CN118408946A - Bolt following detection device and method of automobile assembly equipment - Google Patents
Bolt following detection device and method of automobile assembly equipment Download PDFInfo
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- CN118408946A CN118408946A CN202410876875.1A CN202410876875A CN118408946A CN 118408946 A CN118408946 A CN 118408946A CN 202410876875 A CN202410876875 A CN 202410876875A CN 118408946 A CN118408946 A CN 118408946A
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Abstract
The invention relates to the field of automobile assembly, and discloses a bolt following detection device and method of automobile assembly equipment. The problem that information cannot be transmitted to an upper device when the preassembled bolts cannot be detected accurately is solved, and the method has the advantages of being convenient to operate and reducing redundancy cost; and detect the bolt under the mode of accompanying, do not influence the chassis circuit operation speed of car, can show improvement production line production efficiency.
Description
Technical Field
The invention relates to the technical field of automobile assembly, in particular to a bolt following detection device and method of automobile assembly equipment.
Background
In the rapidly developing automotive industry, automotive chassis assemblies are an important part of the automotive manufacturing process. The automobile chassis consists of four parts of transmission, running, steering and braking, and the automobile chassis is used for supporting and installing various parts of an engine, and transmitting power generated by the engine to all parts so that the automobile can normally run and brake. Before each spare part of chassis is installed, detect the bolt of chassis preassembly to reduce the subsequent redundancy error correction cost, become the weight of having become. However, due to the complexity characteristics of a large number of preassembled bolts, a large coverage area, irregular shape and position and the like of the chassis, how to design the device for carrying out comprehensive scanning detection on the preassembled bolts can be realized, scanning detection information can be timely transmitted to an upper device, the operation cost is reduced, the pre-detection efficiency is improved, and the key problem to be solved urgently is solved.
Disclosure of Invention
Therefore, the invention provides a bolt following detection device and method for automobile assembly equipment, which are used for solving the problem that information cannot be transmitted to an upper device when preassembled bolts are detected rapidly and accurately.
In order to achieve the above object, the present invention provides the following technical solutions: a bolt follower detection device of an automobile assembly device, comprising: the device comprises a portal frame, a fixing assembly, a control mechanism and a detection mechanism; the portal frame comprises a support frame main body, a conveying line and a controller, wherein the conveying line is arranged at the top of the support frame main body, the controller is connected with the conveying line, and the controller is used for controlling the conveying speed and the conveying direction of the conveying line; the fixing component comprises a baseboard which is arranged at the bottom of the support frame main body; the detection mechanism comprises a vision camera, a displacement sensor and a distance measuring device, wherein the distance measuring device is arranged on one side of the bottom of the support frame main body, and the displacement sensor is arranged on one side of the vision camera; the control mechanism comprises a driving device, a track device and an auxiliary device, wherein the auxiliary device is connected with the track device, and the auxiliary device is provided with the driving device.
As a preferable technical scheme of the invention, the track device comprises a first track, a second track and a third track, wherein the track surfaces of the first track and the second track are positioned on the same plane, and the first track and the second track are arranged in parallel; the third track is arranged between the first track and the second track, and the track direction of the third track is perpendicular to the track directions of the first track and the second track; the first track and the third track are arranged as double tracks, and the second track is arranged as a single track.
As a preferable technical scheme of the invention, the auxiliary equipment comprises a fixed beam and a sliding table, wherein the sliding table comprises a first sliding table, a second sliding table and a third sliding table, and the first sliding table, the second sliding table and the third sliding table are respectively connected with the first rail, the second rail and the third rail in a sliding way; the same sides of the bottoms of the two ends of the fixed beam are fixedly connected with the first sliding table and the second sliding table respectively, and the third track is arranged on the opposite side of the fixed beam to the connecting side of the first sliding table.
As a preferable technical scheme of the invention, the driving device comprises a driving motor and a transmission drag chain, the driving motor comprises a first motor and a second motor, the transmission drag chain comprises a first drag chain and a second drag chain, the first motor is connected with a first drag chain sprocket, and the second motor is connected with a second drag chain sprocket.
As a preferable technical scheme of the invention, the auxiliary equipment further comprises a damper and a connecting plate, wherein the damper comprises a first damper, a second damper and a third damper, the first damper is arranged at two ends of the first track, the second damper is arranged at two ends of the second track, and the third damper is arranged at two ends of the third track; the connecting plate is arranged on the side edge of the third sliding table, and the connecting plate is vertically connected with the third sliding table.
As a preferred embodiment of the present invention, the driving apparatus further includes a travel switch, the travel switch includes a first travel switch and a second travel switch, the first travel switch is connected to the first motor, and the second travel switch is connected to the second motor.
As a preferable technical scheme of the invention, the distance measuring device comprises a laser distance measuring sensor and a bracket, wherein one end of the bracket is fixed on the ground, and the laser distance measuring sensor is fixed at the other end of the bracket.
As a preferable technical scheme of the invention, the detection mechanism further comprises a bus module, wherein the bus module is arranged on one side of the support frame main body, and the bus module is connected with the vision camera, the displacement sensor and the laser ranging sensor.
As a preferable technical scheme of the invention, the conveying line is provided with a moving block and a fixed pin, and the fixed pin is detachably connected with the moving block.
A method for detecting the following of bolts of automobile assembly equipment comprises the following steps:
S1: the bottom of the control mechanism is provided with the fixing pin, the fixing pin is detachably connected with the moving block arranged on the conveying line, and the detection device is fixed on the conveying line;
S2: detecting whether the automobile chassis is conveyed in place or not through the laser ranging sensor, transmitting the automobile chassis position information and the speed information to an upper device and the controller, setting the conveying direction of the conveying line by the controller, and setting the moving speed of the conveying line by the controller;
S3: the first travel switch and the second travel switch are started to enable the first motor and the second motor to be electrified, the upper device sends an instruction to drive the first motor and the second motor, the first sliding table and the second sliding table drive the fixed beam to move, the third sliding table to move and drive the vision camera to move, and the displacement sensor is matched to complete scanning and shooting of the automobile chassis;
S4: the displacement sensor is used for completing comprehensive scanning of the bolt position of the automobile chassis, judging the bolt installation condition according to the height difference generated by the standard value and the actual value, shooting a real-time image at the position with the height difference value through the vision camera to judge the bolt installation condition, and uploading all detection data to the upper device through the bus module.
Compared with the prior art, the invention provides the bolt following detection device and method for the automobile assembly equipment, which have the following beneficial effects: the detection device can not only carry out full coverage detection on the chassis bolts, but also transmit detection data to an upper position in real time, so that operators can operate conveniently, and the redundancy cost is reduced; the bolts are detected in the following mode, so that the running speed of the wire body is not influenced, and the production efficiency of the production line can be remarkably improved; the working efficiency and stability of the detection of the bolts of the automobile chassis are improved, the detection is safe and reliable, the repeated detection precision is high, and a foundation is laid for the next automobile production operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic diagram of the control mechanism and detection mechanism of the present invention;
FIG. 4 is a schematic diagram of the ranging apparatus of FIG. 1A according to the present invention;
In the figure: 1. a support frame body; 2. a conveying line; 3. a controller; 4. a baseboard; 5. a vision camera; 6. a displacement sensor; 7. a first track; 8. a second track; 9. a third track; 10. a fixed beam; 11. a first sliding table; 12. a second sliding table; 13. a third sliding table; 14. a first motor; 15. a second motor; 16. a first tow chain; 17. a second tow chain; 18. a first damper; 19. a second damper; 20. a third damper; 21. a connecting plate; 22. a first travel switch; 23. a second travel switch; 24. a laser ranging sensor; 25. a bracket; 26. a bus module; 211. a moving block; 212. a fixing pin.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. 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.
