CN204183214U - The isolator star-wheel Automated assembly device that view-based access control model detects - Google Patents
The isolator star-wheel Automated assembly device that view-based access control model detects Download PDFInfo
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- CN204183214U CN204183214U CN201420591645.2U CN201420591645U CN204183214U CN 204183214 U CN204183214 U CN 204183214U CN 201420591645 U CN201420591645 U CN 201420591645U CN 204183214 U CN204183214 U CN 204183214U
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- 238000009432 framing Methods 0.000 claims abstract description 4
- 238000004886 process control Methods 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
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Abstract
The isolator star-wheel Automated assembly device that a kind of view-based access control model detects, comprise main platform, main platform installs assemble mechanism, the below of assemble mechanism is processing stations, main platform is arranged the material storage dish in order to place the isolator star-wheel after assembling, main platform installs camera, camera is connected with vision-based detection intelligent controller, vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel to be assembled according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot on main platform, robot comprises the star-wheel jaw for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.The utility model motorization assembly, reduce labor intensity, efficiency is higher.
Description
Technical field
The utility model relates to the process equipment of Engine Parts isolator, especially a kind of isolator star-wheel flexible roller assembling device.
Background technology
Isolator is the vitals in engine, and annual is in great demand, and the star-wheel in isolator is crucial assembly process together with the assembling isolator assembling of spring, roller, now main adopt or hand assembled, and labour demand is comparatively large, inefficiency.Therefore, need in engineering practice a kind ofly to replace artificial, assembly machine efficiently.
Summary of the invention
In order to overcome, the star-wheel of existing isolator and spring, the hand assembled of roller assembling mode, labour intensity are large, the deficiency of inefficiency, the isolator star-wheel Automated assembly device that the view-based access control model that the utility model provides a kind of motorization assembly, reduces labor intensity, efficiency is higher detects.
The utility model solves the technical scheme that its technical problem adopts:
The isolator star-wheel Automated assembly device that a kind of view-based access control model detects, comprise main platform, described main platform installs assemble mechanism, the below of described assemble mechanism is the processing stations placing isolator star-wheel to be assembled, described main platform is arranged the material storage dish in order to place the isolator star-wheel after assembling, described main platform installs the camera carrying out vision-based detection, described camera is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel to be assembled according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot on described main platform, described robot comprises the star-wheel jaw for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
Further, described assemble mechanism comprises and turns core and jacking block, described in turn core has and join the identical star wheel groove of isolator star-wheel with waiting to turn, described in turn core below be described processing stations, turn described in described jacking block is positioned at directly over core, described jacking block is provided with the push rod with described star wheel groove form fit;
Described jacking block is positioned at the below of dividing plate, described dividing plate is fixed in frame, the end face of described jacking block is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring, the first eccentric wheel is abutted against in the top of described first driven member, and described first eccentric rotating shaft is connected with the output shaft of the first motor;
Describedly turn the lower end that core is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor, and described first rotating shaft is through described jacking block and dividing plate.
Further again, described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide, roller entrance and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor, first connecting rod and second connecting rod and expeller, the output shaft of described 3rd motor installs first connecting rod, described first connecting rod and described second connecting rod hinged, described second connecting rod and described expeller hinged;
Described turn that core is positioned at base plate turn core bore, described base plate has and the described charging aperture turning core bore and be communicated with, described expeller is positioned at the porch of described import material, and described spring loading guide, roller entrance connect with the side of described charging aperture respectively.
Further, described expeller is provided with gathering sill.
The beneficial effects of the utility model are mainly manifested in: motorization assembly, reduce labor intensity, efficiency is higher.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the isolator star-wheel Automated assembly device that view-based access control model detects.
Fig. 2 is the pose figure of star-wheel.
Fig. 3 is the schematic diagram of assemble mechanism.
Fig. 4 is the schematic diagram of pusher.
Fig. 5 is the schematic diagram turning core.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 5, the isolator star-wheel Automated assembly device that a kind of view-based access control model detects, comprise main platform 4, described main platform 4 installs assemble mechanism 2, the below of described assemble mechanism 2 is the processing stations placing isolator star-wheel 6 to be assembled, described main platform 4 is arranged the material storage dish 3 in order to place the isolator star-wheel after assembling, described main platform 4 installs the camera 1 carrying out vision-based detection, described camera 1 is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot 5 on described main platform 4, described robot 5 comprises the star-wheel jaw 23 for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
Further, described assemble mechanism comprises and turns core 15 and jacking block 11, described turn core 15 has join the identical star wheel groove of isolator star-wheel with waiting to turn, the described below turning core 15 is described processing stations, turn described in described jacking block 11 is positioned at directly over core 15, described jacking block 11 is provided with the push rod with described star wheel groove form fit;
Described jacking block 11 is positioned at the below of dividing plate, described dividing plate is fixed on support 7, the described end face of jacking block 11 is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring 10, the first eccentric wheel 9 is abutted against in the top of described first driven member, and the rotating shaft of described first eccentric wheel 9 is connected with the output shaft of the first motor 24;
Describedly turn the lower end that core 15 is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor 8, and described first rotating shaft is through described jacking block 11 and dividing plate.
