CN207726322U - A kind of salt core flexibility of view-based access control model identification picks and places positioning system - Google Patents
A kind of salt core flexibility of view-based access control model identification picks and places positioning system Download PDFInfo
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- CN207726322U CN207726322U CN201820057367.0U CN201820057367U CN207726322U CN 207726322 U CN207726322 U CN 207726322U CN 201820057367 U CN201820057367 U CN 201820057367U CN 207726322 U CN207726322 U CN 207726322U
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Abstract
The utility model is related to the casting production fields of interior cooling oil duct piston, and in particular to a kind of salt core flexibility of view-based access control model identification picks and places positioning system, including robot, flexibility pick and place paw, integrity degree detection vision system, fixation and recognition vision system；The salt core flexibility that the utility model provides a kind of identification of view-based access control model picks and places positioning system, the strong chucking power of the three-jaw cylinder is changed into the soft chucking power of the fastening spring, the salt core being easily broken relatively low to intensity and toughness when clamping is avoided to damage；The finger bias is limited using the limited block, ensures positioning accuracy in the margin of tolerance allowable；The integrity degree that vision system judges salt core is detected by the integrity degree；Pass through the angle of the fixation and recognition vision system and the accurate adjustment salt core of servo motor adjustment；Simultaneously by adjusting the stroke adjustment nut, there can be the broader scope of application with the salt core of compatible many kinds of specification size.
Description
Technical field
The utility model is related to the casting production fields of interior cooling oil duct piston, and in particular to a kind of identification of view-based access control model
Salt core flexibility picks and places positioning system.
Background technology
With the development of automobile engine technology, the requirement to piston radiating efficiency is higher and higher so that interior cooling oil duct
Piston has obtained wider application.Wherein water soluble salt core is interior because the advantages of having good collapsibility, be easy to depoling
Primary core material when cooling oil duct casting for piston.Currently, in piston casting process, especially to two chamber casting machine of a mould,
Salt core is manually inserted to mainly by worker in positioning thimble, and working efficiency is low；And salt core is easy to crack frangible, manual operation stability
Difference is easy to cause salt core discontinuity and damaged.In addition, to be preheating to 700 DEG C before casting due to salt core, manual operation has
Great security risk.
Utility model content
(1) the technical issues of solving
The utility model aim is to overcome in the prior art efficiency existing for manually placement salt core low, fragile, safe
Property it is low the problems such as, and the salt core flexibility for providing a kind of identification of view-based access control model picks and places positioning system.The system can be soft simultaneously
Two groups of salt cores arbitrarily placed are captured, had not only ensured the integrity degree of salt core, but also improve working efficiency；Two can be accurately adjusted respectively
The coordinate and angle of group salt core, while being properly inserted in the positioning thimble in mold.In addition, the system is adapted to a variety of rule
The salt core of lattice size has widely applicability.
(2) technical solution
A kind of salt core flexibility of view-based access control model identification picks and places positioning system, including robot, flexibility pick and place paw, integrity degree
Detect vision system, fixation and recognition vision system；The flexibility pick and place paw include connecting flange, gyro black assembly, clamp assemblies,
Push component；The gyro black assembly includes servo motor, taper roll bearing, bearing base, drive shaft, turntable；The revolution
Component is symmetrically mounted on by bearing base on connecting flange；The output shaft of the servo motor is connect with drive shaft flat key；Institute
Drive shaft is stated to be interference fitted with taper roll bearing internal diameter；The taper roll bearing outer diameter coordinates with bearing base transition；Institute
Servo motor is stated to be fixed on bearing base；The turntable is connect with drive shaft flat key；The clamp assemblies are fixed on revolution group
On the turntable of part；The component that pushes is mounted on the center-pole of clamp assemblies；The flexibility picks and places paw and passes through connecting flange
Fixed to robot end；The integrity degree detection vision system includes detection camera, detector lens, detection light source, detection phase
Machine support；The detection camera is fixed on detection camera support；The detector lens are mounted on detection camera；The detection
Light source is fixed on detection camera support；The integrity degree detection vision system is installed to connecting flange by detecting camera support
On；The fixation and recognition vision system includes positioning camera, positioning camera lens, positioned light source, positioning camera holder；The positioning phase
Machine is fixed on positioning camera holder；The positioning camera lens is mounted on positioning camera；The positioned light source is fixed on positioning phase
On machine support；The fixation and recognition vision system is arranged on robot motion path.
Preferably, the clamp assemblies include three-jaw cylinder, guide rail mounting plate, micro slide rail, miniature sliding block, sliding rail gear
Block, spring lever, U-shaped catch, stroke adjustment nut, fastening spring, finger, center-pole, spacing ring, spacing ring mounting base；It is described
It includes pushing pre-load nut, lower pressing spring, lower platen mounting base, lower platen, annular baffle to push component；The center-pole passes through
The centre bore of three-jaw cylinder；The guide rail mounting plate is fixed on three-jaw cylinder；The micro slide rail is mounted on guide rail mounting plate
On；The miniature sliding block is slidably matched on micro slide rail；The sliding rail block is fixed on micro slide rail both ends；The finger with
Miniature sliding block is fixedly connected；The spring lever both ends are separately connected sliding rail block；The U-shaped catch, stroke adjustment nut, clamping
Spring, finger sequentially pass through spring lever；The U-shaped catch is fixedly connected with finger；The spacing ring, spacing ring mounting base, under
Pressure pre-load nut, lower pressing spring, lower platen mounting base, lower platen penetrate center-pole successively；The annular baffle is solid by bolt
It is scheduled on center-pole end.
Preferably, the three-jaw cylinder is the big hollow cylinder of stroke three-jaw, centre bore and three-jaw concentric；The three-jaw cylinder
It is connected on air compressor machine by tracheae.
Preferably, the flexibility picks and places two groups of gyro black assembly centre-to-centre spacing and two chamber casting machine centre-to-centre spacing one of a mould in paw
It causes.
Preferably, the artificial high precision six-axis robot of the machine；The integrity degree detection vision system and fixation and recognition
Vision system is high-speed, high precision vision system；The servo motor is high-accuracy pulse stamp servo motor.
Preferably, the drive shaft is multi-diameter shaft, and diameter of bore is consistent with servo motor output shaft, outer circle major diameter and circular cone
Roller bearing internal diameter is consistent, and outer circle path is consistent with turntable internal diameter；The turntable is axially connected with drive shaft, radial to use
Flat key connects；The turntable central axes and three-jaw cylinder axis hole are coaxial.
Preferably, fine thread is processed on the spring lever, stroke adjustment nut can be in spinning in and out above；The spring
Bar outer diameter is less than fastening spring internal diameter；Stepped hole is opened on the finger, stepped hole major diameter is more than fastening spring outer diameter, and stepped hole is small
Diameter is less than fastening spring outer diameter, is more than spring lever outer diameter；Inclined-plane boss is arranged in the finger tips, and gradient is equal to the draft of salt core
Gradient；The fastening spring is low elastic coefficient helical spring, and length is more than finger stepped hole major diameter depth；The U-shaped catch
It is fixed on finger across spring lever, U-shaped mouth depth is slightly larger than two stroke adjustment nut thickness, and fastening spring is made to be in compression
State.
Preferably, the center-pole is three-level multi-diameter shaft, and major diameter is more than three-jaw cylinder axis bore dia, ensures center-pole not
It falls off；The center-pole central diameter processes fine thread, coordinates with the transition of three-jaw cylinder axis hole, ensures center-pole and three-jaw cylinder
Concentricity；The center-pole and lower platen mounting base clearance fit, can slide up and down；The spacing ring mounting base is fixed on
On center-pole, through-hole internal diameter coordinates with center-pole transition, ensures the concentricity of center-pole and spacing ring mounting base；The spacing ring
Mounting base convex platform outer diameter and spacing ring internal diameter clearance fit ensure the two concentricity in Measurement Allowance；The limit
Ring is split ring, and outer diameter is more than center shank diameter than salt core outer diameter small ten, opening width, is convenient for quick-replaceable.
