CN117680596A - Automatic clamp assembling equipment and clamp assembling method - Google Patents
Automatic clamp assembling equipment and clamp assembling method Download PDFInfo
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- CN117680596A CN117680596A CN202410137393.4A CN202410137393A CN117680596A CN 117680596 A CN117680596 A CN 117680596A CN 202410137393 A CN202410137393 A CN 202410137393A CN 117680596 A CN117680596 A CN 117680596A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
- B21J15/42—Special clamping devices for workpieces to be riveted together, e.g. operating through the rivet holes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of production and assembly of clamp parts, and particularly discloses automatic clamp assembly equipment and a clamp assembly method. Can realize automatic assembly clamp, need not simultaneously to manage the angle of placing of clamp hoop and place the height, shoot discernment and calculation through identification module, realize automatic correction butt joint, intelligent degree is high, reduces manual intervention, improves the assembly efficiency of clamp.
Description
Technical Field
The invention relates to the technical field of production and assembly of clamp parts, in particular to automatic clamp assembly equipment and a clamp assembly method.
Background
At present, clamp automatic assembly equipment comprises a plurality of scattered mechanisms generally, and the integrated level is lower, and equipment volume is great, and the space occupies great, makes its adaptation clamp part production comparatively difficult, and fixture is because of clamp semi-ring position is placed improperly in the centre gripping in-process easily and is led to the centre gripping to take place the deviation, influences assembly efficiency and assembly precision.
The utility model provides a clamp automatic assembly equipment and clamp assembly method in prior art CN115365787A, realize the assembly of clamp through adopting the mode of two-way cohesion, and realize the automatic locking assembly of clamp through adopting the mode that the nut was filled and drive screw rotated locking, make the clamp assembly more accurate and can realize automatic unloading through adjusting the interval of strutting through the mode of outwards propping up location, and the structure integrated level is high, and the space occupies for a short time, is favorable to producing line adaptation.
But in the prior art, when placing the hoop, the hoop is easy to deflect, so that two hoops are in butt joint to generate errors, and after the angle deflection occurs, the automatic correction cannot be performed, and the assembly efficiency of the clamp is influenced by manual intervention.
Disclosure of Invention
The invention aims to provide automatic clamp assembling equipment and a clamp assembling method, and aims to solve the technical problems that in the prior art, when a clamp ring is placed, the clamp ring is easy to deflect, so that two clamp rings are in butt joint to generate errors, and meanwhile, after angle deflection occurs, automatic correction cannot be performed, manual intervention is needed, and the assembly efficiency of the clamp ring is affected.
In order to achieve the above purpose, the automatic clamp assembling device comprises a rack and an assembling mechanism, wherein the assembling mechanism is used for packaging assembling components and a riveting machine, the number of the assembling components is two, the two assembling components are respectively and fixedly connected with the rack and are respectively positioned at the upper end of the rack, the riveting machine is fixedly connected with the rack and is positioned at the upper end of the rack, each assembling component comprises a triaxial transmitter, a rotating module, an identification module and a clamping module, the triaxial transmitter is fixedly connected with the rack and is positioned at the upper end of the rack, the rotating module is fixedly connected with the triaxial transmitter and is positioned at the upper end of the triaxial transmitter, the clamping module is fixedly connected with the rotating module and is positioned at the upper end of the rotating module, and the identification module is fixedly connected with the rack and is positioned at the upper end of the triaxial transmitter.
Each triaxial conveyer comprises an X-axis groove, an X-axis rod, an X-axis servo motor, a Y-axis groove, a Y-axis rod, a Y-axis servo motor, a Y-moving plate, a Z-axis groove, a Z-axis rod and a Z-axis servo motor, wherein the X-axis groove is fixedly connected with the rack and is positioned at the upper end of the rack, two ends of the X-axis rod are respectively and rotationally connected with the X-axis groove and are embedded in the interior of the X-axis groove, the X-axis servo motor is arranged on one side of the X-axis groove, the output end of the X-axis servo motor is fixedly connected with the X-axis rod, the Z-axis groove is in threaded connection with the X-axis rod, the two ends of the Z-axis rod are respectively and rotationally connected with the Z-axis groove, the Y-axis rod is sleeved on the outer surface wall of the Y-axis rod, the Y-axis rod is in threaded connection with the Y-axis groove, and the Y-axis rod is in threaded connection with the Y-axis groove.
Each rotating module comprises a rotating frame, a rotating servo motor and a rotating disc, wherein the rotating frame is fixedly connected with the Y moving plate and is positioned at the upper end of the Y moving plate, the rotating disc is rotationally connected with the rotating frame and is embedded in the rotating frame, the rotating servo motor is fixedly connected with the Y moving plate and is positioned at the upper end of the Y moving plate, and the output end of the rotating servo motor is fixedly connected with the rotating disc.
Each clamping module comprises a fixed plate, a movable plate and a clamping electric cylinder, wherein the fixed plate is fixedly connected with the rotary disk and is positioned at the upper end of the rotary disk, the clamping electric cylinder is fixedly connected with the rotary disk and is positioned at the upper end of the rotary disk, and the movable plate is fixedly connected with the output end of the clamping electric cylinder and is positioned at one end of the clamping electric cylinder.
Each recognition module comprises a recognition frame, a first camera, a second camera, a first infrared emitter and a second infrared emitter, wherein the recognition frame is fixedly connected with the frame and is positioned at the upper end of the frame, the first camera is fixedly connected with the recognition frame and is positioned in the recognition frame, the second camera is fixedly connected with the recognition frame and is positioned on one side of the recognition frame, the first infrared emitter is fixedly connected with the recognition frame and is positioned in the recognition frame, and the second infrared emitter is fixedly connected with the recognition frame and is positioned on one side of the recognition frame.
The automatic clamp assembling equipment further comprises two feeding mechanisms, wherein the two feeding mechanisms are fixedly connected with the frame and are located on two sides of the frame respectively.
Each feeding mechanism comprises a supporting frame, two roller frames, a transmission belt and a transmission servo motor, wherein the supporting frames are fixedly connected with the machine frame and are positioned on one side of the machine frame, the number of the two roller frames is two, the two roller frames are respectively fixedly connected with the supporting frames and are respectively positioned at the upper ends of the supporting frames, the transmission belt is sleeved on the outer surface walls of the two roller frames, the transmission servo motor is arranged at the upper ends of the supporting frames, and the output end of the transmission servo motor is fixedly connected with any one of the roller frames.
Each feeding mechanism further comprises two connecting rods and a supporting plate, two ends of each connecting rod are fixedly connected with the corresponding roller frames respectively, each connecting rod is located between the two roller frames respectively, and the supporting plate is fixedly connected with the two connecting rods and located at the upper ends of the two connecting rods.
The invention also provides a clamp assembling method which is applied to the clamp automatic assembling equipment and comprises the following steps:
clamping the corresponding hoops by a mechanical arm, placing the hoops between the fixed plate and the movable plate, and driving the movable plate to clamp the hoops through the clamping electric cylinder;
moving the hoop to the first camera and the second camera for photographing, identifying and recording;
the first camera shoots an image as a top view, a center line A is preset in the shot top view, a circle center O1 of the hoop, a mounting hole center O2 and a hoop radius R are identified, and the distance between the mounting hole center O2 and the center line A is L1;
the rotating module is driven to enable a line segment P of a straight line of the circle center O1 and the mounting hole center O2 to be perpendicular to the central line A;
when R-L1>0, driving the Y-axis groove to move downwards, and when R-L1<0, driving the Y-axis groove to move upwards, so that R-L1=0, namely enabling the circle center O1 to coincide with the center line A;
the second camera shoots an image in a front view, a center line B is preset in the front view, and an upper plane line C of the hoop is identified;
calculating L2, l2=b-C, when C is located at the upper end of B, moving L2 downward, and when C is located at the lower end of B, moving L2 upward;
the circle centers of the hoops on the two sides are positioned on the same axis, and the heights of the two hoops are positioned on the same horizontal line;
the X servo motor drives the X shaft rod to rotate, the Z shaft groove is driven to move until the mounting hole centers of the two hoops are located on the same axis, and the riveting machine is driven to rivet the two hoops.
According to the automatic clamp assembling equipment and the clamp assembling method, the assembling mechanism is supported and fixed through the frame, the corresponding clamp rings are clamped and fixed through the clamping module, the positions of the clamp rings are identified by photographing through the identification module, the subsequent driving instructions are transported, the driving instructions are transmitted to the triaxial transmitter and the rotating module, the deflection angles of the clamp rings are corrected through the rotating module, and then the triaxial transmitter is communicated with each other through the triaxial, so that the multiaxial adjustment of the XYZ is realized, the positions of the clamp rings on two sides are mutually matched, the assembling angles and the positions can be achieved, finally, the riveting machine is used for riveting after the transmission through the triaxial transmitter, the automatic clamp assembling can be realized without managing the placement angles and the placement heights of the clamp rings, automatic butt joint is realized through photographing identification and calculation through the identification module, the intelligent degree is high, the manual intervention is reduced, and the assembling efficiency of the clamp is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a first embodiment of the present invention.
Fig. 2 is a front view of a first embodiment of the present invention.
Fig. 3 is a side view of a first embodiment of the invention.
Fig. 4 is a schematic structural view of a second embodiment of the present invention.
Fig. 5 is a flow chart of method steps of a third embodiment of the invention.
FIG. 6 is a top view of the hoop of the present invention.
Fig. 7 is an elevation view of the hoop of the present invention below centerline B.
Fig. 8 is an elevation view of the hoop of the present invention above centerline B.
101-rack, 102-riveting machine, 103-X axis slot, 104-X axis bar, 105-X servo motor, 106-Y axis slot, 107-Y axis bar, 108-Y servo motor, 109-Y moving plate, 110-Z axis slot, 111-Z axis bar, 112-Z servo motor, 113-rotating frame, 114-rotating servo motor, 115-rotating disk, 116-identifying frame, 117-first camera, 118-second camera, 119-first infrared emitter, 120-second infrared emitter, 121-fixed plate, 122-moving plate, 123-clamping cylinder, 201-supporting frame, 202-roller frame, 203-conveying belt, 204-conveying servo motor, 205-connecting rod, 206-supporting plate.
Detailed Description
The first embodiment of the application is as follows:
referring to fig. 1 to 3, fig. 1 is a schematic structural view of a first embodiment of the present invention, fig. 2 is a front view of the first embodiment of the present invention, and fig. 3 is a side view of the first embodiment of the present invention.
The invention provides automatic clamp assembling equipment, which comprises a rack 101 and an assembling mechanism, wherein the assembling mechanism packages an assembling component and a riveting machine 102, the assembling component comprises a three-axis transmitter, a rotating module, an identification module and a clamping module, the three-axis transmitter comprises an X-axis groove 103, an X-axis shaft 104, an X-axis servo motor 105, a Y-axis groove 106, a Y-axis shaft 107, a Y-axis servo motor 108, a Y-moving plate 109, a Z-axis groove 110, a Z-axis shaft 111 and a Z-axis servo motor 112, the rotating module comprises a rotating frame 113, a rotating servo motor 114 and a rotating disc 115, the clamping module comprises a fixed plate 121, a movable plate 122 and a clamping cylinder 123, and the identification module comprises an identification frame 116, a first camera 117, a second camera 118, a first infrared transmitter 119 and a second infrared transmitter 120.
The number of the assembly components is two, the two assembly components are respectively fixedly connected with the rack 101 and are respectively located at the upper end of the rack 101, the riveting machine 102 is fixedly connected with the rack 101 and is located at the upper end of the rack 101, each assembly component comprises a triaxial transmitter, a rotating module, an identification module and a clamping module, the triaxial transmitter is fixedly connected with the rack 101 and is located at the upper end of the rack 101, the rotating module is fixedly connected with the triaxial transmitter and is located at the upper end of the triaxial transmitter, the clamping module is fixedly connected with the rotating module and is located at the upper end of the rotating module, the identification module is fixedly connected with the rack 101 and is located at the upper end of the triaxial transmitter, the rack 101 supports and fixes the corresponding hoop through the clamping module, the identification module is used for driving the triaxial transmitter to the triaxial transmitter, and then the triaxial transmitter is driven by the identification module to achieve the triaxial transmitter, and the triaxial transmitter can rotate to achieve the direction-correcting angle through the triaxial transmitter, and the triaxial transmitter is driven by the clamping module, and the triaxial transmitter is driven to achieve the direction-correcting angle, and the direction-correcting angle is adjusted by the triaxial transmitter.
Secondly, the X-axis groove 103 is fixedly connected with the frame 101 and is positioned at the upper end of the frame 101, two ends of the X-axis shaft 104 are respectively and rotatably connected with the X-axis groove 103 and embedded in the X-axis groove 103, the X-axis servo motor 105 is arranged at one side of the X-axis groove 103, the output end of the X-axis servo motor 105 is fixedly connected with the X-axis shaft 104, the Z-axis groove 110 is in threaded connection with the X-axis shaft 104 and sleeved on the outer surface wall of the X-axis shaft 104, two ends of the Z-axis shaft 111 are respectively and rotatably connected with the Z-axis groove 110 and embedded in the Z-axis groove 110, the Z-axis servo motor 112 is arranged at one side of the Z-axis groove 110, the output end of the Z-axis servo motor 112 is fixedly connected with the Z-axis shaft 111, the Y-axis groove 106 is in threaded connection with the Z-axis shaft 111 and sleeved on the wall of the Z-axis shaft 111, two ends of the Y-axis servo motor 107 are respectively and rotatably connected with the Y-axis groove 106 and rotatably connected with the Y-axis shaft 106, the Y-axis shaft 108 is rotatably mounted on the Y-axis groove 106, the Y-axis shaft 107 is rotatably mounted on the Y-axis groove 107, the Y-axis shaft 107 is rotatably connected with the Y-axis groove 106, and is rotatably mounted on the Y-axis groove 107, the Y-axis shaft 107 is rotatably mounted on the Y-axis groove 107, starting the Y servo motor 108 to perform forward and reverse rotation can drive the Y shaft lever 107 to perform forward and reverse rotation, so as to drive the Y moving plate 109 to move, thereby realizing triaxial movement of the hoop.
Meanwhile, the rotating frame 113 is fixedly connected with the Y moving plate 109 and is located at the upper end of the Y moving plate 109, the rotating disc 115 is rotatably connected with the rotating frame 113 and is embedded in the rotating frame 113, the rotating servo motor 114 is fixedly connected with the Y moving plate 109 and is located at the upper end of the Y moving plate 109, the output end of the rotating servo motor 114 is fixedly connected with the rotating disc 115, the rotating disc 115 is supported by the rotating frame 113, and the rotating disc 115 is driven by the rotating servo motor 114 to enable a hoop of the rotating disc 115 to reach a required angle.
In addition, the fixed plate 121 is fixedly connected with the rotating disc 115 and is located at the upper end of the rotating disc 115, the clamping cylinder 123 is fixedly connected with the rotating disc 115 and is located at the upper end of the rotating disc 115, the movable plate 122 is fixedly connected with the output end of the clamping cylinder 123 and is located at one end of the clamping cylinder 123, the hoop is placed between the fixed plate 121 and the movable plate 122, and the movable plate 122 is driven by the clamping cylinder to move until the hoop is clamped and fixed by matching with the fixed plate 121.
Furthermore, the recognition frame 116 is fixedly connected to the frame 101 and is located at an upper end of the frame 101, the first camera 117 is fixedly connected to the recognition frame 116 and is located inside the recognition frame 116, the second camera 118 is fixedly connected to the recognition frame 116 and is located at one side of the recognition frame 116, the first infrared emitter 119 is fixedly connected to the recognition frame 116 and is located inside the recognition frame 116, the second infrared emitter 120 is fixedly connected to the recognition frame 116 and is located at one side of the recognition frame 116, the recognition frame 116 is fixedly mounted on the first camera 117, the second camera 118, the first infrared emitter 119 and the second infrared emitter 120, the first camera 117 is used for capturing a top view of a hoop, the first infrared emitter 119 is used for capturing a center line of the top view, the second camera is used for capturing a center line of the front view of the hoop, and the second camera 118 is used for capturing a center line of the front view of the infrared emitter 120.
When the clamp automatic assembly equipment of the embodiment is used, the frame 101 supports and fixes the assembly mechanism, clamps and fixes the corresponding clamp ring through the clamping module, the identification module photographs and identifies the position of the clamp ring, carries out transportation of subsequent driving instructions, transmits the driving instructions to the triaxial transmitter and the rotating module, corrects the deflection angle of the clamp ring through the rotating module, and realizes the multiaxial adjustment of XYZ through the triaxial transmitter, so that the positions of the clamp rings at two sides are mutually matched to achieve the angle and the position capable of being assembled, finally, the clamp ring is riveted through the riveting machine 102 after being transmitted through the triaxial transmitter, is placed between the fixed plate 121 and the movable plate 122, and is driven by the clamping cylinder to move, until the hoop is clamped and fixed by matching with the fixed plate 121, the identification frame 116 installs and fixes the first camera 117, the second camera 118, the first infrared emitter 119 and the second infrared emitter 120, the first camera 117 is used for shooting a top view of the hoop, the first infrared emitter 119 is used for positioning a center line of the top view, the second camera 118 is used for shooting a front view of the hoop, the second infrared emitter 120 is used for positioning a center line of the front view, the rotating frame 113 supports the rotating disc 115, the rotating disc 115 is driven by the rotating servo motor 114 to achieve a required angle of the hoop, the angle correction of the hoop is achieved, the X shaft 104 is installed by the X shaft groove 103, starting the X servo motor 105 to forward and reverse can drive the X shaft lever 104 to forward and reverse, so as to drive the Z shaft lever 110 to move, the Z shaft lever 111 is installed by the Z shaft lever 110, starting the Z servo motor 112 to forward and reverse can drive the Z shaft lever 111 to forward and reverse, so as to drive the Y shaft lever 106 to move, the Y shaft lever 107 is installed by the Y shaft lever 106, starting the Y servo motor 108 to forward and reverse can drive the Y shaft lever 107 to forward and reverse, so as to drive the Y moving plate 109 to move, and three-axis movement of the hoop and assembly of the hoop are realized.
The second embodiment of the present application is:
on the basis of the first embodiment, please refer to fig. 4, wherein fig. 4 is a schematic structural diagram of a second embodiment of the present invention.
The invention provides automatic clamp assembling equipment, which further comprises a feeding mechanism, wherein the feeding mechanism comprises a supporting frame 201, a roller frame 202, a transmission belt 203, a transmission servo motor 204, a connecting rod 205 and a supporting plate 206.
The two roller frames 202 are respectively fixedly connected with the support frame 201 and are respectively positioned at the upper ends of the support frame 201, the transmission belts 203 are sleeved on the outer surface walls of the two roller frames 202, the transmission servo motor 204 is arranged at the upper ends of the support frame 201, the output end of the transmission servo motor 204 is fixedly connected with any one of the roller frames 202, the support frame 201 supports the two roller frames 202 and is positioned at one side of the support frame 101, one of the roller frames 202 is driven to rotate by starting the transmission servo motor 204, so that the transmission belts 203 are driven to drive, and the hoops are transmitted by the transmission belts 203, so that feeding is facilitated by the mechanical arm.
Secondly, the number of the connecting rods 205 is two, two ends of each connecting rod 205 are respectively and fixedly connected with the corresponding roller frames 202, each connecting rod 205 is respectively located between two roller frames 202, the supporting plates 206 are fixedly connected with two connecting rods 205 and located at the upper ends of the two connecting rods 205, the connecting rods 205 are connected between two roller frames 202 and support the supporting plates 206, and the supporting plates 206 are used for supporting the transmission belt 203 above, so that the transmission of the hoops is more stable.
When the clamp automatic assembly equipment is used, the support frames 201 support two roller frames 202 and are positioned on one side of the frame 101, one of the roller frames 202 is driven to rotate by starting the transmission servo motor 204, the transmission belt 203 is driven to drive, the connecting rod 205 is connected between the two roller frames 202 and supports the support plates 206, the support plates 206 support the transmission belt 203 above, so that the transmission of the clamp is more stable, the transmission belt 203 transmits the clamp, and the mechanical arm is convenient to feed, so that the assembly automation is realized.
The third embodiment of the present application is:
on the basis of the first embodiment, please refer to fig. 5 to 8, wherein fig. 5 is a flow chart of method steps of a third embodiment of the present invention, fig. 6 is a top view identification of the hoop of the present invention, fig. 7 is a front view identification of the hoop of the present invention below the center line B, and fig. 8 is a front view identification of the hoop of the present invention above the center line B.
The invention provides a clamp assembling method, which comprises the following steps:
s1: clamping the corresponding hoops by a mechanical arm, placing the hoops between the fixed plate 121 and the movable plate 122, and driving the movable plate 122 to clamp the hoops through the clamping electric cylinder 123;
s2: moving the hoop to the first camera 117 and the second camera 118 for photographing identification and recording;
s3: the first camera 117 captures an image as a top view, a center line a is preset in the captured top view, and a circle center O1 of the hoop, a mounting hole center O2 and a radius R of the hoop are identified, and a distance between the mounting hole center O2 and the center line a is L1;
s4: the rotating module is driven to enable a line segment P of a straight line of the circle center O1 and the mounting hole center O2 to be perpendicular to the central line A;
s5: when R-L1>0, the Y-axis slot 106 is driven to move downward, and when R-L1<0, the Y-axis slot 106 is driven to move upward, so that R-l1=0, i.e., so that the center O1 coincides with the center line a;
s6: the second camera 118 captures an image in a front view, a center line B is preset in the captured front view, and an upper plane line C of the hoop is identified;
s7: calculating L2, l2=b-C, when C is located at the upper end of B, moving L2 downward, and when C is located at the lower end of B, moving L2 upward;
s8: the circle centers of the hoops on the two sides are positioned on the same axis, and the heights of the two hoops are positioned on the same horizontal line;
s9: the X servo motor 105 drives the X shaft 104 to rotate, so as to drive the Z shaft groove 110 to move until the mounting hole centers of the two hoops are located on the same axis, and the riveting machine 102 is driven to rivet the two hoops.
In this embodiment, by calculating the distance difference and identifying the position of the hoop, the angle and XYZ axis of the hoop are automatically adjusted, so that the angle, X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the hoop are consistent in the assembly process, accurate butt joint is achieved, riveting is finally performed through the riveting machine 102, automatic correction and multi-axis coordinate adjustment are achieved on the hoop, and assembly processing efficiency is improved.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (9)
1. An automatic clamp assembling device comprises a frame and is characterized in that,
the device also comprises an assembling mechanism;
the assembling mechanism is used for packaging assembling components and riveting machines, the assembling components are two in number and are respectively fixedly connected with the machine frame and are respectively located at the upper end of the machine frame, the riveting machines are fixedly connected with the machine frame and are located at the upper end of the machine frame, each assembling component comprises a triaxial transmitter, a rotary module, an identification module and a clamping module, the triaxial transmitter is fixedly connected with the machine frame and is located at the upper end of the machine frame, the rotary module is fixedly connected with the triaxial transmitter and is located at the upper end of the triaxial transmitter, the clamping module is fixedly connected with the rotary module and is located at the upper end of the rotary module, the identification module is fixedly connected with the machine frame and is located at the upper end of the machine frame, and the identification module is located at the upper end of the triaxial transmitter.
2. An automatic clamp assembling apparatus according to claim 1, wherein,
each triaxial conveyer comprises an X-axis groove, an X-axis rod, an X-axis servo motor, a Y-axis groove, a Y-axis rod, a Y-axis servo motor, a Y-moving plate, a Z-axis groove, a Z-axis rod and a Z-axis servo motor, wherein the X-axis groove is fixedly connected with the rack and is positioned at the upper end of the rack, two ends of the X-axis rod are respectively and rotatably connected with the X-axis groove and are embedded in the interior of the X-axis groove, the X-axis servo motor is arranged on one side of the X-axis groove, the output end of the X-axis servo motor is fixedly connected with the X-axis rod, the Z-axis groove is in threaded connection with the X-axis rod, the Z-axis rod is in threaded connection with the Y-axis groove, the Y-axis rod is in threaded connection with the Y-axis groove, and the Y-axis rod is in threaded connection with the Y-axis rod.
3. An automatic clamp assembling apparatus according to claim 2, wherein,
every rotary module includes swivel mount, rotatory servo motor and rotary disk, the swivel mount with Y movable plate fixed connection, and be located the upper end of Y movable plate, the rotary disk with the swivel mount rotates to be connected, and inlay in the inside of swivel mount, rotatory servo motor with Y movable plate fixed connection, and be located the upper end of Y movable plate, just rotatory servo motor's output with rotary disk fixed connection.
4. An automatic clamp assembling apparatus according to claim 3, wherein,
each clamping module comprises a fixed plate, a movable plate and a clamping electric cylinder, wherein the fixed plate is fixedly connected with the rotating disc and is positioned at the upper end of the rotating disc, the clamping electric cylinder is fixedly connected with the rotating disc and is positioned at the upper end of the rotating disc, and the movable plate is fixedly connected with the output end of the clamping electric cylinder and is positioned at one end of the clamping electric cylinder.
5. An automatic clamp assembling apparatus according to claim 4, wherein,
each recognition module comprises a recognition frame, a first camera, a second camera, a first infrared emitter and a second infrared emitter, wherein the recognition frame is fixedly connected with the frame and is positioned at the upper end of the frame, the first camera is fixedly connected with the recognition frame and is positioned in the recognition frame, the second camera is fixedly connected with the recognition frame and is positioned on one side of the recognition frame, the first infrared emitter is fixedly connected with the recognition frame and is positioned in the recognition frame, and the second infrared emitter is fixedly connected with the recognition frame and is positioned on one side of the recognition frame.
6. An automatic clamp assembling apparatus according to claim 5, wherein,
the automatic clamp assembling equipment further comprises two feeding mechanisms, wherein the two feeding mechanisms are fixedly connected with the frame respectively and are located on two sides of the frame respectively.
7. An automatic clamp assembling apparatus according to claim 6, wherein,
every feeding mechanism includes support frame, roller frame, transmission band and transmission servo motor, the support frame with frame fixed connection is located one side of frame, the quantity of roller frame is two, two the roller frame respectively with support frame fixed connection, and be located respectively the upper end of support frame, the transmission band cover is located two the exterior wall of roller frame, transmission servo motor set up in the upper end of support frame, just transmission servo motor's output with arbitrary one of them roller frame fixed connection.
8. An automatic clamp assembling apparatus according to claim 7, wherein,
every feeding mechanism still includes connecting rod and backup pad, the quantity of connecting rod is two, every the both ends of connecting rod respectively with corresponding roller frame fixed connection, and every the connecting rod is located two respectively between the roller frame, backup pad and two connecting rod fixed connection to be located two the upper end of connecting rod.
9. A clip assembly method for use in the automatic clip assembly apparatus of claim 8, comprising the steps of:
clamping the corresponding hoops by a mechanical arm, placing the hoops between the fixed plate and the movable plate, and driving the movable plate to clamp the hoops through the clamping electric cylinder;
moving the hoop to the first camera and the second camera for photographing, identifying and recording;
the first camera shoots an image as a top view, a center line A is preset in the shot top view, a circle center O1 and a mounting hole center O2 of the hoop are identified, the outer diameter and the inner diameter of the hoop are identified, an average value is obtained, the radius R of the hoop is obtained, and the distance between the mounting hole center O2 and the center line A is L1;
the rotating module is driven to enable a line segment P of a straight line of the circle center O1 and the mounting hole center O2 to be perpendicular to the central line A;
when R-L1>0, driving the Y-axis groove to move downwards, and when R-L1<0, driving the Y-axis groove to move upwards, so that R-L1=0, namely enabling the circle center O1 to coincide with the center line A;
the second camera shoots an image in a front view, a center line B is preset in the front view, and an upper plane line C of the hoop is identified;
calculating L2, l2=b-C, when C is located at the upper end of B, moving L2 downward, and when C is located at the lower end of B, moving L2 upward;
the circle centers of the hoops on the two sides are positioned on the same axis, and the heights of the two hoops are positioned on the same horizontal line;
the X servo motor drives the X shaft rod to rotate, the Z shaft groove is driven to move until the mounting hole centers of the two hoops are located on the same axis, and the riveting machine is driven to rivet the two hoops.
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