CN116922062A - Spring alignment assembly method and device - Google Patents

Spring alignment assembly method and device Download PDF

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Publication number
CN116922062A
CN116922062A CN202311135493.5A CN202311135493A CN116922062A CN 116922062 A CN116922062 A CN 116922062A CN 202311135493 A CN202311135493 A CN 202311135493A CN 116922062 A CN116922062 A CN 116922062A
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China
Prior art keywords
spring
assembled
coordinate system
image
coordinate
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CN202311135493.5A
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Chinese (zh)
Inventor
谢煜
何岗
马星汉
王琛
宋璟祺
肖雄
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Shenzhen Yotta Image Automation Technology Co ltd
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Shenzhen Yotta Image Automation Technology Co ltd
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Application filed by Shenzhen Yotta Image Automation Technology Co ltd filed Critical Shenzhen Yotta Image Automation Technology Co ltd
Priority to CN202311135493.5A priority Critical patent/CN116922062A/en
Publication of CN116922062A publication Critical patent/CN116922062A/en
Pending legal-status Critical Current

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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
    • B23P19/048—Springs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a spring alignment assembly method and device, relates to the technical field of spring assembly, and solves the technical problems that in the existing spring assembly technology, the positioning accuracy of a spring and a deep hole is low, the spring is easy to abut against the side wall of the deep hole, and the assembly effect and the assembly efficiency are affected. According to the first image bottom line and the second image bottom line, an X-axis rotation angle and a Y-axis rotation angle around a scanning coordinate system are obtained. And adjusting the bottom position of the spring to be assembled to the bottom plane position perpendicular to the Z axis of the scanning coordinate system according to the X axis rotation angle and the Y axis rotation angle. And obtaining the position coordinate of the central point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate of the central point of the bottom plane position in the installation coordinate system, adjusting the spring to be assembled to the original point coordinate of the installation coordinate system according to the position coordinate, and assembling the spring to be assembled in the hole to be assembled. The precision positioning of the spring to be assembled and the hole to be installed is guaranteed, and the assembly efficiency and the assembly effect are improved.

Description

Spring alignment assembly method and device
Technical Field
The invention relates to the technical field of spring assembly, in particular to a spring alignment assembly method and device.
Background
A spring is a mechanical part that works with elasticity. Parts made of elastic materials (usually spring steel) deform under the action of external force, and recover after the external force is removed. In modern production, springs are widely used in various fields as elastic cushioning members. The assembly of the ejection device typically requires a small spring to be assembled into the deep hole and then the compression cap to be assembled.
In the assembling process of the pop-up device, manual assembling is mainly carried out by adopting a manual operation. When manual assembly is performed, the spring is clamped by the tweezers, and the spring is placed into the deep hole. Because artificial observation has subjectivity, the accuracy that leads to artifical assembly easily is low, can take place the phenomenon of spring and the lateral wall looks butt of deep hole in the assembly process, leads to follow-up assembly cap inconvenient operation, influences assembly efficiency and assembly effect easily. Meanwhile, when manual assembly is performed manually, the force control effect is poor, when a spring or a cap sleeve is assembled, the applied force is easy to be too large, and the spring is easy to rebound to pop up parts, so that the assembly efficiency is affected.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
In the existing spring assembly technology, the positioning accuracy of the spring and the deep hole is low, the spring is easily abutted with the side wall of the deep hole, and the assembly effect and the assembly efficiency are affected.
Disclosure of Invention
The invention aims to provide a spring alignment assembly method and device, which are used for solving the technical problems that in the prior spring assembly technology in the prior art, the positioning accuracy of a spring and a deep hole is low, the spring is easy to abut against the side wall of the deep hole, and the assembly effect and the assembly efficiency are affected. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides a spring alignment assembly method, which comprises the following steps:
s100, acquiring a first image bottom line of a first image and a second image bottom line of a second image of a spring to be assembled, wherein the first image is an image of the spring to be assembled, which is perpendicular to an X-axis plane of a scanning coordinate system, and the second image is an image of the spring to be assembled, which is perpendicular to a Y-axis plane of the scanning coordinate system;
s200, according to the first image bottom line, obtaining an X-axis rotation angle rotating around the X-axis of the scanning coordinate system, according to the second image bottom line, obtaining a Y-axis rotation angle rotating around the Y-axis of the scanning coordinate system, and according to the X-axis rotation angle and the Y-axis rotation angle, adjusting the bottom position of the spring to be assembled to be a bottom plane position perpendicular to the Z-axis of the scanning coordinate system;
S300, obtaining the position coordinates of the center point of the top of the spring to be assembled in an installation coordinate system according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, wherein the installation coordinate system is a coordinate system established by taking the center point of the image of the hole to be installed as an origin;
and S400, installing the spring to be assembled into the hole to be installed according to the position coordinates and the origin coordinates of the installation coordinate system.
Preferably, the acquiring the first image bottom line of the first image of the spring to be assembled includes:
acquiring a first image of the spring to be assembled, which is perpendicular to an X-axis plane of the scanning coordinate system;
determining a first intersection point coordinate of a first image center line and a first image bottom outline according to the first image;
determining a first left equidistant coordinate and a first right equidistant coordinate on the left side and the right side of the first intersection point coordinate on the scanning coordinate system according to the first intersection point coordinate, the scanning coordinate system and the equidistant distance threshold;
and obtaining the first image bottom line according to the first left equidistant coordinates and the first right equidistant coordinates.
Preferably, the acquiring the second image bottom line of the second image of the spring to be assembled includes:
Acquiring a second image of the spring to be assembled, which is perpendicular to the Y-axis plane of the scanning coordinate system;
determining a second intersection point coordinate of a line in the second image and a bottom contour of the second image according to the second image;
determining a second left equidistant coordinate and a second right equidistant coordinate on the left side and the right side of the second intersection point coordinate on the scanning coordinate system according to the second intersection point coordinate, the scanning coordinate system and the equidistant distance threshold;
and obtaining the second image bottom line according to the second left equidistant coordinates and the second right equidistant coordinates.
Preferably, the obtaining an X-axis rotation angle of rotation around the X-axis of the scan coordinate system according to the first image bottom line includes:
θx＝arctan((yA-yB)/(xA-xB))；
yA-yB＝2ΔL；
θx is an X-axis rotation angle, xA is an abscissa of the first left equidistant coordinate on the first image bottom line, yA is an ordinate of the first left equidistant coordinate on the first image bottom line, xB is an abscissa of the first right equidistant coordinate on the first image bottom line, yB is an ordinate of the first right equidistant coordinate on the first image bottom line, Δl is the equidistant distance threshold;
obtaining a Y-axis rotation angle rotating around the Y axis of the scanning coordinate system according to the second image bottom line, wherein the Y-axis rotation angle comprises:
θy＝arctan((yC-yD)/(xC-xD))；
xC-xD＝2ΔL
θy is the rotation angle of the Y axis, xC is the abscissa of the second left equidistant coordinate on the second image bottom line, yC is the ordinate of the second left equidistant coordinate on the second image bottom line, xD is the abscissa of the second right equidistant coordinate on the second image bottom line, and yD is the ordinate of the second right equidistant coordinate on the second image bottom line.
Preferably, the obtaining the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate of the center point of the bottom plane position in the installation coordinate system includes:
obtaining a calibration coordinate of a center point of the bottom plane position in the installation coordinate system according to the acquired image of the bottom plane position of the spring to be assembled and the installation coordinate system;
acquiring a third image of the spring to be assembled, which is perpendicular to the X-axis plane of the installation coordinate system, and obtaining a first included angle between the center line of the third image and the Y-axis of the installation coordinate system;
obtaining the abscissa of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the first included angle;
xo2＝xo1+H/tan(αy)；
xo2 is the abscissa of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system, xo1 is the abscissa of the calibration coordinate of the center point of the bottom plane position in the installation coordinate system, H is the height of the spring to be assembled, and αy is the first included angle.
Preferably, the obtaining, according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system further includes:
acquiring a third image of the spring to be assembled, which is perpendicular to the Y-axis plane of the installation coordinate system, and obtaining a second included angle between the center line of the third image and the X-axis of the installation coordinate system;
obtaining the ordinate of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the second included angle;
yo2＝yo1+H/tan(αx)；
yo2 is the ordinate of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system, yo1 is the ordinate of the calibration coordinate of the center point of the bottom plane position in the installation coordinate system, and αx is the second included angle.
Preferably, the step S400 includes the specific steps of:
According to the position coordinates and the origin coordinates of the installation coordinate system, obtaining an X-axis adjustment amount and a Y-axis adjustment amount of the spring to be assembled in the installation coordinate system;
according to the X-axis adjustment amount and the Y-axis adjustment amount, the spring to be assembled is adjusted to an origin coordinate of the installation coordinate system according to the X-axis adjustment amount and the Y-axis adjustment amount;
and controlling the spring to be assembled to move along the Z-axis direction of the installation coordinate system, and installing the spring to be assembled into the hole to be installed.
Preferably, the step S400 further includes the following steps:
according to the cap coordinate of the center point of the cap to be assembled in the installation coordinate system and the origin coordinate of the installation coordinate system, the cap adjustment amount of the cap to be assembled on the installation coordinate system is obtained, the cap to be assembled is adjusted to the origin coordinate of the installation coordinate system according to the cap adjustment amount, and the cap to be assembled is installed in the hole to be installed.
A spring alignment assembly apparatus comprising: the device comprises a controller, a material taking mechanism, an adjusting mechanism, a spring attitude measuring device, a visual alignment module and an objective table, wherein the material taking mechanism, the adjusting mechanism, the spring attitude measuring device, the visual alignment module and the objective table are connected with the controller; the controller is used for executing the spring alignment assembly method according to any one of the above;
The material taking mechanism and the visual alignment module are fixed on the adjusting mechanism, the material taking mechanism is used for obtaining materials to be assembled, and the materials to be assembled comprise springs to be assembled and cap sleeves to be assembled; the adjusting mechanism is used for controlling the material taking mechanism to move and rotate and controlling the visual alignment module to move; the spring attitude measuring device and the objective table are arranged on the base of the adjusting mechanism; the spring attitude measurement device is used for detecting the attitude of the spring; the objective table is used for fixedly mounting the spring to be assembled and the hole to be mounted of the cap sleeve to be assembled; the visual alignment module is used for shooting the spring to be assembled and the hole to be installed simultaneously.
Preferably, the material taking mechanism comprises a spring grabbing clamp, a cap sleeve suction nozzle and a pressure sensor; the cap sleeve suction nozzle is fixedly connected with the pressure sensor; the cap sleeve suction nozzle is used for sucking the cap sleeve to be assembled; the pressure sensor is used for detecting the assembly pressure; the spring grabbing clamp is arranged adjacent to the cap sleeve suction nozzle; the spring grabbing clamp is used for grabbing the spring to be assembled; the spring grabbing clamp is provided with a grabbing clamp cylinder; the grabbing and clamping cylinder is used for adjusting the opening and closing degree of the spring grabbing and clamping.
By implementing one of the technical schemes, the invention has the following advantages or beneficial effects:
according to the first image bottom line and the second image bottom line, an X-axis rotation angle and a Y-axis rotation angle around a scanning coordinate system are obtained. And adjusting the bottom position of the spring to be assembled to the bottom plane position perpendicular to the Z axis of the scanning coordinate system according to the X axis rotation angle and the Y axis rotation angle. And obtaining the position coordinate of the central point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate of the central point of the bottom plane position in the installation coordinate system, adjusting the spring to be assembled to the original point coordinate of the installation coordinate system according to the position coordinate, and assembling the spring to be assembled in the hole to be assembled. The precision positioning of the spring to be assembled and the hole to be installed is guaranteed, and the assembly efficiency and the assembly effect are improved.
Drawings
For a clearer description of the technical solutions of embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art, in which:
FIG. 1 is a first schematic view of an embodiment of a spring alignment assembly apparatus of the present invention;
FIG. 2 is a second schematic diagram of an embodiment of a spring alignment assembly apparatus of the present invention;
FIG. 3 is a schematic view of a take-out structure, tx axis motion assembly and Ty axis motion assembly of an embodiment of a spring alignment assembly apparatus of the present invention;
FIG. 4 is a schematic view of a spring clip structure of an embodiment of the spring alignment assembly apparatus of the present invention;
FIG. 5 is a flow chart of an embodiment of a spring alignment assembly method of the present invention;
FIG. 6 is a first image schematic diagram of an embodiment of a spring alignment assembly method of the present invention;
FIG. 7 is a second image schematic view of an embodiment of a spring alignment assembly method of the present invention;
FIG. 8 is a schematic diagram of an image of a hole to be mounted in an embodiment of a spring alignment assembly method of the present invention.