Further again, described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide 14, roller entrance 12 and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor 19, first connecting rod and second connecting rod 18 and expeller 16, the output shaft of described 3rd motor 19 installs first connecting rod, described first connecting rod and described second connecting rod 18 hinged, described second connecting rod 18 and described expeller 16; Described 3rd motor 19 is arranged on electric machine support 20, and described electric machine support 20 is arranged on main platform 4;
Described turn that core 15 is positioned at base plate turn core bore, described base plate has and the described charging aperture 13 turning core bore and be communicated with, described expeller 16 is positioned at the porch of described import material 13, and described spring loading guide 14, roller entrance 12 connect with the side of described charging aperture 13 respectively.
Further, described expeller 16 is provided with gathering sill 17.
In the present embodiment, camera 1 support is supported on main platform 4, an assemble mechanism 7 is placed in main platform 4 centre position, the half-finished material storage dish 3 after an assembling is placed on right side, a robot 5 (such as six-joint robot) is placed in main platform 4 front portion, and robot head is a star-wheel jaw 23.Be connected with mechanical arm connection between mechanical arm and vision-based detection intelligent controller, camera 1 is connected with vision-based detection intelligent controller by connection.Under isolator star-wheel being optionally placed on the region that camera can be irradiated to, dynamic scan is carried out through vision-based detection CCD, image transmitting scanning obtained is to vision-based detection intelligent controller, and vision-based detection intelligent controller, by image processing algorithm, draws the level angle of star-wheel.Computer is again by mechanical arm connection, drift angle numerical value is passed to robot, robot is grabbed by hand and captures star-wheel, the 6th axle is carried out deflecting the star-wheel deflection angle that video camera detects subsequently by automated procedures, star-wheel is grabbed the outlet to assemble mechanism 2 times alignment springs rollers simultaneously, after completing assembling, the star-wheel after assembling is put in material storage dish by star-wheel jaw
As Fig. 2, under star-wheel is placed on camera with random position, utilize OPENCV vision storehouse, first detect the central coordinate of circle (x of star-wheel
0, y
0), then detect the tooth profile inside star-wheel, extract the pixel coordinate of each point of profile
calculate again point on profile and central coordinate of circle point square distance and, D=(x
i-x
0)
2+ (y
i-y
0)
2, obtain the minimum of a value D of D
min, and obtain the pixel coordinate value on corresponding profile
so they are brought into formula
star-wheel deflection angle γ can be obtained, thus composition one group of discernible coordinate points (x of robot
0, y
0, h, 0,0, γ), h is the actual height of isolator star-wheel.
The assembling device of the present embodiment comprises a main platform 4, camera 1 is had at the left frame of main platform 4, isolator star-wheel 6 to be assembled is placed under camera, main body assembler 2 is had in the centre of workbench 4, be placed with accumulator 3 on the right side of workbench, place six-joint robot 5 in the front of workbench.Described main body assembler has main assembly support 7, is divided into three lattice generally.Have the second motor 8 in topmost portion, centre is fixed with eccentric mechanism 9, by driven by motor.Back-moving spring 10 is placed between jacking block 11 and support.As Fig. 5, turn core 15 and be fixed in the bottom of main assembly support, it is driven by motor 8.Be fixed with spring material loading track 14 in the bottom front portion of support, bottom top is fixed with pusher guide rail.Described pusher is as Fig. 4, and it is by pusher jacking block 16, crank connecting link 18, and drive motors 19 forms.Pusher jacking block has gathering sill 17.Manipulator jaw 23 is connected to the terminal shaft of six-joint robot.
Concrete assembling process is as follows:
(1) isolator star-wheel 6 to be assembled is placed on the surveyed area under camera 1;
(2) computer obtains the star-wheel original image information that camera obtains, and carries out image procossing, calculates centre coordinate and the star-wheel drift angle (x of star-wheel
0, y
0, h, 0,0, γ);
(3) coordinate information is transferred to robot 5 by connection by computer, and mechanical arm captures star-wheel 6, and mechanical arm terminal shaft driving mechanical hand jaw 23 rotates subsequently, and the groove of star-wheel is alignd with the groove 22 turning core 15.
(4) while mechanical arm captures, spring carries out material loading along spring loading guide 14, roller falls from the hole kicker baffle 12, then pushing material component pushes spring and roller and turns in core 15, and the second motor 8 rotates 72 °, repeats material loading action 5 times, until turn core groove to be filled position, first motor 24 is with movable eccentric wheel to rotate, and is pushed away for 11 times by jacking block, spring and ball is pushed in the groove of star-wheel 6.
(5) complete assembling action, the star-wheel after assembling is put in material storage dish 3 by mechanical arm.
Above-described is only principle of the present utility model and preferred embodiment.It should be pointed out that to those skilled in the art, under the prerequisite not departing from the utility model principle, some modification and improvement can also be made, also should be considered as belonging to protection domain of the present utility model.
