by the second clamping cylinder 631, and the 2 second clamping air claws 632 clamp the seal on the seal base 62.

Two sides of the first guide rail seat 6111 are provided with drag chains 64, and a motor wire of a second servo motor 6125 on the cross sliding table 6 is arranged in the drag chain 64 on one side; the connecting line of the sealing body base 62 and the welding machine is arranged in the drag chain 64 at the other side, so that the motor is prevented from abrading the motor line and the connecting line in the moving process, and the connecting line and the motor line are prevented from being clamped, and the work of the two-dimensional adjusting mechanism 61 is prevented from being influenced.

The bridge band inspection station 44 is used for placing a bridge band to be inspected and providing a backlight source for inspection. The bridge tape inspection station 44 includes a bridge tape backing plate provided on the welding work table 4 and supplies a backlight source for inspection to the bridge tape backing plate.

In the welding unit of this embodiment, the two-dimensional adjusting mechanism 61 is located in the middle of the welding work platform 4, and the linear motion direction of the first guide rail 6112 is perpendicular to the transportation direction of the conveying mechanism 3; the scanning unit, the transfer table 43 and the second vision system 5 are arranged on one side of the two-dimensional adjusting mechanism 61, the scanning unit, the second vision system 5 and the transfer table 43 are sequentially arranged along the linear motion direction of the first guide rail 6112, and the scanning unit is arranged close to the conveying mechanism 3; the bridge belt detection table 44, the bridge belt material tray 45 and the welding pin material tray 46 are sequentially arranged on the other side of the two-dimensional adjusting mechanism 61 along the linear motion direction of the first guide rail 6112, and the bridge belt detection table 44 is arranged close to the conveying mechanism 3.

The welding unit finishes the transportation of the sealing body, the quality detection of the bridge belt, the assembly of the bridge belt into the igniter sealing body, the matching of the bridge belt with the igniter sealing body pole pins and the like by adopting a mode that a manipulator is matched with a vision system, and simultaneously accurately calculates the position coordinates of the pole pins, the bridge belt bridge area and the rotation angle of the bridge belt through a vision recognition algorithm, and a six-axis robot absorbs the bridge belt to adjust the angle of the bridge belt and assemble the igniter sealing body to finish the automatic assembly and welding of the bridge belt; automatic assembly and welding of the bridge belt and the sealing body are realized, and the qualification rate of products is improved.

Based on the above accurate installing and welding system for the seal body polar pin and the bridge band guided by vision, the embodiment provides an accurate installing and welding method for the seal body polar pin and the bridge band guided by vision, which comprises the following steps:

1) seal body pole needle polishing

1.1) the conveying mechanism 3 conveys a sealing body material tray 31 into a working area of the four-axis robot 07, and after a photoelectric sensor on the conveying mechanism 3 senses that the material tray is in place, the lifting mechanism lifts up and positions the material tray;

1.2) the grabbing jig 03 is driven by the four-axis robot 07 to move to the position above the sealing body tray 31 and grab the sealing body in the sealing body tray 31;

1.3) the four-axis robot 07 moves the sealing body grasped by the grasping jig 03 into the positioning blind hole 0913 of the working plate 0912, and simultaneously clamps and fixes the sealing body by 2 first clamping gas claws 0923 of the first clamping unit 092 under the driving of a gas source;

the height of the working plate 0912 can be adjusted through the lifting mechanism 0911 so as to adapt to sealing bodies with different specifications;

1.4) the four-axis robot 07 moves the polishing jig 04 to the pole needle position of the sealing body, a motor 042 of the polishing jig 04 is started, and a polishing head 043 of the micro electric polishing machine polishes the pole needle surface;

1.5) closing a motor 042 of the polishing jig 04, moving the purging jig 05 to the pole needle position of the sealing body by the four-axis robot 07, and purging the polishing residues;

1.6) the four-axis robot 07 moves the suction jig 02 to the position of the sealing body pole needle, and sucks the residue on the surface of the pole needle after purging;

1.7) the 2 first clamping air claws 0923 of the first clamping unit 092 are driven by an air source to be released; meanwhile, the four-axis robot 07 moves the gripping jig 03 to the position of the sealing body to grip the sealing body after the electrode pin is polished;

1.8) the four-axis robot 07 puts the grabbed sealing body back into the sealing body tray 31 to finish polishing the polar needle of the sealing body;

repeating the steps 1.1) to 1.8) to finish the polishing of all the sealing body polar needles on the whole sealing body tray;

1.9) after polishing of all the sealing body polar needles on the whole material tray, descending the jacking mechanism to stop the air cylinder from releasing, and conveying the sealing body material tray 31 to a cleaning process;

2) cleaning procedure

The conveying mechanism 3 conveys the sealing body material tray 31 to a cleaning station, after a photoelectric sensor on the conveying mechanism 3 senses that the material tray is in place, the material tray is jacked up and positioned by a jacking mechanism, and the polished sealing body pole needle is manually wiped by acetone;

3) welding of sealing body polar needle and bridge band

As shown in fig. 16, 3.1) the six-axis robot 1 is at the initial position where the welding jig assembly 2 is located above the conveyor line sealing body tray 31 of the conveying mechanism 3; the conveying mechanism 3 conveys the sealing body material tray 31 into the working area of the six-axis robot 1, and after a photoelectric sensor on the conveying mechanism 3 senses that the material tray is in place, the jacking mechanism jacks up and positions the material tray; the six-axis robot 1 drives the welding needle grabbing jig 25 to move to the position above the welding needle tray 46, grabs the welding needles in the welding needle tray 46 and installs the welding needles at the welding head of the welding mechanism 7, the six-axis robot 1 drives the sealing body grabbing jig 24 to move to the position above the sealing body tray 31, grabs the sealing bodies to be welded in the sealing body tray 31 and places the sealing bodies on the code scanning table 42, the code scanning table 42 rotates, and in the rotating process of the code scanning table 42, the code scanner 41 scans the labels of the sealing bodies on the code scanning table 42;

3.2) after the sealing body is scanned, stopping rotating the code scanning table 42, driving the first vision system 26 to move to the position above the code scanning table 42 by the six-axis robot 1, photographing the polar needle of the sealing body to be welded on the code scanning table 42 by the first vision system 26, and carrying out polar needle polishing quality detection, wherein if the polar needle polishing quality is qualified, the step 3.3) is executed; if not, placing the sealing body in a waste material tray, and executing the step 3.1);

3.3) the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body to be welded and moves the sealing body to the photographing area of the second vision system 5, the second vision system 5 photographs the bottom surface of the sealing body to be welded, and the angle of the sealing body to be welded, which needs to be rotated, is calculated according to the photographing result of the bottom surface of the sealing body and the position of the sealing body base 62 on the two-dimensional adjusting mechanism 61, so that the sealing body to be welded can be exactly corresponding to the position of a groove for placing the sealing body on the sealing body base 62 after being rotated; the working shaft 16 of the six-axis robot 1 drives the to-be-welded sealing body to rotate by a corresponding angle and is placed back on the transfer table 43;

3.4) resetting the sealing body grabbing jig 24 of the six-axis robot 1 to be the position for photographing the bottom surface of the sealing body to be welded by the second vision system 5, grabbing the sealing body to be welded on the transfer table 43 by the sealing body grabbing jig 24 and moving the sealing body to be welded to a photographing area of the second vision system 5, photographing the bottom surface of the sealing body to be welded again by the second vision system 5, judging whether the deviation between the actual shape and the calibrated shape meets the requirement according to the photographing result of the bottom surface of the sealing body, and executing the step 3.5 if the deviation range is within 5 degrees; if the deviation is more than 5 degrees, placing the sealing body in a waste material tray, and executing the step 3.1);

the actual shape is the shape of the bottom surface of the to-be-welded sealing body on the picture of the bottom surface of the sealing body photographed by the second vision system 5, and the calibration shape is the shape of the cross section of the groove for placing the sealing body on the sealing body base 62;

3.5) the sealing body to be welded is inserted into the sealing body base 62 by the sealing body grabbing jig 24, and the sealing body is tightly held by the second clamping air claw 632 of the second clamping unit 63 on the two-dimensional adjusting mechanism 61;

3.6) the six-axis robot 1 drives the first vision system 26 to move to the position of the to-be-welded sealing body on the sealing body base 62, and photographs are taken to obtain the position of a sealing body polar needle;

3.7) the six-axis robot 1 drives the bridge belt suction jig 23 to move to the position above the bridge belt tray 45, sucks the bridge belt in the bridge belt tray 45 and places the bridge belt on the bridge belt detection table 44;

3.8) the six-axis robot 1 drives the first vision system 26 to move to the position above the bridge belt detection table 44, the bridge belt detection table 44 provides a backlight source for detection, the first vision system 26 takes pictures of the bridge belt and detects the quality of the bridge belt, if the quality (aperture and angle teeth) of the bridge belt is qualified, the step 3.9 is executed, if the quality (aperture and angle teeth) of the bridge belt is unqualified, the robot absorbs the bridge belt, the bridge belt is placed in a bridge belt recovery box, and the step 3.7 is executed;

3.9) calculating the angle of the bridge belt to be rotated according to the photographing result of the step 3.8) and the position of the polar needle of the sealing body in the step 3.6), sucking the bridge belt by a bridge belt sucking jig 23, driving the bridge belt to rotate by the corresponding angle by a working shaft 16 of the six-shaft robot 1, and putting the bridge belt back on a bridge belt detection table 44;

3.10) the suction jig of the six-axis robot 1 is reset to the position before the rotation of the bridge belt to be welded in the step 3.9), the first vision system 26 takes a picture of the bridge belt on the bridge belt detection table 44 again, whether the deviation between the theoretical position and the actual position meets the requirement or not is judged according to the picture taking result, and the step 3.11 is executed if the deviation range is within 5 degrees; if the deviation is more than 5 degrees, placing the bridge belt in a waste material tray, and executing the step 3.1);

3.11) the bridge belt sucking jig 23 sucks the bridge belt on the bridge belt detecting table 44 and puts the bridge belt into the sealing body on the sealing body base 62, and the bridge belt bridge area covers the pole needle;

3.12) the first vision system 26 of the six-axis robot 1 takes a picture of the position of the welding pin on the welding mechanism 7, according to the picture taking result, the two-dimensional adjusting mechanism 61 drives the sealing body on the sealing body base 62 to the welding position of the welding mechanism 7, the two-dimensional adjusting mechanism 61 further moves one pole pin of the sealing body to the matching welding point, the lower electrode cylinder acts to connect the electrode and perform the point-one welding (one pole pin is welded with the bridge band), the two-dimensional adjusting mechanism 61 moves the other pole pin of the sealing body to the matching welding point, the lower electrode cylinder acts to connect the electrode and perform the point-two welding (the other pole pin is welded with the bridge band), and the welding of the bridge band and the sealing body pole pin is completed;

3.13) after the bridge belt and the pole pin are welded, the two-dimensional adjusting mechanism 61 is moved out of the welding mechanism 7, the first vision system 26 photographs the welded sealing body, the welding quality is detected, and if the welding quality is qualified, the step 3.14) is executed; if not, placing the welded sealing body in a waste material tray, and executing the step 3.1);

3.14) the second clamping air claw 632 of the second clamping unit 63 is opened, the sealing body grabbing jig 24 puts the welded sealing body back to the material tray, the sealing body grabbing jig 24 of the six-axis robot 1 detects whether the sealing body is put in place, and the robot is reset to the initial position (original point).

And 3.1) to 3.14) are repeatedly executed in this way, welding of all the sealing body polar needles and the bridge belt on the whole material disc is completed, after welding of all the sealing body polar needles and the bridge belt on the whole material disc is completed, the jacking mechanism descends to stop the air cylinder from releasing, and the sealing body material disc 31 is transported to the next procedure.

After about 100 parts are welded (or the welding pins on the welding mechanism cannot meet the welding requirements), the welding pin grabbing jig 25 of the six-axis robot 1 grabs the welding pins from the welding pin tray 46 to replace the welding pins on the welding mechanism.

The above description is only for the purpose of describing the preferred embodiments of the present invention and does not limit the technical solutions of the present invention, and any known modifications made by those skilled in the art based on the main technical concepts of the present invention fall within the technical scope of the present invention.

Claims

1. The utility model provides a system is welded with accurate dress of bridge area to vision-guided's sealing-in body utmost point needle which characterized in that: comprises a sealing body tray (31), a conveying mechanism (3), and a polishing unit (0-1) and a welding unit (0-2) which are sequentially arranged along the conveying direction of the conveying mechanism (3);

the sealing body tray (31) is arranged on the conveying mechanism (3);

the polishing unit (0-1) comprises a polishing working platform (012), a four-axis robot (07), a polishing positioning mechanism (09) and a polishing jig assembly (08); the four-axis robot (07) and the grinding positioning mechanism (09) are arranged on the grinding working platform (012); the grinding jig component (08) is arranged on an output shaft (071) of the four-axis robot (07); the sealing body tray (31) and the polishing positioning mechanism (09) are both positioned in the working area of the four-axis robot (07); the polishing jig assembly (08) is used for moving the sealing body in the sealing body tray (31) to the polishing positioning mechanism (09) and polishing and cleaning the sealing body polar needle on the polishing positioning mechanism (09);

the welding unit (0-2) comprises a manipulator (9), a welding working platform (4), and a bridge belt material tray (45), a welding needle material tray (46), a transfer table (43), a second vision system (5), a cross sliding table (6), a welding mechanism (7) and a bridge belt detection table (44) which are arranged on the welding working platform (4); the manipulator (9) comprises a six-axis robot (1) and a welding jig assembly (2); the sealing body material tray (31), the transfer table (43), the second vision system (5), the cross sliding table (6), the welding mechanism (7), the bridge belt detection table (44), the bridge belt material tray (45) and the welding pin material tray (46) are all located in the working area of the six-axis robot (1); the welding jig assembly (2) is used for carrying the bridge belt, the welding pins and the polished sealing body, and visually judging the quality of the bridge belt, the polished polar pins and the quality of the welded polar pins and the bridge belt;

the transfer table (43) is used for placing the sealing body grabbed by the sealing body grabbing jig (24);

the first vision system (26) is used for photographing a sealing body pole needle on the centering rotary table (43);

the second vision system (5) is used for photographing the bottom surface of the sealing body;

the cross sliding table (6) comprises a two-dimensional adjusting mechanism (61) arranged on the welding working platform (4) and a sealing body base (62) arranged on the two-dimensional adjusting mechanism (61); the two-dimensional adjusting mechanism (61) is used for driving the sealing body on the sealing body base (62) to move to or out of a working area of the welding mechanism (7);

the bridge belt detection table (44) is used for placing bridge belts to be welded and providing backlight sources for detection.

2. The vision-guided precision seal needle and bridge strap assembly welding system of claim 1, wherein: the polishing jig assembly (08) comprises a polishing jig connecting plate (01), and a flange coupler (06), a suction jig (02), a grabbing jig (03), a polishing jig (04) and a blowing jig (05) which are arranged on the polishing jig connecting plate (01);

the flange coupler (06) is arranged in the middle of the upper surface of the polishing jig connecting plate (01), and the flange coupler (06) is connected with an output shaft (071) of the four-axis robot (07);

the suction jig (02) comprises a first sucking disc (022) arranged in the middle of the lower surface of the polishing jig connecting plate (01);