In the figure: 1. a material taking mechanism; 11. a spring catch clip; 111. a first jaw; 112. a second jaw; 113. a jaw-like groove; 12. a cap sleeve suction nozzle; 13. a pressure sensor; 14. a clamping cylinder; 2. an adjusting mechanism; 21. an X-axis motion assembly; 22. a Y-axis motion assembly; 221. a Y1 axis motion structure; 222. a Y2 axis motion structure; 223. a Y3 axis motion structure; 23. a Z-axis motion assembly; 24. a Tx axis movement assembly; 25. a Ty axis motion assembly; 26. a base; 3. a spring attitude measuring device; 4. a visual alignment module; 5. an objective table; 6. and a feeding table.
Detailed Description
For a better understanding of the objects, technical solutions and advantages of the present invention, reference should be made to the various exemplary embodiments described hereinafter with reference to the accompanying drawings, which form a part hereof, and in which are described various exemplary embodiments which may be employed in practicing the present invention. The same reference numbers in different drawings identify the same or similar elements unless expressly stated otherwise. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. It is to be understood that they are merely examples of processes, methods, apparatuses, etc. that are consistent with certain aspects of the present disclosure as detailed in the appended claims, other embodiments may be utilized, or structural and functional modifications may be made to the embodiments set forth herein without departing from the scope and spirit of the present disclosure.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," and the like are used in an orientation or positional relationship based on that shown in the drawings, and are merely for convenience in describing the present invention and to simplify the description, rather than to indicate or imply that the elements referred to must have a particular orientation, be constructed and operate in a particular orientation. The terms "first," "second," and the like 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. The term "plurality" means two or more. The terms "connected," "coupled" and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, communicatively connected, directly connected, indirectly connected via intermediaries, or may be in communication with each other between two elements or in an interaction relationship between the two elements. The term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In order to illustrate the technical solutions of the present invention, the following description is made by specific embodiments, only the portions related to the embodiments of the present invention are shown.
Embodiment one:
as shown in fig. 1, the present invention provides a spring alignment assembly device, including: the device comprises a controller, a material taking mechanism 1, an adjusting mechanism 2, a spring attitude measuring device 3, a visual alignment module 4 and an objective table 5, wherein the material taking mechanism 1, the adjusting mechanism 2, the spring attitude measuring device 3, the visual alignment module 4 and the objective table 5 are connected with the controller; the controller is configured to perform the spring alignment assembly method of any of the above.
The material taking mechanism 1 and the visual alignment module 4 are fixed on the adjusting mechanism 2, and the material taking mechanism 1 is used for obtaining materials to be assembled, wherein the materials to be assembled comprise springs to be assembled and caps to be assembled. The adjusting mechanism 2 is used for controlling the material taking mechanism 1 to move and rotate, and is used for controlling the visual alignment module 4 to move. The spring attitude measuring device 3 and the objective table 5 are both arranged on a base 26 of the adjusting mechanism 2, the spring attitude measuring device 3 is used for detecting the attitude of the spring, and the objective table 5 is used for fixedly mounting a spring to be assembled and a hole to be assembled of a cap sleeve. The vision alignment module 4 is used for shooting the spring to be assembled and the mounting hole to be mounted simultaneously.
Specifically, the controller is in communication connection with the material taking mechanism 1, and the controller can control the material taking mechanism 1 to start to obtain materials to be assembled. The controller is in communication connection with the adjusting mechanism 2, and the controller can control the adjusting mechanism 2 to start, so that the adjusting mechanism 2 drives the material taking mechanism 1 to move and rotate, the position of the material to be assembled on the material taking mechanism 1 is adjusted, the material to be assembled on the material taking mechanism 1 is aligned with the hole to be assembled on the objective table 5, and the assembly precision of the material to be assembled is guaranteed. The adjusting mechanism 2 can also adjust the position of the visual alignment module 4, and when the visual alignment module 4 needs to shoot, the visual alignment module extends to the position between the material taking mechanism 1 and the object stage 5 to shoot so as to acquire an image; when the vision alignment module 4 does not need to shoot, the vision alignment module is retracted to the initial position, the material taking mechanism 1 is not shielded, the material taking mechanism 1 can conveniently move to the objective table 5, and material assembly is completed. The controller is in communication connection with the vision alignment module 4, and the controller can control the vision alignment module 4 to start, shoot simultaneously the material to be assembled on the material taking mechanism 1 above the vision alignment module 4 and the hole to be installed on the objective table 5 below the vision alignment module 4, acquire the image information of the material to be assembled and the hole to be installed, and facilitate the controller to analyze the image information and determine the adjustment amount of the material to be assembled. The controller is in communication connection with the objective table 5, and the controller can control the starting of the objective table 5, and the objective table 5 is clamped and fixed with the hole to be installed, so that the material to be assembled is not easy to move during assembly, stable assembly during assembly is ensured, and assembly accuracy is ensured.
The material taking mechanism 1 and the visual alignment module 4 are fixedly connected to the adjusting mechanism 2, and when the adjusting mechanism 2 is started, the material taking mechanism 1 and the visual alignment module 4 can be driven to move through the force transmission function. The fixed connection can ensure the stability of the structure.
The spring attitude measuring device 3 and the objective table 5 are fixed on the base 26 of the adjusting mechanism 2, so that the stability of the structure is ensured, and the transportation and storage equipment are convenient. The spring attitude measurement device 3 is arranged adjacent to the objective table 5, so that after the spring attitude measurement device 3 is used for carrying out attitude measurement on the spring to be assembled, the adjusting mechanism 2 can directly adjust the spring to be assembled to the upper part of the objective table 5 for alignment and assembly. The adjacent arrangement also enables the volume of the device to be reduced.
According to the invention, the controller controls the adjusting mechanism 2 to start, so that the adjusting mechanism 2 drives the material taking mechanism 1 to move to a material loading table 6 (described below) for taking materials, and the material taking mechanism 1 obtains springs to be assembled and/or caps to be assembled. After the material taking mechanism 1 finishes material taking, the adjusting mechanism 2 drives the material taking mechanism 1 to move onto the spring attitude measuring device 3, the spring to be assembled is shot through the spring attitude measuring device 3, the attitude is measured, the rotation angle of the spring to be assembled is obtained, and the adjusting mechanism 2 adjusts the bottom position of the spring to be assembled to be horizontal with the bottom of the hole to be installed according to the rotation angle. Then, the adjusting mechanism 2 moves the material taking mechanism 1 to the position above the objective table 5, the visual alignment module 4 is adjusted between the material taking mechanism 1 and the objective table 5 through the adjusting mechanism 2, the visual alignment module 4 is started, the material to be assembled on the material taking mechanism 1 and the hole to be installed on the objective table 5 are shot, and image information is acquired and analyzed to obtain the adjustment quantity of the spring to be assembled. The adjusting mechanism 2 adjusts the position of the material to be assembled according to the adjustment amount until the material to be assembled and the hole to be assembled are positioned, and after the center point of the upper end of the spring to be assembled and the center point of the cap sleeve to be assembled are aligned with the center point of the hole to be assembled, the adjusting mechanism 2 adjusts the visual alignment module 4 to the initial position and drives the material taking mechanism 1 to move towards the objective table 5, and the material to be assembled on the material taking mechanism 1 is assembled to the hole to be assembled on the objective table 5.
As an alternative embodiment, as shown in fig. 3 and 4, the extracting mechanism 1 comprises a spring catch 11, a cap nozzle 12 and a pressure sensor 13. The cap suction nozzle 12 is fixedly connected with the pressure sensor 13, the cap suction nozzle 12 is used for sucking the cap to be assembled, and the pressure sensor 13 is used for detecting the assembling pressure. The spring catch 11 is arranged adjacent to the cap suction nozzle 12, the spring catch 11 being used for catching a spring to be assembled. The spring grabbing clamp 11 is provided with a grabbing clamp cylinder 14, and the grabbing clamp cylinder 14 is used for adjusting the opening and closing degree of the spring grabbing clamp 11.
Specifically, the material taking mechanism 1 is provided with a spring grabbing clamp 11 and a cap sleeve suction nozzle 12, a spring to be assembled can be grabbed through the spring grabbing clamp 11, and a cap sleeve to be assembled is sucked through the cap sleeve suction nozzle 12. When the material taking mechanism 1 is used for taking materials, the spring to be assembled and the cap sleeve to be assembled can be obtained simultaneously, and the spring and the cap sleeve to be assembled can also be obtained separately, and the material taking mechanism is particularly arranged according to actual requirements.
The cap sleeve suction nozzle 12 is fixedly provided with a pressure sensor 13, and the pressure sensor 13 can detect the pressure force applied by the spring when the cap sleeve is assembled by the alignment assembly equipment. When the detected pressing force reaches a set threshold value, the cap sleeve suction nozzle 12 releases the cap sleeve to be assembled, the cap sleeve to be assembled is assembled, the applied pressing force is prevented from being overlarge, the elastic force of the spring to be assembled is prevented from being overlarge, the cap sleeve to be assembled and the spring to be assembled are ejected out of the hole to be assembled, and the assembly effect and the assembly efficiency are ensured.
Similarly, the spring grabbing clamp 11 can be provided with a pressure sensor 13 for detecting the pressing force applied when the spring to be assembled is installed, and when the pressing force reaches a set threshold value, the spring to be assembled is released, so that the assembly effect and efficiency of the spring to be assembled are ensured, and the phenomenon that the position of the spring is changed and the spring pops out of the hole to be installed is avoided.
The spring catch 11 is arranged adjacent to the cap suction nozzle 12 to ensure compactness of the structure.
The spring grabbing clamp 11 is provided with the grabbing clamp cylinder 14, the grabbing clamp cylinder 14 can drive the first clamping jaw 111 and the second clamping jaw 112 of the spring grabbing clamp 11 to move, and the distance between the first clamping jaw 111 and the second clamping jaw 112 is adjusted, so that springs with different sizes can be clamped by the spring grabbing clamp 11. The first clamping jaw 111 and the second clamping jaw 112 are respectively provided with a clamping jaw imitating groove 113, and the clamping jaw imitating grooves 113 can limit and fix the spring to be assembled, so that the grabbing effect of the spring grabbing clamp 11 is guaranteed.
As an alternative embodiment, as shown in fig. 1 and fig. 2, a loading table 6 may be further disposed on the base 26 of the adjusting mechanism 2, and the material to be assembled before being assembled is placed by the loading table 6, so that loading work is reduced, and the material taking mechanism 1 is convenient to take materials. Meanwhile, the feeding table 6 and the spring posture measuring device 3 are adjacently arranged, so that after the material is taken by the material taking mechanism 1, the material can be directly moved to the position of the spring posture measuring device 3 for spring posture detection, the assembly efficiency is improved, and the structure compactness is guaranteed.
As an alternative embodiment, as shown in fig. 1 and 2, the adjustment mechanism 2 includes an X-axis movement assembly 21, a Y-axis movement assembly 22, a Z-axis movement assembly 23, a Tx-axis movement assembly 24, and a Ty-axis movement assembly 25 that are fixedly connected in sequence. The X-axis movement assembly 21 can drive the material taking mechanism 1 and the visual alignment module 4 fixed on the adjusting mechanism 2 to move in the X-axis direction. The Y-axis motion assembly 22 comprises a Y1-axis motion structure 221, a Y2-axis motion structure 222 and a Y3-axis motion structure 223 which are sequentially and fixedly connected, the Y1-axis motion structure 221 can drive the material taking mechanism 1 fixed on the adjusting mechanism 2 to move in the Y-axis direction, the Y2-axis motion structure 222 can drive the visual alignment module 4 fixed on the adjusting mechanism 2 to move in the Y-axis direction, and the Y3-axis motion structure 223 can drive the lens barrel on the visual alignment module 4 to move in the Y-axis direction, so that the visual alignment module 4 finishes focusing. The Z-axis movement assembly 23 can drive the material taking mechanism 1 to move in the Z-axis direction. The Tx axis moving assembly 24 can drive the extracting mechanism 1 to rotate in the X axis direction, and the Ty axis moving assembly 25 can drive the extracting mechanism 1 to rotate in the Y axis direction.
The X-axis moving assembly 21, the Y1-axis moving structure 221, the Y2-axis moving structure 222, the Y3-axis moving structure 223, and the Z-axis moving assembly 23 each include a driving member, a screw, a slide rail, and a slider. The driving piece is fixedly connected with the screw rod, the screw rod can be driven to rotate, the two sliding rails are preferably arranged on two sides of the screw rod, the sliding piece is movably connected to the screw rod and the sliding rails, the rotation is converted into linear motion, and the movement of the X direction, the Y direction and the Z direction is realized. The Tx shaft moving assembly 24 and the Ty shaft moving assembly 25 are also provided with driving members. The drive member is preferably a servo motor.
Embodiment two:
as shown in fig. 5, a spring alignment assembly method, applied to any one of the spring alignment assembly devices in the first embodiment, includes the following steps:
s100, acquiring a first image bottom line of a first image of a spring to be assembled and a second image bottom line of a second image of the spring to be assembled, wherein the first image is an image of the spring to be assembled, which is perpendicular to an X-axis plane of a scanning coordinate system, and the second image is an image of the spring to be assembled, which is perpendicular to a Y-axis plane of the scanning coordinate system;
s200, according to the first image bottom line, obtaining an X-axis rotation angle rotating around the X-axis of the scanning coordinate system, according to the second image bottom line, obtaining a Y-axis rotation angle rotating around the Y-axis of the scanning coordinate system, and according to the X-axis rotation angle and the Y-axis rotation angle, adjusting the bottom position of the spring to be assembled to be a bottom plane position perpendicular to the Z-axis of the scanning coordinate system;
s300, obtaining the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, wherein the installation coordinate system is established by taking the center point of the image of the hole to be assembled as an origin;
and S400, installing the spring to be assembled into the hole to be installed according to the position coordinates and the origin coordinates of the installation coordinate system.
In the present embodiment, from the acquired first image bottom line and second image bottom line, the X-axis rotation angle and Y-axis rotation angle around the scanning coordinate system can be calculated. The spring to be assembled is adjusted according to the X-axis rotation angle and the Y-axis rotation angle, so that the bottom position of the spring to be assembled is adjusted to be the bottom plane position perpendicular to the Z axis of the scanning coordinate system, when the spring to be assembled is assembled in the hole to be assembled, the bottom plane position of the spring to be assembled can be directly abutted with the bottom wall of the hole to be assembled, after the spring to be assembled is assembled in the hole to be assembled, the position is not easy to move and change, and the position of the spring to be assembled is not changed.
And obtaining the position coordinate of the central point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate of the central point of the bottom plane position in the installation coordinate system, adjusting the spring to be assembled to the original point coordinate of the installation coordinate system according to the position coordinate, and assembling the spring to be assembled in the hole to be assembled. The origin coordinate of the installation coordinate system is the center point of the installation hole, the center point of the top of the spring to be assembled coincides with the origin of the installation coordinate system, the assembly precision of the spring to be assembled can be guaranteed, the upper end of the spring to be assembled is not abutted with the side wall of the hole to be assembled, the subsequent installation of the cap sleeve is convenient, the assembly effect of the spring to be assembled can be guaranteed, and the elastic performance of the spring cannot be influenced due to the abutting of the side wall of the hole to be assembled. And moreover, the situation that the assembly efficiency is affected due to inconvenient installation of a subsequent cap sleeve caused by abutting the spring to be assembled with the side wall of the hole to be installed is avoided.
As an alternative embodiment, S100, a first image bottom line of a first image of the spring to be assembled and a second image bottom line of a second image are acquired, where the first image is an image of the spring to be assembled perpendicular to an X-axis plane of a scan coordinate system, and the second image is an image of the spring to be assembled perpendicular to a Y-axis plane of the scan coordinate system.
Specifically, the controller can control the adjusting mechanism to drive the material taking mechanism to obtain the spring to be assembled, and move the spring to be assembled to the spring attitude measuring device, and the spring to be assembled on the material taking mechanism is shot through the spring attitude measuring device, so that a first image of the spring to be assembled, which is perpendicular to the X-axis plane of the scanning coordinate system, is obtained.
As shown in fig. 6, a first intersection point coordinate of the line in the first image and the bottom contour of the first image is determined in the first image according to the analysis of the first image. And determining a first left equidistant coordinate and a first right equidistant coordinate on the left side and the right side of the first intersection point coordinate on the scanning coordinate system according to the first intersection point coordinate, the scanning coordinate system and the equidistant distance threshold. The first left equidistant seat is marked as point a and the first right equidistant seat is marked as point B. Thereby obtaining a first image bottom line according to the first left equidistant coordinates and the first right equidistant coordinates.
Meanwhile, when the spring attitude measuring device shoots the spring to be assembled on the material taking mechanism, a second image of the spring to be assembled, which is perpendicular to the Y-axis plane of the scanning coordinate system, can also be obtained.
According to the same method, as shown in fig. 7, a second image is analyzed, and a second intersection point coordinate of a line in the second image and a bottom contour of the second image is determined in the second image. And determining a second left equidistant coordinate and a second right equidistant coordinate on the left side and the right side of the second intersection point coordinate on the scanning coordinate system according to the second intersection point coordinate, the scanning coordinate system and the equidistant distance threshold. The second left equidistant seat is marked as point C and the second right equidistant seat is marked as point D. And obtaining a second image bottom line according to the second left equidistant coordinates and the second right equidistant coordinates.
The equidistant distance threshold value is stored in advance, so that when the first image and the second image are conveniently analyzed, the left equidistant coordinates and the right equidistant coordinates on the left side and the right side of the intersection point coordinates are determined. And carrying out adaptive setting on specific values of the equidistant distance thresholds according to actual requirements and conditions.
As an alternative implementation manner, S200, according to the first image bottom line, an X-axis rotation angle rotating around the X-axis of the scan coordinate system is obtained, and according to the second image bottom line, a Y-axis rotation angle rotating around the Y-axis of the scan coordinate system is obtained, and then according to the X-axis rotation angle and the Y-axis rotation angle, the bottom position of the spring to be assembled is adjusted to be a bottom plane position perpendicular to the Z-axis of the scan coordinate system.
Specifically, when analyzing the first image, after determining the bottom line of the first image, an X-axis rotation angle that rotates around the X-axis of the scan coordinate system can be obtained according to the bottom line of the first image, including:
θx＝arctan((yA-yB)/(xA-xB))；
yA-yB＝2ΔL；
θx is the X-axis rotation angle, xA is the abscissa of the first left equidistant coordinate on the first image bottom line, yA is the ordinate of the first left equidistant coordinate on the first image bottom line, xB is the abscissa of the first right equidistant coordinate on the first image bottom line, yB is the ordinate of the first right equidistant coordinate on the first image bottom line, and Δl is the equidistant distance threshold.
After the X-axis rotation angle of the spring to be assembled around the X-axis of the scanning coordinate system is obtained, the controller controls the Tx-axis motion assembly of the adjusting mechanism to start, and drives the material taking mechanism to rotate in the X-axis direction, so that the spring to be assembled on the material taking mechanism is driven to synchronously move.
More specifically, when analyzing the second image, after determining the bottom line of the second image, a Y-axis rotation angle rotating around the Y-axis of the scan coordinate system can be obtained according to the bottom line of the second image, including:
θy＝arctan((yC-yD)/(xC-xD))；
xC-xD＝2ΔL
θy is the Y-axis rotation angle, xC is the abscissa of the second left equidistant coordinates on the second image bottom line, yC is the ordinate of the second left equidistant coordinates on the second image bottom line, xD is the abscissa of the second right equidistant coordinates on the second image bottom line, and yD is the ordinate of the second right equidistant coordinates on the second image bottom line.
After the Y-axis rotation angle of the spring to be assembled around the Y-axis of the scanning coordinate system is obtained, the controller controls the Ty-axis movement assembly of the adjusting mechanism to start, and drives the material taking mechanism to rotate in the Y-axis direction, so that the spring to be assembled on the material taking mechanism is driven to synchronously move.
After the spring to be assembled is adjusted according to the X-axis rotation angle and the Y-axis rotation angle, the bottom position of the spring to be assembled is adjusted to be the bottom plane position vertical to the Z-axis of the scanning coordinate system, so that after the spring to be assembled is assembled in the hole to be assembled, the spring to be assembled is directly abutted to the bottom wall of the hole to be assembled, the position of the spring to be assembled is not changed, the cap sleeve to be assembled is convenient to install subsequently, and the assembly effect and the assembly efficiency are guaranteed.
As an optional implementation manner, S300, according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system are obtained, wherein the installation coordinate system is a coordinate system established by taking the center point of the image of the hole to be installed as an origin.
Specifically, after the bottom position of the spring to be assembled is adjusted to be the bottom plane position vertical to the Z axis of the scanning coordinate system, the controller controls the adjusting mechanism to start, the material taking mechanism is moved to the upper part of the objective table, and the spring to be assembled acquired from the material taking mechanism synchronously moves to the upper part of the objective table. After the spring to be assembled moves to the upper part of the objective table, the controller controls the Y2 axis movement structure of the adjusting mechanism to start, and the visual alignment module is adjusted to be between the material taking mechanism and the objective table through the Y2 axis movement structure. The controller controls the visual alignment module to start, simultaneously shoots the spring to be assembled on the material taking mechanism and the hole to be installed on the object stage, and acquires an image of the bottom plane position of the spring to be assembled and an image of the hole to be installed.
As shown in fig. 8, according to the acquired hole image to be mounted of the hole to be mounted, determining the center point of the hole image to be mounted; and taking the center point of the image of the hole to be installed as the origin of the installation coordinate system, and establishing the installation coordinate system.
More specifically, according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system are obtained, including:
and obtaining the calibration coordinates of the central point of the bottom plane position in the installation coordinate system according to the acquired image of the bottom plane position of the spring to be assembled and the installation coordinate system.
And a third image of the spring to be assembled, which is perpendicular to the X-axis plane of the installation coordinate system, is obtained through the visual alignment module, and a first included angle between the center line of the third image and the Y-axis of the installation coordinate system is obtained through measurement.
And obtaining the abscissa of the position coordinate of the central point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the first included angle, wherein the specific calculation method is as follows.
xo2＝xo1+H/tan(αy)；
xo2 is the abscissa of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system, xo1 is the abscissa of the calibration coordinate of the center point of the bottom plane position in the installation coordinate system, H is the height of the spring to be assembled, and αy is the first included angle.
The height of the spring to be assembled can be measured according to a spring posture measuring device or a visual alignment module, and parameters can be stored in advance.
More specifically, according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system are obtained, and the method further comprises:
and a third image of the spring to be assembled, which is perpendicular to the Y-axis plane of the installation coordinate system, is obtained through the visual alignment module, and a second included angle between the center line of the third image and the X-axis of the installation coordinate system is obtained through measurement.
And obtaining the ordinate of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the second included angle, wherein the specific calculation method is as follows.
yo2＝yo1+H/tan(αx)；
yo2 is the ordinate of the position coordinate of the central point of the top of the spring to be assembled in the installation coordinate system, yo1 is the ordinate of the calibration coordinate of the central point of the bottom plane position in the installation coordinate system, and alpha x is the second included angle.
As an alternative embodiment, S400 includes the specific steps of:
and obtaining the X-axis adjustment amount and the Y-axis adjustment amount of the spring to be assembled in the installation coordinate system according to the position coordinate and the origin coordinate of the installation coordinate system. Because the values of the abscissa and the ordinate of the origin coordinate of the installation coordinate system are both 0, the X-axis adjustment amount of the spring to be assembled in the installation coordinate system is the abscissa of the position coordinate, and the Y-axis adjustment amount of the spring to be assembled in the installation coordinate system is the ordinate of the position coordinate.
And according to the X-axis adjustment amount and the Y-axis adjustment amount, the controller controls the X-axis movement assembly and the Y-axis movement assembly of the adjusting mechanism to start, and the spring to be assembled is adjusted to the original point coordinate of the installation coordinate system according to the X-axis adjustment amount and the Y-axis adjustment amount, so that the spring to be assembled and the hole to be installed are accurately positioned.
After the spring to be assembled is positioned, the controller controls the Y2-axis movement structure of the adjusting mechanism to start, and the visual alignment module is adjusted to an initial position (the initial position of the visual alignment module is a position close to the adjusting mechanism, so that the movement direction of the Z-axis movement assembly is guaranteed not to be blocked by shielding). After the vision alignment module is adjusted to an initial position, the controller controls the Z-axis movement assembly of the adjusting mechanism to start, the spring to be assembled moves along the Z-axis direction of the installation coordinate system, and the spring to be assembled is installed in the hole to be installed. Because the position coordinates of the spring to be assembled (namely, the coordinates of the center point of the top of the spring to be assembled) are aligned with the center point of the hole to be assembled, when the spring to be assembled is assembled in the hole to be assembled, the upper end of the spring to be assembled is not abutted with the side wall of the hole to be assembled, the subsequent cap sleeve installation is convenient, the assembly efficiency is ensured, the elastic effect of the spring to be assembled is ensured not to be influenced by the side wall of the hole to be assembled, and the assembly effect is ensured.
As an alternative embodiment, S400 further includes the following steps:
according to the cap coordinate of the central point of the cap to be assembled in the installation coordinate system and the origin coordinate of the installation coordinate system, the cap adjustment quantity of the cap to be assembled on the installation coordinate system is obtained, the cap to be assembled is adjusted to the origin coordinate of the installation coordinate system according to the cap adjustment quantity, and the cap to be assembled is installed in the hole to be assembled. Specifically, after the spring to be assembled is assembled, the controller controls the adjusting mechanism to start, drives the material taking mechanism to move to the upper part of the feeding table, controls the material taking mechanism to obtain the cap sleeve to be assembled, and then adjusts the cap sleeve to be assembled to the upper part of the objective table. In addition, when the spring grabbing clamp of the material taking mechanism acquires the spring to be assembled, the cap sleeve to be assembled is acquired through the cap sleeve suction nozzle, and the method for specifically acquiring the material to be assembled can be adaptively set according to actual requirements.
When the cap to be assembled is moved to the upper part of the objective table, the controller controls the adjusting mechanism to adjust the vision alignment module between the material taking mechanism and the objective table, controls the vision alignment module to start, shoots the cap to be assembled and the mounting hole, and acquires an image of the cap to be assembled and an image of the mounting hole. And determining the cap coordinate of the center point of the cap to be assembled on the installation coordinate system through the image of the cap to be assembled and the image of the hole to be installed. According to the coordinate of the cap sleeve and the original point coordinate of the installation coordinate system, the adjustment quantity of the cap sleeve to be assembled in the X direction and the adjustment quantity of the cap sleeve to be assembled in the Y direction on the installation coordinate system are obtained, the center point of the cap sleeve to be assembled is adjusted to be aligned with the original point coordinate of the installation coordinate system according to the adjustment quantity of the cap sleeve, accurate positioning of the cap sleeve to be assembled and the hole to be installed is guaranteed, and the cap sleeve to be assembled can be well adjusted and installed on the hole to be installed through the Z-axis movement component of the adjusting mechanism.
After the cap sleeve to be assembled is positioned, the visual alignment module is driven by the adjusting mechanism to return to the initial position, so that the Z-axis movement assembly is convenient to install the cap sleeve to be assembled on the mounting hole.
The foregoing is only illustrative of the preferred embodiments of the application, and it will be appreciated by those skilled in the art that various changes in the features and embodiments may be made and equivalents may be substituted without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.

Claims (10)

1. The spring alignment assembly method is characterized by comprising the following steps of:
s100, acquiring a first image bottom line of a first image and a second image bottom line of a second image of a spring to be assembled, wherein the first image is an image of the spring to be assembled, which is perpendicular to an X-axis plane of a scanning coordinate system, and the second image is an image of the spring to be assembled, which is perpendicular to a Y-axis plane of the scanning coordinate system;
S200, according to the first image bottom line, obtaining an X-axis rotation angle rotating around the X-axis of the scanning coordinate system, according to the second image bottom line, obtaining a Y-axis rotation angle rotating around the Y-axis of the scanning coordinate system, and according to the X-axis rotation angle and the Y-axis rotation angle, adjusting the bottom position of the spring to be assembled to be a bottom plane position perpendicular to the Z-axis of the scanning coordinate system;
s300, obtaining the position coordinates of the center point of the top of the spring to be assembled in an installation coordinate system according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system, wherein the installation coordinate system is a coordinate system established by taking the center point of the image of the hole to be installed as an origin;
and S400, installing the spring to be assembled into the hole to be installed according to the position coordinates and the origin coordinates of the installation coordinate system.
2. The spring alignment assembly method of claim 1, wherein the acquiring the first image bottom line of the first image of the spring to be assembled comprises:
acquiring a first image of the spring to be assembled, which is perpendicular to an X-axis plane of the scanning coordinate system;
determining a first intersection point coordinate of a first image center line and a first image bottom outline according to the first image;
Determining a first left equidistant coordinate and a first right equidistant coordinate on the left side and the right side of the first intersection point coordinate on the scanning coordinate system according to the first intersection point coordinate, the scanning coordinate system and the equidistant distance threshold;
and obtaining the first image bottom line according to the first left equidistant coordinates and the first right equidistant coordinates.
3. The spring alignment assembly method of claim 2, wherein the acquiring a second image bottom line of the second image of the spring to be assembled comprises:
acquiring a second image of the spring to be assembled, which is perpendicular to the Y-axis plane of the scanning coordinate system;
determining a second intersection point coordinate of a line in the second image and a bottom contour of the second image according to the second image;
determining a second left equidistant coordinate and a second right equidistant coordinate on the left side and the right side of the second intersection point coordinate on the scanning coordinate system according to the second intersection point coordinate, the scanning coordinate system and the equidistant distance threshold;
and obtaining the second image bottom line according to the second left equidistant coordinates and the second right equidistant coordinates.
4. A method of assembling a spring as claimed in claim 3, wherein said obtaining an X-axis rotation angle of rotation about said scan coordinate system X-axis from said first image bottom line comprises:
θx＝arctan((yA-yB)/(xA-xB))；
yA-yB＝2ΔL；
θx is an X-axis rotation angle, xA is an abscissa of the first left equidistant coordinate on the first image bottom line, yA is an ordinate of the first left equidistant coordinate on the first image bottom line, xB is an abscissa of the first right equidistant coordinate on the first image bottom line, yB is an ordinate of the first right equidistant coordinate on the first image bottom line, Δl is the equidistant distance threshold;
obtaining a Y-axis rotation angle rotating around the Y axis of the scanning coordinate system according to the second image bottom line, wherein the Y-axis rotation angle comprises:
θy＝arctan((yC-yD)/(xC-xD))；
xC-xD＝2ΔL
θy is the rotation angle of the Y axis, xC is the abscissa of the second left equidistant coordinate on the second image bottom line, yC is the ordinate of the second left equidistant coordinate on the second image bottom line, xD is the abscissa of the second right equidistant coordinate on the second image bottom line, and yD is the ordinate of the second right equidistant coordinate on the second image bottom line.
5. The method for aligning and assembling a spring according to claim 1, wherein the obtaining the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system includes:
Obtaining a calibration coordinate of a center point of the bottom plane position in the installation coordinate system according to the acquired image of the bottom plane position of the spring to be assembled and the installation coordinate system;
acquiring a third image of the spring to be assembled, which is perpendicular to the X-axis plane of the installation coordinate system, and obtaining a first included angle between the center line of the third image and the Y-axis of the installation coordinate system;
obtaining the abscissa of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the first included angle;
xo2＝xo1+H/tan(αy)；
xo2 is the abscissa of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system, xo1 is the abscissa of the calibration coordinate of the center point of the bottom plane position in the installation coordinate system, H is the height of the spring to be assembled, and αy is the first included angle.
6. The method for aligning and assembling a spring according to claim 5, wherein the obtaining the position coordinates of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinates of the center point of the bottom plane position in the installation coordinate system further comprises:
acquiring a third image of the spring to be assembled, which is perpendicular to the Y-axis plane of the installation coordinate system, and obtaining a second included angle between the center line of the third image and the X-axis of the installation coordinate system;
Obtaining the ordinate of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system according to the calibration coordinate and the second included angle;
yo2＝yo1+H/tan(αx)；
yo2 is the ordinate of the position coordinate of the center point of the top of the spring to be assembled in the installation coordinate system, yo1 is the ordinate of the calibration coordinate of the center point of the bottom plane position in the installation coordinate system, and αx is the second included angle.
7. The method for assembling a spring according to claim 1, wherein the step S400 comprises the specific steps of:
according to the position coordinates and the origin coordinates of the installation coordinate system, obtaining an X-axis adjustment amount and a Y-axis adjustment amount of the spring to be assembled in the installation coordinate system;
according to the X-axis adjustment amount and the Y-axis adjustment amount, the spring to be assembled is adjusted to an origin coordinate of the installation coordinate system according to the X-axis adjustment amount and the Y-axis adjustment amount;
and controlling the spring to be assembled to move along the Z-axis direction of the installation coordinate system, and installing the spring to be assembled into the hole to be installed.
8. The method for assembling a spring according to claim 1, wherein the step S400 further comprises the steps of:
According to the cap coordinate of the center point of the cap to be assembled in the installation coordinate system and the origin coordinate of the installation coordinate system, the cap adjustment amount of the cap to be assembled on the installation coordinate system is obtained, the cap to be assembled is adjusted to the origin coordinate of the installation coordinate system according to the cap adjustment amount, and the cap to be assembled is installed in the hole to be installed.
9. Spring counterpoint assembly quality, characterized by includes: the device comprises a controller, a material taking mechanism (1), an adjusting mechanism (2), a spring attitude measuring device (3), a visual alignment module (4) and an objective table (5) which are connected with the controller; the controller is used for executing the spring alignment assembly method according to any one of claims 1-8;
the material taking mechanism (1) and the visual alignment module (4) are fixed on the adjusting mechanism (2), the material taking mechanism (1) is used for obtaining materials to be assembled, and the materials to be assembled comprise springs to be assembled and caps to be assembled; the adjusting mechanism (2) is used for controlling the material taking mechanism (1) to move and rotate and controlling the visual alignment module (4) to move; the spring attitude measuring device (3) and the objective table (5) are arranged on a base (26) of the adjusting mechanism (2); the spring attitude measuring device (3) is used for detecting the attitude of the spring; the objective table (5) is used for fixedly mounting the spring to be assembled and the hole to be mounted of the cap sleeve to be assembled; the visual alignment module (4) is used for shooting the spring to be assembled and the hole to be installed simultaneously.
10. Spring alignment assembly device according to claim 9, characterized in that the take-off mechanism (1) comprises a spring catch (11), a cap suction nozzle (12) and a pressure sensor (13); the cap suction nozzle (12) is fixedly connected with the pressure sensor (13); the cap suction nozzle (12) is used for sucking the cap to be assembled; the pressure sensor (13) is used for detecting the assembly pressure; the spring grabbing clamp (11) is arranged adjacent to the cap sleeve suction nozzle (12); the spring grabbing clamp (11) is used for grabbing the spring to be assembled; the spring grabbing clamp (11) is provided with a grabbing clamp cylinder (14); the grabbing and clamping cylinder (14) is used for adjusting the opening and closing degree of the spring grabbing and clamping cylinder (11).
CN202311135493.5A 2023-09-01 2023-09-01 Spring alignment assembly method and device Pending CN116922062A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311135493.5A CN116922062A (en) 2023-09-01 2023-09-01 Spring alignment assembly method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311135493.5A CN116922062A (en) 2023-09-01 2023-09-01 Spring alignment assembly method and device

Publications (1)

Publication Number Publication Date
CN116922062A true CN116922062A (en) 2023-10-24

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117182527A (en) * 2023-11-03 2023-12-08 斯德拉马机械(太仓)有限公司 Automatic spring assembly control method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117182527A (en) * 2023-11-03 2023-12-08 斯德拉马机械(太仓)有限公司 Automatic spring assembly control method and system
CN117182527B (en) * 2023-11-03 2024-03-15 斯德拉马机械(太仓)有限公司 Automatic spring assembly control method and system

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