WO2021008125A1 - 一种基于视觉识别的全自动法兰打标机 - Google Patents

一种基于视觉识别的全自动法兰打标机 Download PDF

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Publication number
WO2021008125A1
WO2021008125A1 PCT/CN2020/072340 CN2020072340W WO2021008125A1 WO 2021008125 A1 WO2021008125 A1 WO 2021008125A1 CN 2020072340 W CN2020072340 W CN 2020072340W WO 2021008125 A1 WO2021008125 A1 WO 2021008125A1
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WO
WIPO (PCT)
Prior art keywords
flange
marking
pneumatic chuck
visual recognition
fixed
Prior art date
Application number
PCT/CN2020/072340
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English (en)
French (fr)
Inventor
蒋小伟
陆姜全
张锐
李政委
王成龙
王传生
李占
何家健
梁树林
冯骥
李林
Original Assignee
中国船舶重工集团公司第七一六研究所
江苏杰瑞科技集团有限责任公司
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Application filed by 中国船舶重工集团公司第七一六研究所, 江苏杰瑞科技集团有限责任公司 filed Critical 中国船舶重工集团公司第七一六研究所
Priority to EP20840818.7A priority Critical patent/EP3970981B1/en
Publication of WO2021008125A1 publication Critical patent/WO2021008125A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/009—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings using a computer control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/22—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of impact or pressure on a printing material or impression-transfer material
    • B41J2/225—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of impact or pressure on a printing material or impression-transfer material ballistic, e.g. using solid balls or pellets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
    • B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
    • B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions
    • B41J3/445—Printers integrated in other types of apparatus, e.g. printers integrated in cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/04—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings wherein non-plane surfaces are worked
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/06—Accessories, e.g. tool or work holders
    • B44B3/063—Tool holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/06—Accessories, e.g. tool or work holders
    • B44B3/065—Work holders

Definitions

  • the invention belongs to the field of flange automatic processing, in particular to a fully automatic flange marking machine based on visual recognition.
  • the main manifestations are: 1. The flange is manually loaded and unloaded and the chuck is manually controlled. Step up and loosen; 2. Manually identify the original marking position of the flange and manually specify the new marking position. It is common that the new marking overlaps the original marking and cannot be effectively identified; 3. The new marking content does not have a verification process and exists Wrong marking; 4. The marking process produces a lot of noise, and there is no corresponding sound insulation measures; 5. It is a semi-automatic equipment and cannot realize fully automatic marking;
  • the purpose of the present invention is to provide an automatic flange marking machine based on visual recognition to improve the automation level of flange marking.
  • An automatic flange marking machine based on visual recognition including pneumatic chuck, rotating mechanism, linear pushing mechanism, visual recognition system, marking actuator, zero return limit mechanism, worktable and controller;
  • the visual recognition system, the marking actuator, and the linear pushing mechanism are all fixed on the workbench; the pneumatic chuck is connected to the rotating mechanism for fixing the flange; the pneumatic chuck is provided with a first detection unit, Used to detect whether the flange is installed on the pneumatic chuck; when the first detection unit detects that the chuck is installed with a flange, the pneumatic chuck automatically clamps and fixes the flange; the rotating mechanism is connected with the linear pushing mechanism, The flange on the rotary pneumatic chuck; the linear pushing mechanism reciprocates linearly, and is used to push the flange to the marking position and pushing out the marking position; when the linear pushing mechanism enters the marking position, the visual recognition system The flange is detected and the original marking position on the flange is identified, the rotating mechanism rotates so that the marking actuator avoids the original marking position, the marking actuator is used to print a new marking on the flange; the linear push The mechanism is provided with a zero return limit mechanism, which is used to limit the chuck after the pneu
  • the present invention has significant advantages:
  • the full-automatic flange marking machine of the present invention has the advantages of feeding, rotating, marking, and automatically identifying the marking position, so as to realize the fully automatic marking of the entire flange.
  • the pneumatic chuck can meet the clamping and fixing of flanges of different sizes; at the same time, it is equipped with a swing rod to ensure the consistency of the movement of the three double-rod cylinders, thereby ensuring the method Alignment accuracy between flange center and pneumatic chuck center after the flange is clamped on the pneumatic chuck.
  • the present invention recognizes the position of the original mark through the visual recognition system, the rotation mechanism rotates to complete the transformation of the new marking position, and the marking position of different flanges can be adjusted in combination with the marking actuator; after the marking is completed , The rotating mechanism is automatically reset, and the mechanical limit is realized through the zero return limit mechanism.
  • Fig. 1 is a schematic diagram of the three-dimensional structure of the automatic marking machine based on visual recognition of the present invention.
  • Figure 2 is a schematic diagram of the three-dimensional structure of the pneumatic chuck and the rotating mechanism.
  • Figure 3 is a schematic diagram of the three-dimensional structure of the back of the pneumatic chuck without flange.
  • Figure 4 is a schematic diagram of the three-dimensional structure of the marking actuator.
  • Figure 5 is a schematic diagram of the three-dimensional mechanism of the visual recognition system.
  • Figure 6 is a schematic diagram of the three-dimensional structure of an automatic marking machine with a soundproof room.
  • Figure 7 is a schematic diagram of the three-dimensional structure of the soundproof cover.
  • Figure 8 is a schematic diagram of the three-dimensional structure on the back of the workbench.
  • Figure 9 is a schematic diagram of the three-dimensional structure of the pneumatic chuck with flange and the optional rotating mechanism
  • the present invention is a fully automatic flange marking machine based on visual recognition, including pneumatic chuck 1, rotating mechanism 45, linear pushing mechanism 2, visual recognition system 5, marking actuator 6, zero return limit Position mechanism, workbench 7 and controller 8;
  • the visual recognition system 5, the marking actuator 6, and the linear pushing mechanism 2 are all fixed on the worktable 7;
  • the pneumatic chuck 1 is connected to the rotating mechanism 45 and is used to fix the flange from the inner hole of the flange;
  • the pneumatic chuck 1 is provided with a first detection unit for detecting whether the flange is installed on the pneumatic chuck 1; when the first detection unit detects that the flange is installed on the chuck, the pneumatic chuck 1 automatically The flange is clamped and fixed;
  • the rotating mechanism 45 is connected to the linear pushing mechanism 2 and is used to rotate the flange on the pneumatic chuck 1 to a certain angle to avoid the original marking position;
  • the linear pushing mechanism 2 linearly reciprocates, Used to push the flange to the marking position and push out the marking position; when the linear pushing mechanism 2 enters the marking position, the visual recognition system 5 detects the flange and recognizes the original marking position on the flange, and the rotating mechanism 45 rotates At a certain angle, the marking actuator 6
  • the marking actuator 6 is used to print new markings on the flange; the linear pushing mechanism 2 is provided with a zero return limit mechanism, It is used to limit the position of the pneumatic chuck after the marking is completed after returning to zero; the linear pushing mechanism 2 and the pneumatic chuck 1 are provided with a second detection unit; the second detection unit is used for Check whether the pneumatic chuck 1 is reset to zero to control the zero return limit mechanism to automatically limit the pneumatic chuck 1; the controller 8 is used to control the pneumatic chuck 1, the rotating mechanism 45, the linear pushing mechanism 2, the visual recognition System 5. Marking actuator 6. Return to zero limit mechanism.
  • the linear pushing mechanism 2 includes a linear guide rail 49, a sliding block 3, and a driving unit; two parallel guide rails 49 are fixed on the worktable 7; the sliding block 3 cooperates with the guide rail 49, and the driving unit It is connected with the slider 3 for driving the slider 3 to reciprocate linearly along the guide rail 49.
  • the drive unit includes a drive motor 44 and a lead screw 50; the drive motor 44 is fixed at the lower end of the workbench 7; the drive motor 44 is provided with a driving pulley on the shaft; the two ends of the lead screw 50 pass The bearing seat is supported on the upper end of the workbench 7; one end of the screw 50 is provided with a driven pulley; the driving pulley and the driven pulley are driven by a belt 43; the nut of the screw 50 and the sliding Block 3 is connected.
  • the rotating mechanism includes a rotating electric machine 13, a transmission shaft 33, and a pneumatic slip ring 23; the rotating electric machine is fixed on the lower end of the workbench 7; the rotating shaft of the rotating electric machine 13 is provided with a driving pulley; The pulley is connected to the driven pulley 21 through the belt 12; the driven pulley 21 is fixedly connected to the transmission shaft 33; the upper end of the transmission shaft 33 passes through the slider 3 of the linear pushing mechanism 2 and is connected to the pneumatic chuck 1; A bearing support is provided between the transmission shaft 33 and the sliding block 3 of the linear pushing mechanism 2; a pneumatic slip ring 23 is provided at the lower end of the transmission shaft 33; a pneumatic chuck 1 is provided in the middle of the transmission shaft 33 The through hole of the air path slip ring 23 is used for the pneumatic chuck 1 to supply air stably under rotating conditions.
  • the pneumatic chuck 1 includes three double rod cylinders 18, three flange clamping blocks, three swing rods 30, and a base 46; the three double rod cylinders 18 take the drive shaft 33 of the rotating mechanism as The center is arranged at 120° on the base 46; the three flange clamping blocks are respectively connected to the three double-rod cylinders 18 for fixing the flange from the inner hole of the flange; the first detection unit is embedded in the clamp
  • the base 46 is provided with three notches 461 arranged at 120°; the transmission shaft 33 of the rotating mechanism is connected with a rotating support seat 31 through a bearing; one end of the three swing rods 30 is connected to the rotating shaft through a shaft The support base 31 is connected in rotation, and the other end is respectively connected with three double-rod cylinders 18 through a rotating shaft.
  • the three swing rods 30 can swing along the notch 461 with the reciprocating movement of the three double-rod cylinders 18 to ensure the uniformity of the movement of the clamping blocks on the flanges above the three double-rod cylinders 18, thereby ensuring that the flanges are in the pneumatic chuck 1 Alignment accuracy between flange center and pneumatic chuck 1 center after upper clamping. Due to certain differences in parts processing and air path layout, the pressure loss of the compressed air supplied to the double-rod cylinder 18 is different. Therefore, the movement consistency of the three double-rod cylinders 18 is poor, and the centering accuracy cannot be guaranteed. In order to overcome the above-mentioned problems, the movement strokes of the three double-rod cylinders are synchronized through mechanical connection. The three double-rod cylinders 18 are respectively connected with the rotating support base (31) through the swing rod 30 to achieve the same movement stroke.
  • the flange clamping block includes an upper clamping block 15 and a lower clamping block 14; the upper clamping block 15 is fixed on the lower clamping block 14; the upper clamping block 15 is used for placing and clamping A flange with a smaller inner diameter; the clamping block 14 is used to hold a flange with a larger inner diameter; the inner side of the upper clamping block 15 is provided with an arc-shaped boss 51 for positioning in a flange with a smaller inner diameter Hole; The outer side end of the clamping block 15 is a circular arc structure, used to locate the flange inner hole with a larger inner diameter, as a positioning boss for the lower clamping block 14 to locate the flange inner hole.
  • a first magnetic switch 16 is embedded on the upper clamping block 15 and a second magnetic switch 17 is embedded on the lower clamping block 14. The two magnetic switches serve as the first detection unit for detecting two clamping blocks Whether there is a flange on the upper side.
  • the zero return limit mechanism includes a single rod cylinder 11, a cylinder mounting seat 10, and a positioning pin 9; the single rod cylinder 11 is fixed on the slider 3 through the cylinder mounting seat 10; the positioning pin 9 passes through
  • the cylinder mounting base 10 is connected to the single-rod cylinder 11; the lower end of the base 46 is provided with a positioning pin hole 48; a photoelectric switch is provided between the cylinder mounting base 10 and the base 46 as a second detection unit for detecting pneumatic chucks 1 Whether to return to zero and reset.
  • the rotating mechanism 45 drives the pneumatic chuck 1 to rotate, and after the photoelectric switch detects the rotation and reset, the single rod cylinder 11 drives the positioning pin 9 to be inserted into the positioning pin hole 48 to realize the limit action of mechanical return to zero.
  • the single-rod cylinder 11 drives the positioning pin 9 to retract to achieve unlocking.
  • the visual recognition system 5 includes a bracket 42, a light source 40, and a camera 41; both the light source 40 and the camera 41 are fixed on the worktable 7 through the bracket 42; when the linear pushing mechanism 2 pushes the flange to the marking position
  • the visual recognition system 5 automatically visually recognizes the circumferential surface of the flange on the pneumatic chuck 1 to identify the position of the original mark, that is, the start position and end of the original mark The position is automatically fed back to the controller 8.
  • the controller 8 controls the rotating mechanism 45 to rotate a certain angle to avoid the original marking position, and the marking actuator 6 performs a new marking on the flange.
  • the visual recognition system 5 checks the newly marked content. The recognition is acquired by the camera 41, and the light source 40 can adjust the light environment to obtain the best acquisition environment.
  • the marking actuator 6 includes a mounting seat 54, a marking needle 37, a vertical sliding block 36, a vertical sliding rail 35, a horizontal sliding block 38, and a horizontal sliding rail 39; the marking pin 37 is connected to the vertical
  • the vertical sliding block 36 is fixed, and the vertical sliding block 36 moves vertically along the vertical sliding rail 35; the vertical sliding rail 35 is fixed to the horizontal sliding block 38, and the horizontal sliding block 38 runs horizontally along the horizontal sliding rail 39;
  • the horizontal slide rail 39 is fixed to the mounting base 54; the mounting base 54 is fixed to the workbench 7.
  • the two sliders are driven by linear stepping motors respectively; the marking machine is equipped with an operation interface, because the outer diameter and thickness of different flanges are different, in the actual application process, the horizontal sliding value of the first flange can be debugged And the up and down sliding value.
  • the debugging of the remaining flanges can obtain the offset value by comparing the size with the first flange.
  • the horizontal sliding value and the up and down sliding value can offset the corresponding value of the first flange. Input on the operation interface, and locate the coding position roughly.
  • the marking actuator 6 is provided with an air source pressure regulating device 4, which is used to adjust the pressure value of the compressed air at the entrance of the marking actuator 6, and finally realize the adjustment of the flange marking depth value.
  • the marking needle 37 is connected to the air source pressure regulating device 4 through a reversing valve.
  • the marking actuator 6 uses the impact force of compressed air and the high frequency reversal of the reversing valve to realize the marking of the marking needle 37 on the flange. ⁇ Standard action.
  • the air source pressure regulating device 4 is the main compressed air inlet of the complete equipment. After the compressed air enters the inside of the equipment through the air source pressure regulating device 4, the marking needle 37 and the three double-bar cylinders are supplied with air respectively through the air pipe branch joint. .
  • the entire marking machine is also provided with a soundproof cover to reduce the noise during marking;
  • the soundproof cover includes an automatic sliding door 24, a frame 25 with closed upper ends and an open upper end; the frame 25 is fixed on the worktable 7, and the automatic The sliding door 24 is provided at the upper end of the frame 25.
  • the automatic sliding door (24) is automatically closed. At this time, the flange is marked in a closed space.
  • the automatic sliding door (24) automatically open.
  • the automatic sliding door 24 realizes automatic opening and closing through the air cylinder (29) driving the connecting rod mechanism 27.
  • the air cylinder (29) fixes the frame 25.
  • the connecting rod mechanism 27 is connected to the automatic sliding door 24.
  • the automatic sliding door 24 can slide relative to the frame 25.
  • the automatic sliding door 24 is pulled by the air cylinder 29 to move back and forth to realize the opening and closing of the automatic sliding door 24.
  • the working process of the automatic flange marking machine of the present invention is as follows:
  • the automatic sliding door 24 automatically opens.