the grabbing jig (03) comprises an air cylinder (032) arranged at one end of the polishing jig connecting plate (01) and 2 chucks (035) driven by the air cylinder (032);

the polishing jig (04) comprises a micro pneumatic polisher or a micro electric polisher arranged at the other end of the polishing jig connecting plate (01);

the blowing jig (05) comprises an extension plate (051) arranged on the grinding jig connecting plate (01) and a blow pipe (052) arranged at the outer extension end (0512) of the extension plate (051), and the fixed end (0511) of the extension plate (051) is positioned between the suction jig (02) and the grabbing jig (03) or between the suction jig (02) and the grinding jig (04);

the lowest positions of the first sucking disc (022), a polishing head (043) and an air blow pipe (052) of the micro pneumatic polisher or the micro electric polisher are all higher than the lowest position of the chuck (035);

the grinding positioning mechanism (09) comprises a positioning unit (091) and a first clamping unit (092);

the positioning unit (091) comprises a lifting mechanism (0911) arranged on the grinding working platform (012), and a working plate (0912) arranged on the lifting mechanism (0911); the working plate (0912) is provided with a positioning blind hole (0913) for placing a sealing body;

the first clamping unit (092) comprises a first clamping air cylinder (0922) arranged on the grinding work platform (012) and 2 first clamping air claws (0923) driven by the first clamping air cylinder (0922); the 2 first clamping air claws (0923) are used for clamping the sealing body on the positioning blind hole (0913).

3. The vision-guided precision seal needle and bridge strap assembly welding system of claim 2, wherein: the inner side surfaces of the 2 first clamping air claws (0923) are provided with semicircular grooves (0924) matched with the outer surface of the sealing body;

the inner side surfaces of the 2 chucks (035) are respectively provided with an arc-shaped groove (0351) or a V-shaped groove for clamping the sealing body;

the positioning blind holes (0913) are arranged side by side and have different diameters;

the semicircular grooves (0924) are arranged side by side and are different in diameter, and the number of the semicircular grooves (0924) is equal to that of the positioning blind holes (0913) and corresponds to the positioning blind holes one to one.

4. The vision-guided precision seal needle and bridge strap assembly welding system of claim 3, wherein: the suction jig (03) further comprises a jig shaft (021) vertically arranged in the middle of the lower surface of the polishing jig connecting plate (01), and the first sucking disc (022) is arranged at the lower end of the jig shaft (021).

5. The system for precision assembly and welding of a visually guided seal needle and bridge strap of any one of claims 1 to 4, wherein:

the welding jig assembly (2) comprises a welding jig connecting plate (21), and a bridge belt suction jig (23), a sealing body grabbing jig (24), a welding pin grabbing jig (25) and a first vision system (26) which are connected to the welding jig connecting plate (21), wherein the sealing body grabbing jig (24), the welding pin grabbing jig (25) and the first vision system (26) are uniformly distributed circumferentially with the bridge belt suction jig (23) as a center;

the welding jig connecting plate (21) is connected with a working shaft (16) of the six-shaft robot (1) through a connecting flange (22);

the bridge belt suction jig (23) comprises a second jig shaft (231) arranged along the central shaft of the welding jig connecting plate (21) and a second sucker (232) arranged at the lower end of the second jig shaft (231);

the sealing body grabbing jig (24) comprises a sealing body cylinder (241) which is arranged on the welding jig connecting plate (21) and the lower end of which is arranged in an outward inclined mode, and 2 sealing body chucks (242) driven by the sealing body cylinder (241);

the welding pin grabbing jig (25) comprises a welding pin cylinder (251) which is arranged on the welding jig connecting plate (21) and the lower end of which is arranged in an outward inclined mode and 2 welding pin chucks (252) driven by the welding pin cylinder (251);

the first vision system (26) comprises a camera (261) arranged on the welding jig connecting plate (21), and the axis of the camera (261) is parallel to the axis of the second jig shaft (231).

6. The vision-guided precision seal needle and bridge strap assembly welding system of claim 5, wherein: the welding unit also comprises a scanning unit arranged on the welding working platform (4);

the scanning unit comprises a code scanner (41) and a rotatable code scanning platform (42), wherein the code scanner (41) is used for scanning the label of the sealing body on the code scanning platform (42).

7. The vision-guided precision seal needle and bridge strap assembly welding system of claim 6, wherein: the cross sliding table (6) further comprises a second clamping unit (63) arranged on the two-dimensional adjusting mechanism (61);

the second clamping unit (63) comprises a second clamping cylinder (631) arranged on the first sliding block (6113) and 2 second clamping air claws (632) driven by the second clamping cylinder (631), and the 2 second clamping air claws (632) are used for clamping the sealing body on the sealing body base (62).

8. The vision-guided precision seal needle and bridge strap assembly welding system of claim 7, wherein: the manipulator (9) further comprises a base (8) positioned between the conveying mechanism (3) and the welding working platform (4), and the six-axis robot (1) is arranged on the base (8); one end of the welding working platform (4) close to the conveying mechanism (3) is provided with a notch for placing the base (8);

the two-dimensional adjusting mechanism (61) is positioned between the manipulator (9) and the welding mechanism (7), and the manipulator (9), the two-dimensional adjusting mechanism (61) and the welding mechanism (7) are collinear;

the two-dimensional adjusting mechanism (61) is positioned in the middle of the welding working platform (4);

the scanning unit, the second vision system (5) and the transfer table (43) are positioned on one side of the two-dimensional adjusting mechanism (61);

the welding needle tray (46), the bridge belt tray (45) and the bridge belt detection table (44) are located on the other side of the two-dimensional adjusting mechanism (61).

9. A visual-guided precise assembling and welding method for a polar needle and a bridge belt of a sealing body is characterized by comprising the following steps:

1) seal body pole needle polishing

1.1) the four-axis robot (07) drives the grabbing jig (03) to move to the position above the sealing body material tray (31) and grab the sealing body in the sealing body material tray (31);

1.2) the four-axis robot (07) moves the sealing body grabbed by the grabbing jig (03) into a positioning blind hole (0913) of the working plate (0912) and clamps and fixes the sealing body through a first clamping unit (092);

1.3) moving the polishing jig (04) to the polar needle position of the sealing body by a four-axis robot (07) to polish the surface of the polar needle;

1.4) moving the purging jig (05) to the pole needle position of the sealing body by the four-axis robot (07) to purge the grinding residues;

1.5) moving the suction jig (02) to the pole needle position of the sealing body by a four-axis robot (07) to suck residues on the surface of the pole needle after purging;

1.6) loosening the first clamping unit (092), and grabbing the sealed body after the electrode pin is polished by a grabbing jig (03) of a four-axis robot (07);

1.7) the four-axis robot (07) puts the grabbed sealing body back into a sealing body tray (31) to finish polishing of a sealing body polar needle;

2) welding of sealing body polar needle and bridge band

2.1) the six-axis robot (1) drives a sealing body grabbing jig (24) to move to the position above a sealing body tray (31) after the electrode pins are polished, a sealing body to be welded in the sealing body tray (31) is grabbed and placed on a code scanning table (42), the code scanning table (42) is driven to rotate, and a code scanner (41) scans the label of the sealing body on the code scanning table (42);

2.2) the six-axis robot (1) drives the first vision system (26) to move to the position above the code scanning table (42), the first vision system (26) photographs the polar pins of the to-be-welded sealing body and carries out polar pin polishing quality detection, and if the polar pin polishing quality is qualified, the step 2.3 is executed; if not, placing the sealing body in a waste material tray, and executing the step 2.1);

