CN112894657B - Camshaft cover clamping system and control method thereof - Google Patents
Camshaft cover clamping system and control method thereof Download PDFInfo
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- CN112894657B CN112894657B CN202110100460.1A CN202110100460A CN112894657B CN 112894657 B CN112894657 B CN 112894657B CN 202110100460 A CN202110100460 A CN 202110100460A CN 112894657 B CN112894657 B CN 112894657B
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- clamping
- camshaft cover
- positioning hole
- driving device
- positioning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
Abstract
The invention discloses a camshaft cover clamping system and a control method thereof, wherein the camshaft cover clamping system comprises a clamping seat, a clamping rod, a first driving device and a control device; a clamping datum plane is formed on the clamping seat and is used for being attached to the mounting end face of the camshaft cover; the clamping rod is provided with a positioning rod section which is arranged on the clamping reference surface in a protruding mode, the diameter of the positioning rod section is reduced along the direction opposite to the clamping reference surface, the periphery of the end part, close to the clamping reference surface, of the positioning rod section forms a positioning part, the positioning part is used for being abutted against the inner wall surface of the positioning hole of the camshaft cover, the clamping rod moves along the axial direction of the clamping rod section, the length of the positioning rod section is adjusted, the diameter of the positioning part is changed, and the clamping rod section is matched with the positioning holes of the camshaft cover with different apertures; the first driving device is used for driving the clamping rod to move; the control device is electrically connected with the first driving device.
Description
Technical Field
The invention relates to the field of camshaft cover clamping, in particular to a camshaft cover clamping system and a control method thereof.
Background
The camshaft cover is used as an important component of the engine, the machining quality of the camshaft cover directly influences the service life of the engine, and as the first step of camshaft cover machining, the clamping effect directly influences the quality and precision of subsequent machining.
The existing clamping mode mostly adopts fixed or batch clamping, workpieces in different batches have larger pore diameter difference of small pores and basically consistent pore diameter value of large pores, and during clamping, an end face is used as a reference surface, a large pore is used as a reference pore, and a small pore is used as a positioning hole. Clamping workpieces in the same batch and with small difference by using a fixed clamp head; and for workpieces of different batches and with larger differences, replacing the workpieces with the clamp heads of corresponding sizes, and clamping in batches. The existing clamping mode can not well realize automatic processing, needs manual intervention, has low clamping efficiency, and does not consider the difference between different workpiece individuals in the same batch. The fixture head is selected to clamp different individual workpieces, the workpiece reference surface or the positioning hole is usually damaged irreversibly, and errors caused by subsequent precision machining are usually large.
Disclosure of Invention
The invention mainly aims to provide a camshaft cover clamping system and a control method thereof, and aims to solve the problem that a clamping device cannot be matched with positioning holes with different sizes.
In order to achieve the above object, the present invention provides a camshaft cover clamping system, including:
the clamping base is provided with a clamping reference surface which is used for being attached to the mounting end surface of the camshaft cover;
the clamping rod is provided with a positioning rod section which is arranged on the clamping reference surface in a protruding mode, the diameter of the positioning rod section is reduced along the direction opposite to the clamping reference surface, a positioning part is formed on the periphery of the end part, close to the clamping reference surface, of the positioning rod section and used for being abutted against the inner wall surface of the positioning hole of the camshaft cover, the clamping rod moves along the axial direction of the clamping rod section, the length of the positioning rod section is adjusted, the diameter of the positioning part is changed, and the clamping rod section is matched with the positioning holes of the camshaft cover with different apertures;
the first driving device is used for driving the clamping rod to move; and the number of the first and second groups,
and the control device is electrically connected with the first driving device.
Optionally, the camshaft cover clamping system further includes a detection camera, and the detection camera is electrically connected to the control device.
Optionally, the camshaft cover clamping system further includes:
the bearing seat is arranged on one side of the clamping datum plane of the clamping seat, and a bearing area is formed on the bearing seat and used for placing the camshaft cover;
the movable push rod is arranged on the bearing seat and is positioned on one side of the bearing area, which is opposite to the clamping reference surface, and the movable push rod is movably arranged along the direction close to or far away from the clamping reference surface; and the number of the first and second groups,
the second driving device is electrically connected with the control device and drives the movable push rod to move so as to tightly abut against the camshaft cover until the mounting end face of the camshaft cover is attached to the clamping reference face.