  • the first magnetic switch 16 or the second magnetic switch 17 detects the presence of the flange 47, it means that the flange 47 is loaded and the automatic sliding door 24 automatically Close and start marking operation;
  • the three double-rod cylinders 18 of the pneumatic chuck 1 move outwards synchronously, and the clamping action of the flange 47 is realized by the synchronous movement of the three flange clamping blocks;
  • the linear pushing mechanism 2 is sliding
  • the block 3 drives the pneumatic chuck 1 with flange 47 and the rotating mechanism 45 into the working area of the marking actuator 6 and the visual recognition system 5;
  • the pneumatic chuck 1 drives the flange 47 to rotate automatically, and cooperates with the visual recognition system 5.
  • the start and end positions of the original mark 55 of the blue 47 are fed back to the controller 8; the controller 8 controls the pneumatic chuck 1 to automatically avoid the circumferential area of the original mark 55 and automatically rotate to the new starting position of marking , Control the marking needle 37 of the marking actuator 6 to automatically run to the starting position of marking; the pneumatic chuck 1 automatically rotates and cooperates with the marking actuator 6 to perform the marking action synchronously, and gradually realize all new markings on the flange 47 After the marking is completed, the controller 8 controls the marking needle 37 to automatically return to the zero position; the linear pushing mechanism 2 drives the pneumatic chuck 1 with flange 47 and the rotating mechanism 45 to leave the marking actuator through the slider 3 6 and the working area of the visual recognition system 5 and automatically return to the initial position; the pneumatic chuck 1 automatically returns to the zero position, and the positioning pin 9 is automatically inserted into the positioning pin hole (48) to realize the limit action of the mechanical return to the zero position; the pneumatic chuck The three double-rod cylinders 18 of 1 move inward synchronously

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Abstract

一种基于视觉识别的全自动法兰打标机，包括设有第一检测单元的气动卡盘（1）、与气动卡盘相连的旋转机构（45）、与旋转机构相连的直线推送机构（2）、视觉识别系统（5）、打标执行器（6）、回零限位机构、工作台（7）和控制器（8）；视觉识别系统、打标执行器、直线推送机构均固定在工作台上；旋转机构将气动卡盘上的法兰旋转；直线推送机构将法兰推送至打标位置和推出打标位置；打标执行器用于对法兰进行新标识的打印；直线推送机构上设有对气动卡盘进行限位的回零限位机构；直线推送机构与气动卡盘之间设有第二检测单元，用于检测气动卡盘是否回零复位。这种打标机可提高法兰打标的自动化水平。

Description

一种基于视觉识别的全自动法兰打标机 技术领域
本发明属于法兰自动加工领域，特别是一种基于视觉识别的全自动法兰打标机。
背景技术
在船舶、化工、风电等管法兰加工领域，法兰圆周表面打标的生产效率低下和标识质量不高，主要表现在：1、法兰由人工上料、下料并手动控制卡盘的加紧、松开；2、人工识别法兰原有标识位置且人工指定新的打标位置，普遍存在新标识与原有标识重叠导致无法有效辨识；3、新打标内容没有校核过程，存在打错现象；4、打标过程产生的噪音很大，没有相应的隔音措施；5、属于半自动设备，无法实现全自动打标；
发明内容
本发明的目的在于提供一种基于视觉识别的全自动法兰打标机，以提高法兰打标的自动化水平。
实现本发明目的的技术解决方案为：
一种基于视觉识别的全自动法兰打标机，包括气动卡盘、旋转机构、直线推送机构、视觉识别系统、打标执行器、回零限位机构、工作台和控制器；
所述视觉识别系统、打标执行器、直线推送机构均固定在工作台上；所述气动卡盘与旋转机构相连，用于固定法兰；所述气动卡盘上设有第一检测单元，用于检测法兰是否安装在气动卡盘上；当第一检测单元检测卡盘上安装有法兰时，气动卡盘自动将法兰夹持固定；所述旋转机构与直线推送机构相连，用于旋转气动卡盘上的法兰；所述直线推送机构直线往复运动，用于将法兰推送至打标位置和推出打标位置；当直线推送机构进入打标位置时，所述视觉识别系统检测到法兰并识别法兰上原有标识位置，旋转机构旋转，使打标执行器避开原有标识位置，所述打标执行器用于对法兰进行新的标识的打印；所述直线推送机构上设有回零限位机构，用于打标完成后，气动卡盘回零复位后对卡盘进行限位；所述直线推送机构与气动卡盘之间设有第二检测单元；所述第二检测单元用于检测气动卡盘是否回零复位，以控制回零限位机构自动将气动卡盘限位；所述控制器用于控制气动卡盘、旋转机构、直线推送机构、视觉识别系统、打标执行器、回零限位机构的工作。
本发明与现有技术相比，其显著优点是：
(1)本发明的全自动法兰打标机，上料送料、旋转、打标、自动识别打标位置，实现了整个法兰的全自动打标。
(2)本发明的全自动法兰打标机，气动卡盘可满足不同尺寸的法兰的夹持固定；同时设有摆杆，可保证三个双杆气缸的运动一致性，进而确保法兰在气动卡盘上夹紧后法兰中心与气动卡盘中心的对中精度。
(3)本发明通过视觉识别系统识别原有标识的位置，旋转机构旋转，完成新的打标位置的变换，结合打标执行器可调整不同法兰的打标位置的调整；打标完成后，旋转机构自动复位，并通过回零限位机构实现机械限位。
附图说明
图1为本发明基于视觉识别的全自动打标机三维结构示意图。
图2为气动卡盘和旋转机构三维结构示意图。
图3为不带法兰的气动卡盘背面三维结构示意图。
图4为打标执行器三维结构示意图。
图5为视觉识别系统三维机构示意图。
图6为带隔音房的全自动打标机三维结构示意图。
图7为隔音罩三维结构示意图。
图8为工作台背面三维结构示意图。
图9为带法兰的气动卡盘和选旋转机构三维结构示意图；
具体实施方式
下面结合附图及具体实施例对本发明做进一步的介绍。
结合图1，本发明的一种基于视觉识别的全自动法兰打标机，包括气动卡盘1、旋转机构45、直线推送机构2、视觉识别系统5、打标执行器6、回零限位机构、工作台7和控制器8；
