CN112110200B - Automatic removing device for steering knuckle plug of paint production line - Google Patents
Automatic removing device for steering knuckle plug of paint production line Download PDFInfo
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- CN112110200B CN112110200B CN202011066260.0A CN202011066260A CN112110200B CN 112110200 B CN112110200 B CN 112110200B CN 202011066260 A CN202011066260 A CN 202011066260A CN 112110200 B CN112110200 B CN 112110200B
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- clamping part
- telescopic mechanism
- guide rail
- steering knuckle
- vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to the technical field of steering knuckle production, in particular to an automatic removing device for a steering knuckle plug of a paint production line. The automatic removing device for the steering knuckle plugs of the paint production line provided by the embodiment of the invention realizes the automatic removal of the steering knuckle plugs of the paint production line, and saves a large amount of manpower and material resources.
Description
Technical Field
The invention relates to the technical field of steering knuckle production, in particular to an automatic removing device for a steering knuckle plug of a paint production line.
Background
The steering knuckle is one of important parts in an automobile steering axle, and can enable an automobile to stably run and sensitively transmit the running direction. The steering knuckle is used for transmitting and bearing the front load of the automobile, supporting and driving the front wheel to rotate around the main pin so as to steer the automobile. Two through holes which are arranged oppositely are formed in the bottom of the steering knuckle and are used for installing a shaft piece.
Besides forging, the production of the steering knuckle is provided with a step of spraying paint on the surface, and the spraying layer is mainly used for corrosion prevention and attractiveness. In the paint spraying link, the surface of the steering knuckle is mainly sprayed, and the paint is prevented from being sprayed into a through hole at the bottom of the steering knuckle in the spraying process. Among the prior art, to how to prevent that the through-hole from being spouted into paint, there are multiple modes usually, and common mode is plugged up the through-hole of knuckle bottom with the end cap, prevents that paint from spraying to the inside of through-hole, and the manual work takes out the stopper after the spraying, and work efficiency is low to a large amount of manpower and material resources have been wasted.
Disclosure of Invention
The invention provides an automatic removing device for a steering knuckle plug of a paint production line, aiming at the technical problems that the steering knuckle plug of the paint production line needs to be manually removed and a large amount of manpower and material resources are wasted in the prior art.
The technical scheme for solving the technical problems is as follows:
the utility model provides an automatic remove device of knuckle end cap of paint production line, includes: the device comprises a first mounting plate, a first clamping part, a first telescopic mechanism, a second telescopic mechanism, a first vacuum chuck, a first vacuum pump, a second mounting plate, a second clamping part, a third telescopic mechanism, a fourth telescopic mechanism, a second vacuum chuck, a second vacuum pump, an image acquisition sensor and an upper computer;
the first telescopic mechanism and the second telescopic mechanism are fixed on the first mounting plate; the inner side of the first clamping part is provided with a groove structure matched with one side of the bottom of the steering knuckle; the first telescopic mechanism is fixedly connected with the first clamping part and pushes the first clamping part to be far away from or close to the bottom of the steering knuckle; the first clamping part is provided with a first through hole penetrating through the inner side and the outer side; the second telescopic mechanism penetrates through the first through hole, the front end of the second telescopic mechanism is connected with the first vacuum sucker, the first vacuum sucker is connected with the first vacuum pumping pump, and the first vacuum sucker is used for adsorbing a plug on one side of the bottom of the steering knuckle plug;
the third telescopic mechanism and the fourth telescopic mechanism are fixed on the second mounting plate; the inner side of the second clamping part is provided with a groove structure matched with the other side of the bottom of the steering knuckle; the third telescopic mechanism is fixedly connected with the second clamping part and pushes the second clamping part to be far away from or close to the bottom of the steering knuckle; the second clamping part is provided with a second through hole penetrating through the inner side and the outer side; the fourth telescopic mechanism penetrates through the second through hole, the front end of the fourth telescopic mechanism is connected with the second vacuum sucker, the second vacuum sucker is connected with the second vacuum pumping pump, and the second vacuum sucker is used for adsorbing a plug on the other side of the bottom of the steering knuckle plug;
the image acquisition sensor is arranged on the inner side of the first clamping part or the inner side of the second clamping part and is connected with the upper computer.
Further, the upper computer includes:
the image acquisition unit is used for acquiring a real-time image from the image acquisition sensor;
the image processing unit acquires the real-time image from the image acquisition unit, and identifies the real-time image by using a picture pixel identification algorithm to acquire an RBG value of the real-time image;
the analysis and comparison unit acquires the RGB value of the real-time image from the image processing unit and compares the RGB value with a preset RGB value range; if the RGB value of the real-time image is within the preset RGB range, judging that the steering knuckle reaches the clamping position; if the RGB value of the real-time image is not in the preset RGB range, judging that the steering knuckle does not reach the clamping position;
the control unit acquires a judgment result from the analysis and comparison unit, and sends a first control signal to control the first telescopic mechanism and the third telescopic mechanism to move forwards to clamp the bottom of the steering knuckle when the steering knuckle reaches a clamping position; after the first control signal is sent out, a second control signal is sent out in a delayed mode for controlling the second telescopic mechanism and the fourth telescopic mechanism to move, and the first vacuum sucker and the second vacuum sucker are respectively in contact with plugs on two sides of the steering knuckle; after the second control signal is sent out, delaying a certain time, sending out a third control signal to control the first vacuum pump and the second vacuum pump to act, and carrying out vacuum pumping treatment on the first vacuum sucker and the second vacuum sucker; after the third control signal is sent out, delaying for a certain time, sending out a fourth control signal to control the first telescopic mechanism and the third telescopic mechanism to move backwards; and after the fourth control signal is sent, a fifth control signal is sent out in a delayed mode for controlling the first vacuum pump and the second vacuum pump to release pressure, and the first vacuum sucker and the second vacuum sucker release the plugs.
Further, the method also comprises the following steps: the guide device comprises a first guide ring, a first guide rail, a second guide ring and a second guide rail;
the first guide ring is fixed on one side of the first clamping part; one end of the first guide rail is fixed on the first mounting plate, and the first guide rail is arranged on one side of the first clamping part; the first guide rail penetrates through the first guide ring;
the second guide ring is fixed on the other side of the first clamping part; one end of the second guide rail is fixed on the first mounting plate, and the second guide rail is arranged on the other side of the first clamping part; the second guide rail passes through the second guide ring.
Further, the method also comprises the following steps: the third guide ring, the third guide rail, the fourth guide ring and the fourth guide rail;
the third guide ring is fixed on one side of the second clamping part; one end of the third guide rail is fixed on the second mounting plate, and the third guide rail is arranged on one side of the second clamping part; the third guide rail penetrates through the third guide ring;
the fourth guide ring is fixed on the other side of the second clamping part; one end of the fourth guide rail is fixed on the second mounting plate, and the fourth guide rail is arranged on the other side of the second clamping part; the fourth guide rail passes through the fourth guide ring.
Furthermore, the number of the first telescopic mechanisms is two; the two first telescopic mechanisms are symmetrically arranged on two sides of the second telescopic mechanism.
Furthermore, the number of the third telescopic mechanisms is two; and the two third telescopic mechanisms are symmetrically arranged on two sides of the fourth telescopic mechanism.
Further, an installation groove is formed in the inner side of the first clamping part or the second clamping part; the image acquisition sensor is arranged in the mounting groove.
Further, the image acquisition sensor is a CCD industrial camera.
