CN208771902U - One kind is for rubber hose automatic loading/unloading and length measurment device - Google Patents
One kind is for rubber hose automatic loading/unloading and length measurment device Download PDFInfo
- Publication number
- CN208771902U CN208771902U CN201820915781.0U CN201820915781U CN208771902U CN 208771902 U CN208771902 U CN 208771902U CN 201820915781 U CN201820915781 U CN 201820915781U CN 208771902 U CN208771902 U CN 208771902U
- Authority
- CN
- China
- Prior art keywords
- rubber hose
- mechanical gripper
- length
- unloading
- handgrip
- 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.)
- Expired - Fee Related
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The utility model discloses one kind for rubber hose automatic loading/unloading and length measurment device and control method, it includes fixed handgrip, mechanical gripper and six-joint robot, mechanical gripper carries out visual identity to the collar nut of rubber hose, mechanical gripper grab to rubber hose and blanking, mechanical gripper stretches rubber hose and determines whether length is qualified, and mechanical gripper shifts process feeding after rubber hose carries out.The utility model structure novel, step is succinct, and the identification that can complete rubber hose is positioned and accurately grabbed, to realize automatic loading/unloading；Whether the length that rubber hose can be automatically determined is qualified, and rejects substandard product online；There is compatibility to the diversified rubber hose product of different length, different collar nut sizes；It can reduce the dependence to hand labor, and improve production efficiency and product stability.
Description
Technical field
The utility model belongs to field of automation technology, and in particular to one kind is used for rubber hose automatic loading/unloading and length
Measurement device and control method.
Background technique
With the rapid development of the automotive industry, rubber hose product is as important auto parts and components increasingly by weight
Depending on.Rubber hose in production detection process needs rubber hose accurately to grab from riveted process, completes blanking, then rejects
Length substandard product, then accurately transfer is placed into air-leakage test process, completes feeding.Due to rubber hose softness bendable
Song, collar nut is movable, and the length of different size rubber hose and collar nut are of different sizes, at present using manually come
Complete process transfer, loading and unloading and length detection.Manual operation flexibility is high, but low efficiency, and subjective interference is strong, and labour
Cost is constantly climbed to a higher point, therefore the automation of production procedure becomes trend and inevitable choice.
Utility model content
The utility model is to adapt to requirements above, provides one kind and fills for rubber hose automatic loading/unloading and length measurment
It sets.
The technical solution that the utility model is taken is as follows:
For one kind for rubber hose automatic loading/unloading and length measurment device, which includes fixed handgrip, mechanical gripper
And six-joint robot, the mechanical arm of the mechanical gripper and six-joint robot are connected and are driven by six-joint robot, mechanical gripping
Hand includes servo electric jar and a pair of of pneumatic machinery handgrip for being mounted on servo electric jar, each on the pneumatic machinery handgrip
One camera is installed for fixing the rubber hose on handgrip described in visual identity.
Further, the pneumatic machinery handgrip is separately mounted to mobile terminal and the fixing end of servo electric jar, is mounted on
The pneumatic machinery handgrip of fixing end is connect by guide rail slide block with servo electric jar, and the guide rail slide block bottom end is fixed, and upper end is set
There is the sliding end that can be slided on rubber hose length direction, which connects pneumatic machinery handgrip and tension sensor, institute
State that tension sensor is rack-mount, an engaging lug of the bracket and the sliding end of guide rail slide block connect, another company
Lug is fixed on servo electric jar.
Further, the servo electric jar includes cylinder body, is set to the servo motor at cylinder body driving end, is set to cylinder body
The slide unit of the other end is equipped with pneumatic machinery handgrip and camera on the slide unit.
A kind of control method for rubber hose automatic loading/unloading and length measurment device comprising following steps:
(1) it is clamped after rubber hose completion riveted process by stationary jaw and waits blanking；
(2) control mechanical gripper, which is moved to a position, makes two cameras substantially against collar nut and take pictures respectively；
(3) by the standard form matching identification in the image and system of acquisition, the accurate position of collar nut is then calculated
It sets, then controls mechanical gripper and accurately grab collar nut and complete blanking；
(4) it after rubber hose is accurately stretched to corresponding length by servo electric jar by mechanical gripper, is passed by pulling force
Sensor determines value of thrust, and since the rubber hose level of tightness of different length is different, system passes through pair with standard tension value
According to can determine whether the length of the rubber hose is qualified, and substandard product can be rejected immediately.
Rubber hose for different size or the differently curved state to blanking rubber hose, system design different sides
Case is matched by the distance of a pair of of pneumatic machinery handgrip of adjusting or the field range of camera or visual identity template.
For the rubber hose of different size or different length examination criteria, system designs different schemes, passes through adjusting
The criterion of the tensile elongation of mechanical gripper or value of thrust matches.
The beneficial effects of the utility model are as follows:
1) structure novel, step is succinct, and the identification that can complete rubber hose is positioned and accurately grabbed, to realize on automatic
Blanking；
2) whether the length that can automatically determine rubber hose is qualified, and rejects substandard product online；
3) there is compatibility to the diversified rubber hose product of different length, different collar nut sizes；
4) it can reduce the dependence to hand labor, and improve production efficiency and product stability.
The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
Fig. 1 is that the motion flow of the utility model illustrates.
Fig. 2 is the mechanical gripper overall structure figure of the utility model.
Fig. 3 is the system control process figure of the utility model.
In the figure, it is marked as 1- stationary jaw, 2- rubber hose, 3- mechanical gripper, 31- camera, 32- pneumatic machinery are grabbed
Hand, 33- servo electric jar, 34- bracket, 35- tension sensor, 36- guide rail slide block, 37- cylinder body, 38- servo motor, 39- are sliding
Platform, 4- robot.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Fig. 1 to 2, for one kind for rubber hose automatic loading/unloading and length measurment device, which includes fixing
The mechanical arm of handgrip 1, mechanical gripper 3 and six-joint robot 4, the mechanical gripper and six-joint robot connects and passes through six axis machines
Device people driving, mechanical gripper include servo electric jar 33 and a pair of of pneumatic machinery handgrip for being mounted on servo electric jar 33
32, rubber of the camera 31 for fixing on handgrip 1 described in visual identity is respectively installed soft on the pneumatic machinery handgrip 32
Pipe 2.
The pneumatic machinery handgrip 32 is separately mounted to mobile terminal and the fixing end of servo electric jar 33, is mounted on fixing end
Pneumatic machinery handgrip 32 connect with servo electric jar 33 by guide rail slide block 36,36 bottom end of guide rail slide block is fixed, upper end
Equipped with the sliding end that can be slided on 2 length direction of rubber hose, which connects pneumatic machinery handgrip 32 and pull sensing
Device 35, the tension sensor 35 are mounted on bracket 34, the sliding of an engaging lug and guide rail slide block 36 of the bracket 34
End connection, another engaging lug are fixed on servo electric jar 33.
The servo electric jar 33 includes cylinder body 37, is set to the servo motor 38 that cylinder body 37 drives end, is set to cylinder body
The slide unit 39 of 37 other ends is equipped with pneumatic machinery handgrip 32 and camera 31 on the slide unit 39.
As shown in figure 3, being used for the control method of rubber hose automatic loading/unloading and length measurment device comprising following step
It is rapid:
(1) it is clamped after the completion of rubber hose 2 riveted process by stationary jaw 1 and waits blanking；
(2) control mechanical gripper 3 be moved to a position make two cameras 31 respectively substantially against collar nut 21 simultaneously
It takes pictures；
(3) by the standard form matching identification in the image and system of acquisition, the accurate of collar nut 21 is then calculated
Position then controls mechanical gripper 3 and accurately grabs collar nut 21 and complete blanking；
(4) after rubber hose 2 is accurately stretched to corresponding length by servo electric jar 33 by mechanical gripper 3, by drawing
Force snesor 35 determines value of thrust (compressing force that the movement of guide rail slide block upper end causes tension sensor to be subject to), due to difference
Rubber hose 2 level of tightness of length is different, and system is by can determine whether the length of the rubber hose 2 with compareing for standard tension value
Whether degree is qualified, and can reject substandard product immediately.
Rubber hose 2 for different size or the differently curved state to blanking rubber hose 2, system designs different
Scheme, by adjust a pair of of pneumatic machinery handgrip 32 distance or camera 31 field range or visual identity template come
Match.
For the rubber hose 2 of different size or different length examination criteria, system designs different schemes, passes through adjusting
The criterion of the tensile elongation of mechanical gripper 3 or value of thrust matches.
The basic principles and main features and advantage of the utility model have been shown and described above.The ordinary skill of this field
Personnel are not it should be appreciated that above-described embodiment limits the protection scope of the utility model, all use equivalent replacements etc. in any form
Mode technical solution obtained, falls in the protection scope of the utility model.
The parts not involved in the utility model is the same as those in the prior art or can be realized by using the prior art.
Claims (3)
1. one kind is for rubber hose automatic loading/unloading and length measurment device, it is characterised in that the device includes fixed handgrip
(1), the mechanical arm of mechanical gripper (3) and six-joint robot (4), the mechanical gripper and six-joint robot connects and passes through six axis
Robotically-driven, mechanical gripper includes servo electric jar (33) and a pair of of pneumatic machinery for being mounted on servo electric jar (33)
Handgrip (32), each one camera (31) of installation is for fixing handgrip described in visual identity on the pneumatic machinery handgrip (32)
(1) rubber hose (2) on.
2. one kind according to claim 1 is for rubber hose automatic loading/unloading and length measurment device, it is characterised in that
The pneumatic machinery handgrip (32) is separately mounted to mobile terminal and the fixing end of servo electric jar (33), is mounted on the gas of fixing end
Dynamic mechanical gripper (32) are connect by guide rail slide block (36) with servo electric jar (33), and guide rail slide block (36) bottom end is fixed,
Upper end is equipped with the sliding end that can slide on rubber hose (2) length direction, the sliding end connect pneumatic machinery handgrip (32) and
Tension sensor (35), the tension sensor (35) are mounted on bracket (34), an engaging lug of the bracket (34) with
The sliding end of guide rail slide block (36) connects, another engaging lug is fixed on servo electric jar (33).
3. one kind according to claim 1 or 2 is for rubber hose automatic loading/unloading and length measurment device, feature exists
Include cylinder body (37) in the servo electric jar (33), is set to the servo motor (38) at cylinder body (37) driving end, is set to cylinder
The slide unit (39) of body (37) other end is equipped with pneumatic machinery handgrip (32) and camera (31) on the slide unit (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820915781.0U CN208771902U (en) | 2018-06-13 | 2018-06-13 | One kind is for rubber hose automatic loading/unloading and length measurment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820915781.0U CN208771902U (en) | 2018-06-13 | 2018-06-13 | One kind is for rubber hose automatic loading/unloading and length measurment device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208771902U true CN208771902U (en) | 2019-04-23 |
Family
ID=66149060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820915781.0U Expired - Fee Related CN208771902U (en) | 2018-06-13 | 2018-06-13 | One kind is for rubber hose automatic loading/unloading and length measurment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208771902U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108855963A (en) * | 2018-06-13 | 2018-11-23 | 南京利德东方橡塑科技有限公司 | One kind is for rubber hose automatic loading/unloading and length measurment device and control method |
-
2018
- 2018-06-13 CN CN201820915781.0U patent/CN208771902U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108855963A (en) * | 2018-06-13 | 2018-11-23 | 南京利德东方橡塑科技有限公司 | One kind is for rubber hose automatic loading/unloading and length measurment device and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190423 Termination date: 20200613 |