CN114799806A - Automatic bullet body assembling system based on reaction force arm and vision technology - Google Patents
Automatic bullet body assembling system based on reaction force arm and vision technology Download PDFInfo
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- CN114799806A CN114799806A CN202210602263.4A CN202210602263A CN114799806A CN 114799806 A CN114799806 A CN 114799806A CN 202210602263 A CN202210602263 A CN 202210602263A CN 114799806 A CN114799806 A CN 114799806A
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- assembly
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- projectile
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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
- B23P19/04—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 assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic projectile body assembling system based on a reaction force arm and a vision technology. The invention is characterized in that: the automatic and digital assembly is adopted, the labor intensity of operators is reduced, the assembly quality is guaranteed, the bullet information, the number of assembly screws, the torque and the gluing condition can be automatically recorded, data are fed back to a control system in real time to monitor each process, the phenomena of sequence missing or unqualified assembly quality and the like are effectively avoided, and the assembly is ensured to be accurate and in place.
Description
Technical Field
The invention relates to the technical field of automatic and digital assembly tools, in particular to an automatic projectile body assembly system based on a reaction force arm and a vision technology.
Background
In the process of assembling the projectile body, workpiece information needs to be recognized, screws (screws) need to be glued and confirmed, processes such as screw assembling are carried out, manual operation and statistics are needed for traditional assembling tools, workpiece recognition, screw gluing confirmation and the like, particularly, screw assembling procedures need to be carried out depending on manual self-ability, and the problems that workpiece recognition is inaccurate, screw gluing and installation quality does not reach the standard, working strength of workers is high and the like are easily caused.
Disclosure of Invention
The invention aims to overcome the defects and provide an automatic bullet assembling system based on a reaction force arm and a vision technology.
The technical scheme adopted by the invention for realizing the purpose is as follows: the automatic bullet body assembling system based on the reaction force arm and the vision technology comprises an assembling table, wherein a rotary table, a code scanning gun, an automatic tightening device, a vision system and a screw feeder are mounted on the table top of the assembling table; the rotary table comprises a rotary center and a boss, the rotary center is rotatably mounted on the assembly table, the boss is sleeved on the rotary center, a positioning spigot corresponding to the projectile body is arranged on the upper end face of the boss, and the projectile body is vertically sleeved on the positioning spigot; the projectile body is provided with a two-dimensional code, and the code scanning gun is arranged corresponding to the two-dimensional code on the projectile body sleeved on the positioning spigot; the automatic tightening device comprises an electric screwdriver, the electric screwdriver is installed on a base through a reaction force arm, the base is installed on the table top of the assembly table, a balancer is installed between the electric screwdriver and the reaction force arm, and the electric screwdriver can move between the vision system and the rotary table; the visual system comprises a camera, a photoelectric sensor and a visual background plate, the camera is installed on a support, the support is installed on the table top of the assembly table, and the photoelectric sensor and the visual background plate are installed on the table top of the assembly table and located below the camera and corresponding to the camera.
The outer circumferential surface of the boss is correspondingly provided with a locking device, and the locking device is arranged on the table top of the assembly table.
The rotary center is arranged on the table surface of the assembly table through a support plate, and the locking device is arranged on the support plate.
Scales are arranged on the outer circumferential surface of the boss.
The electric screw driver adopts torque adjustable type.
The screw feeder is connected with a counter, and the counter is installed on the table surface of the assembly table.
And the assembly table is provided with a lighting facility.
The invention is characterized in that: the automatic and digital assembly is adopted, the labor intensity of operators is reduced, the assembly quality is guaranteed, the bullet information, the number of assembly screws, the torque and the gluing condition can be automatically recorded, data are fed back to a control system in real time to monitor each process, the phenomena of sequence missing or unqualified assembly quality and the like are effectively avoided, and the assembly is ensured to be accurate and in place.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic view of the structure of the turntable of the present invention.
Fig. 4 is a schematic view of the automatic tightening apparatus of the present invention.
Fig. 5 is a schematic view of the vision system of the present invention.
Wherein: 1. the automatic code scanning device comprises an assembly table 11, a lighting facility 2, a rotary table 21, a rotary center 22, a boss 221, a positioning spigot 222, a scale 23, a locking device 24, a support plate 3, an automatic tightening device 31, an electric screwdriver 32, a reaction arm 33, a base 34, a balancer 4, a vision system 41, a camera 42, a photoelectric sensor 43, a vision background plate 44, a support 5, a code scanning gun 6, a screw feeder 7, a counter 8, a control system 9 and a bullet body.
Detailed Description
As shown in fig. 1-5, the invention is an automatic projectile body assembling system based on reaction force arm and vision technology, comprising an assembling table 1, wherein the assembling table 1 is of an aluminum profile frame structure, a polyurethane table top is adopted as a table top of the assembling table 1, a lighting facility 11 is arranged on the assembling table 1, a rotary table 2, a code scanning gun 5, an automatic tightening device 3, a vision system 4 and a screw feeder 6 are arranged on the table top of the assembling table 1, the screw feeder 6 is connected with a counter 7, the counter 7 is arranged on the table top of the assembling table 1, the counter 7 is connected with a control system 8, the automatic screw feeding and counting functions are realized through the bolt feeder 6 and the counter 7, the rotary table 2 comprises a rotary center 21 and a boss 22, the rotary center 21 is arranged on the table top of the assembling table 1 through a support plate 24, the boss 22 is arranged on the support plate 24 and is sleeved on the rotary center 21, the upper end face of the boss 22 is provided with a positioning spigot 221 corresponding to the projectile body 9, the projectile body 9 is vertically sleeved on the positioning spigot 221, the boss 22 drives the projectile body 9 to synchronously rotate along with the rotation center 21, the outer circumferential face of the boss 22 is correspondingly provided with a locking device 23, the locking device 23 is installed on the supporting plate 24, the boss 22 can be fixed by the locking device 23, namely the projectile body 9 is fixed, the outer circumferential face of the boss 22 is provided with a scale 222, an operator can rotate for a fixed angle according to the scale 22 to facilitate nailing operation, the projectile body 9 is provided with a two-dimensional code, the code scanning gun 5 is arranged corresponding to the two-dimensional code sleeved on the projectile body 9 on the positioning spigot 221, the code scanning gun 5 is connected with the control system 8, the code scanning gun 5 identifies the exclusive two-dimensional code on the projectile body 9, and reads/stores the related information of the projectile body 9 through the control system 8, the automatic screwing device 3 comprises an electric screwdriver 31, the electric screwdriver 31 is adjustable in torque, the adjusting range is 0-4.0Nm, the adjusting step length is 0.1Nm, the electric screwdriver 31 is installed on a base 33 through a reaction force arm 32, the base 33 is installed on the table top of the assembly table 1, a balancer 34 is installed between the electric screwdriver 31 and the reaction force arm 32, the electric screwdriver 31 is installed on the balancer 34 and used for eliminating the reaction force applied to the wrist of an operator and effectively improving the assembly quality and the torque precision, the electric screwdriver 31 can move between a vision system 4 and a rotary table 2, the electric screwdriver 31 and the rotary table 2 keep a certain distance so as to conveniently take and place the elastomer 9 and ensure the action distance of the electric screwdriver 31, when the automatic screwing device 3 is used for butting the elastomer 9, the vision system 4 is required to glue the thread before each previous screw taking a picture, the screw can be screwed after the gluing is qualified, the vision system 4 comprises a camera 41, a photoelectric sensor 42 and a vision background plate 43, the camera 41 adopts an industrial camera, the camera 41 is installed on a support 44, the support is installed on the table top of the assembly table, the photoelectric sensor 42 and the vision background plate 43 are installed on the table top of the assembly table 1 and located below the camera 41 and correspond to the camera 41, the camera 41 and the photoelectric sensor 42 are both connected with the control system 8, when an operator glues the screw, the screw is located above the vision background plate 43, the amplifier built-in photoelectric sensor 42 is triggered, the photoelectric sensor 42 sends information to the camera 41 through the control system 8 to photograph and compare the information with a system picture in the control system 8 to judge whether the screw is glued.
The operation process of the invention is as follows: an operator firstly sleeves a projectile body 9 on a rotary table 2, the rotary table 2 is rotated to enable a two-dimensional code on the projectile body 9 to correspond to a code scanning gun 5, the code scanning gun 5 is used for identifying a special two-dimensional code on the projectile body 9, relevant information of the projectile body 9 is read/stored into a control system 8, a screw is taken out from a screw supply machine 6, counted by a counter 7, quantity information is stored into the control system 8, the taken-out screw is coated with glue and then is installed on an electric screw driver 31, the coating glue is determined to be qualified through a vision system 4, then the screw is assembled to the corresponding position of a conductor 9 through an automatic screwing device 3, and the projectile body 9 is taken down after the assembly is completed.
The automatic and digital assembly is adopted, the labor intensity of operators is reduced, the assembly quality is ensured, the bullet information, the number of assembly screws, the torque and the gluing condition can be automatically recorded, the data is fed back to the control system in real time to monitor each process, the phenomena of sequence leakage or unqualified assembly quality and the like are effectively avoided, and the accurate and in-place assembly is ensured.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. Bullet body automatic assembly system based on reaction arm of force and vision technique, its characterized in that: the automatic screw-tightening device comprises an assembly table, wherein a rotary table, a code scanning gun, an automatic screwing device, a vision system and a screw feeder are arranged on the table surface of the assembly table; the rotary table comprises a rotary center and a boss, the rotary center is rotatably mounted on the assembly table, the boss is sleeved on the rotary center, a positioning spigot corresponding to the projectile body is arranged on the upper end face of the boss, and the projectile body is vertically sleeved on the positioning spigot; the projectile body is provided with a two-dimensional code, and the code scanning gun is arranged corresponding to the two-dimensional code on the projectile body sleeved on the positioning spigot; the automatic tightening device comprises an electric screwdriver, the electric screwdriver is installed on a base through a reaction force arm, the base is installed on the table top of the assembly table, a balancer is installed between the electric screwdriver and the reaction force arm, and the electric screwdriver can move between the vision system and the rotary table; the visual system comprises a camera, a photoelectric sensor and a visual background plate, the camera is installed on a support, the support is installed on the table top of the assembly table, and the photoelectric sensor and the visual background plate are installed on the table top of the assembly table and located below the camera and corresponding to the camera.
2. The automated projectile assembly system based on reaction arms and vision techniques of claim 1, wherein: scales are arranged on the outer circumferential surface of the boss.
3. The automated projectile assembly system based on reaction arms and vision techniques of claim 1, wherein: the outer circumferential surface of the boss is correspondingly provided with a locking device, and the locking device is arranged on the table top of the assembly table.
4. The automated projectile assembling system based on reaction arms and vision techniques as claimed in claim 3, wherein: the rotary center is arranged on the table surface of the assembly table through a support plate, and the locking device is arranged on the support plate.
5. The automated projectile assembly system based on reaction arms and vision techniques of claim 1, wherein: the electric screw driver adopts torque adjustable type.
6. The automated projectile assembly system based on reaction arms and vision techniques of claim 1, wherein: the screw feeder is connected with a counter, and the counter is installed on the table surface of the assembly table.
7. The automated projectile assembly system based on reaction arms and vision techniques of claim 1, wherein: and the assembly table is provided with a lighting facility.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210602263.4A CN114799806A (en) | 2022-05-31 | 2022-05-31 | Automatic bullet body assembling system based on reaction force arm and vision technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210602263.4A CN114799806A (en) | 2022-05-31 | 2022-05-31 | Automatic bullet body assembling system based on reaction force arm and vision technology |
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| Publication Number | Publication Date |
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| CN114799806A true CN114799806A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210602263.4A Pending CN114799806A (en) | 2022-05-31 | 2022-05-31 | Automatic bullet body assembling system based on reaction force arm and vision technology |
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| CN (1) | CN114799806A (en) |
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| CN109461156A (en) * | 2018-12-20 | 2019-03-12 | 浙江大学台州研究院 | The threaded closure plug assembly and detection method of view-based access control model |
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| CN110977419A (en) * | 2019-11-29 | 2020-04-10 | 中国第一汽车股份有限公司 | Control method of automatic threaded sleeve assembling mechanism |
| CN212683064U (en) * | 2020-07-26 | 2021-03-12 | 上海世普机械设备有限公司 | Floor type pneumatic spring torsion-resistant mechanical arm |
| CN112475945A (en) * | 2020-11-05 | 2021-03-12 | 广州理工学院 | Precise rotary worktable |
| CN112605652A (en) * | 2020-12-07 | 2021-04-06 | 杭州徐睿机械有限公司 | Operation method of semi-automatic assembly detection line of thermal management valve |
| CN112872787A (en) * | 2021-03-23 | 2021-06-01 | 国电联合动力技术(保定)有限公司 | Mobile intelligent wind power bolt fastening equipment and fastening method thereof |
| CN214444423U (en) * | 2021-01-21 | 2021-10-22 | 辽宁忠旺铝合金精深加工有限公司 | Mistake proofing system of single-shaft matched reaction force arm screw tightening machine |
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2022
- 2022-05-31 CN CN202210602263.4A patent/CN114799806A/en active Pending
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| US20110048649A1 (en) * | 2008-01-30 | 2011-03-03 | Honda Motor Co., Ltd | Tire mounting device, tire mounting method, working device, and working method |
| US20120197438A1 (en) * | 2009-12-02 | 2012-08-02 | Canon Kabushiki Kaisha | Dual arm robot |
| WO2012055079A1 (en) * | 2010-10-25 | 2012-05-03 | 大连德新机电技术工程有限公司 | Single-shaft yaw electric bolt-tightening machine |
| CN108110309A (en) * | 2018-02-05 | 2018-06-01 | 深圳市比克电池有限公司 | A kind of electrokinetic cell system automatic tightening mounting work station and its method of work |
| CN108714781A (en) * | 2018-02-28 | 2018-10-30 | 山东临工工程机械有限公司 | Excavator driving wheel automatic screwing device |
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| CN109461156A (en) * | 2018-12-20 | 2019-03-12 | 浙江大学台州研究院 | The threaded closure plug assembly and detection method of view-based access control model |
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