Claims (4)
1. the isolator star-wheel Automated assembly device of a view-based access control model detection, it is characterized in that: comprise main platform, described main platform installs assemble mechanism, the below of described assemble mechanism is the processing stations placing isolator star-wheel to be assembled, described main platform is arranged the material storage dish in order to place the isolator star-wheel after assembling, described main platform installs the camera carrying out vision-based detection, described camera is connected with vision-based detection intelligent controller, described vision-based detection intelligent controller comprises the locating module of the position in order to the framing isolator star-wheel according to shooting, in order to the image recognition isolator star-wheel to be assembled according to shooting level angle and send the intelligent visual detection module of adjustment star-wheel position to robot after star-wheel when robot captures and according to assembly process control, star-wheel transferred to the motion-control module in precalculated position, mounting robot on described main platform, described robot comprises the star-wheel jaw for capturing the isolator star-wheel after isolator star-wheel to be assembled and assembling.
2. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 1, it is characterized in that: described assemble mechanism comprises and turns core and jacking block, described turn core has join the identical star wheel groove of isolator star-wheel with waiting to turn, the described below turning core is described processing stations, turn described in described jacking block is positioned at directly over core, described jacking block is provided with the push rod with described star wheel groove form fit;
Described jacking block is positioned at the below of dividing plate, described dividing plate is fixed in frame, the end face of described jacking block is connected with the lower end of connecting axle, described connecting axle can slide up and down to through described dividing plate, the upper end of described connecting axle is connected with the first driven member, be positioned on the connecting axle on dividing plate and be set with the first back-moving spring, the first eccentric wheel is abutted against in the top of described first driven member, and described first eccentric rotating shaft is connected with the output shaft of the first motor;
Describedly turn the lower end that core is arranged on the first rotating shaft, the upper end of described first rotating shaft connects with the output shaft of the second motor, and described first rotating shaft is through described jacking block and dividing plate.
3. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 2, it is characterized in that: described assemble mechanism also comprises loading assemblies, described loading assemblies comprises spring loading guide, roller entrance and slider-crank mechanism, described slider-crank mechanism comprises the 3rd motor, first connecting rod and second connecting rod and expeller, the output shaft of described 3rd motor installs first connecting rod, described first connecting rod and described second connecting rod hinged, described second connecting rod and described expeller hinged;
Described turn that core is positioned at base plate turn core bore, described base plate has and the described charging aperture turning core bore and be communicated with, described expeller is positioned at the porch of described charging aperture, and described spring loading guide, roller entrance connect with the side of described charging aperture respectively.
4. the isolator star-wheel Automated assembly device of view-based access control model detection as claimed in claim 3, is characterized in that: described expeller is provided with gathering sill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420591645.2U CN204183214U (en) | 2014-10-14 | 2014-10-14 | The isolator star-wheel Automated assembly device that view-based access control model detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420591645.2U CN204183214U (en) | 2014-10-14 | 2014-10-14 | The isolator star-wheel Automated assembly device that view-based access control model detects |
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|---|---|
| CN204183214U true CN204183214U (en) | 2015-03-04 |
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|---|---|---|---|
| CN201420591645.2U Withdrawn - After Issue CN204183214U (en) | 2014-10-14 | 2014-10-14 | The isolator star-wheel Automated assembly device that view-based access control model detects |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308530A (en) * | 2014-10-14 | 2015-01-28 | 浙江工业大学 | Vision detection-based isolator star wheel automated assembly device |
| CN105467877A (en) * | 2015-12-09 | 2016-04-06 | 珠海市运泰利自动化设备有限公司 | A high precision optical deviation rectifying apparatus based on an eccentric wheel platform |
| CN106112520A (en) * | 2016-08-22 | 2016-11-16 | 湖北精川智能装备股份有限公司 | A kind of non-reversing device for starting automatic assembling machine bed |
-
2014
- 2014-10-14 CN CN201420591645.2U patent/CN204183214U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308530A (en) * | 2014-10-14 | 2015-01-28 | 浙江工业大学 | Vision detection-based isolator star wheel automated assembly device |
| CN104308530B (en) * | 2014-10-14 | 2016-09-14 | 浙江工业大学 | The isolator star-wheel Automated assembly device of view-based access control model detection |
| CN105467877A (en) * | 2015-12-09 | 2016-04-06 | 珠海市运泰利自动化设备有限公司 | A high precision optical deviation rectifying apparatus based on an eccentric wheel platform |
| CN105467877B (en) * | 2015-12-09 | 2018-11-16 | 珠海市运泰利自动化设备有限公司 | High-precision optical deviation correcting device based on eccentric wheel platform |
| CN106112520A (en) * | 2016-08-22 | 2016-11-16 | 湖北精川智能装备股份有限公司 | A kind of non-reversing device for starting automatic assembling machine bed |
| CN106112520B (en) * | 2016-08-22 | 2017-12-22 | 湖北精川智能装备股份有限公司 | A kind of non-reversing device for starting automatic assembling lathe |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150304 Effective date of abandoning: 20160914 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150304 Effective date of abandoning: 20160914 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |