CN208680431U - A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance - Google Patents
A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance Download PDFInfo
- Publication number
- CN208680431U CN208680431U CN201820577194.5U CN201820577194U CN208680431U CN 208680431 U CN208680431 U CN 208680431U CN 201820577194 U CN201820577194 U CN 201820577194U CN 208680431 U CN208680431 U CN 208680431U
- Authority
- CN
- China
- Prior art keywords
- riveting
- motor
- group
- platform
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model relates to the flexible riveting set of view-based access control model guidance and its flexible riveting systems, including supply assembly, riveting component, feeding riveting component, separation net, operating console, the utility model is using industrial camera, vision guide technology in conjunction with riveting system, the riveted holes of workpiece are enabled accurately to enter riveting range and accurately into riveting, so that riveting part surface is without chewing, achieve the effect that flexible into riveting, and improves riveting work efficiency.
Description
Technical field
The utility model relates to the flexible riveting sets that workpiece riveting process technology more particularly to a kind of view-based access control model guide
And its flexible riveting system.
Background technique
With the development of economy and society, demand of the people to trip grows to even greater heights, and therefore also gets over to the demand of automobile
Come bigger；Thus stimulate auto manufacturing toward intelligent, unmanned, modernization construction.
For example, the difficulty of staking process is larger in the technique of vehicle dormer window guide rail, it is mainly reflected in riveting process,
Cooperation required precision on rivet and skylight guide rail between the aperture of riveted holes, hole location is high, but precision in actual production
It is required that being unable to satisfy requirement, for example it often will appear the straightness of riveted holes and tooling straightness or rivet in actual production
Decentraction, occur riveting partially, chew the problems such as riveting part surface or riveting part surface indentation are obvious；Product surface after leading to polishing
The problems such as unevenness, Product Precision reduce, and stability is weak, bad adaptability, and product rejection rate increases, this seriously affects productivity effect.
It is current most riveting system designs that riveting efficiency how is improved under the premise of guaranteeing product stability, practicability
Person needs the problem of facing.
Utility model content
In view of the above-mentioned state of the art, the technical problem to be solved by the utility model is to provide a kind of efficient
The flexible riveting set and its flexible riveting system of the view-based access control model guidance of rate, high stability.
Technical solution adopted by the utility model to solve the above technical problems is as follows: a kind of flexible riveting of view-based access control model guidance
Connection device, comprising:
Supply assembly: the supply assembly includes feed for providing and positioning the workpiece for being provided with riveted holes, the supply assembly
Platform and the feed mechanism and cutting agency being arranged on rollway；
Riveting component: the riveting component carries out riveting, the riveting component to workpiece for providing rivet and being directed at riveted holes
Including riveting platform, rivet storehouse, pass staple rail road, riveting mechanism, the industrial camera that riveting hole site on workpiece can be positioned, the riveting
Platform, which corresponds to, is provided with riveted sensor immediately below rivet pressing structure；
Feeding riveting component: the feeding riveting component for grab the workpiece on supply assembly and be transferred to riveting component into
Then row riveting sends the workpiece after riveting back to supply assembly again, the feeding riveting component include auxiliary dress platform, be rotatably arranged on it is auxiliary
Mechanical arm on platform, the clip claw mechanism for being movably connected in mechanical arm one end for grabbing workpiece are filled, wherein clip claw mechanism and mechanical arm
Between be equipped with fine tuning riveting mechanism；
Separation net: it is used for feeding material component, riveting component, feeding riveting component shroud in an environment；
Operating console: for monitoring various components real-time behavior, which is equipped with display screen, described
Supply assembly, riveting component, feeding riveting component, industrial camera are electrically connected with operating console；
Power control cabinet: for providing power supply to various components and operating console, the power control cabinet respectively with supply assembly, riveting
Component, feeding riveting component, operating console are electrically connected.