The automatic removing device for the steering knuckle plugs of the paint production line, provided by the invention, has at least the following beneficial effects or advantages:
according to the automatic removing device for the steering knuckle plugs of the paint production line, the image acquisition sensor is arranged on the inner side of the first clamping part or the second clamping part and is connected with the upper computer, the upper computer judges whether the steering knuckle reaches the clamping position or not through a real-time image uploaded by the image sensor, and when the steering knuckle reaches the clamping position, the upper computer controls the first telescopic mechanism and the third telescopic mechanism to move forwards to clamp the bottom of the steering knuckle; then controlling the second telescopic mechanism and the fourth telescopic mechanism to act, so that the first vacuum chuck and the second vacuum chuck are respectively contacted with the plugs on the two sides of the steering knuckle; the first vacuum pump and the second vacuum pump are further controlled to act, the first vacuum sucker and the second vacuum sucker are vacuumized, and the vacuum suckers are tightly adsorbed on the plug; controlling the first telescopic mechanism and the third telescopic mechanism to move backwards, and pulling the plug out of the steering knuckle by the vacuum chuck; then controlling the first vacuum pump and the second vacuum pump to release pressure, and enabling the first vacuum sucker and the second vacuum sucker to release the plug to a specified position; the automatic removal of the steering knuckle plug of the paint production line is realized, and a large amount of manpower and material resources are saved.
Drawings
FIG. 1 is a schematic structural view of an automatic removing device for a knuckle plug of a paint production line according to an embodiment of the invention;
fig. 2 is a schematic block diagram of an automatic removing device for a knuckle plug of a paint production line according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1-a first mounting plate, 2-a first telescoping mechanism, 3-a second telescoping mechanism, 4-a first guide rail, 5-a first guide ring, 6-a second guide rail, 7-a second guide ring, 8-a first vacuum chuck, 9-a second mounting plate, 10-a third telescoping mechanism, 11-a fourth telescoping mechanism, 12-a third guide rail, 13-a third guide ring, 14-a fourth guide rail, 15-a fourth guide ring, 16-a second vacuum chuck, 17-an image acquisition sensor, 18-a mounting groove, 19-a knuckle, 20-a first vacuum pump, 21-a second vacuum pump, 22-a first clamping part, 23-a second clamping part, 100-an upper computer, 101-an image acquisition unit, 102-an image processing unit, 103-analysis and comparison unit, 104-control unit.
Detailed Description
The invention provides an automatic removing device for a steering knuckle plug of a paint production line, aiming at the technical problems that the steering knuckle plug of the paint production line needs to be manually removed and a large amount of manpower and material resources are wasted in the prior art.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides an automatic removing device for a knuckle plug of a paint production line, including: the device comprises a first mounting plate 1, a first clamping part 22, a first telescopic mechanism 2, a second telescopic mechanism 3, a first vacuum chuck 8, a first vacuum pump 20, a second mounting plate 9, a second clamping part 23, a third telescopic mechanism 10, a fourth telescopic mechanism 11, a second vacuum chuck 16, a second vacuum pump 21, an image acquisition sensor 17 and an upper computer 100. Specifically, the method comprises the following steps:
the first telescopic mechanisms 2 and the second telescopic mechanisms 3 are fixed on the first mounting plate 1, the number of the first telescopic mechanisms 2 is two, and the two first telescopic mechanisms 2 are symmetrically arranged on two sides of the second telescopic mechanism 3; in this embodiment, the first and second telescoping mechanisms 2 and 3 are rack and pinion mechanisms driven by hydraulic cylinders or motors. The inner side of the first clamping part 22 is provided with a groove structure matched with one side of the bottom of the steering knuckle. The first telescopic mechanism 2 is fixedly connected with the first clamping part 22, and pushes the first clamping part 22 to be far away from or close to the bottom of the steering knuckle. The first clamping part 22 is provided with a first through hole penetrating through the inner side and the outer side; the second telescopic mechanism 3 penetrates through the first through hole, the front end of the second telescopic mechanism 3 is connected with a first vacuum sucker 8, the first vacuum sucker 8 is connected with a first vacuum pumping pump 20, and the first vacuum sucker 8 is used for adsorbing a plug on one side of the bottom of the steering knuckle plug.