Referring to fig. 1, a bolt follower detection device of an automobile assembly device comprises a portal frame, a fixing assembly, a control mechanism and a detection mechanism; the portal frame comprises a support frame main body 1, a conveying line 2 and a controller 3, wherein the conveying line 2 is arranged at the top of the support frame main body 1, the controller 3 is connected with the conveying line 2, and the controller 3 is used for controlling the conveying speed and the conveying direction of the conveying line 2; the fixing component comprises a baseboard 4, and the baseboard 4 is arranged at the bottom of the support frame main body 1; the detection mechanism comprises a vision camera 5, a displacement sensor 6 and a distance measuring device, wherein the distance measuring device is arranged on one side of the bottom of the support frame main body 1, and the displacement sensor 6 is arranged on one side of the vision camera 5; the control mechanism comprises a driving device, a track device and an auxiliary device, wherein the auxiliary device is connected with the track device, and the driving device is arranged on the auxiliary device.
Specifically, the skirting board 4 is arranged to be a terrace shape, and the advantage thereof is that the contact area with the ground is increased at the bottom of the terrace-shaped skirting board 4, the supporting strength of the skirting board 4 is improved, and a plurality of bolts are arranged at the bottom of the skirting board 4 and are fixedly connected with the construction ground through the bolts, so that the supporting rigidity of the embodiment can be improved.
Referring to fig. 1-2, specifically, a conveying line 2 is provided at the top of a supporting frame main body 1, a moving block 211 at a fixed position is provided on the conveying line 2, a fixing pin 212 is provided at the bottom of the control mechanism, the fixing pin 212 and the moving block 211 are detachably connected, and the control mechanism is fixed on the moving block 211 through the fixing pin 212, so that the movement of the conveying line 2 drives the control mechanism main body to move, and the control mechanism main body moves along with an automobile chassis, thereby realizing full coverage of automobile chassis bolt detection.
Specifically, the detection mechanism comprises a vision camera 5, a displacement sensor 6 and a distance measuring device, wherein the displacement sensor 6 is arranged on one side of the vision camera 5, the displacement sensor 6 is fixed on the support frame main body 1, an automobile chassis can be comprehensively scanned, the distances between the positions of all bolt holes of the automobile chassis and the displacement sensor 6 are represented in a digital mode, the distances are used as actual data, the complete distance data of bolts of the automobile chassis are used as standard data, whether the actual data are in a standard data interval or not is compared, and when the actual data exceed the standard data interval, the fact that the positions of the detection positions of bolt holes of the actual automobile chassis are greater than the distances of the positions of the specific displacement sensor 6 of the detection positions of bolt holes of the normal automobile chassis is explained, so that the positions are judged to be not preloaded with bolts; and when the actual data is in the standard data interval, the bolts are normally installed on the automobile chassis.
Specifically, the configuration software CIM of the upper device periodically collects and analyzes the vehicle chassis data scanned by the displacement sensor 6 by using the PLC system through the ethernet protocol.
Specifically, the range finding equipment sets up subaerial in construction, is located one side of support frame main part 1, and vision camera 5 sets up on control mechanism, if actual data and standard data compare the back and appear the difference, then adjust the testing position through control mechanism, drive vision camera 5 and shoot and acquire real-time image, the distance of the mobile conveyor line distance of vehicle chassis of range finding equipment detectable vehicle chassis this embodiment detection device, judge whether vehicle chassis carries in place, can transmit chassis position information, speed information to the upper device simultaneously.
The control mechanism comprises a driving device, a track device and an auxiliary device, wherein the auxiliary device is connected with the track device, and the driving device is arranged on the auxiliary device.
Referring to fig. 3, in particular, the rail apparatus includes a first rail 7, a second rail 8, and a third rail 9, and the auxiliary apparatus includes a slide table including a first slide table 11, a second slide table 12, and a third slide table 13, and a fixed beam 10; a first rail 7 and a second rail 8 are arranged on a moving block 211 of the conveyor line 2 at the top of the frame body, the first rail 7 and the second rail 8 are positioned on the same horizontal plane, the rail surfaces are parallel to each other, a first sliding table 11 and a second sliding table 12 are respectively arranged on the first rail 7 and the second rail 8, the first sliding table 11 is in sliding connection with the first rail 7, and the second sliding table 12 is in sliding connection with the second rail 8; the two ends of the bottom of the fixed beam 10 are fixedly connected with the first sliding table 11 and the second sliding table 12 respectively, so that the first rail 7, the second rail 8 and the fixed beam 10 are arranged in an I shape, the fixed beam 10 can be driven to move on the first rail 7 and the second rail 8 in the same direction through the first sliding table 11 and the second sliding table 12, and the control mechanism can move on the support frame main body 1 in the same direction.
Specifically, a third rail 9 is arranged on the fixed beam 10, a third sliding table 13 is arranged on the third rail 9, and the third sliding table 13 is in sliding connection with the third rail 9; the first damper 18, the second damper 19 and the third damper 20 are arranged at two ends of the first track 7, the second track 8 and the third track 9, wherein the first track 7 and the third track 9 are arranged as double tracks, the second track 8 is arranged as a single track, the dampers are arranged towards the track ends to be coated with soft materials or made of soft materials, and the devices moving on the tracks can be prevented from being damaged due to excessive friction.
Specifically, the driving device comprises a first motor 14 and a second motor 15, wherein the first motor 14 is arranged on the first sliding table 11, the second motor 15 is arranged on the third sliding table 13, a first drag chain 16 is arranged outside the first track 7, and the first drag chain 16 is connected with a first motor 14 through a sprocket; a second drag chain 17 is arranged outside the third track 9, and the second drag chain 17 is connected with a second motor 15 through a chain wheel; when the motor is electrified, driving power is provided, and the sliding table is driven to move along the track direction on the track through the drag chain.
Referring to fig. 4, in the present embodiment, the side of the support frame body 1 is provided with a bus module 26, and the apparatus connected to the bus module 26 includes: the first travel switch 22, the second travel switch 23, the laser ranging sensor 24, the vision camera 5 and the displacement sensor 6 which are arranged on the support frame main body 1 collect detection data information to the upper device through the bus module 26 or transmit application instructions of the upper device through the bus module 26.
Specifically, the first travel switch 22 is electrically connected to the first motor 14, and the second travel switch 23 is electrically connected to the second motor 15 to control the on and off of the first motor 14 and the second motor 15, respectively.
Specifically, a connection plate 21 is provided on the side of the third slide table 13, the connection plate 21 is vertically connected and fixed with the third slide table 13 in this embodiment, and a vision camera 5 is provided on the connection plate 21. The vision camera 5 can dynamically follow the automobile chassis to carry out full-scale shooting of the chassis along with the movement of the automobile chassis through the movement of the sliding table and the movement of the fixed beam 10, so that a real-time image is obtained.
The ranging apparatus includes a laser ranging sensor 24 and a stand 25, wherein the stand 25 is disposed on a test floor, the laser ranging sensor 24 is disposed on the stand 25, and a detection position is adjustable on the stand 25.
In the current automobile battery servicing and installing process aiming at the new energy automobile, a battery module is formed by connecting a plurality of battery units in parallel, each battery unit is formed by connecting a plurality of battery units in series, and after the battery module is installed, the preassembled bolts of the battery are detected, so that the subsequent redundancy error correction cost is reduced, and the importance is placed; but due to the complexity characteristics of a large number of preassembled bolts, large coverage, irregular shape and position and the like of the battery.
Therefore, a feasible embodiment is provided, in this embodiment, after the upper device moves the mounted automobile battery in parallel to the upper side of the support frame main body 1, the first travel switch 22 and the second travel switch 23 of the device of this embodiment are started, meanwhile, the bus module 26 can receive the moving speed of the upper device, and the rotating speeds of the first motor 14 and the second motor 15 are controlled through the bus module 26, so that the moving speeds of the first sliding table 11, the second sliding table 12 and the third sliding table 13 arranged on the first track 7, the second track 8 and the third track 9 are consistent with the moving speeds of the upper device, the fixed beam 10 arranged on the first sliding table 11 and the second sliding table 12 can move along with the first sliding table 11 and the second sliding table 12, the fixed beam 10 and the upper device are kept in a relatively static state, the vision camera 5 arranged on the third sliding table 13 can rapidly scan the preassembled bolt state of the automobile battery along with the moving of the third sliding table 13 on the third track 9, the scanning and shooting results are uploaded to the upper device and the upper device through the bus module 26, the scanning system can be analyzed to judge whether the preassembled bolt is normal or not, and whether the automobile battery is mounted or not, and whether the specific positioning is can be judged.
A method for detecting the following of bolts of automobile assembly equipment comprises the following specific steps:
s1: a fixed pin 212 is arranged at the bottom of the detection device, the fixed pin 212 is detachably connected with a moving block 211 arranged on the conveying line 2, and the detection device is fixed on the conveying line 2;
S2: detecting whether the automobile chassis is conveyed in place or not through a laser ranging sensor 24, transmitting automobile chassis position information and speed information to an upper device and a controller 3, wherein the controller 3 sets the transmission direction of the conveying line 2 to be consistent with the transmission direction of the automobile chassis, and the controller 3 sets the moving speed of the conveying line 2;
S3: the first travel switch 22 and the second travel switch 23 are started to electrify the first motor 14 and the second motor 15, the upper device sends an instruction to drive the first motor 14 and the second motor 15, the first sliding table 11 and the second sliding table 12 drive the fixed beam 10 to move, the third sliding table 13 drives the vision camera 5 to move, and the scanning and shooting of the automobile chassis are completed by matching with the displacement sensor 6;
S4: complete scanning of the bolt position of the automobile chassis is completed through the displacement sensor 6, the bolt installation condition is judged according to the height difference generated by the standard numerical value and the actual numerical value, the position with the height difference numerical value is judged in real time through shooting by the vision camera 5, and all detection data are uploaded to the upper device through the bus module 26.
Because the position of the displacement sensor 6 is fixed, and the full-scale scanning of the automobile chassis is needed through the displacement sensor 6, when the full-scale scanning of the automobile chassis is finished by the displacement sensor 6, the moving speed of the conveying line 2 is increased, the detection mechanism is conveyed to the forefront end of the automobile chassis, and the full-scale shooting of the automobile chassis is finished through the vision camera 5.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A bolt follower detection device of an automobile assembly device, comprising: the device comprises a portal frame, a fixing assembly, a control mechanism and a detection mechanism; the portal frame comprises a support frame main body (1), a conveying line (2) and a controller (3), wherein the conveying line (2) is arranged at the top of the support frame main body (1), the controller (3) is connected with the conveying line (2), and the controller (3) is used for controlling the conveying speed and the conveying direction of the conveying line (2); the fixing assembly comprises a baseboard (4), and the baseboard (4) is arranged at the bottom of the support frame main body (1); the detection mechanism comprises a vision camera (5), a displacement sensor (6) and a distance measuring device, wherein the distance measuring device is arranged on one side of the bottom of the support frame main body (1), and the displacement sensor (6) is arranged on one side of the vision camera (5); the control mechanism comprises a driving device, a track device and an auxiliary device, wherein the auxiliary device is connected with the track device, and the auxiliary device is provided with the driving device.
2. The device for detecting the follow-up of a bolt of an automobile assembling apparatus according to claim 1, wherein: the track equipment comprises a first track (7), a second track (8) and a third track (9), wherein the track surfaces of the first track (7) and the second track (8) are positioned on the same plane, and the first track (7) and the second track (8) are arranged in parallel; the third track (9) is arranged between the first track (7) and the second track (8), and the track direction of the third track (9) is perpendicular to the track directions of the first track (7) and the second track (8); the first track (7) and the third track (9) are arranged as double tracks, and the second track (8) is arranged as a single track.
3. The device for detecting the follow-up of a bolt of an automobile assembling apparatus according to claim 2, wherein: the auxiliary equipment comprises a fixed beam (10) and a sliding table, wherein the sliding table comprises a first sliding table (11), a second sliding table (12) and a third sliding table (13), and the first sliding table (11), the second sliding table (12) and the third sliding table (13) are respectively connected with the first track (7), the second track (8) and the third track (9) in a sliding manner; the fixed beam (10) bottom both ends respectively with first slip table (11), second slip table (12) fixed connection, fixed beam (10) with first slip table (11) second slip table (12) connect the opposite side of one side and be provided with third track (9).
4. A bolt follower detection device of an automotive assembly plant as defined in claim 3, wherein: the driving device comprises a driving motor and a transmission drag chain, the driving motor comprises a first motor (14) and a second motor (15), the transmission drag chain comprises a first drag chain (16) and a second drag chain (17), the first motor (14) is connected with a sprocket of the first drag chain (16), and the second motor (15) is connected with a sprocket of the second drag chain (17).
5. The apparatus for detecting the follow-up of a bolt of an automobile assembling device according to claim 4, wherein: the auxiliary equipment further comprises a damper and a connecting plate (21), wherein the damper comprises a first damper (18), a second damper (19) and a third damper (20), the first damper (18) is arranged at two ends of the first track (7), the second damper (19) is arranged at two ends of the second track (8), and the third damper (20) is arranged at two ends of the third track (9); the connecting plate (21) is arranged on the side edge of the third sliding table (13), and the connecting plate (21) is vertically connected with the third sliding table (13).
6. The apparatus for detecting the follow-up of a bolt of an automobile assembling device according to claim 5, wherein: the driving device further comprises a travel switch, the travel switch comprises a first travel switch (22) and a second travel switch (23), the first travel switch (22) is connected with the first motor (14), and the second travel switch (23) is connected with the second motor (15).
7. The device for detecting the follow-up of a bolt of an automobile assembling apparatus according to claim 1, wherein: the ranging equipment comprises a laser ranging sensor (24) and a support (25), one end of the support (25) is fixed on the ground, and the laser ranging sensor (24) is fixed at the other end of the support (25).
8. The device for detecting the follow-up of a bolt of an automobile assembling apparatus according to claim 7, wherein: the detection mechanism further comprises a bus module (26), wherein the bus module (26) is arranged on one side of the support frame main body (1), and the bus module (26) is connected with the vision camera (5), the displacement sensor (6) and the laser ranging sensor (24).
9. The device for detecting the follow-up of a bolt of an automobile assembling apparatus according to claim 1, wherein: the conveying line (2) is provided with a moving block (211) and a fixing pin (212), and the fixing pin (212) is detachably connected with the moving block (211).
10. A method for detecting the following of a bolt of automobile assembly equipment is characterized by comprising the following steps of: the method is based on a bolt follower detection device of an automotive assembly plant according to any one of claims 1-9, comprising the steps of:
S1: the bottom of the control mechanism is provided with the fixing pin (212), the fixing pin (212) is detachably connected with the moving block (211) arranged on the conveying line (2), and the detection device is fixed on the conveying line (2);
s2: detecting whether the automobile chassis is conveyed in place or not through the laser ranging sensor (24), transmitting the automobile chassis position information and the speed information to an upper device and the controller (3), wherein the controller (3) sets the conveying direction of the conveying line (2), and meanwhile, the controller (3) sets the moving speed of the conveying line (2);
S3: starting the first travel switch (22) and the second travel switch (23) to enable the first motor (14) and the second motor (15) to be electrified, sending instructions through the upper device to drive the first motor (14) and the second motor (15), enabling the first sliding table (11) and the second sliding table (12) to drive the fixed beam (10) to move, enabling the third sliding table (13) to move to drive the vision camera (5) to move, and completing scanning and shooting of the automobile chassis by matching with the displacement sensor (6);
S4: the displacement sensor (6) is used for completing comprehensive scanning of the bolt position of the automobile chassis, the bolt installation condition is judged according to the height difference generated by the standard value and the actual value, the position with the height difference value is used for shooting a real-time image through the vision camera (5) to judge the bolt installation condition, and all detection data are uploaded to the upper device through the bus module (26).
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| CN202410876875.1A CN118408946A (en) | 2024-07-02 | 2024-07-02 | Bolt following detection device and method of automobile assembly equipment |
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| CN202410876875.1A CN118408946A (en) | 2024-07-02 | 2024-07-02 | Bolt following detection device and method of automobile assembly equipment |
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