Further, the feed mechanism includes feeding platen, is arranged in parallel in upper left material group and upper right on feeding platen
Material group, and the contrary setting of the upper left material group and upper right material group, the upper left material group and upper right material group include symmetrically setting
The feeding platform set, wherein left and right on the feeding platform of one end to be arranged in parallel with rectangular jacking block and T-type jacking block, the feeding platform of the other end
On be provided with L-type jacking block, and respectively corresponded on feeding platform between rectangular jacking block, T-type jacking block and the back side of L-type jacking block is respectively provided with
There is the positioning column that can wear fixed workpiece, in addition, the cutting agency includes blanking rack, is arranged in parallel on blanking rack
Lower-left material group and bottom right material group, and the contrary setting of the lower-left material group and bottom right material group, the lower-left material group and bottom right material group
It include symmetrically arranged blanking bench, wherein be arranged in parallel with rectangular locating piece and T-type positioning with left and right on the blanking bench at end
Block is provided with L-type locating piece on the blanking bench of the other end, to reach, to reach Full-automatic feeding and the blanking of workpiece
Effect.
Further, the riveting mechanism includes the riveting frame being erected on riveting platform, the riveting being arranged on riveting frame
Group, the positive hyte of adjustable rivet, is connect with rivet storehouse by passing staple rail road and adjustable the riveting position being located at immediately below riveting group
The positive hyte of whole rivet and the servo group that rivet is transferred to riveting position from positive hyte, in which:
The riveting group includes riveting cylinder and riveting pressure head, and the riveting cylinder is fixed on riveting from vertical output direction
On frame, the riveting pressure head is connect with the output end of riveting cylinder；
The riveting position is located on riveting platform, and the riveting position includes T-type riveted block, wears T snap riveting conjunction block and pass through bullet
The riveting top pillar of spring and riveting platform elastic connection, the riveting top pillar and riveting pressure head are on same vertical line；
The positive hyte and riveting bit parallel, which includes T-type normotopia block, is provided with normotopia slot on the T-type normotopia block,
The output end for passing staple rail road and normotopia slot are connected；
The servo group includes horizontal slide rail, longitudinal slide rail and the clamp mechanism that can be used for picking up rivet in normotopia slot,
The horizontal slide rail is fixed on riveting platform by fixing seat, the longitudinal slide rail perpendicular to horizontal slide rail and with the horizontal slide rail
Sliding, slipping in the longitudinal slide rail has driver plate, and the clamp mechanism is fixed on driver plate, the clamp mechanism include holder,
Clamping jaw cylinder, left clamp and right clamping plate, the left clamp and right clamping plate symmetrically slip on holder, and the clamping jaw cylinder is also secured at
On holder, and the left clamp and right clamping plate clamp workpiece by clamping jaw cylinder, and the holder is fixed on driver plate.
Further, rotation is provided with mounting base on the auxiliary dress platform, which is turned by first motor and auxiliary dress platform
Dynamic connection, the mechanical arm include upper joint arm and ShiShimonoseki joint arm, and the upper joint arm includes arm body and is rotatably arranged on arm
Armed lever in body, wherein one end of ShiShimonoseki joint arm is hinged by the second motor and mounting base, the other end of ShiShimonoseki joint arm
Hinged by third motor and the arm body of upper joint arm, one end which corresponds to ShiShimonoseki joint arm is equipped with the 4th motor, described
The other end of armed lever is hinged by the 5th motor and clip claw mechanism, and the fine tuning riveting mechanism is connected on clip claw mechanism, and its
In:
The clip claw mechanism includes connecting rod, pickup frame, the upper holder for being fixed on pickup frame two sides, opposite with upper holder
The lower holder claimed, wherein the pickup frame is connect by connecting rod with upper joint arm, and the connecting rod and the activity of pickup frame connect
It connects, is fixed with lifting cylinder by corresponding upper holder on the pickup frame, which connect with lower holder；
The fine tuning riveting mechanism includes the 6th motor, and the output end of the 6th motor is connect with connecting rod.
A kind of flexibility riveting system, including industrial camera module, vision operation guide module, PLC control module, machinery
Arm control module, the industrial camera module are located at the upper end of vision operation guide module, which is located at
The upper end of PLC control module, the PLC control module are located at the upper end of mechanical arm control module, in which:
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera,
Camera shooting acquisition is carried out to the riveted holes on workpiece, and the Pixel Information of image is transferred to by vision operation by Ethernet interface and is drawn
Guide module；
Vision operation guide module, the vision operation guide module successively include filtering group, noise reduction group, visual instantiation
Group, the filtering group connect with industrial camera and receive industrial camera module acquisition Pixel Information and be sequentially delivered to filtering group into
Row filtering processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the reality that visual instantiation group carries out Pixel Information
Exampleization, calculates the difference of workpiece riveted holes, and the difference is sent to PLC control module；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, the mechanical arm control module respectively with
First motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control module, the PLC control module are PLC controller, which controls mould with mechanical arm respectively
Block, the connection of vision operation guide module, wherein PLC control module receives and processes what vision operation guide module was sent
Then data command is sent to mechanical arm control module by data, which controls first motor, the second electricity again
Machine, third motor, the 4th motor, the 5th motor, the 6th motor control the motion profile of mechanical arm.