The third telescopic mechanisms 10 and the fourth telescopic mechanisms 11 are fixed on the second mounting plate 9, the number of the third telescopic mechanisms 10 is two, and the two third telescopic mechanisms 10 are symmetrically arranged on two sides of the fourth telescopic mechanism 11; in this embodiment, the third telescopic mechanism 10 and the fourth telescopic mechanism 11 are rack and pinion mechanisms driven by a hydraulic cylinder or a motor. The inner side of the second clamping portion 23 is provided with a groove structure matched with the other side of the bottom of the steering knuckle 19. The third telescopic mechanism 10 is fixedly connected with the second clamping part 23, and pushes the second clamping part 23 to be far away from or close to the bottom of the steering knuckle 19; the second clamping part 23 is provided with a second through hole penetrating through the inner side and the outer side; the fourth telescopic mechanism 11 penetrates through the second through hole, the front end of the fourth telescopic mechanism 11 is connected with a second vacuum sucker 16, the second vacuum sucker 16 is connected with a second vacuum pumping pump 21, and the second vacuum sucker 16 is used for adsorbing a plug on the other side of the bottom of the steering knuckle 19.
The image acquisition sensor 17 is arranged on the inner side of the first clamping part 22 or the second clamping part 23, and specifically, the inner side of the first clamping part 22 or the second clamping part 23 is provided with an installation groove 18; the image acquisition sensor 17 is arranged in the mounting groove 18; in this embodiment, the image capturing sensor 17 is a CCD industrial camera. The image acquisition sensor 17 is connected with the upper computer 100.
In the embodiment of the present invention, referring to fig. 1 and 2, the upper computer 100 includes:
an image acquisition unit 101 for acquiring a real-time image from the image acquisition sensor 17.
The image processing unit 102 acquires the real-time image from the image acquisition unit 101, and identifies the real-time image by using a picture pixel identification algorithm to acquire an RBG value of the real-time image.
The analysis and comparison unit 103 is used for acquiring the RGB value of the real-time image from the image processing unit 102 and comparing the RGB value with a preset RGB value range; if the RGB value of the real-time image is within the preset RGB range, the steering knuckle 19 is judged to be in the clamping position; if the RGB values of the real-time image are not within the preset RGB range, it is determined that the knuckle 19 is not in the clamped position. The analysis and comparison unit 103 determines whether the image has the knuckle 19 based on the difference of the RGB values in the image, and further determines whether the knuckle 19 reaches the clamping position, so that the method has the advantage of high determination accuracy.
And the control unit 104 acquires the judgment result from the analysis and comparison unit 103, and sends a first control signal to control the first telescopic mechanism 2 and the third telescopic mechanism 10 to move forwards to clamp the bottom of the steering knuckle 19 when the steering knuckle 19 reaches the clamping position. And after the first control signal is sent, a second control signal is sent in a delayed mode for controlling the second telescopic mechanism 3 and the fourth telescopic mechanism 11 to move, so that the first vacuum suction cup 8 and the second vacuum suction cup 16 are respectively contacted with the plugs on two sides of the steering knuckle 19. And after the second control signal is sent out, delaying a certain time, sending out a third control signal to control the first vacuum pump 20 and the second vacuum pump 21 to act, and vacuumizing the first vacuum suction cup 8 and the second vacuum suction cup 16. And after the third control signal is sent out, a time delay is carried out for sending out a fourth control signal to control the first telescopic mechanism 2 and the third telescopic mechanism 10 to move backwards. And after the fourth control signal is sent, a fifth control signal is sent out in a delayed mode for controlling the first vacuum pump 20 and the second vacuum pump 21 to release pressure, and the first vacuum chuck 8 and the second vacuum chuck 16 release the plugs.
In order to ensure that the first clamping portion 22 and the second clamping portion 23 move along a straight line and the first clamping portion 22 and the second clamping portion 23 can accurately clamp the knuckle 19, the automatic removing device for the knuckle plug of the paint production line provided by the embodiment further comprises: first guide ring 5, first guide rail 4, second guide ring 7, second guide rail 6, third guide ring 13, third guide rail 12, fourth guide ring 15, and fourth guide rail 14.
The first guide ring 5 is fixed on one side of the first clamping part 22; one end of the first guide rail 4 is fixed on the first mounting plate 1, and the first guide rail 4 is arranged on one side of the first clamping part 22; the first guide rail 4 passes through the first guide ring 5. The second guide ring 7 is fixed on the other side of the first clamping part 22; one end of the second guide rail 6 is fixed on the first mounting plate 1, and the second guide rail 6 is arranged on the other side of the first clamping part 22; the second guide rail 6 passes through the second guide ring 7.
The third guide ring 13 is fixed on one side of the second clamping part 23; one end of the third guide rail 12 is fixed on the second mounting plate 9, and the third guide rail 12 is arranged on one side of the second clamping part 23; the third guide rail 12 passes through a third guide ring 13.
The fourth guide ring 15 is fixed on the other side of the second clamping part 23; one end of the fourth guide rail 14 is fixed on the second mounting plate 9, and the fourth guide rail 14 is arranged on the other side of the second clamping part 23; the fourth guide rail 14 passes through a fourth guide ring 15.
The automatic removing device for the steering knuckle plugs of the paint production line provided by the embodiment of the invention at least has the following beneficial effects or advantages:
according to the automatic removing device for the steering knuckle plugs of the paint production line, provided by the embodiment of the invention, the image acquisition sensor is arranged on the inner side of the first clamping part or the second clamping part and is connected with the upper computer, the upper computer judges whether the steering knuckle reaches the clamping position or not through a real-time image uploaded by the image sensor, and when the steering knuckle reaches the clamping position, the upper computer controls the first telescopic mechanism and the third telescopic mechanism to move forwards to clamp the bottom of the steering knuckle; then controlling the second telescopic mechanism and the fourth telescopic mechanism to act, so that the first vacuum chuck and the second vacuum chuck are respectively contacted with the plugs on the two sides of the steering knuckle; the first vacuum pump and the second vacuum pump are further controlled to act, the first vacuum sucker and the second vacuum sucker are vacuumized, and the vacuum suckers are tightly adsorbed on the plug; controlling the first telescopic mechanism and the third telescopic mechanism to move backwards, and pulling the plug out of the steering knuckle by the vacuum chuck; then controlling the first vacuum pump and the second vacuum pump to release pressure, and enabling the first vacuum sucker and the second vacuum sucker to release the plug to a specified position; the automatic removal of the steering knuckle plug of the paint production line is realized, and a large amount of manpower and material resources are saved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides an automatic remove device of knuckle end cap of paint production line which characterized in that includes: the device comprises a first mounting plate (1), a first clamping part (22), a first telescopic mechanism (2), a second telescopic mechanism (3), a first vacuum chuck (8), a first vacuum pump (20), a second mounting plate (9), a second clamping part (23), a third telescopic mechanism (10), a fourth telescopic mechanism (11), a second vacuum chuck (16), a second vacuum pump (21), an image acquisition sensor (17) and an upper computer (100);
the first telescopic mechanism (2) and the second telescopic mechanism (3) are fixed on the first mounting plate (1); the inner side of the first clamping part (22) is provided with a groove structure matched with one side of the bottom of the steering knuckle (19); the first telescopic mechanism (2) is fixedly connected with the first clamping part (22) and pushes the first clamping part (22) to be far away from or close to the bottom of the steering knuckle (19); the first clamping part (22) is provided with a first through hole penetrating through the inner side and the outer side; the second telescopic mechanism (3) penetrates through the first through hole, the front end of the second telescopic mechanism (3) is connected with the first vacuum sucker (8), the first vacuum sucker (8) is connected with the first vacuum pumping pump (20), and the first vacuum sucker (8) is used for adsorbing a plug on one side of the bottom of the steering knuckle (19);
the third telescopic mechanism (10) and the fourth telescopic mechanism (11) are fixed on the second mounting plate (9); the inner side of the second clamping part (23) is provided with a groove structure matched with the other side of the bottom of the steering knuckle (19); the third telescopic mechanism (10) is fixedly connected with the second clamping part (23) and pushes the second clamping part (23) to be far away from or close to the bottom of the steering knuckle (19); the second clamping part (23) is provided with a second through hole penetrating through the inner side and the outer side; the fourth telescopic mechanism (11) penetrates through the second through hole, the front end of the fourth telescopic mechanism (11) is connected with the second vacuum sucker (16), the second vacuum sucker (16) is connected with the second vacuum pumping pump (21), and the second vacuum sucker (16) is used for adsorbing a plug on the other side of the bottom of the steering knuckle (19);
the image acquisition sensor (17) is arranged on the inner side of the first clamping part (22) or the second clamping part (23), and the image acquisition sensor (17) is connected with the upper computer (100);
the upper computer (100) comprises:
an image acquisition unit (101) for acquiring a real-time image from the image acquisition sensor (17);
the image processing unit (102) acquires a real-time image from the image acquisition unit (101), and identifies the real-time image by using a picture pixel identification algorithm to acquire an RBG value of the real-time image;
the analysis and comparison unit (103) acquires the RGB value of the real-time image from the image processing unit (102) and compares the RGB value with a preset RGB value range; if the RGB value of the real-time image is within the preset RGB range, the steering knuckle (19) is judged to be in the clamping position; if the RGB value of the real-time image is not in the preset RGB range, judging that the steering knuckle (19) is not in the clamping position;
the control unit (104) acquires a judgment result from the analysis and comparison unit (103), and sends a first control signal to control the first telescopic mechanism (2) and the third telescopic mechanism (10) to move forwards to clamp the bottom of the steering knuckle (19) when the steering knuckle (19) reaches a clamping position; after the first control signal is sent, a second control signal is sent in a delayed mode for controlling the second telescopic mechanism (3) and the fourth telescopic mechanism (11) to act, and the first vacuum sucker (8) and the second vacuum sucker (16) are respectively in contact with a plug on the steering knuckle (19) side; after the second control signal is sent out, a third control signal is sent out in a delayed mode for controlling the first vacuum pumping pump (20) and the second vacuum pumping pump (21) to act, and the first vacuum suction cup (8) and the second vacuum suction cup (16) are vacuumized; after the third control signal is sent out, delaying for a certain time, sending out a fourth control signal to control the first telescopic mechanism (2) and the third telescopic mechanism (10) to move backwards; and after the fourth control signal is sent, a fifth control signal is sent for delaying for a certain time to control the first vacuum pumping pump (20) and the second vacuum pumping pump (21) to release pressure, and the first vacuum suction cup (8) and the second vacuum suction cup (16) release the plugs.
2. The automatic knuckle plug removal device for a paint production line according to claim 1, further comprising: a first guide ring (5), a first guide rail (4), a second guide ring (7) and a second guide rail (6);
the first guide ring (5) is fixed on one side of the first clamping part (22); one end of the first guide rail (4) is fixed on the first mounting plate (1), and the first guide rail (4) is arranged on one side of the first clamping part (22); the first guide rail (4) passes through the first guide ring (5);
the second guide ring (7) is fixed on the other side of the first clamping part (22); one end of the second guide rail (6) is fixed on the first mounting plate (1), and the second guide rail (6) is arranged on the other side of the first clamping part (22); the second guide rail (6) passes through the second guide ring (7).
3. The automatic knuckle plug removal device for a paint production line according to claim 1, further comprising: a third guide ring (13), a third guide rail (12), a fourth guide ring (15) and a fourth guide rail (14);
the third guide ring (13) is fixed on one side of the second clamping part (23); one end of the third guide rail (12) is fixed on the second mounting plate (9), and the third guide rail (12) is arranged on one side of the second clamping part (23); the third guide rail (12) passes through the third guide ring (13);
the fourth guide ring (15) is fixed on the other side of the second clamping part (23); one end of the fourth guide rail (14) is fixed on the second mounting plate (9), and the fourth guide rail (14) is arranged on the other side of the second clamping part (23); the fourth guide rail (14) passes through the fourth guide ring (15).
4. The automatic removing device for the knuckle plugs of the paint production line according to claim 1, wherein the number of the first telescopic mechanisms (2) is two; the two first telescopic mechanisms (2) are symmetrically arranged on two sides of the second telescopic mechanism (3).
5. The automatic removing device for the knuckle plugs of the paint production line according to claim 1, wherein the number of the third telescopic mechanisms (10) is two; the two third telescopic mechanisms (10) are symmetrically arranged on two sides of the fourth telescopic mechanism (11).
6. The automatic removing device for the steering knuckle plugs of the paint production line according to any one of claims 1-5, wherein a mounting groove (18) is formed in the inner side of the first clamping part (22) or the second clamping part (23); the image acquisition sensor (17) is arranged in the mounting groove (18).
7. The automatic knuckle cap removal device for paint production line according to any one of claims 1-5, characterized in that the image acquisition sensor (17) is a CCD industrial camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011066260.0A CN112110200B (en) | 2020-09-30 | 2020-09-30 | Automatic removing device for steering knuckle plug of paint production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011066260.0A CN112110200B (en) | 2020-09-30 | 2020-09-30 | Automatic removing device for steering knuckle plug of paint production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112110200A CN112110200A (en) | 2020-12-22 |
| CN112110200B true CN112110200B (en) | 2022-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011066260.0A Active CN112110200B (en) | 2020-09-30 | 2020-09-30 | Automatic removing device for steering knuckle plug of paint production line |
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| CN (1) | CN112110200B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171377A (en) * | 2015-08-18 | 2015-12-23 | 浙江宏倍斯实业有限公司 | Press fitting device for pipe and plug |
| CN106043764A (en) * | 2016-08-02 | 2016-10-26 | 贵州大学 | Agent bottle stopper extractor and operation method thereof |
| CN107322270A (en) * | 2017-06-27 | 2017-11-07 | 鹰普（中国）有限公司 | A kind of aspirated-air type plug cock assembly tooling |
| CN208196241U (en) * | 2018-05-09 | 2018-12-07 | 重庆齐信汽车零部件有限公司 | A kind of knuckle positioning clamping device |
| CN208358212U (en) * | 2018-04-26 | 2019-01-11 | 闻泰通讯股份有限公司 | Electronic equipment rear cover automatic disassembling device |
-
2020
- 2020-09-30 CN CN202011066260.0A patent/CN112110200B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171377A (en) * | 2015-08-18 | 2015-12-23 | 浙江宏倍斯实业有限公司 | Press fitting device for pipe and plug |
| CN106043764A (en) * | 2016-08-02 | 2016-10-26 | 贵州大学 | Agent bottle stopper extractor and operation method thereof |
| CN107322270A (en) * | 2017-06-27 | 2017-11-07 | 鹰普（中国）有限公司 | A kind of aspirated-air type plug cock assembly tooling |
| CN208358212U (en) * | 2018-04-26 | 2019-01-11 | 闻泰通讯股份有限公司 | Electronic equipment rear cover automatic disassembling device |
| CN208196241U (en) * | 2018-05-09 | 2018-12-07 | 重庆齐信汽车零部件有限公司 | A kind of knuckle positioning clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112110200A (en) | 2020-12-22 |
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