CN114535978A - Automatic damping ring tamponade device and method - Google Patents
Automatic damping ring tamponade device and method Download PDFInfo
- Publication number
- CN114535978A CN114535978A CN202210172425.5A CN202210172425A CN114535978A CN 114535978 A CN114535978 A CN 114535978A CN 202210172425 A CN202210172425 A CN 202210172425A CN 114535978 A CN114535978 A CN 114535978A
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- plunger
- damping ring
- injection hole
- tool
- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
Abstract
The invention discloses an automatic damping ring tamponade device which comprises a mechanical arm, a clamping jaw assembly, a light source, a camera, a tamponade platform, an ejection mechanism and a plunger tool, wherein the mechanical arm is connected with the clamping jaw assembly; the clamping jaw assembly is fixed at the tail end of the mechanical arm; the plunger pressing platform is used for supporting a plunger tool, and the plunger is placed in the plunger tool; the light source and the camera are aligned to the plunger tool and are respectively positioned on two sides of the plunger tool; the invention also discloses an automatic tamponade method, which comprises the steps that firstly, the clamping jaw assembly clamps the damping ring, the damping ring injection hole is positioned above the plunger tool, the camera detects the relative position of the damping ring injection hole and the plunger under the illumination of a light source, the mechanical arm drives the clamping jaw assembly according to the relative position, the damping ring injection hole is aligned with the plunger along the vertical direction, and the ejection mechanism presses the plunger in the plunger tool into the damping ring injection hole. The automatic plug pressing device realizes automatic plug pressing based on the automatic alignment of the plunger and the damping ring injection hole, effectively reduces the cost consumption of plug pressing work, and improves the plug pressing efficiency and the product quality.
Description
Technical Field
The invention relates to an automatic damping ring plug pressing device and method, which are used for a technology of automatically pressing a damping ring plunger into a plunger hole with high precision and belong to the technical field of automatic control with high precision and automatic matching.
Background
The mode of the press plug is different, one mode is that the tool for installing the plunger is not moved, and the workpiece is pressed down to the tool for installing the plunger to press the plug; the other is that the workpiece is fixed, and the tool for installing the plunger moves; and the third is that the workpiece and the plunger tool move in opposite directions simultaneously.
The difficulty of automatic damping ring tamponade is greater at present, as shown in fig. 1 and fig. 2, firstly, a plunger used for tamponade is a cylindrical plastic workpiece with the diameter and length of about 1mm, and is very inconvenient to grab; in addition, the damping ring is a white semitransparent workpiece made of plastic, the size of the damping ring is smaller, the outer diameter of the damping ring of a common model is 24mm, the inner diameter of the damping ring is 18mm, the thickness of the damping ring is 3mm, a hollow annular cavity is arranged inside the damping ring, the press plug inlet is positioned on the inner side of the ring body, the size of the press plug inlet is equivalent to that of a plunger, and the diameter of the press plug inlet is only about 1 mm.
Disclosure of Invention
The invention aims to overcome the defects and provides an automatic damping ring tamponade device which comprises a mechanical arm, a clamping jaw assembly, a light source, a camera, a tamponade platform, an ejection mechanism and a plunger tool, wherein the mechanical arm is connected with the clamping jaw assembly; the clamping jaw assembly is fixed at the tail end of the mechanical arm; the plunger pressing platform is used for supporting a plunger tool, and the plunger is placed in the plunger tool; the light source and the camera are aligned to the plunger tool and are respectively positioned on two sides of the plunger tool; the invention also provides an automatic tamponade method based on the automatic tamponade device, which comprises the steps that firstly, the clamping jaw assembly clamps the damping ring, the damping ring injection hole is positioned above the plunger tool, the camera detects the relative position of the damping ring injection hole and the plunger under the illumination of the light source, the mechanical arm drives the clamping jaw assembly according to the relative position, the damping ring injection hole and the plunger are aligned in the vertical direction, and the ejection mechanism presses the plunger in the plunger tool into the damping ring injection hole. The automatic plug pressing device realizes automatic plug pressing based on the automatic alignment of the plunger and the damping ring injection hole, effectively reduces the cost consumption of plug pressing work, and improves the plug pressing efficiency and the product quality.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic damping ring tamponade device comprises a mechanical arm, a clamping jaw assembly, a light source, a camera, a tamponade platform, an ejection mechanism and a plunger tool;
the clamping jaw assembly is fixed at the tail end of the mechanical arm, the mechanical arm drives the clamping jaw assembly to clamp the damping ring, so that the damping ring injection hole is positioned above the plunger tool, and the damping ring is adjusted according to the relative position of the damping ring injection hole and the plunger until the damping ring injection hole is aligned with the plunger in the vertical direction;
the plunger pressing platform is used for supporting a plunger tool, and the plunger is placed in the plunger tool;
the light source and the camera are aligned with the plunger tool and are respectively positioned on two sides of the plunger tool, and the camera detects the relative position of the damping ring injection hole and the plunger under the illumination of the light source;
and the ejection mechanism presses the plunger in the plunger tool into the damping ring injection hole.
Further, in the automatic plunger pressing device, the plunger tool comprises a tail plug, a prepressing pressure head and a plunger retaining sleeve;
the upper surface of the plug pressing platform is provided with a groove, the tail plug is fixedly arranged in the groove, the bottom of the groove is provided with a first through hole, the tail plug is provided with a second through hole, the plunger retaining sleeve is connected above the tail plug in a threaded manner, a prepressing pressure head moving cavity is arranged in the plunger retaining sleeve, the prepressing pressure head is positioned in the prepressing pressure head moving cavity, the top end of the plunger retaining sleeve is provided with a plunger hole, and the plunger is arranged in the plunger hole;
the ejection mechanism is positioned below the plug pressing platform and comprises an electric cylinder and a plug pressing rod, the electric cylinder is used for driving the plug pressing rod to move, the plug pressing rod sequentially penetrates through a first through hole formed in the plug pressing platform and a second through hole formed in the tail plug to upwards eject the pre-pressing pressure head, and then the plunger is ejected out of the plunger hole and pressed into the damping ring injection hole.
Further, in the automatic stopper pressing device, the light source is a surface light source; the mechanical arm is a six-shaft mechanical arm; the resolution of the camera is more than or equal to 500 ten thousand pixels.
Further, in the automatic plunger pressing device, the mechanical arm, the light source, the camera, the plunger pressing platform and the ejection mechanism are independently fixed on the reference plane.
Furthermore, the clamping jaw assembly comprises an electric jaw and a clamping jaw, the electric jaw is installed at the tail end of the mechanical arm, the clamping jaw is installed below the electric jaw, the electric jaw is used for driving the clamping jaw to clamp the damping ring under the control of a preset stroke and a clamping jaw force instruction, and the contact surface of the clamping jaw and the damping ring is an arc surface matched with the outer surface of the damping ring.
A damping ring automatic tamponade method is realized by the damping ring automatic tamponade device, and comprises the following steps:
s1, mounting the plunger tool on the plunger pressing platform, and placing the plunger in the plunger tool;
s2, the mechanical arm drives the clamping jaw assembly to clamp the damping ring, so that the damping ring injection hole is positioned above the plunger tool;
the S3 camera detects the relative position of the damping ring injection hole and the plunger piston under the illumination of the light source;
s4, the mechanical arm drives the clamping jaw assembly according to the relative position to enable the damping ring injection hole to be aligned with the plunger piston along the vertical direction;
and S5, pressing the plunger in the plunger tool into the damping ring injection hole by the ejection mechanism.
Further, in steps S2 and S4 of the automatic tamponade method, the annular end surface of the damping ring is vertical in the process of clamping the damping ring by the clamping jaw assembly.
Further, in step S3 of the automatic tamponade method, the specific method for detecting the relative position of the damping ring injection hole and the plunger by the camera under the illumination of the light source includes that the camera obtains an image of the relative position of the damping ring injection hole and the top end of the plunger tool under the illumination of the light source, and calculates the relative deviation between the damping ring injection hole and the top end of the plunger tool according to the image, where the relative deviation includes a horizontal deviation value x and a vertical deviation value y.
Further, the automatic tamponade method further includes step S6: the camera acquires an image at the injection hole of the damping ring under the illumination of a light source, and judges the pressing-in state of the plunger according to the image at the injection hole of the damping ring;
and controlling the action of the ejection mechanism on the plunger in the plunger tool according to the pressing-in state of the plunger.
Further, in step S6 of the automatic plugging method, the injection hole in the image of the injection hole of the damping ring is in a transparent state, and it is determined that the plunger is not pressed into the injection hole, and the injection hole in the image of the injection hole of the damping ring is in a black state, and it is determined that the plunger is pressed into the injection hole.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the automatic damping ring tamponade device, accurate alignment of the damping ring injection hole and the plunger is realized through the cooperation of the mechanical arm, the light source and the camera, automatic tamponade is realized, the cost consumption of tamponade work is effectively reduced, and the tamponade efficiency and the product quality are improved;
(2) the invention designs the concrete structure of the plunger tool and the ejection mechanism, so that the mode of ejecting the plunger and pressing the plunger into the injection hole of the damping ring is reliable and stable, the plunger tool and the ejection mechanism do not need to adopt complex structures, and the automation degree is high;
(3) the plunger tool can adjust the size of the plunger tool aiming at different parts to be pressed, so that the plunger tool can be used for pressing various parts, and the applicability is strong;
(4) the invention realizes real-time detection after the tamponade by using the camera and the light source, can control the tamponade action according to the real-time detection result, and further improves the automation degree.
Drawings
FIG. 1 is a prior art plunger size diagram;
FIG. 2 is a schematic view of a prior art damping ring;
FIG. 3 is a schematic view of the damping ring automatic corking device of the present invention;
FIG. 4 is a schematic view of a light source, a camera, a corking platform, an ejection mechanism and a plunger tooling of the damping ring automatic corking device of the invention;
FIG. 5 is a schematic view of a plunger assembly of the present invention;
FIG. 6 is a schematic diagram of the invention for detecting the relative position of the orifice of the damping ring and the plunger;
FIG. 7 is a schematic view of the damping ring of the present invention after it is adjusted to align with the plunger;
FIG. 8 is a schematic view of a corking platform according to the invention;
the device comprises a mechanical arm 1, an electric claw 2, a clamping jaw 3, a light source 4, a camera 5, an electric cylinder 6, a plug pressing rod 7, a plunger tool 8, a plug pressing platform 9, a tail plug 8-1, a pre-pressing pressure head 8-2, a plunger retaining sleeve 8-3, a plunger 100 and a damping ring 101.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention relates to an automatic damping ring tamponade device which comprises a mechanical arm 1, a clamping jaw assembly, a light source 4, a camera 5, a tamponade platform 9, an ejection mechanism and a plunger tool 8, wherein the mechanical arm is connected with the clamping jaw assembly; image judgment is achieved through the light source 4 and the camera 5, the mechanical arm 1 is controlled to complete alignment and guide of the damping ring injection hole and the plunger, the damping ring is moved to the position above the plunger tool 8 through the mechanical arm 1, and the plunger in the plunger tool 8 is plugged into the damping ring through the electric cylinder 6.
In a preferred embodiment, the light source 4 and the camera 5 realize image judgment to judge whether the tamponade is successful or not.
In a preferred embodiment, the plunger tool 8 comprises a tail plug 8-1, a prepressing pressure head 8-2 and a plunger retaining sleeve 8-3, and the plunger 100 is placed at a concave hole at the top end of the plunger retaining sleeve 8-3 of the plunger tool 8, namely the plunger hole. The tail plug 8-1 and the plunger retaining sleeve 8-3 are combined together through threaded connection, a circular through hole for the plug pressing rod 7 to pass through is formed in the center of the tail plug 8-1, a pre-pressing pressure head moving cavity for enabling the pre-pressing pressure head 8-2 to move up and down is arranged inside the plunger retaining sleeve 8-3, and when the lower portion of the plunger tool 8 is pushed by the plug pressing rod 7, the pre-pressing pressure head 8-2 rises along with the plug pressing rod, and the plunger 100 is plugged into the damping ring 101.
Example 1:
the invention relates to an automatic damping ring tamponade device which is shown in figures 3 and 4 and comprises a mechanical arm 1, a clamping jaw assembly, a light source 4, a camera 5, a tamponade platform 9, an ejection mechanism and a plunger tool 8; the clamping jaw assembly comprises an electric jaw 2 and a clamping jaw 3;
the ejection mechanism comprises an electric cylinder 6 and a plunger rod 7, and the plunger tool 8 comprises a tail plug 8-1, a pre-pressing pressure head 8-2 and a plunger retaining sleeve 8-3.
The mechanical arm 1, the light source 4, the camera 5, the plug pressing rod 7 and the plug pressing platform 9 are arranged on a reference plane, and the plug pressing platform 9 is used for supporting the plunger tool 8; the light source 4 and the camera 5 are aligned to the plunger tool 8 and are respectively located on two sides of the plunger tool 8, the plug pressing platform 9 is located in the stroke range of the mechanical arm 1, and the electric claw 2 and the clamping jaw 3 are installed on the mechanical arm 1.
As shown in fig. 5, in the plunger tool 8, the plunger 100 is placed in a concave hole at the top of the plunger tool 8, namely, a plunger hole, the tail plug 8-1 and the plunger retaining sleeve 8-3 are combined together through threaded connection, a circular through hole for the passage of the plunger rod 7 is formed in the center of the tail plug 8-1, a pre-pressing head moving cavity for the up-and-down movement of the pre-pressing head 8-2 is formed in the plunger retaining sleeve 8-3, and when the plunger rod 7 is pushed to the lower side of the plunger tool 8, the pre-pressing head 8-2 ascends along with the plunger rod to plug the plunger 100 into the damping ring 101.
The method for automatically pressing the plug by using the damping ring automatic plug pressing device comprises the following steps:
as shown in fig. 8, firstly, the plunger tool 8 is placed in the circular truncated cone-shaped groove of the plunger platform 9 to wait for plunger pressing; the mechanical arm 1 drives the clamping jaw 3 on the electric claw 2 to clamp the damping ring above the plunger tool 8, the damping ring injection hole is located above the plunger tool 8, as shown in fig. 4, a camera 5 is used for detecting a horizontal deviation value x and a vertical deviation value y (as shown in fig. 6) between the damping ring injection hole and the top end of the plunger tool 8, and the horizontal deviation value x and the vertical deviation value y are sent to the mechanical arm 1 to be adjusted, so that the damping ring injection hole is located right above the plunger 100 (as shown in fig. 7); then the electric cylinder 6 drives the plunger pressing rod 7 to ascend, the plunger 100 placed in the plunger tool 8 on the plunger pressing platform 9 is pressed into the damping ring injection hole, when the ascending moving amount of the electric cylinder reaches a preset moving amount, the electric cylinder is pressed in place, then the camera detects the pressing state of the plunger 100, whether the plunger 100 is pressed successfully or not is judged, the influence of the light source 4 is realized, when the plunger is not pressed, the injection hole has a semitransparent effect in a camera picture, and after the plunger is pressed, the injection hole is in a gray black state.
According to the invention, a mechanical arm is used for grabbing a plunger pressing tool and placing the plunger pressing tool on a plunger pressing station, so that manual plunger grabbing is replaced; in addition, the damping ring is moved to a position above the straight line of the plunger through the mechanical arm, the position of the damping ring is judged through the camera image system, the damping ring is moved to a position above the plunger, then the plugging action is carried out, and the manual completion of the plugging action of the damping ring is replaced.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. An automatic damping ring tamponade device is characterized by comprising a mechanical arm (1), a clamping jaw assembly, a light source (4), a camera (5), a tamponade platform (9), an ejection mechanism and a plunger tool (8);
the clamping jaw assembly is fixed at the tail end of the mechanical arm (1), the mechanical arm (1) drives the clamping jaw assembly to clamp the damping ring, so that the damping ring injection hole is positioned above the plunger tool (8), and the damping ring is adjusted according to the relative position of the damping ring injection hole and the plunger until the damping ring injection hole is aligned with the plunger along the vertical direction;
the plunger platform (9) is used for supporting the plunger tool (8), and the plunger is placed in the plunger tool (8);
the light source (4) and the camera (5) are aligned to the plunger tool (8) and are respectively positioned on two sides of the plunger tool (8), and the camera (5) detects the relative position of the damping ring injection hole and the plunger under the illumination of the light source (4);
and the ejection mechanism presses the plunger in the plunger tool (8) into the damping ring injection hole.
2. The damping ring automatic corking device according to claim 1, wherein the plunger tooling (8) comprises a tail plug (8-1), a prepressing pressure head (8-2) and a plunger retaining sleeve (8-3);
the upper surface of the plug pressing platform (9) is provided with a groove, the tail plug (8-1) is fixedly arranged in the groove, the bottom of the groove is provided with a first through hole, the tail plug (8-1) is provided with a second through hole, the plunger retaining sleeve (8-3) is connected above the tail plug (8-1) in a threaded manner, a prepressing pressure head moving cavity is arranged inside the plunger retaining sleeve (8-3), the prepressing pressure head (8-2) is positioned in the prepressing pressure head moving cavity, the top end of the plunger retaining sleeve (8-3) is provided with a plunger hole, and the plunger is arranged in the plunger hole;
the ejection mechanism is located below the plug pressing platform (9) and comprises an electric cylinder (6) and a plug pressing rod (7) which are used for driving the plug pressing rod (7) to move, the plug pressing rod (7) sequentially penetrates through a first through hole formed in the plug pressing platform (9) and a second through hole formed in the tail plug (8-1) to eject the prepressing pressure head (8-2) upwards, and then the plunger is ejected out of the plunger hole and pressed into the damping ring injection hole.
3. The damping ring automatic corking device according to claim 1, wherein the light source (4) is a surface light source; the mechanical arm (1) is a six-axis mechanical arm; the resolution of the camera (5) is more than or equal to 500 ten thousand pixels.
4. The damping ring automatic tamponade device of claim 1, characterized in that the mechanical arm (1), the light source (4), the camera (5), the tamponade platform (9) and the ejection mechanism are each independently fixed to a reference plane.
5. The automatic damping ring tamponade device of claim 1, wherein the clamping jaw assembly comprises an electric jaw (2) and a clamping jaw (3), the electric jaw (2) is installed at the tail end of the mechanical arm (1), the clamping jaw (3) is installed below the electric jaw (2), and the electric jaw (2) is used for driving the clamping jaw (3) to clamp the damping ring under the control of a preset stroke and a clamping jaw force instruction;
the contact surface of the clamping jaw (3) and the damping ring is a cambered surface.
6. An automatic damping ring plugging method is realized by the automatic damping ring plugging device of any one of claims 1 to 5, and comprises the following steps:
s1, installing the plunger tool (8) on the plunger platform (9), and placing the plunger in the plunger tool (8);
s2, the mechanical arm (1) drives the clamping jaw assembly to clamp the damping ring, so that the damping ring injection hole is positioned above the plunger tool (8);
the S3 camera (5) detects the relative position of the damping ring injection hole and the plunger piston under the illumination of the light source (4);
s4, the mechanical arm (1) drives the clamping jaw assembly according to the relative position to enable the damping ring injection hole to be aligned with the plunger piston along the vertical direction;
and S5, the ejection mechanism presses the plunger in the plunger tool (8) into the damping ring injection hole.
7. The automatic tamping method for damping ring as claimed in claim 6, wherein in steps S2 and S4, the annular end surface of the damping ring is vertical during the clamping process of the clamping jaw assembly.
8. The automatic damping ring tamponade method according to claim 7, wherein in step S3, the camera (5) detects the relative position of the damping ring injection hole and the plunger under the illumination of the light source (4) by acquiring a relative position image of the damping ring injection hole and the top end of the plunger tool (8) by the camera (5) under the illumination of the light source (4), and calculating the relative deviation of the damping ring injection hole and the top end of the plunger tool (8) according to the relative position image, wherein the relative deviation comprises a horizontal deviation value x and a vertical deviation value y.
9. The automatic damping ring tamponade method of claim 6, further comprising step S6: the camera (5) acquires an image of the injection hole of the damping ring under the illumination of the light source (4), and judges the plunger pressing-in state according to the image of the injection hole of the damping ring;
and controlling the action of the ejection mechanism on the plunger in the plunger tool (8) according to the plunger press-in state.
10. The automatic damping ring plugging method as claimed in claim 9, wherein in step S6, the injection hole in the image at the injection hole of the damping ring is in a transparent state, and the plunger is determined not to be pressed into the injection hole, and the injection hole in the image at the injection hole of the damping ring is in a black state, and the plunger is determined to be pressed into the injection hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210172425.5A CN114535978B (en) | 2022-02-24 | 2022-02-24 | Automatic damping ring plug pressing device and method |
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| CN202210172425.5A CN114535978B (en) | 2022-02-24 | 2022-02-24 | Automatic damping ring plug pressing device and method |
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| CN110722346A (en) * | 2019-11-22 | 2020-01-24 | 深圳圣鑫自动化设备有限公司 | Wine covers draw-in groove vision screens device that counterpoints |
| CN111136448A (en) * | 2020-01-17 | 2020-05-12 | 无锡威孚精密机械制造有限责任公司 | Plunger ring automatic pressing-in plunger equipment |
| CN212221643U (en) * | 2020-03-01 | 2020-12-25 | 精之专智能科技(昆山)有限公司 | Synchronous blanking and automatic detection mechanism based on positioning platform deck |
| CN213689795U (en) * | 2020-10-30 | 2021-07-13 | 武汉功迪科技有限公司 | Linear detection frock in location |
| CN214816303U (en) * | 2021-06-17 | 2021-11-23 | 朗捷威（上海）智能装备有限公司 | Automatic aligning and assembling mechanism for materials of polygonal mechanism |
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