CN212444076U - Automatic assembly detection device of charging equipment - Google Patents
Automatic assembly detection device of charging equipment Download PDFInfo
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- CN212444076U CN212444076U CN201922179260.0U CN201922179260U CN212444076U CN 212444076 U CN212444076 U CN 212444076U CN 201922179260 U CN201922179260 U CN 201922179260U CN 212444076 U CN212444076 U CN 212444076U
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Abstract
The embodiment of the utility model discloses an automatic assembly detection device of charging equipment, which comprises an X-axis displacement mechanism, a Y-axis displacement mechanism, a Z-axis displacement mechanism, an image acquisition module, a screw gun module, a pressing mechanism and a detection module; the image acquisition module and the screw gun module are arranged on the Z-axis displacement mechanism; the pressing mechanism comprises a pressing plate and a pressing driving mechanism for driving the pressing plate to swing and press the pressing plate on the containing seat; the detection module comprises a first detection mechanism, the first detection mechanism comprises a sliding frame, a sliding shaft, a socket and a mounting seat fixedly connected with the pressing plate, the sliding frame is provided with a pair of chutes, the sliding shaft is arranged between the chutes in a sliding manner, the socket is arranged on the mounting seat in an up-and-down sliding manner, and at least one pair of test needles are inserted in the socket. Adopt the utility model discloses, can carry out automize discernment, location, automatic assembly to the screw hole of the required assembly of battery charging outfit, and carry out automatic circular telegram discernment, improve the assembly and the detection efficiency of product.
Description
Technical Field
The utility model relates to an intelligent production field especially relates to a battery charging outfit's automatic assembly detection device.
Background
In prior art, most of small household appliances, equipment such as toy and instrument all need use the screw to lock the assembly, be the indispensable important process in the manufacturing, often adopt the manual work to carry out screw assembly among the prior art, and along with the utility model of automatic screw rifle, manual operation becomes simpler, but it still relies on artifical naked eye to operate the screw on, and differ to the quantity position of the screw hole of wanting the assembly, be difficult to assemble with best efficiency through the manual work, and still need off-line in addition carry out the circular telegram detection after the assembly is accomplished to the equipment of the type that charges, its assembly and efficiency that detects have been restricted to these two processes, and the cost of production is still high.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a technical problem who solves lies in, provides a battery charging outfit's automatic assembly detection device. Can be used as a charging product.
In order to solve the technical problem, an embodiment of the utility model provides an automatic assembly detection device of charging equipment, which comprises an X-axis displacement mechanism, a Y-axis displacement mechanism, a Z-axis displacement mechanism, an image acquisition module, a screw gun module, a pressing mechanism and a detection module;
the Z-axis displacement mechanism is arranged on the X-axis displacement mechanism in a sliding mode, and the image acquisition module and the screw gun module are arranged on the Z-axis displacement mechanism;
the image acquisition module comprises a light source module, a camera module and a distance measurement sensor;
the X-axis is provided with a support plate in a sliding manner, the support plate is fixedly provided with a containing seat, and the pressing mechanism and the detection module are arranged on the support plate;
the pressing mechanism comprises a pressing plate and a pressing driving mechanism for driving the pressing plate to swing and press the pressing plate on the containing seat;
the detection module comprises a first detection mechanism, the first detection mechanism comprises a sliding frame, a sliding shaft, a socket and a mounting seat fixedly connected with the pressing plate, the sliding frame is provided with a pair of chutes, the sliding shaft is arranged between the chutes in a sliding mode, the socket is arranged on the mounting seat in a vertical sliding mode, at least one pair of test needles are inserted into the socket, the sliding frame is driven by a first driving mechanism to horizontally slide, and the sliding shaft is fixedly connected with the socket.
Furthermore, the socket is a pair of symmetrical conductive seats, each conductive seat is provided with a cutting seam, at least one pair of grooves for mounting the test pin is arranged in each cutting seam, and a wedge-shaped block is arranged between each pair of conductive seats, so that the test pin is clamped in the grooves.
Furthermore, the detection module further comprises a second detection mechanism arranged at one end of the support plate, the second detection mechanism comprises a vertically arranged fixing plate and a pair of conductive seats fixedly arranged on the fixing plate, each conductive seat is provided with a cutting seam, at least one pair of grooves for mounting the test needle is arranged in each cutting seam, a wedge block is arranged between each pair of conductive seats, so that the test needle is clamped in each groove, and the fixing plate is driven to slide by a second driving mechanism.
Furthermore, the pressing mechanism further comprises a support, a rotating seat and a connecting rod which is rotatably connected with the support, the middle part of the pressing plate is rotatably connected with the connecting rod, the end part of the pressing plate is rotatably connected with the rotating seat, the pressing driving mechanism is fixedly arranged on the support, and the output end of the pressing driving mechanism is fixedly connected with the rotating seat.
Still further, the Z-axis displacement mechanism comprises a screw pair and a motor for driving the screw pair.
Furthermore, the screw gun module comprises a side plate, a pressing cylinder and a screw gun, wherein the pressing cylinder and the screw gun are fixedly arranged on the side plate, the screw gun is provided with a fixed block, and a buffer spring is arranged between an output rod of the pressing cylinder and the fixed block.
Implement the embodiment of the utility model provides a, following beneficial effect has: the utility model discloses can carry out automize discernment, location, automatic assembly to the screw hole of the required assembly of battery charging outfit, and carry out automatic power-on discernment, can improve the assembly and the detection efficiency of product effectively, improve automated production degree, reduced manufacturing cost, satisfy actual production's demand.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a screw gun module;
FIG. 3 is a schematic structural diagram of a screw gun module;
FIG. 4 is a schematic structural diagram of a screw gun module;
FIG. 5 is a schematic structural view of a first detecting mechanism;
fig. 6 is a schematic structural view of the second detection mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.
Reference is made to the schematic structural diagram shown in fig. 1.
The utility model discloses battery charging outfit's automatic assembly detection device, including X axle displacement mechanism 1, Y axle displacement mechanism 2, Z axle displacement mechanism 3, image acquisition module 4, screw rifle module 5, hold-down mechanism 6, detection module 7.
The X-axis displacement mechanism 1, the Y-axis displacement mechanism 2, and the Z-axis displacement mechanism 3 may be implemented by selecting devices commonly used in the prior art, such as a screw pair transmission, an electric cylinder, and the like, and in this embodiment, the device is implemented by linking a motor and a synchronous belt, and the Z-axis displacement mechanism 3 is preferably implemented by a motor and a screw pair transmission.
The Z-axis displacement mechanism 3 is arranged on the X-axis displacement mechanism 1 in a sliding mode, the image acquisition module and the screw gun module are arranged on the Z-axis displacement mechanism 3, and the Z-axis displacement mechanism 3 comprises a screw rod pair 31 and a motor 32 for driving the screw rod pair.
The image capturing module 4 includes a light source module 41, a camera module 42, and a distance measuring sensor 43.
As shown in fig. 2, the screw gun module 5 includes a side plate 51, a down-pressing cylinder 52 fixedly disposed on the side plate 51, and a screw gun 53, wherein the screw gun 53 has a fixing block 54, the fixing block 54 has a sliding hole, an output rod 55 of the down-pressing cylinder 51 is slidably disposed in the sliding hole, and a limiting block 56 is fixedly disposed on the output rod, and a buffer spring 57 is disposed between the limiting block 56 and the fixing block 54, so that the down-pressing cylinder 52 can press the screw gun 53 down with buffering to perform screw assembly, and can protect a product.
Referring to fig. 1 again, a support plate 11 is slidably disposed on the X-axis displacement mechanism 1, a containing seat 12 is fixedly disposed on the support plate 11, and the pressing mechanism 6 and the detection module 7 are both disposed on the support plate; the containing seat 12 is determined according to the shape of the product, so that the product can be pressed on the containing seat 12 through the pressing mechanism 6, in this embodiment, taking the electric mosquito swatter product as an example, the containing seat 12 can be used for placing the handle part.
As shown in fig. 3, the pressing mechanism 6 includes a pressing plate 61, a support 62, a rotating base 63, a connecting rod 64, and a pressing driving mechanism 65 for driving the pressing plate 61 to swing to press the product to be assembled into the containing base 12, one end of the connecting rod 64 is rotatably disposed on the support 62, the other end is rotatably connected with the middle portion of the pressing plate 61, the end portion of the pressing plate 61 is rotatably connected with the rotating base 63 through a rotating shaft 66, the pressing driving mechanism 65 is preferably an air cylinder, and is fixedly disposed on the support 62, and the output end thereof is connected with the rotating shaft 66, so that the pressing plate 61 can swing to fix and press the product into the containing base 12 by driving the pressing driving mechanism 65, so as to facilitate screw assembly.
As shown in fig. 4, the detection module 7 includes a first detection mechanism 71 and a second detection mechanism 72. The detection module 7 is used for carrying out charging test on the charging products.
As shown in fig. 5, the first detection mechanism 71 includes a carriage 711, a sliding shaft 712, a socket 713, and a mounting seat 714 fixedly connected to the pressure plate 61, the carriage 711 has a pair of inclined slots 715, the sliding shaft 712 is slidably disposed between the pair of inclined slots 715, the socket 713 is slidably disposed on the mounting seat 714 up and down, at least a pair of test pins 716 is inserted into the socket 714, the carriage 711 is driven by a first driving mechanism 717 to horizontally slide, and the sliding shaft 712 is fixedly connected to the socket 713. The first driving mechanism 717 is a cylinder.
In order to perform a charging test corresponding to plugs recycled in products of different standards, in this embodiment, two pairs of test pins corresponding to two national standard plug positions are preferably provided.
The socket 713 is a pair of symmetrical conductive seats 713A and 713B, the conductive seats are provided with cutting slits 713C, at least one pair of grooves for mounting the test pins is arranged in each cutting slit 714C, a wedge-shaped block 713D is arranged between the pair of conductive seats, the pair of conductive seats 713A and 713B on the two sides of the wedge-shaped block 713D are pressed, the test pins are clamped in the grooves, and meanwhile, the structure is also beneficial to replacing the test pins 716.
As shown in fig. 6, the second detecting mechanism 72 includes a fixing plate 721 vertically disposed, and a pair of conductive seats 722 fixedly disposed on the fixing plate, the conductive seats 722 have a slit 723, at least a pair of grooves for mounting the testing pin are disposed in the slit, a wedge 724 is disposed between or on the pair of conductive seats, so that the testing pin is clamped in the groove, the fixing plate 721 is driven by a second driving mechanism 725 to slide, and the second driving mechanism 725 is preferably an air cylinder.
Through the cooperation of the first detection mechanism 71 and the second detection mechanism 72, the turning plug which is commonly located below or at the tail end of a charging product in the market can be electrified and detected.
The embodiment of the utility model provides a still provide an automatic assembly detection device who uses above-mentioned battery charging outfit and assemble and the method that detects.
And calculating the relative distance between the screw gun, the camera module and the distance measuring sensor through machine teaching.
Taking an electric mosquito swatter as an example, taking a screw hole at the tail of the electric mosquito swatter as a starting point, continuously scanning by a camera module to obtain 3 x 8 images, and realizing splicing and fusion of the images by adopting a SUFT algorithm to obtain an integral image of the electric mosquito swatter. And processing the spliced image to obtain the primary positioning of the screw hole by using the image processing.
And performing threshold processing to extract a region with a lower threshold in the image, removing redundant gaps and redundant burrs in the region through image opening operation and image closing operation, and screening out a preliminary position of the screw hole through roundness and the pixel width and height range of the screw hole. The initial position is obtained by splicing 3 multiplied by 8 images to form an integral image, and the accurate position of the screw hole cannot be obtained due to the existence of splicing errors, so that the initial position can only be used as initial positioning. And calculating mechanical coordinates by combining the scanning starting point and the pulse pixel conversion ratio obtained by calibration.
And then carrying out accurate screw hole position identification.
And moving the camera module to the initial positioning position of each screw hole respectively to take a picture again.
And secondly, detecting the step edge by a 'Gaussian derivative' filter (using a filter mask) of Canny, and realizing sub-pixel extraction of the screw hole outline.
And thirdly, screening through the circle center degree of the contour to find out the optimal contour.
And fourthly, fitting the outlines into a circle and calculating the coordinates of the circle center.
Fifthly, eliminating the interference of other screw holes, screening out the screw hole closest to the center of the image in the image after the image is re-photographed, calculating the pixel coordinate of a single screw hole, compensating the rough positioning coordinate by using the difference value of the pixel coordinate and the image center, and respectively finishing the accurate positioning of the single screw hole, wherein the position of the screw hole is the accurate positioning.
And sixthly, converting the image coordinate and the height coordinate obtained by the distance measuring sensor into the screwdriver coordinate through the relative distance relation among the screw gun, the camera module and the distance measuring sensor obtained by machine teaching.
And (3) accurate distance measurement of screw hole positions: in order to prevent the head of the screw gun from colliding in the process of screwing the screw and to prevent the height of the screw from being as low as possible, the distance measuring sensor moves to the edge of each screw hole to measure the distance, then the distance is compared with a distance reference value of the distance measuring sensor obtained through teaching to compensate, and the distance of the screw gun which is lifted when the screw gun moves to each screw hole is determined.
Planning an optimal path:
this embodiment function is except that the automatic screw that goes up of electronic mosquito swatter, still has charge pilot lamp to detect the function concurrently, removes to charge the pilot lamp position at last screw in-process and shoots, utilizes machine vision recognition charge pilot lamp whether can normally light, realizes that the route is the shortest to be favorable to shortening the production time of single product.
In order to ensure the stability of the electric mosquito swatter in the screw feeding process, a screw hole in the middle of the electric mosquito swatter is determined as an initial point of a feeding screw, the initial point of the feeding screw is used as an end point, a charging indicator lamp is added after the feeding screw is detected, the middle screw hole of the electric mosquito swatter is returned after the detection is completed, the feeding screw of the next electric mosquito swatter is prepared, the shortest path of the traversing screw hole is calculated by utilizing a dynamic programming reverse order algorithm, and the feeding screw time is shortened. The optimal path identification steps are as follows:
A. recognizing the positions of all screw holes and the positions of the charging indicating lamps, calculating X, Y coordinates of the screw holes and the positions of the charging indicating lamps, and measuring Z coordinates of the screw holes and the positions of the charging indicating lamps by using a distance measuring sensor;
B. according to the X, Y, Z coordinates of the screw holes and the charging indicating lamps, the distance between every two screw holes of the electric mosquito swatter or the positions of the charging indicating lamps,
；
C. assuming that the measured positions of the screw holes and the charging indicator lamps are N +1 (the middle screw hole is used as a starting point and an end point), if an exhaustion method is adopted to calculate the optimal path, the calculation amount is too large, the calculation time is long, and even the calculation cannot be performed, so that the calculation is simplified by adopting a dynamic programming reverse order method to solve the problem.
Dividing the optimizing path process into N stages, recording the position xNTo xN+1The distance generated in the Nth stage of (1) is
，
The optimal path is
，x 1As a starting point, the original problem is converted into
The original problem is decomposed into a plurality of sub-problems.
For example: noting the screw hole center hole as the starting point a, assume that there are 4 locations A, B, C, D for machine vision recognition as shown.
Starting from the fourth phase, the state variable x4Three states B, C, D can be taken to obtainf 1（B->A）、f 1（C->A）、f 1（D->A）。
At the third stage, obtainf 2（B->A）、f 2（C->A）、f 2（D->A) To do so byf 2（B->A) For example, find
By the same methodf 2（C->A）、f 2（D->A）。
Second stage, obtainingf 3（B->A）、f 3（C->A）、f 3（D->A) To do so byf 3（B->A) For example, find
By the same methodf 3（C->A）、f 3（D->A）。
At the first stage, obtainf 4(A->A) To obtain
So thatf 4(A->A) The shortest path is the path of (1).
The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the invention, which is defined by the claims and their equivalents.
Claims (6)
1. An automatic assembly detection device of charging equipment is characterized by comprising an X-axis displacement mechanism, a Y-axis displacement mechanism, a Z-axis displacement mechanism, an image acquisition module, a screw gun module, a pressing mechanism and a detection module;
the Z-axis displacement mechanism is arranged on the X-axis displacement mechanism in a sliding mode, and the image acquisition module and the screw gun module are arranged on the Z-axis displacement mechanism;
the image acquisition module comprises a light source module, a camera module and a distance measurement sensor;
the X-axis displacement mechanism is provided with a supporting plate in a sliding manner, the supporting plate is fixedly provided with a containing seat, and the pressing mechanism and the detection module are arranged on the supporting plate;
the pressing mechanism comprises a pressing plate and a pressing driving mechanism for driving the pressing plate to swing and press the pressing plate on the containing seat;
the detection module comprises a first detection mechanism, the first detection mechanism comprises a sliding frame, a sliding shaft, a socket and a mounting seat fixedly connected with the pressing plate, the sliding frame is provided with a pair of chutes, the sliding shaft is arranged between the chutes in a sliding mode, the socket is arranged on the mounting seat in a vertical sliding mode, at least one pair of test needles are inserted into the socket, the sliding frame is driven by a first driving mechanism to horizontally slide, and the sliding shaft is fixedly connected with the socket.
2. The automatic assembly detection device of a charging device as claimed in claim 1, wherein the socket is a pair of symmetrical conductive seats, the conductive seats are provided with a slit, at least a pair of grooves for mounting the test pin are arranged in the slit, and a wedge block is arranged between the pair of conductive seats, so that the test pin is clamped in the grooves.
3. The automatic assembly detection device of a charging device according to claim 1, wherein the detection module further includes a second detection mechanism disposed at an end of the support plate, the second detection mechanism includes a vertically disposed fixing plate and a pair of conductive seats fixedly disposed on the fixing plate, the conductive seats have a slit, at least a pair of grooves for mounting the test pin are disposed in the slit, a wedge is disposed between the pair of conductive seats, so that the test pin is clamped in the groove, and the fixing plate is driven by a second driving mechanism to slide.
4. The automatic assembly detection device of the charging equipment according to claim 2 or 3, wherein the pressing mechanism further comprises a support, a rotating seat and a connecting rod rotatably connected with the support, the middle part of the pressing plate is rotatably connected with the connecting rod, the end part of the pressing plate is rotatably connected with the rotating seat, the pressing driving mechanism is fixedly arranged on the support, and the output end of the pressing driving mechanism is fixedly connected with the rotating seat.
5. The automatic assembly detection device of a charging apparatus according to claim 4, wherein the Z-axis displacement mechanism includes a screw pair and a motor that drives the screw pair.
6. The automatic assembly detection device of the charging equipment according to claim 4, wherein the screw gun module comprises a side plate, a pressing cylinder fixedly arranged on the side plate, and a screw gun, the screw gun is provided with a fixed block, and a buffer spring is arranged between an output rod of the pressing cylinder and the fixed block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922179260.0U CN212444076U (en) | 2019-12-06 | 2019-12-06 | Automatic assembly detection device of charging equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922179260.0U CN212444076U (en) | 2019-12-06 | 2019-12-06 | Automatic assembly detection device of charging equipment |
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| CN212444076U true CN212444076U (en) | 2021-02-02 |
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| CN201922179260.0U Active CN212444076U (en) | 2019-12-06 | 2019-12-06 | Automatic assembly detection device of charging equipment |
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