Optionally, the camshaft cover clamping system further includes a conveying plate having a feeding end and a discharging end that are arranged oppositely, a conveying trough is formed on the conveying plate, two ends of the conveying trough are arranged to penetrate through the feeding end and the discharging end, and openings at two ends of the conveying trough are respectively arranged on an upper end surface of the feeding end and a side wall surface of the discharging end;
the discharging end is correspondingly arranged adjacent to the bearing area so as to convey the camshaft cover to the bearing area, and the feeding end is used for bearing the camshaft cover.
Optionally, the conveying trough comprises a feeding trough section arranged at the feeding end, a discharging trough section arranged at the discharging end, and a reversing trough section located between the feeding trough section and the discharging trough section;
camshaft cover clamping system still includes:
the reversing disc is rotatably arranged on the conveying plate along an up-down axial line and is positioned between the feeding end and the discharging end, and a sliding groove is formed in the upper end surface of the reversing disc and forms at least part of the reversing groove section; and the number of the first and second groups,
and the third driving device is electrically connected with the control device and drives the reversing disc to rotate.
The invention also provides a control method of the camshaft cover clamping system, which comprises the following steps:
acquiring diameter data of a positioning hole of the camshaft cover;
calculating the activity of the clamping rod according to the diameter data of the positioning hole;
generating a control instruction according to the activity amount;
and controlling the first driving device to act according to the control command.
Optionally, the step of obtaining the diameter data of the positioning hole of the camshaft cover includes:
acquiring a picture of a positioning hole of the camshaft cover;
obtaining a positioning hole fitting circle according to the positioning hole photo;
and counting pixel values in the fitting circle of the positioning hole, and calculating to obtain diameter data of the positioning hole.
Optionally, the step of obtaining a positioning hole fitting circle according to the positioning hole photo includes:
carrying out graying processing on the positioning hole picture to obtain a grayscale image;
carrying out mean value filtering on the gray level picture to obtain a de-noised image;
carrying out threshold segmentation on the de-noised picture to obtain a binary image;
and extracting a characteristic image of the binary image, and fitting the contour line of the characteristic image to obtain a positioning hole fitting circle.
Optionally, the camshaft cover clamping system further includes a movable push rod and a second driving device, the movable push rod is movably disposed in a direction close to or away from the clamping reference surface, the second driving device drives the movable push rod to move, and after the step of controlling the first driving device to act according to the control instruction, the method further includes:
and acquiring a push instruction, and controlling the second driving device to act according to the push instruction.
Optionally, the camshaft cover clamping system further includes a reversing disc and a third driving device, the reversing disc is rotatably mounted on the conveying plate along an up-down axis, the third driving device drives the reversing disc to rotate, the step of obtaining a pushing instruction and controlling the second driving device to act according to the pushing instruction further includes:
acquiring the position of a positioning hole of the camshaft cover;
generating an action instruction according to the position of the positioning hole;
and controlling the third driving device to act according to the action command.
According to the technical scheme, the diameter of the positioning rod section is reduced along the direction opposite to the clamping reference surface, the length of the positioning rod section protruding out of the clamping reference surface is changed by controlling the clamping rod to move along the axial direction of the clamping rod, the diameter of the positioning part is further changed, the length of the positioning rod section is adjusted by controlling the first driving device aiming at the positioning holes of the camshaft covers with different sizes, so that the positioning holes with different sizes are adapted, and the positioning holes are prevented from being damaged or being incapable of being clamped due to the size difference between the positioning holes and the positioning holes.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a camshaft cover according to the present invention;
FIG. 2 is a perspective view of one embodiment of a camshaft cover clamping system according to the present invention;
FIG. 3 is a schematic plan view of one embodiment of the clamping lever of FIG. 2;
FIG. 4 is a schematic perspective view of a second embodiment of a camshaft cover clamping system according to the present invention;
fig. 5 is a schematic perspective view of a wheel axle cover clamping system according to a third embodiment of the present invention;
FIG. 6 is a schematic perspective view of the conveyor plate of FIG. 5;
FIG. 7 is a schematic perspective view of the reversing disc of FIG. 5;
FIG. 8 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment;
fig. 9 is a schematic flow chart of an embodiment of a control method of the camshaft cover clamping system provided in the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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 given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The camshaft cover is used as an important component of the engine, the machining quality of the camshaft cover directly influences the service life of the engine, and as the first step of camshaft cover machining, the clamping effect directly influences the quality and precision of subsequent machining.
The existing clamping mode mostly adopts fixation or batch clamping, and the installation end surface of the camshaft cover is used as a reference surface and two threaded holes are used as reference holes. Clamping workpieces in the same batch and with small difference by using a fixed clamp head; and for workpieces of different batches and with larger differences, replacing the workpieces with the clamp heads of corresponding sizes, and clamping in batches. The existing clamping mode can not well realize automatic processing, needs manual intervention, has low clamping efficiency, and does not consider the difference between different workpiece individuals in the same batch. Different individual work pieces of a selection anchor clamps head clamping often can cause work piece reference surface or benchmark hole irreversible damage, and the error that causes follow-up precision finishing is often very big.
Referring to fig. 1, fig. 1 is a schematic perspective view of a camshaft cover 200 according to the present invention, in which the camshaft cover 200 includes an installation end surface 201, and a reference hole a1 and a positioning hole a2 penetrating through the installation end surface 201, wherein the size of the reference hole a1 is a fixed value, the diameter of the positioning hole a2 is smaller than that of the reference hole a1, and the positioning holes a2 in different camshaft covers 200 are different in size.
The invention provides a camshaft cover clamping system and a control method thereof, and aims to solve the problem that a clamping device cannot be matched with positioning holes with different sizes.
Fig. 2 to 9 are schematic perspective views of a camshaft cover clamping system according to an embodiment of the present invention.
Referring to fig. 2 to 3, the present invention provides a camshaft cover clamping system 100, which includes a clamping seat 1, a clamping rod 2, a first driving device 3 and a control device; a clamping datum plane is formed on the clamping seat 1 and is used for being attached to the installation end face 201 of the camshaft cover; the clamping rod 2 is provided with a positioning rod section 21 which is arranged on the clamping reference surface in a protruding mode, the diameter of the positioning rod section 21 is reduced along the direction opposite to the clamping reference surface, a positioning part is formed on the periphery of the end part, close to the clamping reference surface, of the positioning rod section 21 and used for being abutted against the inner wall surface of a positioning hole a2 of the camshaft cover 200, the clamping rod 2 moves along the axial direction of the clamping rod section, the length of the positioning rod section 21 is adjusted, the diameter of the positioning part is changed, and the positioning rod section is matched with positioning holes a2 of the camshaft cover 200 with different hole diameters; the first driving device 3 is used for driving the clamping rod to move; the control device is electrically connected with the first driving device 3.
In the technical scheme of the invention, the diameter of the positioning rod section 21 is reduced along the direction opposite to the clamping reference surface, the length of the positioning rod section 21 protruding out of the clamping reference surface is changed by controlling the clamping rod 2 to move along the axial direction of the clamping rod section, so that the diameter of the positioning part is changed, and the length of the positioning rod section 21 is adjusted by controlling the first driving device 3 aiming at the positioning hole a2 of the camshaft cover 200 with different sizes so as to be adapted to the positioning holes a2 with different sizes, so that the positioning hole a2 is prevented from being damaged or the positioning hole a2 cannot be clamped due to the size difference between the positioning rod section and the positioning hole a 2.
It should be noted that, in this embodiment, a mounting hole is formed through the clamping reference surface, the clamping rod 2 is movably sleeved in the mounting hole, and the clamping rod 2 slides along the mounting hole, so that the length of the positioning rod section 21 exposed outside the mounting hole is changed, and the diameter of the positioning portion is changed.
Further, the camshaft cover clamping system 100 further includes a positioning rod 4 protruding from the clamping reference surface, and the positioning rod 4 is adapted to the reference hole a 1.
In addition, the one end of chucking pole 2 dorsad the locating lever section 21 extends to the mounting hole sets up outward, camshaft cover clamping system 100 still includes connecting plate 5, connecting plate 5 with chucking pole 2 dorsad the one end of locating lever section 21 is connected, connecting plate 5 with be provided with guide structure between the clamping seat 1, first drive arrangement 3 with the connecting plate drive is connected, in order to drive chucking pole 2 activity guarantees chucking pole 2 activity is steady.
Furthermore, a guide hole is arranged on the connecting plate 5 in a penetrating manner, the guide structure further comprises a guide rod, one end of the guide rod is movably arranged in the guide hole in a penetrating manner, and the other end of the guide rod is fixed on the clamping seat 1. The direction is reliable, prevents that the clamping rod 2 from rocking when moving.
On the other hand, the camshaft cover clamping system 100 further includes a detection camera 6, and the detection camera 6 is electrically connected with the control device. The photo of the positioning hole a2 is obtained by directly shooting through the detection camera 6, the photo is processed to obtain the diameter of the positioning hole a2, the setting is convenient, and the diameter precision of the obtained positioning hole a2 is higher.
In order to facilitate the automatic operation, referring to fig. 4, the camshaft cover clamping system 100 further includes a bearing seat 7, a movable push rod 8 and a second driving device 9; the bearing seat 7 is arranged on one side of the clamping reference surface of the clamping seat 1, and a bearing area is formed on the bearing seat 7 and used for placing the camshaft cover 200; the movable push rod 8 is mounted on the bearing seat 7 and is positioned on one side of the bearing area, which is opposite to the clamping reference surface, and the movable push rod 8 is movably arranged along the direction close to or far away from the clamping reference surface; the second driving device 9 is electrically connected with the control device, and the second driving device 9 drives the movable push rod 8 to move so as to tightly abut against the camshaft cover 200, so that the installation end surface 201 of the camshaft cover 200 is abutted to the clamping reference surface. After the clamping rod 2 finishes moving, the camshaft cover 200 needs to be clamped on the clamping reference surface, in order to facilitate automatic operation, a bearing area is formed on the bearing seat 7, the camshaft cover 200 is directly conveyed into the bearing area, and after the clamping rod 2 finishes moving, the movable push rod 8 moves to tightly support the camshaft cover 200 on the bearing reference surface, so that manual operation is not needed, and the camshaft cover 200 has large mass, so that reliable and safe operation is guaranteed through the movable push rod 8, and continuous and automatic operation can be realized.
Further, referring to fig. 5 to 6, the camshaft cover clamping system 100 further includes a conveying plate 10, the conveying plate 10 has a feeding end and a discharging end that are oppositely disposed, a conveying trough is formed on the conveying plate 10, two ends of the conveying trough are disposed to penetrate through the feeding end and the discharging end, and openings at two ends of the conveying trough are respectively disposed on an upper end surface of the feeding end and a side wall surface of the discharging end; the discharge end is correspondingly arranged adjacent to the bearing area so as to convey the camshaft cover 200 to the bearing area, and the feed end is used for receiving the camshaft cover 200. In the existing feeding system, most of the camshaft cover 200 is horizontally fed, so that the positioning hole a2 is arranged upwards, and the camshaft cover 200 rotates along with the angle change of the conveying groove when being conveyed along the conveying groove through the conveying groove, so that the camshaft cover 200 is in a vertical state, the positioning hole extends horizontally, and the clamping rod 2 can conveniently extend into the positioning hole a 2.
Further, referring to fig. 7, the conveying trough includes a feeding trough section disposed at the feeding end, a discharging trough section disposed at the discharging end, and a reversing trough section disposed between the feeding trough section and the discharging trough section; the camshaft cover clamping system 100 further comprises a reversing disc 11 and a third driving device 12; the reversing disc 11 is rotatably mounted on the conveying plate 10 along an up-down axial line and is positioned between the feeding end and the discharging end, and a sliding groove is formed in the upper end surface of the reversing disc 11 and forms at least part of the reversing groove section; the third driving device 12 is electrically connected to the control device, and the third driving device 12 drives the reversing disc 11 to rotate. Because the camshaft cover 200 is symmetrical, when the camshaft cover 200 is in a horizontal state, the positioning hole a2 is not necessarily located at one side of the clamping rod 2, before conveying and clamping, the position of the positioning hole a2 of the camshaft cover 200 is detected, and when the position is not matched with the clamping rod 2, the clamping rod 2 can be conveniently clamped through rotation.
It should be noted that, in this embodiment, the first driving device, the second driving device and the third driving device are provided with multiple modes, as long as each mode can achieve its moving function, in this embodiment, the first driving device is a stepping electric push rod, which is convenient to control the movement of the clamping rod 2, the second driving device is a driving air cylinder or an electric push rod, and the third driving device is a driving motor or a driving air cylinder, which is not limited in this embodiment.
In addition, the camshaft cover clamping system 100 further comprises a switching plate, the switching plate is arranged in a rotating mode along an up-and-down axis, and the switching plate is provided with a plurality of clamping seats 1, so that the assembly line can work for a long time without stopping.
Referring to fig. 8, the present invention provides a control device of a camshaft cover clamping system, wherein the control device of the camshaft cover clamping system is electrically connected to the first driving device 3 for controlling the camshaft cover clamping system.
The control device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
As shown in fig. 8, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a photographing control program of the smart photographing head.
In the control device shown in fig. 8, the processor 1001 calls a control program of the camshaft cover clamping system stored in the memory 1005, and executes the following operations:
acquiring diameter data of a positioning hole of the camshaft cover;
calculating the activity of the clamping rod according to the diameter data of the positioning hole;
generating a control instruction according to the activity amount;
and controlling the first driving device to act according to the control command.
Further, the processor 1001 calls the control program of the camshaft cover clamping system stored in the memory 1005, and further performs the following operations:
acquiring a picture of a positioning hole of the camshaft cover;
obtaining a positioning hole fitting circle according to the positioning hole photo;
and counting pixel values in the fitting circle of the positioning hole, and calculating to obtain diameter data of the positioning hole.
Further, the processor 1001 calls the control program of the camshaft cover clamping system stored in the memory 1005, and further performs the following operations:
carrying out graying processing on the positioning hole picture to obtain a grayscale image;
carrying out mean value filtering on the gray level picture to obtain a de-noised image;
carrying out threshold segmentation on the de-noised picture to obtain a binary image;
and extracting a characteristic image of the binary image, and fitting the contour line of the characteristic image to obtain a positioning hole fitting circle.
Further, the processor 1001 calls the control program of the camshaft cover clamping system stored in the memory 1005, and further performs the following operations:
and acquiring a push instruction, and controlling the second driving device to act according to the push instruction.
Further, the processor 1001 calls the control program of the camshaft cover clamping system stored in the memory 1005, and further performs the following operations:
acquiring the position of a positioning hole of the camshaft cover;
generating an action instruction according to the position of the positioning hole;
and controlling the third driving device to act according to the action command.
Based on the camshaft cover clamping system 100, the invention further provides a control method of the camshaft cover clamping system, which is used for automatically adapting the size of the positioning hole of the camshaft cover, and please refer to fig. 9, the control method of the camshaft cover clamping system comprises the following steps:
s10, acquiring diameter data of the positioning hole of the camshaft cover;
s20, calculating the activity of the clamping rod according to the diameter data of the positioning hole;
s30, generating a control command according to the activity;
and S40, controlling the first driving device to operate according to the control command.
In the technical scheme provided by the invention, the diameter data of the positioning hole a2 is measured, the diameter obtained through the diameter data is equal to the diameter of the clamping rod 2 at which position, and the movement quantity required by the clamping rod 2 is further obtained, so that the length of the positioning rod section 21 is changed, the first driving device is further controlled, the clamping is completed, the clamping is accurate, the positioning hole a2 is ensured not to be damaged, and the control is rapid.
Specifically, there are various embodiments for calculating the movement amount of the clamping rod, for example, the diameter of each position of the clamping rod is obtained by measurement, and the movement amount of the clamping rod is determined by the corresponding relationship of the diameters.
Further, in the present embodiment, step S20 includes:
s21, acquiring a positioning hole photo of the camshaft cover;
s22, obtaining a positioning hole fitting circle according to the positioning hole photo;
and S23, counting pixel values in the fitting circle of the positioning hole, and calculating to obtain diameter data of the positioning hole.
The diameter data of the positioning hole a2 is calculated according to the photo of the positioning hole a2, the accuracy is higher, the positioning hole a2 can be visually butted with an external control device, and the image of the positioning hole a2 is displayed.
Specifically, step S22 includes:
s221, carrying out graying processing on the positioning hole picture to obtain a grayscale image;
s222, carrying out mean value filtering on the gray level picture to obtain a de-noised image;
s223, performing threshold segmentation on the denoising picture to obtain a binary image;
s224, extracting the characteristic image of the binary image, and fitting the contour line of the characteristic image to obtain a positioning hole fitting circle.
After graying processing, average filtering and threshold segmentation are carried out on the positioning hole pictures, the positioning holes can be conveniently identified by the control device, a positioning hole fitting circle is formed, deviation of the control device in the process of calculating the diameter of the positioning holes is avoided, and accuracy is guaranteed.
Further, step S40 is followed by the step of:
and S50, acquiring a push instruction, and controlling the second driving device to act according to the push instruction.
Convenient for automatic operation, automatic pushing after the completion of the previous steps, quickening the work flow and improving the work efficiency
Further, step S50 is preceded by:
s41, acquiring the position of the positioning hole of the camshaft cover;
s42, generating an action instruction according to the position of the positioning hole;
and S43, controlling the third driving device to operate according to the operation command.
Before pushing, the position of the positioning hole in the camshaft cover 200 is detected, when the position of the positioning hole can be normally pushed, the third driving device does not act, the steering wheel does not rotate, when the position of the positioning hole needs to be adjusted, the third driving device acts, the steering wheel rotates 180 degrees, the positioning hole and the reference hole are aligned, and therefore the clamping rod can conveniently stretch into the positioning hole.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the specification and drawings or directly/indirectly applied to other related technical fields under the spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. A control method of a camshaft cover clamping system is characterized in that the camshaft cover clamping system comprises the following steps:
the clamping base is provided with a clamping reference surface which is used for being attached to the mounting end surface of the camshaft cover;
the clamping rod is provided with a positioning rod section which is arranged on the clamping reference surface in a protruding mode, the diameter of the positioning rod section is reduced along the direction opposite to the clamping reference surface, a positioning part is formed on the periphery of the end part, close to the clamping reference surface, of the positioning rod section and used for being abutted against the inner wall surface of the positioning hole of the camshaft cover, the clamping rod moves along the axial direction of the clamping rod section, the length of the positioning rod section is adjusted, the diameter of the positioning part is changed, and the clamping rod section is matched with the positioning holes of the camshaft cover with different apertures;
the first driving device is used for driving the clamping rod to move; and (c) a second step of,
the control device is electrically connected with the first driving device;
the control method of the camshaft cover clamping system comprises the following steps:
acquiring diameter data of the positioning hole of the camshaft cover;
calculating the activity of the clamping rod according to the diameter data of the positioning hole;
generating a control instruction according to the activity amount;
and controlling the first driving device to act according to the control command.
2. The method for controlling the camshaft cover clamping system according to claim 1, wherein the camshaft cover clamping system further comprises a detection camera, and the detection camera is electrically connected with the control device.
3. The method for controlling the camshaft cap clamping system according to claim 1, wherein the camshaft cap clamping system further comprises:
the bearing seat is arranged on one side of the clamping datum plane of the clamping seat, and a bearing area is formed on the bearing seat and used for placing the camshaft cover;
the movable push rod is arranged on the bearing seat and is positioned on one side of the bearing area, which is opposite to the clamping reference surface, and the movable push rod is movably arranged along the direction close to or far away from the clamping reference surface; and (c) a second step of,
the second driving device is electrically connected with the control device and drives the movable push rod to move so as to tightly abut against the camshaft cover until the mounting end face of the camshaft cover is abutted to the clamping reference face.
4. The method for controlling the camshaft cap clamping system according to claim 3, wherein the camshaft cap clamping system further comprises a conveying plate having a feeding end and a discharging end which are oppositely arranged, wherein a conveying trough is formed on the conveying plate, two ends of the conveying trough are arranged to penetrate through the feeding end and the discharging end, and openings at two ends of the conveying trough are respectively arranged on the upper end surface of the feeding end and the side wall surface of the discharging end;
the discharging end is correspondingly arranged adjacent to the bearing area so as to convey the camshaft cover to the bearing area, and the feeding end is used for bearing the camshaft cover.
5. The method of claim 4, wherein the conveyor channel includes a feed channel section at the feed end, a discharge channel section at the discharge end, and a diverter channel section between the feed channel section and the discharge channel section;
camshaft cover clamping system still includes:
the reversing disc is rotatably arranged on the conveying plate along an up-and-down axis and is positioned between the feeding end and the discharging end, and a sliding groove is formed in the upper end face of the reversing disc and forms at least part of the reversing groove section; and (c) a second step of,
and the third driving device is electrically connected with the control device and drives the reversing disc to rotate.
6. The method for controlling the camshaft cover clamping system according to claim 1, wherein the step of acquiring the diameter data of the positioning hole of the camshaft cover comprises:
acquiring a picture of a positioning hole of the camshaft cover;
obtaining a positioning hole fitting circle according to the positioning hole photo;
and counting pixel values in the fitting circle of the positioning hole, and calculating to obtain diameter data of the positioning hole.
7. The method for controlling the camshaft cover clamping system according to claim 6, wherein the step of obtaining a locating hole fitting circle according to the locating hole picture comprises:
carrying out graying processing on the positioning hole picture to obtain a grayscale image;
carrying out mean value filtering on the gray level picture to obtain a de-noised image;
carrying out threshold segmentation on the denoised image to obtain a binary image;
and extracting a characteristic image of the binary image, and fitting the contour line of the characteristic image to obtain a positioning hole fitting circle.
8. The method for controlling the camshaft cover clamping system according to claim 1, wherein the camshaft cover clamping system further includes a movable push rod and a second driving device, the movable push rod is movably disposed in a direction close to or away from the clamping reference surface, the second driving device drives the movable push rod to move, and the step of controlling the first driving device to move according to the control command further includes:
and acquiring a push instruction, and controlling the second driving device to act according to the push instruction.
9. The method for controlling the camshaft cover clamping system according to claim 8, wherein the camshaft cover clamping system further includes a conveying plate, a reversing disc, and a third driving device, the reversing disc is rotatably mounted on the conveying plate along an up-down axis, the third driving device drives the reversing disc to rotate, the step of obtaining the pushing command and controlling the second driving device to operate according to the pushing command further includes:
acquiring the position of a positioning hole of the camshaft cover;
generating an action instruction according to the position of the positioning hole;
and controlling the third driving device to act according to the action command.
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| US5201891A (en) * | 1988-02-28 | 1993-04-13 | Myotoku Ltd. | Vibration parts allignment apparatus |
| WO2012063537A1 (en) * | 2010-11-08 | 2012-05-18 | トヨタ自動車株式会社 | Variable valve device for internal combustion engine |
| CN201913510U (en) * | 2010-12-09 | 2011-08-03 | 温岭市联星机械有限公司 | Elastic workpiece centre of grinding machine |
| CN105522505B (en) * | 2016-02-18 | 2017-07-28 | 东莞工易机器人有限公司 | A kind of localization method of the smelting tool locating device based on wedge-shaped double reference planes |
| CN205968314U (en) * | 2016-06-24 | 2017-02-22 | 重庆美欧特机电制造有限公司 | Camshaft cover processing frock |
| CN106695627A (en) * | 2017-01-24 | 2017-05-24 | 重庆长安汽车股份有限公司 | Tool for split camshaft cover assembly |
| CN209608957U (en) * | 2018-09-27 | 2019-11-08 | 深圳市泰品科技有限公司 | A kind of jig |
| CN111036571B (en) * | 2020-01-02 | 2020-08-18 | 山东省产品质量检验研究院 | Automatic detection device of machine for cylindric lock |
| CN111975404B (en) * | 2020-08-27 | 2021-07-09 | 亚新科凸轮轴（仪征）有限公司 | Axial plug type automatic camshaft positioning device and using method thereof |
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