Preferably, the pushing pre-load nut and center-pole screw-thread fit change position and may be implemented to push spring pre-tightening
The adjusting of power；Lower platen mounting base center is provided with stepped hole, stepped hole path and center-pole clearance fit, under making
Pressing plate mounting base can be slidably matched on center-pole, and stepped hole major diameter is more than the diameter of annular baffle；It is set on the lower platen
It sets there are three the strip grooves for being in 120 ° of circle distributions, three fingers is made not interfere with lower platen.
Preferably, the annular baffle internal diameter be less than center shank diameter, outer diameter be more than center shank diameter, prevent lower platen from
Center-pole falls off.
(3) advantageous effect
The salt core flexibility that the utility model provides a kind of identification of view-based access control model picks and places positioning system, bilateral to pick and place simultaneously,
Efficient work, clamping is soft, accurate positioning.When capturing salt core, integrity degree detection vision system is used to judge the salt of arbitrary placement
Whether core is complete and positions salt core centre coordinate, and robot drives flexibility to pick and place paw and moves to right over salt core, three-jaw cylinder
It is opened under high pressure gas effect, drives finger to expand outwardly, salt core is fallen among three fingers；Then three-jaw cylinder closes
It closes, drives finger to contract, salt core is contacted with finger, and limitation finger continues to shrink, and compresses fastening spring, becomes three-jaw cylinder
Strong chucking power is the soft chucking power of fastening spring, gently captures salt core, ensures that salt core does not rupture；Suffered by three side of salt core
When chucking power is uneven, since limit ring outer diameter is than salt core outer diameter small ten, in interior lateral spacing salt manufacturing core bias, in tolerance model allowable
Enclose interior guarantee accurate positioning.Flexibility picks and places paw crawl salt core and runs to right over fixation and recognition vision system, and positioning camera is used
Salt core is driven to be turned back to the angle with positioning thimble in mold in two location hole coordinates and angle, servo motor on identification salt core
Unanimously.
When placing salt core, flexibility picks and places paw crawl salt core and runs to right over casting machine mold, and robot moves downward,
Positioning thimble being inserted into the location hole of salt core, three-jaw cylinder is opened, and fastening spring restores deformation, and finger expands outwardly, with
Salt core is detached from；Robot continues to move downward, and makes lower platen contact salt core upper surface, pushes compression deformation of the spring, utilize pushing
Salt core is fully pressed into mold by plate weight and pushing spring tension, and plays the role of positive pressure；Positive pressure in place after, robot lift
Certain altitude is played, integrity degree detection vision system, which is taken pictures, detects the integrity degree of salt core annulus, completely carries out piston casting just now.
By adjusting stroke adjustment nut, finger is made to be in different location on micro slide rail, changes the opening and closing of three-jaw cylinder
When fingerhold internal diameter, realize that flexibility picks and places the salt core of paw compatible many kinds of specification size, there is the broader scope of application.
Description of the drawings
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model, protects some realities
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure chart of the utility model；
Fig. 2 is salt cored structure schematic diagram；
Fig. 3 is the structure chart that salt core flexibility picks and places paw；
Fig. 4 is the vertical view that salt core flexibility picks and places paw；
Fig. 5 is the sectional view in the directions A-A in Fig. 4；
Fig. 6 is the structure chart that integrity degree detects vision system；
Fig. 7 is the structure chart of fixation and recognition vision system.
In attached drawing, parts list represented by the reference numerals are as follows：
100, robot, 200, flexibility pick and place paw, 300, integrity degree detect vision system, 400, fixation and recognition vision system
System, 210, connecting flange, 220, gyro black assembly, 230, clamp assemblies, 250, push component, 221, servo motor, 222, circular cone
Roller bearing, 223, bearing base, 224, drive shaft, 225, turntable, 231, three-jaw cylinder, 232, guide rail mounting plate, 233, micro-
Type sliding rail, 234, miniature sliding block, 235, sliding rail block, 236, spring lever, 237, U-shaped catch, 238, stroke adjustment nut, 239,
Fastening spring, 240, finger, 241, center-pole, 242, spacing ring, 243, spacing ring mounting base, 251, push pre-load nut,
252, lower pressing spring, 253, lower platen mounting base, 254, lower platen, 255, annular baffle, 301, detection camera support, 302, inspection
Survey camera, 303, detector lens, 304, detection light source, 401, positioned light source, 402, positioning camera lens, 403, positioning camera, 404,
Positioning camera holder.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
The all other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to attached drawing 1, a kind of salt core flexibility of view-based access control model identification picks and places positioning system, including robot 100, flexibility take
Let go pawl 200, integrity degree detection vision system 300, fixation and recognition vision system 400.Flexibility picks and places paw 200 and passes through connection method
Orchid 210 is fixed to 100 end of robot；Integrity degree detects vision system 300 and is installed to connection method by detecting camera support 301
On orchid 210；Fixation and recognition vision system 400 is arranged on 100 motion path of robot.
As shown in figs. 3 and 5, flexibility picks and places paw 200, including connecting flange 210, gyro black assembly 220, clamp assemblies
230, component 250 is pushed；Gyro black assembly 220 includes servo motor 221, taper roll bearing 222, bearing base 223, drive shaft
224, turntable 225；Clamp assemblies 230 include three-jaw cylinder 231, guide rail mounting plate 232, micro slide rail 233, miniature sliding block 234,
Sliding rail block 235, spring lever 236, U-shaped catch 237, stroke adjustment nut 238, fastening spring 239, finger 240, center-pole
241, spacing ring 242, spacing ring mounting base 243；It includes pushing pre-load nut 251, lower pressing spring 252, pushing to push component 250
Plate mounting base 253, lower platen 254, annular baffle 255.Gyro black assembly 220 is mounted on connecting flange 210 by bearing base 223
On；Clamp assemblies 230 are fixed on the turntable 225 of gyro black assembly 220；Push the center that component 250 is mounted on clamp assemblies 230
On bar 241；The output shaft of servo motor 221 is connect with 224 flat key of drive shaft；Drive shaft 224 and 222 internal diameter of taper roll bearing
Interference fit；222 outer diameter of taper roll bearing coordinates with 223 transition of bearing base；Servo motor 221 is fixed on bearing base
On 223；Turntable 225 is connect with 224 flat key of drive shaft；Center-pole 241 passes through the centre bore of three-jaw cylinder 231；Guide rail mounting plate
232 are fixed on three-jaw cylinder 231；Micro slide rail 233 is mounted on guide rail mounting plate 232；Miniature sliding block 234 is in micro slide rail
It is slidably matched on 233；Sliding rail block 235 is fixed on 233 both ends of micro slide rail；Finger 240 is fixedly connected with miniature sliding block 234；
236 both ends of spring lever are separately connected sliding rail block 235；U-shaped catch 237, stroke adjustment nut 238, fastening spring 239, finger
240 sequentially pass through spring lever 236；U-shaped catch 237 is fixedly connected with finger 240；Spacing ring 242, spacing ring mounting base 243, under
Pressure pre-load nut 251, lower pressing spring 252, lower platen mounting base 253, lower platen 254 penetrate center-pole 241 successively；Annular baffle
255 are bolted on 241 end of center-pole.Servo motor 221 is high-accuracy pulse stamp servo motor.Three-jaw cylinder 231
For the big hollow cylinder of stroke three-jaw, centre bore and three-jaw concentric；Three-jaw cylinder 231 is connected to by tracheae on air compressor machine.It is flexible
It is consistent with two chamber casting machine centre-to-centre spacing of a mould to pick and place two groups of 220 centre-to-centre spacing of gyro black assembly in paw 200.Drive shaft 224 is ladder
Axis, diameter of bore is consistent with 221 output shaft of servo motor, and outer circle major diameter is consistent with 222 internal diameter of taper roll bearing, outer circle path
It is consistent with 225 internal diameter of turntable.Turntable 225 is axially connected with drive shaft 224, radial to be connected with flat key.225 axis of turntable
Line and 231 centre bore of three-jaw cylinder are coaxial.Fine thread is processed on spring lever 236, stroke adjustment nut 238 can be in precession above
It screws out；236 outer diameter of spring lever is less than 239 internal diameter of fastening spring.Stepped hole is set on finger 240, and stepped hole major diameter, which is more than, to be clamped
239 outer diameter of spring, stepped hole path are less than 239 outer diameter of fastening spring, are more than 236 outer diameter of spring lever；The setting of 240 end of finger is oblique
Face boss, gradient are equal to the pattern draft of salt core, fall off when salt core being avoided to capture.Fastening spring 239 is low elastic coefficient spiral
Spring, length are more than 240 stepped hole major diameter depth of finger.U-shaped catch 237 is fixed on across spring lever 236 on finger, U-shaped mouth
Depth is slightly larger than two 238 thickness of stroke adjustment nut, and fastening spring 239 is made to be in compressive state.Center-pole 241 is three-level rank
Terraced axis, major diameter are more than 231 center-hole diameter of three-jaw cylinder, ensure that center-pole 241 is not fallen off；241 central diameter of center-pole processes closely-pitched
Screw thread coordinates with the 231 centre bore transition of three-jaw cylinder, ensures the concentricity of center-pole 241 and three-jaw cylinder 231；Center-pole 241
With 253 clearance fit of lower platen mounting base, can slide up and down.Spacing ring mounting base 243 is fixed on center-pole 241, through-hole
Internal diameter coordinates with 241 transition of center-pole, ensures the concentricity of center-pole 241 and spacing ring mounting base 243；Spacing ring mounting base
243 convex platform outer diameters and 242 internal diameter clearance fit of spacing ring ensure the two concentricity in Measurement Allowance.Spacing ring 242
For split ring, outer diameter is more than 241 diameter of center-pole than salt core outer diameter small ten, opening width, is convenient for quick-replaceable.It pushes and pre-tightens
Nut 251 and 241 screw-thread fit of center-pole change the adjusting that 252 pretightning force of lower pressing spring may be implemented in position.Lower platen is installed
253 centers of seat are provided with stepped hole, stepped hole path and 241 clearance fit of center-pole, make lower platen mounting base 253 can be with
It is slidably matched on center-pole 241, stepped hole major diameter is more than the diameter of annular baffle 255.There are three be in for setting on lower platen 254
The strip grooves of 120 ° of circle distributions make three fingers 240 not interfere with lower platen 254.255 internal diameter of annular baffle is less than center-pole
241 diameters, outer diameter are more than 241 diameter of center-pole, prevent lower platen 254 from falling off from center-pole 241.
As shown in Figure 6, Figure 7, integrity degree detection vision system 300 includes detection camera support 301, detection camera 302, inspection
Survey camera lens 303, detection light source 304；Fixation and recognition vision system 400 includes positioned light source 401, positioning camera lens 402, positioning camera
403, positioning camera holder 404；Detection camera 302 is fixed on detection camera support 301；Detector lens 303 are mounted on detection
On camera 302；Detection light source 304 is fixed on detection camera support 301；Positioning camera 403 is fixed on positioning camera holder 404
On；Camera lens 402 is positioned to be mounted on positioning camera 403；Positioned light source 401 is fixed on positioning camera holder 404.
Robot 100 is high precision six-axis robot.Integrity degree detects vision system 300 and fixation and recognition vision system
400 be high-speed, high precision vision system, determines whether salt core complete or salt core coordinate by way of taking pictures.
Compared with prior art, this system is bilateral picks and places simultaneously, efficient work, and clamping is soft, accurate positioning.Capture salt core
When, integrity degree detection vision system 300 is used to judge whether the salt core of arbitrary placement to be complete and positions salt core centre coordinate, machine
People 100 drives flexibility to pick and place paw 200 and moves to right over salt core, and three-jaw cylinder 231 is opened under high pressure gas effect, is driven
Finger 240 expands outwardly, and salt core is fallen among three fingers 240；Then three-jaw cylinder 231 is closed, and drives finger 240 inside
It shrinks, salt core is contacted with finger 240, and limitation finger 240 continues to shrink, and compresses fastening spring 239, becomes three-jaw cylinder the last 231
Hard chucking power is the soft chucking power of fastening spring 239, gently captures salt core, ensures that salt core does not rupture；When three side institute of salt core
When uneven by chucking power, since 242 outer diameter of spacing ring is than salt core outer diameter small ten, in interior lateral spacing salt manufacturing core bias, allowable
Ensure accurate positioning in the margin of tolerance.Flexibility pick and place paw 200 capture salt core run to fixation and recognition vision system 400 just on
Side, positioning camera 403 two location hole coordinates and angle on salt core for identification, servo motor 221 drive salt core be turned back to
The angle of positioning thimble is consistent in mold.
When placing salt core, flexibility, which picks and places paw 200 and captures salt core, to be run to right over casting machine mold, robot 100 to
Lower movement, positioning thimble is inserted into the location hole of salt core, and three-jaw cylinder 231 is opened, and fastening spring 239 restores deformation, hand
Refer to 240 to expand outwardly, be detached from salt core；Robot 100 continues to move downward, and lower platen 254 is made to contact salt core upper surface, pushes
Salt core is fully pressed into mold by 252 compressive deformation of spring using 254 weight of lower platen and 252 tension of lower pressing spring, and is risen
It is acted on to positive pressure；Positive pressure in place after, robot 100 is raised to certain altitude, and integrity degree detection vision system 300 is taken pictures detection salt
The integrity degree of core annulus completely carries out piston casting just now.
By adjusting stroke adjustment nut 238, finger 240 is made to be in different location on micro slide rail 233, changes three-jaw
The internal diameter that finger 240 is clamped when cylinder 231 is opened and closed is realized that flexibility picks and places the salt core of paw compatible many kinds of specification size, is had more
The wide scope of application.
In another embodiment, integrity degree detection vision system 300 and fixation and recognition vision system 400 are connected with PLC
Controller, PLC controller control the action of robot 100 and servo motor 221.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, does not limit the specific implementation mode that the utility model is only yet.Obviously, according to this specification
Content, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, be in order to preferably explain
The principles of the present invention and practical application, to enable skilled artisan to be best understood by and utilize this practicality
It is novel.The utility model is limited only by the claims and their full scope and equivalents.
Claims (10)
1. a kind of salt core flexibility of view-based access control model identification picks and places positioning system, including robot, flexibility pick and place paw, integrity degree inspection
Survey vision system, fixation and recognition vision system, it is characterised in that：The flexibility pick and place paw include connecting flange, gyro black assembly,
Clamp assemblies push component；The gyro black assembly includes servo motor, taper roll bearing, bearing base, drive shaft, turntable；
The gyro black assembly is symmetrically mounted on by bearing base on connecting flange；The output shaft of the servo motor and drive shaft flat key
Connection；The drive shaft is interference fitted with taper roll bearing internal diameter；The taper roll bearing outer diameter and bearing base transition
Cooperation；The servo motor is fixed on bearing base；The turntable is connect with drive shaft flat key；The clamp assemblies are fixed on
On the turntable of gyro black assembly；The component that pushes is mounted on the center-pole of clamp assemblies；The flexibility picks and places paw and passes through company
Acting flange is fixed to robot end；Integrity degree detection vision system include detection camera, detector lens, detection light source,
Detect camera support；The detection camera is fixed on detection camera support；The detector lens are mounted on detection camera；Institute
Detection light source is stated to be fixed on detection camera support；The integrity degree detection vision system is installed to company by detecting camera support
On acting flange；The fixation and recognition vision system includes positioning camera, positioning camera lens, positioned light source, positioning camera holder；It is described
Positioning camera is fixed on positioning camera holder；The positioning camera lens is mounted on positioning camera；The positioned light source is fixed on
On positioning camera holder；The fixation and recognition vision system is arranged on robot motion path.
2. a kind of salt core flexibility of view-based access control model identification according to claim 1 picks and places positioning system, it is characterised in that：Institute
State clamp assemblies include three-jaw cylinder, guide rail mounting plate, micro slide rail, miniature sliding block, sliding rail block, spring lever, U-shaped catch,
Stroke adjustment nut, fastening spring, finger, center-pole, spacing ring, spacing ring mounting base；The pushing component includes pushing in advance
Tight nut, lower pressing spring, lower platen mounting base, lower platen, annular baffle；The center-pole passes through the centre bore of three-jaw cylinder；
The guide rail mounting plate is fixed on three-jaw cylinder；The micro slide rail is mounted on guide rail mounting plate；The miniature sliding block exists
It is slidably matched on micro slide rail；The sliding rail block is fixed on micro slide rail both ends；The finger is fixedly connected with miniature sliding block；
The spring lever both ends are separately connected sliding rail block；The U-shaped catch, stroke adjustment nut, fastening spring, finger sequentially pass through
Spring lever；The U-shaped catch is fixedly connected with finger；The spacing ring, spacing ring mounting base push pre-load nut, push bullet
Spring, lower platen mounting base, lower platen penetrate center-pole successively；The annular baffle is bolted on center-pole end.
3. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：Institute
It is the big hollow cylinder of stroke three-jaw, centre bore and three-jaw concentric to state three-jaw cylinder；The three-jaw cylinder is connected to sky by tracheae
On press.
4. a kind of salt core flexibility of view-based access control model identification according to claim 1 picks and places positioning system, it is characterised in that：Institute
Stating flexibility, to pick and place two groups of gyro black assembly centre-to-centre spacing in paw consistent with two chamber casting machine centre-to-centre spacing of a mould.
5. a kind of salt core flexibility of view-based access control model identification according to claim 1 picks and places positioning system, it is characterised in that：Institute
State the artificial high precision six-axis robot of machine；The integrity degree detection vision system and fixation and recognition vision system are high speed and super precision
Spend vision system；The servo motor is high-accuracy pulse stamp servo motor.
6. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：Institute
It is multi-diameter shaft to state drive shaft, and diameter of bore is consistent with servo motor output shaft, and outer circle major diameter is consistent with taper roll bearing internal diameter,
Outer circle path is consistent with turntable internal diameter；The turntable is axially connected with drive shaft, radial to be connected with flat key；The turntable
Central axes and three-jaw cylinder axis hole are coaxial.
7. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：Institute
It states and processes fine thread on spring lever, stroke adjustment nut can be in spinning in and out above；The spring lever outer diameter, which is less than, clamps bullet
Spring internal diameter；Stepped hole is opened on the finger, stepped hole major diameter is more than fastening spring outer diameter, and stepped hole path is less than outside fastening spring
Diameter is more than spring lever outer diameter；Inclined-plane boss is arranged in the finger tips, and gradient is equal to the pattern draft of salt core；The clamping bullet
Spring is low elastic coefficient helical spring, and length is more than finger stepped hole major diameter depth；The U-shaped catch is fixed on across spring lever
On finger, U-shaped mouth depth is slightly larger than two stroke adjustment nut thickness, and fastening spring is made to be in compressive state.
8. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：Institute
It is three-level multi-diameter shaft to state center-pole, and major diameter is more than three-jaw cylinder axis bore dia；The center-pole central diameter processes fine thread, with
The transition cooperation of three-jaw cylinder axis hole；The center-pole and lower platen mounting base clearance fit, can slide up and down；The limit
Ring mounting base is fixed on center-pole, and through-hole internal diameter coordinates with center-pole transition, and guarantee center-pole is same with spacing ring mounting base
Axis degree；The spacing ring mounting base convex platform outer diameter and spacing ring internal diameter clearance fit；The spacing ring is split ring, outer diameter ratio
Salt core outer diameter small ten, opening width are more than center shank diameter.
9. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：Institute
It states and pushes pre-load nut and center-pole screw-thread fit；Lower platen mounting base center is provided with stepped hole, and stepped hole is small
Diameter and center-pole clearance fit, allow lower platen mounting base to be slidably matched on center-pole, and stepped hole major diameter is more than annular and keeps off
The diameter of piece；There are three the strip grooves for being in 120 ° of circle distributions for setting on the lower platen, keep three fingers not dry with lower platen
It relates to.
10. a kind of salt core flexibility of view-based access control model identification according to claim 2 picks and places positioning system, it is characterised in that：
The annular baffle internal diameter is less than center shank diameter, and outer diameter is more than center shank diameter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057367.0U CN207726322U (en) | 2018-01-12 | 2018-01-12 | A kind of salt core flexibility of view-based access control model identification picks and places positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820057367.0U CN207726322U (en) | 2018-01-12 | 2018-01-12 | A kind of salt core flexibility of view-based access control model identification picks and places positioning system |
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| CN207726322U true CN207726322U (en) | 2018-08-14 |
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| CN201820057367.0U Active CN207726322U (en) | 2018-01-12 | 2018-01-12 | A kind of salt core flexibility of view-based access control model identification picks and places positioning system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861531A (en) * | 2018-01-12 | 2018-11-23 | 连云港杰瑞自动化有限公司 | A kind of salt core flexibility pick-and-place positioning system of view-based access control model identification |
| CN110340300A (en) * | 2019-07-18 | 2019-10-18 | 金华市宝琳工贸有限公司 | A kind of salt core charging gear |
| CN113927605A (en) * | 2021-12-13 | 2022-01-14 | 肇庆本田金属有限公司 | Salt core clamping device, control method and robot |
| CN114535978A (en) * | 2022-02-24 | 2022-05-27 | 上海航天控制技术研究所 | Automatic damping ring tamponade device and method |
| CN114572685A (en) * | 2022-03-10 | 2022-06-03 | 苏州天准科技股份有限公司 | Handling device and assembly device for coolers in heat exchangers of motor vehicles |
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2018
- 2018-01-12 CN CN201820057367.0U patent/CN207726322U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861531A (en) * | 2018-01-12 | 2018-11-23 | 连云港杰瑞自动化有限公司 | A kind of salt core flexibility pick-and-place positioning system of view-based access control model identification |
| CN108861531B (en) * | 2018-01-12 | 2023-10-13 | 连云港杰瑞自动化有限公司 | Salt core flexible picking and placing positioning system based on visual identification |
| CN110340300A (en) * | 2019-07-18 | 2019-10-18 | 金华市宝琳工贸有限公司 | A kind of salt core charging gear |
| CN110340300B (en) * | 2019-07-18 | 2020-10-02 | 金华市宝琳工贸有限公司 | Salt core feeding device |
| CN113927605A (en) * | 2021-12-13 | 2022-01-14 | 肇庆本田金属有限公司 | Salt core clamping device, control method and robot |
| CN114535978A (en) * | 2022-02-24 | 2022-05-27 | 上海航天控制技术研究所 | Automatic damping ring tamponade device and method |
| CN114572685A (en) * | 2022-03-10 | 2022-06-03 | 苏州天准科技股份有限公司 | Handling device and assembly device for coolers in heat exchangers of motor vehicles |
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