Compared with the prior art, the advantages of the utility model are: the utility model uses industrial camera, vision guide skill
Art enables the riveted holes of workpiece accurately to enter riveting range and accurately into riveting in conjunction with riveting system so that riveting part surface without
It chews, achievees the effect that flexible into riveting, and improve riveting work efficiency, the utility model is designed reasonably accords with the demands of the market, and fits
It closes and promotes.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram in addition to separation net of the utility model；
Fig. 3 is the structural schematic diagram of the utility model supply assembly；
Fig. 4 is the structural schematic diagram that the utility model rivets component；
Fig. 5 is the structural schematic diagram on the riveting platform of the utility model riveting component；
Fig. 6 is the structural schematic diagram that the utility model rivets position and positive hyte；
Fig. 7 is the structural schematic diagram of the utility model clamp mechanism；
Fig. 8 is the structural schematic diagram of the utility model feeding riveting component；
Fig. 9 is the system construction drawing of the utility model.
Specific embodiment
As shown in figures 1-8, a kind of flexible riveting set of view-based access control model guidance, comprising:
Supply assembly 1: for the supply assembly 1 for providing and positioning the workpiece for being provided with riveted holes, which includes supplying
The material platform 1-1 and feed mechanism 1-2 and cutting agency 1-3 being arranged on rollway 1-1, the feed mechanism 1-1 includes feeding
Platen 1-1-1, it is arranged in parallel in upper left material group 1-1-2 and upper right material group 1-1-3 on feeding platen 1-1-1, and the upper left is expected
The contrary setting of group 1-1-2 and upper right material group 1-1-3, upper left material group 1-1-2 and upper right material group 1-1-3 include pair
Claim the feeding platform 1-1-4 of setting, wherein left and right on the feeding platform 1-1-4 of one end to be arranged in parallel with rectangular jacking block 1-1-5 and T
L-type jacking block 1-1-7, and the side of respectively corresponding on feeding platform 1-1-4 are provided on type jacking block 1-1-6, the feeding platform 1-1-4 of the other end
The back side of 1-1-6 and L-type jacking block 1-1-7 are provided with the positioning that can wear fixed workpiece between shape jacking block 1-1-5, T-type jacking block
Column 1-1-8, in addition, the cutting agency 1-2 includes blanking rack 1-2-1, the lower-left that is arranged in parallel on blanking rack 1-2-1
Material group 1-2-2 and bottom right material group 1-2-3, and the contrary setting of lower-left material group 1-2-2 and bottom right material group 1-2-3, the left side
Blanking group 1-2-2 and bottom right material group 1-2-3 includes symmetrically arranged blanking bench 1-2-4, wherein with the blanking bench 1-2-4 at end
It is above left and right to be arranged in parallel with rectangular locating piece 1-2-5 and T-type locating piece 1-2-6, L is provided on the blanking bench 1-2-4 of the other end
Type locating piece 1-2-7, to reach, to achieve the effect that Full-automatic feeding and the blanking of workpiece；
Riveting component 2: the riveting component 2 carries out riveting, the riveting group to workpiece for providing rivet and being directed at riveted holes
Part 2 includes riveting platform 2-1, rivet storehouse 2-2, passes staple rail road 2-3, riveting mechanism 2-4, can position the work for riveting hole site on workpiece
Industry camera 2-5, the riveting platform 2-1, which is corresponded to, is provided with riveted sensor 2-6, the riveter immediately below rivet pressing structure 2-4
Structure 2-4 includes the riveting frame 2-4-1 being erected on riveting platform 2-1, the riveting group 2-4-2 being arranged on riveting frame 2-4-1, sets
The positive hyte 2-4-4 of riveting position 2-4-3, adjustable rivet immediately below riveting group 2-4-2, pass through biography staple rail road 2-3 and riveting
Nail bin 2-2 connection and the positive hyte 2-4-4 of adjustable rivet and rivet is transferred to riveting position 2-4-3 from positive hyte 2-4-4
Servo group 2-4-5, in which:
The riveting group 2-4-2 includes riveting cylinder 2-4-2-1 and riveting pressure head 2-4-2-2, the riveting cylinder 2-4-
2-1 is fixed on riveting frame 2-4-1 from vertical output direction, and the riveting pressure head 2-4-2-2 and riveting cylinder 2-4-2-1's is defeated
Outlet connection；
The riveting position 2-4-3 is located on riveting platform 2-1, and the riveting position 2-4-3 group includes that T snap riveting closes block 2-4-3-
1, it wears T-type riveted block 2-4-3-1 and passes through the riveting top pillar 2-4-3-3 of spring 2-4-3-2 and riveting platform 2-1 elastic connection,
The riveting top pillar 2-4-3-3 and riveting pressure head 2-4-2-2 are on same vertical line；
The positive hyte 2-4-4 is parallel with riveting position 2-4-3, which includes T type normotopia block 2-4-4-1,
Normotopia slot 2-4-4-2, the output end and normotopia slot 2-4-4-2 for passing staple rail road 2-3 are provided on T-type normotopia block 2-4-4-1
It connects；
The servo group 2-4-5 includes horizontal slide rail 2-4-5-1, longitudinal slide rail 2-4-5-2 and can be used for picking up normotopia
The clamp mechanism 2-4-5-3, the horizontal slide rail 2-4-5-1 of rivet are fixed on riveting platform 2- by fixing seat in slot 2-4-4-2
On 1, the longitudinal slide rail 2-4-5-2 is perpendicular to horizontal slide rail 2-4-5-1 and sliding, the longitudinal direction with horizontal slide rail 2-4-5-1
Slipping on sliding rail 2-4-5-2 has driver plate 2-4-5-4, the clamp mechanism 2-4-5-3 to be fixed on driver plate 2-4-5-4,
Clamp mechanism 2-4-5-3 includes holder 2-4-5-3-1, clamping jaw cylinder 2-4-5-3-2, left clamp 2-4-5-3-3 and right clamping plate
2-4-5-3-4, left clamp 2-4-5-3-3 and right clamping plate 2-4-5-3-4 symmetrically slip on holder 2-4-5-3-1, the folder
Pawl cylinder 2-4-5-3-2 is also secured on holder 2-4-5-3-1, and the left clamp 2-4-5-3-3 and right clamping plate 2-4-5-3-4
Workpiece is clamped by clamping jaw cylinder 2-4-5-3-2, the holder 2-4-5-3-1 is fixed on driver plate 2-4-5-4.
Feeding riveting component 3: the feeding riveting component 3 is for grabbing the workpiece on supply assembly 1 and being transferred to riveting group
Part 2 carries out riveting and then sends the workpiece after riveting back to supply assembly 1 again, which includes auxiliary dress platform 3-1, turns
It is dynamic that mechanical arm 3-2 on auxiliary dress platform 3-1, the clip claw mechanism 3- for being movably connected in the one end mechanical arm 3-2 for grabbing workpiece are set
3, it is wherein equipped between clip claw mechanism 3-3 and mechanical arm 3-2 on fine tuning riveting mechanism 3-4, the auxiliary dress platform 3-1 and rotates setting
There is mounting base 3-5, mounting base 3-5 is rotatablely connected by first motor 3-6 and auxiliary dress platform 3-1, and the mechanical arm 3-2 includes
Upper joint arm 3-2-1 and ShiShimonoseki joint arm 3-2-2, the upper joint arm 3-2-1 include arm body 3-2-1-1 and are rotatably arranged on arm
Armed lever 3-2-1-2 in body 3-2-1-1, wherein one end of ShiShimonoseki joint arm 3-2-2 passes through the second motor 3-2-3 and installation
Seat 3-5 is hinged, and the other end of ShiShimonoseki joint arm 3-2-2 passes through the arm body 3-2-1- of third motor 3-2-4 and upper joint arm 3-2-1
1 is hinged, and one end that armed lever 3-2-1-2 corresponds to ShiShimonoseki joint arm 3-2-2 is equipped with the 4th motor 3-2-5, the armed lever 3-2-1-
2 other end is hinged by the 5th motor 3-2-6 and clip claw mechanism 3-3, and the fine tuning riveting mechanism 3-4 is connected in clamping jaw machine
On structure 3-3, and wherein:
The clip claw mechanism 3-3 includes connecting rod 3-3-1, pickup frame 3-3-2, is fixed on the two sides pickup frame 3-3-2
Upper holder 3-3-3 and upper holder 3-3-3 symmetrical lower holder 3-3-4, wherein the pickup frame 3-3-2 passes through connecting rod
3-3-1 is connect with upper joint arm 3-2-1, and connecting rod 3-3-1 is flexibly connected with pickup frame 3-3-2, on pickup frame 3-3-2
Lifting cylinder 3-3-5 is fixed in correspondence by holder 3-3-3, lifting cylinder 3-3-5 is connect with lower holder 3-3-4.
The fine tuning riveting mechanism 3-4 includes the 6th motor 3-4-1, the output end and connecting rod of the 6th motor 3-4-1
Part 3-3-1 connection；
Separation net 4: it is used for feeding material component 1, riveting component 2,3 shroud of feeding riveting component in an environment；
Operating console 5: for monitoring various components real-time behavior, which is equipped with display screen, institute
Supply assembly 1, riveting component 2, feeding riveting component 3, industrial camera 2-5 is stated to be electrically connected with operating console 5；
Power control cabinet 6: for providing power supply to various components and operating console 5, the power control cabinet respectively with supply assembly 1,
Component 2, feeding riveting component 3, operating console 5 is riveted to be electrically connected.
As shown in figure 9, a kind of flexibility riveting system, including industrial camera module, vision operation guide module, PLC control
Module, mechanical arm control module, the industrial camera module are located at the upper end of vision operation guide module, the vision operation guide
Module is located at the upper end of PLC control module, which is located at the upper end of mechanical arm control module, in which:
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera,
Camera shooting acquisition is carried out to the riveted holes on workpiece, and the Pixel Information of image is transferred to by vision operation by Ethernet interface and is drawn
Guide module；
Vision operation guide module, the vision operation guide module successively include filtering group, noise reduction group, visual instantiation
Group, the filtering group connect with industrial camera and receive industrial camera module acquisition Pixel Information and be sequentially delivered to filtering group into
Row filtering processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the reality that visual instantiation group carries out Pixel Information
Exampleization, calculates the difference of workpiece riveted holes, and the difference is sent to PLC control module；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, the mechanical arm control module respectively with
First motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control module, the PLC control module are PLC controller, which controls mould with mechanical arm respectively
Block, the connection of vision operation guide module, wherein PLC control module receives and processes what vision operation guide module was sent
Then data command is sent to mechanical arm control module by data, which controls first motor, the second electricity again
Machine, third motor, the 4th motor, the 5th motor, the 6th motor control the motion profile of mechanical arm.
The utility model in conjunction with riveting system, enables the riveted holes of workpiece using industrial camera, vision guide technology
It is accurate to enter riveting range and accurately into riveting, so that riveting part surface without chewing, achievees the effect that flexible into riveting, and improves and rivet work
Make efficiency, the utility model is designed reasonably accords with the demands of the market, and is suitble to promote.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of skill in the art that its according to
It is so possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is replaced on an equal basis
It changes；And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (5)
1. a kind of flexible riveting set of view-based access control model guidance characterized by comprising
Supply assembly: the supply assembly for providing and positioning the workpiece for being provided with riveted holes, the supply assembly include rollway and
Feed mechanism and cutting agency on rollway are set；
Riveting component: the riveting component carries out riveting to workpiece for providing rivet and being directed at riveted holes, which includes
Riveting platform, rivet storehouse pass staple rail road, riveting mechanism, can position the industrial camera for riveting hole site on workpiece, the riveting platform pair
It answers and is provided with riveted sensor immediately below rivet pressing structure；
Feeding riveting component: the feeding riveting component carries out riveting for grabbing the workpiece on supply assembly and being transferred to riveting component
Then pressure sends the workpiece after riveting back to supply assembly again, which includes auxiliary dress platform, is rotatably arranged on auxiliary dress platform
Upper mechanical arm is movably connected in clip claw mechanism of the mechanical arm one end for grabbing workpiece, wherein between clip claw mechanism and mechanical arm
It is equipped with fine tuning riveting mechanism；
Separation net: it is used for feeding material component, riveting component, feeding riveting component shroud in an environment；
Operating console: for monitoring various components real-time behavior, which is equipped with display screen, the feed
Component, riveting component, feeding riveting component, industrial camera are electrically connected with operating console；
Power control cabinet: for providing power supply to various components and operating console, the power control cabinet respectively with supply assembly, riveting group
Part, feeding riveting component, operating console are electrically connected.
2. a kind of flexible riveting set of view-based access control model guidance according to claim 1, which is characterized in that the feeder
Structure includes feeding platen, is arranged in parallel in upper left material group and upper right material group on feeding platen, and the upper left material group and upper right material
The contrary setting of group, the upper left material group and upper right material group include symmetrically arranged feeding platform, wherein the feeding platform of one end
It is above left and right to be arranged in parallel with rectangular jacking block and T-type jacking block, L-type jacking block is provided on the feeding platform of the other end, and divide on feeding platform
It does not correspond between rectangular jacking block, T-type jacking block and the back side of L-type jacking block is provided with the positioning column that can wear fixed workpiece, separately
Outside, the cutting agency includes blanking rack, the lower-left material group being arranged in parallel on blanking rack and bottom right material group, and the lower-left
The contrary setting of material group and bottom right material group, the lower-left material group and bottom right material group include symmetrically arranged blanking bench, wherein
It is arranged in parallel with rectangular locating piece and T-type locating piece with left and right on the blanking bench at end, is provided with L-type on the blanking bench of the other end
Locating piece.
3. a kind of flexible riveting set of view-based access control model guidance according to claim 1 or 2, which is characterized in that the riveting
Press mechanism includes the riveting frame being erected on riveting platform, the riveting group being arranged on riveting frame, the riveting being located at immediately below riveting group
Connect position, the positive hyte of adjustable rivet, the positive hyte for being connect with rivet storehouse by passing staple rail road and can adjust rivet and by riveting
Follow closely the servo group that riveting position is transferred to from positive hyte, in which:
The riveting group includes riveting cylinder and riveting pressure head, and the riveting cylinder is fixed on riveting frame from vertical output direction
On, the riveting pressure head is connect with the output end of riveting cylinder；
The riveting position is located on riveting platform, and the riveting position include T-type riveted block, wear T-type riveted block and by spring with
The riveting top pillar of riveting platform elastic connection, the riveting top pillar and riveting pressure head are on same vertical line；
The positive hyte and riveting bit parallel, which includes T-type normotopia block, is provided with normotopia slot on the T-type normotopia block, described
The output end and normotopia slot for passing staple rail road are connected；
The servo group includes horizontal slide rail, longitudinal slide rail and the clamp mechanism that can be used for picking up rivet in normotopia slot, described
Horizontal slide rail is fixed on riveting platform by fixing seat, and the longitudinal slide rail is perpendicular to horizontal slide rail and sliding with the horizontal slide rail
It connects, slipping in the longitudinal slide rail has driver plate, and the clamp mechanism is fixed on driver plate, which includes holder, folder
Pawl cylinder, left clamp and right clamping plate, the left clamp and right clamping plate symmetrically slip on holder, and the clamping jaw cylinder is also secured at folder
On seat, and the left clamp and right clamping plate clamp workpiece by clamping jaw cylinder, and the holder is fixed on driver plate.
4. a kind of flexible riveting set of view-based access control model guidance according to claim 3, which is characterized in that the auxiliary dress platform
Upper rotation is provided with mounting base, which is rotatablely connected by first motor and auxiliary dress platform, and the mechanical arm includes upper joint
Arm and ShiShimonoseki joint arm, the upper joint arm include arm body and the armed lever that is rotatably arranged in arm body, wherein ShiShimonoseki joint arm
One end it is hinged by the second motor and mounting base, the other end of ShiShimonoseki joint arm passes through the arm body of third motor and upper joint arm
Hingedly, one end which corresponds to ShiShimonoseki joint arm is equipped with the 4th motor, and the other end of the armed lever passes through the 5th motor and folder
Pawl mechanism is hinged, and the fine tuning riveting mechanism is connected on clip claw mechanism, and wherein:
The clip claw mechanism includes that connecting rod, pickup frame, the upper holder for being fixed on pickup frame two sides and upper holder are symmetrical
Lower holder, wherein the pickup frame is connect by connecting rod with upper joint arm, which is flexibly connected with pickup frame,
It is fixed with lifting cylinder by corresponding upper holder on the pickup frame, which connect with lower holder；
The fine tuning riveting mechanism includes the 6th motor, and the output end of the 6th motor is connect with connecting rod.
5. a kind of flexibility riveting system, which is characterized in that control mould including industrial camera module, vision operation guide module, PLC
Block, mechanical arm control module, the industrial camera module are located at the upper end of vision operation guide module, the vision operation guide mould
Block is located at the upper end of PLC control module, which is located at the upper end of mechanical arm control module, in which:
Industrial camera module, the external Ethernet interface of industrial camera module, and the industrial camera module are industrial camera, to work
Riveted holes on part carry out camera shooting acquisition, and the Pixel Information of image is transferred to vision operation guide mould by Ethernet interface
Block；
Vision operation guide module, the vision operation guide module successively include filtering group, noise reduction group, visual instantiation group, are somebody's turn to do
Filtering group connect and is received with industrial camera the Pixel Information of industrial camera module acquisition and be sequentially delivered to filtering group and filtered
Wave processing is resent to noise reduction group and carries out noise reduction process, is finally sent to the instantiation that visual instantiation group carries out Pixel Information,
The difference of workpiece riveted holes is calculated, and the difference is sent to PLC control module；
Mechanical arm control module, the mechanical arm control module are mechanical arm controller, and the mechanical arm control module is respectively with first
Motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor；
PLC control module, the PLC control module be PLC controller, the PLC control module respectively with mechanical arm control module, view
Feel the connection of operation guide module, wherein it is right that PLC control module receives and processes the data that vision operation guide module is sent
Data command is sent to mechanical arm control module afterwards, which controls first motor, the second motor, third again
Motor, the 4th motor, the 5th motor, the 6th motor control the motion profile of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820577194.5U CN208680431U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820577194.5U CN208680431U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208680431U true CN208680431U (en) | 2019-04-02 |
Family
ID=65876587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820577194.5U Active CN208680431U (en) | 2018-04-23 | 2018-04-23 | A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208680431U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714456A (en) * | 2021-08-03 | 2021-11-30 | 东北大学 | Hole making and riveting quality control method and device based on machine vision |
-
2018
- 2018-04-23 CN CN201820577194.5U patent/CN208680431U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714456A (en) * | 2021-08-03 | 2021-11-30 | 东北大学 | Hole making and riveting quality control method and device based on machine vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108526373A (en) | A kind of flexible riveting set and its flexibility riveting system of view-based access control model guiding | |
| DE102016008908B4 (en) | Industrial robot system and control method therefor | |
| CN204019544U (en) | A kind of running type machine grabbing device | |
| CN106607891A (en) | Travelling mechanical gripper | |
| DE102016002340A1 (en) | Robot system with a robot that operates synchronously with a bending machine | |
| CN202052901U (en) | Control device for numerical control riveting machine | |
| CN208680431U (en) | A kind of flexible riveting set and its flexible riveting system of view-based access control model guidance | |
| DE102011009379A1 (en) | Device and method for detecting the position of a workpiece to be welded | |
| CN108856445A (en) | Stamping device | |
| CN202130894U (en) | Automatic feeding and discharging equipment for punching strip | |
| CN112692829A (en) | Automatic unloading robot of wisdom mill based on 5G network | |
| WO2021037514A1 (en) | Forming or separating device, and method for operating same | |
| CN117182432B (en) | Welding equipment for sensor processing | |
| CN206253569U (en) | A kind of automatic riveter | |
| CN202030344U (en) | Automatic charging, feeding and discharging equipment for blanking bar stocks | |
| CN109570428A (en) | A kind of automatic riveting machine automatic aligning riveting jig | |
| CN205254016U (en) | Multi -functional automatic alignment squeeze riveter | |
| CN114657713A (en) | Wedding dress sewing equipment based on intelligent visual identification technology | |
| CN208698232U (en) | Financial affairs receipt punching binding device | |
| CN202762942U (en) | Full automatic integrated riveting machine | |
| CN204504040U (en) | A kind of automatic collecting device of punch press | |
| CN209020977U (en) | A kind of adjustable blanking die step pitch induction location structure | |
| CN102621914A (en) | Automatic control method for LED surface mounting machine | |
| CN205798693U (en) | A kind of auxiliary for ultrasonic bonding puts electrical wiring system | |
| CN102146621B (en) | Non-ironing hemming device for automatic pocket patching machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |