CN113253351A - Rivet taking detection device, rivet taking machine and detection method - Google Patents
Rivet taking detection device, rivet taking machine and detection method Download PDFInfo
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- CN113253351A CN113253351A CN202110370917.0A CN202110370917A CN113253351A CN 113253351 A CN113253351 A CN 113253351A CN 202110370917 A CN202110370917 A CN 202110370917A CN 113253351 A CN113253351 A CN 113253351A
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- 238000001514 detection method Methods 0.000 title claims abstract description 64
- 239000000463 material Substances 0.000 claims abstract description 53
- 239000004020 conductor Substances 0.000 claims description 40
- 239000002184 metal Substances 0.000 claims description 37
- 239000000523 sample Substances 0.000 claims description 34
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 description 8
- 239000013307 optical fiber Substances 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/02—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with propagation of electric current
Abstract
The invention relates to a rivet taking detection device, a rivet taking machine and a detection method, and belongs to the technical field of automatic equipment. This material detection device is got to rivet includes: a power supply device for supplying power to the rivet; the conductive component is used for contacting with a rivet at one end, and the other end of the conductive component is electrically connected with the power supply device; and the electric signal detection device is electrically connected with the rivet and forms a closed current loop when the rivet is contacted with the conductive part. The invention also provides a rivet taking machine and a rivet taking detection method. This material detection device is got to rivet is not restricted to the good or bad of the surperficial reflection of light performance of rivet, can not cause the condition of hourglass detection.
Description
Technical Field
The invention belongs to the technical field of automatic equipment, and particularly relates to a rivet taking detection device, a rivet taking machine and a detection method.
Background
With the rapid development of industrial automation, industrial robots are widely used in manufacturing. When the robot is used for assembling rivets, the rivets need to be guaranteed to be successfully grabbed from a rivet tray and loaded into holes corresponding to products by the material fetching suction nozzles carried by the robot, but the rivets cannot be successfully grabbed by the material fetching suction nozzles carried by the robot due to the fact that the rivets are missed or influenced by other factors in the process, and the rivets are missed by the products due to the fact that the robot directly carries out riveting operation, and the defects are caused. At this time, a rivet taking detection device is needed to detect whether the rivet taking by the taking suction nozzle of the robot is successful.
The optical fiber sensor that equipment adopted mostly in the trade detects the mode that the rivet has or not, and this mode is higher to the uniformity requirement of rivet surface reflection of light performance, and the very little black rivet of diameter easily misdetects, still receives the accuracy that the dust influences optical fiber sensor simultaneously easily, consequently leads to leaking the risk of detecting great.
In order to solve the problems of reliability and stability of rivet detection, the rivet taking detection device needs to be used, detection is realized by the aid of good conductive performance of a rivet metal material in the detection mode, the detection is not limited by the surface light reflection performance of the rivet, and detection leakage is avoided.
Disclosure of Invention
The invention provides a rivet taking detection device, a rivet taking machine and a detection method for solving the technical problems, which are not limited by the quality of the surface light reflection performance of rivets and cannot cause detection leakage.
The invention provides a rivet taking and detecting device for solving the technical problems.
The technical scheme for solving the technical problems is as follows: a rivet take-out inspection apparatus comprising:
a power supply device for supplying power to the rivet;
the conductive component is used for contacting with a rivet at one end, and the other end of the conductive component is electrically connected with the power supply device;
and the electric signal detection device is electrically connected with the rivet and forms a closed current loop when the rivet is contacted with the conductive part.
The invention has the beneficial effects that: (1) the rivet is used as a conductive medium to form a current loop, so that rivet detection is realized, any sensor is not needed, and the detection accuracy is high;
(2) the rivet taking and detecting device can be used for rivets with short height and small diameter, is not limited by the color and the diameter of the rivets, and has wide application range;
(3) compared with the existing optical fiber sensor, the optical fiber head possibly adheres dust to influence part of detection results during detection, and the rivet taking and detecting device cannot cause the condition that a rivet is missed to be detected.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the conductive part comprises a metal conductor and a conductive connecting piece, one end of the metal conductor is used for being in contact with the rivet, the other end of the metal conductor is detachably connected with one end of the conductive connecting piece, and the other end of the conductive connecting piece is electrically connected with the power supply device.
The beneficial effect of adopting the further scheme is that: the contact area with the rivet is increased, and the contact with the rivet is facilitated.
Further, one end of the conductive connecting piece is abutted against the metal conductor.
The beneficial effect of adopting the further scheme is that: the conductive connecting piece and the metal conductor are convenient to mount respectively.
Further, the conductive connecting piece is a conductive spring probe, one end of the conductive spring probe is abutted against the other end of the metal conductor, and the other end of the conductive spring probe is electrically connected with the power supply device.
The beneficial effect of adopting the further scheme is that: the distance between the conductive connecting piece and the metal conductor can be changed, and the conductive connecting piece can be conveniently and suitably arranged at more positions.
And the conductive spring probe is fixedly connected to the insulating fixing mechanism.
The beneficial effect of adopting the further scheme is that: the conductive spring probe is convenient to mount and fix.
Furthermore, the other end of the conductive spring probe is electrically connected with the power supply device through a power supply negative electrode lead.
The beneficial effect of adopting the further scheme is that: the positions of the power supply device and the conductive spring probe can be adjusted.
Secondly, the invention provides a rivet reclaimer for solving the technical problems.
The technical scheme for solving the technical problems is as follows: a rivet reclaimer, includes as above-mentioned rivet reclaiming detection device.
Further, still include the four-axis robot, get material suction nozzle and rivet charging tray, get the material suction nozzle with the output of four-axis robot is connected, electrically conductive parts connects on the rivet charging tray, the four-axis robot drives get the material suction nozzle and absorb the rivet with electrically conductive parts contact.
The beneficial effect of adopting the further scheme is that: can get the material back to the rivet on one side through this rivet reclaimer, move at once and detect, if detect not snatch the rivet, then in time adjust, snatch the rivet again, can conveniently adjust snatching of rivet. .
The rivet material disc is provided with a positioning pin for positioning, the material disc support plate is provided with a positioning hole matched with the positioning pin, and the rivet material disc is connected to the material disc support plate through the matching of the positioning pin and the positioning hole;
the output end of the four-axis robot is connected with a robot clamp, and the material taking suction nozzle is connected with the robot clamp.
The beneficial effect of adopting the further scheme is that: the rivet tray is convenient to mount and fix.
Thirdly, the invention provides a rivet taking detection method for solving the technical problems.
The technical scheme for solving the technical problems is as follows: a rivet taking detection method adopting the rivet taking machine comprises the following steps:
when the four-axis robot drives the material taking suction nozzle to move to a detection specified position, the rivet is contacted with the conductive part;
the power supply device supplies electric energy to the conductive member;
when the electric signal detection device detects current, the material taking suction nozzle is provided with the rivet, otherwise, the material taking suction nozzle is not provided with the rivet.
Drawings
FIG. 1 is a schematic structural diagram of a detecting device according to the present invention;
FIG. 2 is a schematic structural view of a rivet reclaimer of the present invention;
fig. 3 is a perspective view of the rivet reclaimer of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a material taking suction nozzle; 2. a rivet tray; 3. a tray support plate; 4. riveting; 5. a four-axis robot; 6. a robot clamp; 101. a power supply negative electrode lead; 201. a metal conductor; 301. a conductive spring probe; 302. an insulating fixing mechanism; 303. connecting a lead; 304. and a positioning pin.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1, the present embodiment provides a rivet taking detection device, which includes: a power supply device for supplying power to the rivet 4, a conductive member, and an electric signal detection device.
One end of the conductive member is for contact with the rivet 4, and the other end of the conductive member is electrically connected to the power supply device. The electric signal detection device is electrically connected with the rivet 4, and when the rivet 4 is contacted with the conductive part, a closed current loop is formed.
The power supply device is used for supplying power and can generate current when a closed loop is formed. Wherein the power supply device is a 24-volt power supply, and has safety. Wherein the conductive member is adapted to contact the rivet 4 and to conduct electricity with the rivet 4 to form a closed circuit. The electric signal detection device is used for detecting a current signal and judging whether a closed current loop is formed or not. When the rivet 4 is present, the rivet 4 comes into contact with the conductive member, and the electric current can be detected by the electric signal detection means.
The technical scheme of the embodiment has the advantages that the rivet 4 is detected in a detection mode that the rivet 4 is used as a conductive medium to form a current loop, no sensor is needed, and the detection accuracy is high. Adopt this rivet to get material detection device can be to the height shorter, the less rivet 4 of diameter, do not receive the restriction of 4 colours of rivet, diameter size, and application scope is wide. Compared with the prior art, the optical fiber head possibly adheres dust to influence part of detection results when the optical fiber sensor detects, and the rivet taking and detecting device cannot cause the condition that the rivet 4 leaks to be detected.
Preferably, in this embodiment, the conductive member includes a metal conductor 201 and a conductive connector, one end of the metal conductor 201 is used for contacting with the rivet 4, the other end of the metal conductor 201 is detachably connected with one end of the conductive connector, and the other end of the conductive connector is electrically connected with the power supply device.
The area of the metal conductor 201 is larger than that of the conductive connecting piece, so that the rivet 4 can be better contacted with the metal conductor 201, and current transmission is realized. The conductive connecting piece is favorable for the electrical connection between the metal conductor 201 and the power supply device, so that the power supply device can transmit current to the metal conductor 201, and the current transmission is realized when the rivet 4 is in contact with the metal conductor 201.
Preferably, in the present embodiment, one end of the conductive connecting member abuts against the metal conductor 201. Therefore, the conductive connecting piece and the metal conductor 201 which are convenient to install can be electrically connected only by abutting the conductive connecting piece and the metal conductor 201 at the position where the conductive connecting piece and the metal conductor 201 need to be used, and the installation is very convenient.
Preferably, in this embodiment, the conductive connecting member is a conductive spring probe 301, one end of the conductive spring probe 301 abuts against the other end of the metal conductor 201, and the other end of the conductive spring probe 301 is electrically connected to the power supply device.
Wherein, electrically conductive spring probe 301 can change the distance between electrically conductive connecting piece and the metallic conductor 201, can conveniently be used to installing in more positions, and when wherein electrically conductive spring probe 301's one end and metallic conductor 201 butt, electrically conductive spring probe 301 is in compression state to the joint strength of electrically conductive spring probe 301 and metallic conductor 201 has been guaranteed.
Preferably, in this embodiment, an insulating fixing mechanism 302 for fixing the conductive spring probe 301 is further included, and the conductive spring probe 301 is fixedly connected to the insulating fixing mechanism 302. The insulating fixing mechanism 302 can conveniently fix the conductive spring probe 301, and the position of the conductive spring probe 301 is convenient to install, so that the conductive spring probe 301 is contacted with the metal conductor 201.
Preferably, in the present embodiment, the other end of the conductive spring probe 301 is electrically connected to the power supply device through the power supply negative electrode lead 101. The power supply device is electrically connected with the conductive spring probe 301 through the power supply negative electrode lead 101, and the positions of the power supply device and the conductive spring probe 301 can be adjusted.
As shown in fig. 2 and 3, the present embodiment further provides a rivet taking machine, which includes the rivet taking detection device as described above.
This rivet reclaimer still includes four-axis robot 5, gets material suction nozzle 1 and rivet charging tray 2, gets material suction nozzle 1 and is connected with four-axis robot 5's output, and electrically conductive part connects on rivet charging tray 2, and four-axis robot 5 drives and gets material suction nozzle 1 and absorb rivet 4 and electrically conductive part contact.
Wherein, four-axis robot 5 can drive rivet 4 and remove the realization and get the material. Get material suction nozzle 1 and be used for snatching rivet 4, get material suction nozzle 1 and can adsorb the rivet 4 that is detected at the end through magnetic force or vacuum, realize snatching rivet 4. The rivet tray 2 is used for storing rivets 4, wherein a plurality of placing holes are formed in the rivet tray 2, and the rivets 4 are placed in the corresponding placing holes. The metal conductor 201 is fixedly connected to the edge of one side of the rivet tray 2, and the conductive spring probe 301 is fixedly connected to the rivet tray 2 through the insulating fixing mechanism 302, so that one end of the conductive spring probe 301 is abutted to the metal conductor 201. Wherein signal of telecommunication detection device is connected with getting material suction nozzle 1 electricity through connecting wire 303, and gets material suction nozzle 1 and make for electrically conductive metal, can electrically conduct. Wherein the signal detection device can be located in the four-axis robot 5 and electrically connected with the control system of the four-axis robot 5, so that signal sharing is realized and operation is convenient.
When rivets need to be taken, the four-axis robot 5 drives the material taking suction nozzle 1 to move to the position above the rivets 4 to grab the rivets 4, then the material taking suction nozzle 1 is moved to the position above the metal conductor 201 and is close to the metal conductor 201, so that the grabbed rivets 4 are in contact with the metal conductor 201, if the rivets 4 are grabbed, a closed current loop is formed, at the moment, the electric signal detection device can detect current, the fact that the material taking suction nozzle 1 grabs the rivets 4 is indicated, and if the current is not detected, the fact that the material taking suction nozzle 1 does not grab the rivets 4 is indicated.
Can get the material back to the rivet on one side through this rivet reclaimer, move at once and detect, if detect not snatch rivet 4, then in time adjust, snatch rivet 4 again, can conveniently adjust snatching of rivet 4.
Preferably, in this embodiment, the rivet welding device further includes a tray support plate 3 for supporting the rivet tray 2, the rivet tray 2 is provided with a positioning pin 304 for positioning, the tray support plate 3 is provided with a positioning hole adapted to the positioning pin 304, and the rivet tray 2 is connected to the tray support plate 3 through the matching of the positioning pin 304 and the positioning hole.
The rivet material tray 2 is supported and fixed through the arranged material tray support plate 3, and the position of the rivet material tray 2 is ensured. The rivet tray 2 is provided with a plurality of positioning holes, and the positioning pins 304 on the same rivet tray 2 are also provided with a plurality of positioning holes and are in one-to-one correspondence with the positioning holes, so that the positioning pins 304 are inserted into the corresponding positioning holes to fix the rivet tray 2.
Preferably, in this embodiment, the output end of four-axis robot 5 is connected with robot clamp 6, gets being connected of material suction nozzle 1 and robot clamp 6. Get material suction nozzle 1 through 6 convenient centre grippings of robot clamp, can conveniently change getting material suction nozzle 1.
The embodiment also provides a rivet taking detection method adopting the rivet taking machine, which is characterized by comprising the following steps of:
the four-axis robot 5 drives the material taking suction nozzle 1 to adsorb the detected rivet 4 at the tail end through magnetic force or vacuum, then the material taking suction nozzle moves to a set rivet 4 detection position to enable the rivet 4 detection position to be in contact with the metal conductor 201, and a 24-volt power supply negative electrode continuously supplies voltage to the metal conductor 201 during contact, namely, the material taking suction nozzle 1, the detected rivet 4, the metal conductor 201, the conductive spring probe 301, the connecting wire 303 and the electric signal detection device are connected together to form an effective current loop.
If the material taking suction nozzle 1 does not adsorb the detected rivet 4 at the tail end, and the four-axis robot 5 moves to a set detection position with the material taking suction nozzle, the 24-volt power supply, the metal conductor 201, the conductive spring probe 301 and the electric signal detection device cannot form a closed current loop, which indicates that the rivet 4 is not grabbed, and sends a signal to the four-axis robot 5 to judge that the rivet is in an OFF state. If the material taking suction nozzle 1 adsorbs the detected rivet 4 at the tail end, and the four-axis robot 5 moves to a set detection position with the rivet, a 24V power supply, the metal conductor 201, the conductive spring probe 301 and the electric signal detection device form a closed current loop, which indicates that the rivet 4 is grabbed, and sends a signal to the four-axis robot 5, so that the rivet 4 is judged to be in an ON state.
To sum up, four-axis robot 5 drives and gets material suction nozzle 1 and move to the detection position of setting for and carry out rivet 4 and detect, through the ON/OFF state of audio-visual observation four-axis robot 5, can judge and get material and have rivet 4 ON the suction nozzle 1 to conveniently control four-axis robot 5 and carry out next step's operation.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
It is to be noted that "comprising" in the present invention means that it may include other components in addition to the components described, and the "comprising" may be replaced with "being" or "consisting of … …" in a closed manner.
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 (10)
1. The utility model provides a material detection device is got to rivet which characterized in that includes:
a power supply device for supplying power to the rivet (4);
a conductive member having one end for contacting a rivet (4) and the other end electrically connected to the power supply device;
and the electric signal detection device is electrically connected with the rivet (4) and forms a closed current loop when the rivet (4) is contacted with the conductive component.
2. The rivet taking detection device as claimed in claim 1, characterized in that the conductive member comprises a metal conductor (201) and a conductive connecting member, one end of the metal conductor (201) is used for being in contact with the rivet (4), the other end of the metal conductor (201) is detachably connected with one end of the conductive connecting member, and the other end of the conductive connecting member is electrically connected with the power supply device.
3. The rivet take out detection apparatus of claim 2, wherein one end of the conductive connector abuts against the metallic conductor (201).
4. The rivet taking and detecting device as claimed in claim 3, characterized in that the conductive connecting member is a conductive spring probe (301), one end of the conductive spring probe (301) is abutted against the other end of the metal conductor (201), and the other end of the conductive spring probe (301) is electrically connected with the power supply device.
5. The rivet taking out detection apparatus as claimed in claim 4, further comprising an insulating fixing mechanism (302) for fixing the conductive spring probe (301), wherein the conductive spring probe (301) is fixedly connected to the insulating fixing mechanism (302).
6. The rivet take out testing apparatus of claim 4, wherein the other end of the electrically conductive spring probe (301) is electrically connected to the power supply via a power negative lead (101).
7. A rivet reclaimer machine, characterized in that it comprises a rivet reclaiming detection device as claimed in any one of claims 1 to 6.
8. The rivet reclaimer of claim 7, characterized by that, still include four-axis robot (5), get material suction nozzle (1) and rivet charging tray (2), get material suction nozzle (1) and be connected with the output of four-axis robot (5), electrically conductive part is connected on rivet charging tray (2), four-axis robot (5) drive get material suction nozzle (1) absorb rivet (4) with electrically conductive part contact.
9. The rivet reclaimer of claim 8, characterized by, further comprising a tray carrier plate (3) for supporting said rivet tray (2), said rivet tray (2) is equipped with a positioning pin (304) for positioning, said tray carrier plate (3) is equipped with a positioning hole adapted to said positioning pin (304), said rivet tray (2) is connected to said tray carrier plate (3) through the cooperation of said positioning pin (304) and said positioning hole;
be connected with robot anchor clamps (6) on the output of four-axis robot (5), get material suction nozzle (1) with the connection of robot anchor clamps (6).
10. A rivet reclaiming detection method using the rivet reclaimer as claimed in any one of claims 8 to 9, comprising the steps of:
when the four-axis robot drives the material taking suction nozzle to move to a detection specified position, the rivet is contacted with the conductive part;
the power supply device supplies electric energy to the conductive member;
when the electric signal detection device detects current, the material taking suction nozzle is provided with the rivet, otherwise, the material taking suction nozzle is not provided with the rivet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110370917.0A CN113253351A (en) | 2021-04-07 | 2021-04-07 | Rivet taking detection device, rivet taking machine and detection method |
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| CN202110370917.0A CN113253351A (en) | 2021-04-07 | 2021-04-07 | Rivet taking detection device, rivet taking machine and detection method |
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Cited By (2)
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| CN116060573A (en) * | 2023-02-22 | 2023-05-05 | 重庆精鸿益科技股份有限公司 | Separate rivet assembly system and method |
| CN116214132A (en) * | 2023-02-22 | 2023-06-06 | 重庆精鸿益科技股份有限公司 | Integrated rivet assembly system and method |
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| 王纯贤 等: "浪形保持架全自动装钉机关键技术研究", 组合机床与自动化加工技术, no. 01, pages 135 - 137 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116060573A (en) * | 2023-02-22 | 2023-05-05 | 重庆精鸿益科技股份有限公司 | Separate rivet assembly system and method |
| CN116214132A (en) * | 2023-02-22 | 2023-06-06 | 重庆精鸿益科技股份有限公司 | Integrated rivet assembly system and method |
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