2.3) the six-axis robot (1) drives a sealing body grabbing jig (24) to grab a sealing body to be welded and moves the sealing body to a photographing area of a second vision system (5), the second vision system (5) photographs the bottom surface of the sealing body to be welded, the angle of the sealing body to be welded, which needs to rotate, is calculated according to the photographing result of the bottom surface of the sealing body and the position of a sealing body base (62) on a two-dimensional adjusting mechanism (61), and the six-axis robot (1) drives the sealing body to be welded to rotate by a corresponding angle and places the sealing body to be welded on a transfer table (43);

2.4) a sealing body grabbing jig (24) of the six-axis robot (1) grabs a sealing body to be welded on the transfer table (43) and moves the sealing body to a photographing area of the second vision system (5), the second vision system (5) photographs the bottom surface of the sealing body to be welded again, whether the deviation between the actual shape and the calibrated shape meets the requirement or not is judged according to the photographing result of the bottom surface of the sealing body, and if yes, the step 2.5 is executed; if not, placing the sealing body in a waste material tray, and executing the step 2.1);

the actual shape is the bottom surface shape of the to-be-welded sealing body on the photographed picture, and the calibration shape is the cross section shape of a groove for placing the sealing body on a sealing body base (62);

2.5) the sealing body to be welded is inserted into a sealing body base (62) by a sealing body grabbing jig (24), and a second clamping air claw (632) of a second clamping unit (63) clamps the sealing body;

2.6) the six-axis robot (1) drives the first vision system (26) to move to the position of a to-be-welded sealing body on the sealing body base (62), and pictures are taken to obtain the position of a sealing body polar needle;

2.7) the six-axis robot (1) drives the bridge belt suction jig (23) to move to the position above the bridge belt material disc (45), sucks the bridge belt to be welded in the bridge belt material disc (45) and places the bridge belt in the bridge belt detection table (44);

2.8) the six-axis robot (1) drives the first vision system (26) to move to the position above the bridge belt detection table (44), the bridge belt detection table (44) provides a backlight source for detection, the first vision system (26) photographs a bridge belt to be welded and performs bridge belt quality detection, if the bridge belt to be welded is qualified in quality, the step 2.9 is executed, if the bridge belt to be welded is unqualified, the bridge belt to be welded is placed in a waste material tray, and the step 2.7 is executed;

2.9) calculating the angle of the bridge belt to be welded, which needs to rotate, according to the photographing result in the step 2.8) and the position of the polar needle of the sealing body in the step 2.6), sucking the bridge belt to be welded by a bridge belt sucking jig (23), driving the bridge belt to be welded to rotate by a corresponding angle by a six-axis robot (1), and putting the bridge belt to be welded on a bridge belt detection table (44);

2.10) the six-axis robot (1) sucks the jig to reset to the position before the rotation of the bridge belt to be welded in the step 2.9), the first vision system (26) shoots the bridge belt to be welded on the bridge belt detection table (44) again, whether the deviation between the theoretical position and the actual position meets the requirement or not is judged according to the shooting result, and if yes, the step 2.11 is executed; if not, placing the bridge belt to be welded in a waste material tray, and executing the step 2.7);

2.11) the bridge belt suction jig (23) sucks a bridge belt to be welded on the bridge belt detection table (44) and places the bridge belt in a sealing body on a sealing body base (62), and a bridge belt bridge area covers a pole needle;

2.12) the two-dimensional adjusting mechanism (61) drives the sealing body on the sealing body base (62) to a working area of the welding mechanism (7) to weld the bridge belt to be welded and the sealing body polar needle;

2.13) after welding, moving the two-dimensional adjusting mechanism (61) out of the welding mechanism (7), photographing the welded sealing body by the first vision system (26), detecting the welding quality, and if the welding quality is qualified, executing the step 2.14); if not, placing the welded sealing body in a waste material tray;

2.14) the sealing body grabbing jig (24) puts the welded sealing body back to the material disc to complete the welding of the pole needle and the bridge belt.

10. The method of claim 9 further comprising step a) prior to step 2): and wiping the polished sealing body polar needle with acetone.