所述视觉识别系统5、打标执行器6、直线推送机构2均固定在工作台7上；所述气动卡盘1与旋转机构45相连，用于从法兰的内孔将法兰固定；所述气动卡盘1上设有第一检测单元，用于检测法兰是否安装在气动卡盘1上；当第一检测单元检测卡盘上安装有法兰时，气动卡盘1自动将法兰夹持固定；所述旋转机构45与直线推送机构2相连，用于将气动卡盘1上的法兰旋转一定角度，以避开原有标识位置；所述直线推送机构2直线往复运动，用于将法兰推送至打标位置和推出打标位置；当直线推送机构2 进入打标位置时，所述视觉识别系统5检测到法兰并识别法兰上原有标识位置，旋转机构45旋转一定角度，使得打标执行器6避开原有标识位置，所述打标执行器6用于对法兰进行新的标识的打印；所述直线推送机构2上设有回零限位机构，用于打标完成后，气动卡盘1回零复位后对卡盘进行限位；所述直线推送机构2与气动卡盘1之间设有第二检测单元；所述第二检测单元用于检测气动卡盘1是否回零复位，以控制回零限位机构自动将气动卡盘1限位；所述控制器8用于控制气动卡盘1、旋转机构45、直线推送机构2、视觉识别系统5、打标执行器6、回零限位机构的工作。
进一步的，所述直线推送机构2包括直线导轨49、滑块3、驱动单元；所述工作台7上固定有两个平行的导轨49；所述滑块3与导轨49配合，所述驱动单元与滑块3相连，用于驱动滑块3沿导轨49往复直线。
进一步的，所述驱动单元包括驱动电机44、丝杠50；所述驱动电机44固定在工作台7台面下端；所述驱动电机44转轴上设有主动带轮；所述丝杠50两端通过轴承座支撑在工作台7台面上端；所述丝杠50一端设有从动带轮；所述主动带轮与从动带轮之间通过皮带43传动；所述丝杠50的丝母与滑块3相连。
进一步的，所述旋转机构包括旋转电机13、传动轴33、气路滑环23；所述旋转电机固定在工作台7台面下端；所述旋转电机13转轴上设有主动带轮；所述主动带轮通过皮带12与从动带轮21相连；所述从动带轮21与传动轴33固连；所述传动轴33上端穿过直线推送机构2的滑块3与气动卡盘1相连；所述传动轴33与直线推送机构2的滑块3之间设有轴承支撑；所述传动轴33下端设有气路滑环23；所述传动轴33中间设有气动卡盘1气路连接的通孔，气路滑环23用以气动卡盘1在旋转工况下稳定地供气。
进一步的，所述气动卡盘1包括三个双杆气缸18、三个法兰夹持块、三个摆杆30、底座46；所述三个双杆气缸18以旋转机构的传动轴33为中心呈120°布置在底座46上；所述三个法兰夹持块固分别与三个双杆气缸18相连，用于从法兰的内孔固定法兰；所述第一检测单元嵌入夹持块上；所述底座46上设有三个呈120°布置槽口461；所述旋转机构的传动轴33通过轴承连接有旋转支撑座31；所述三个摆杆30一端均通过转轴与旋转支撑座31转动连接，另一端分别通过转轴与三个双杆气缸18相连。三个摆杆30可随三个双杆气缸18的往复运行沿槽口461摆动，保证三个双杆气缸18上方的法兰上夹持块的运动一致性，进而确保法兰在气动卡盘1上夹紧后法兰中心与气动卡盘1中心的对中精度。由于零件加工、气路布局等存在一定的差异，导致供应给双杆气缸18的 压缩空气的压力损失不同，因此三个双杆气缸18的运动一致性较差，也就无法保证对中精度。为了克服上述问题，通过机械连接方式同步三个双杆气缸的运动行程。三个双杆气缸18分别通过摆杆30与旋转支撑座(31)连接，实现相同的运动行程。
进一步的，所述法兰夹持块包括上夹持块15、下夹持块14；所述上夹持块15固定在下夹持块14上；所述上夹持块15用于放置夹持内径较小的法兰；夹持块14用于放置夹持内径较大的法兰；所述上夹持块15内侧设有圆弧形凸台51，用于定位内径较小的法兰内孔；所述夹持块15外侧侧端为圆弧结构，用于定位内径较大的法兰内孔，作为下夹持块14定位法兰内孔的定位凸台。所述上夹持块15上嵌有第一磁性开关16、所述下夹持块14上嵌有第二磁性开关17，两个磁性开关作为第一检测单元，用于检测两个夹持块上是否存在法兰。
进一步的，所述回零限位机构包括单杆气缸11、气缸安装座10、定位销9；所述单杆气缸11通过气缸安装座10固定在滑块3上；所述定位销9穿过气缸安装座10与单杆气缸11相连；所述底座46下端设有定位销孔48；所述气缸安装座10与底座46之间设有光电开关作为第二检测单元，用于检测气动卡盘1是否回零复位。当打标完成，旋转机构45带动气动卡盘1旋转，光电开关检测旋转复位后，单杆气缸11带动定位销9插入定位销孔48，实现机械回零位的限位动作。当需要打标时，单杆气缸11带动定位销9收回，实现解锁。
进一步的，所述视觉识别系统5包括支架42、光源40、相机41；所述光源40和相机41均通过支架42固定在工作台7上；当直线推送机构2将法兰推送至打标位置时，旋转机构45带动法兰旋转，所述视觉识别系统5自动对气动卡盘上1的法兰圆周面进行视觉识别，以识别原有标识的位置，即原有标识的起始位置和结束位置并自动反馈给控制器8，获得原有标识位置后，控制器8控制旋转机构45旋转一定角度避开原有标识位置，打标执行器6对法兰进行新的打标。完成打标后，视觉识别系统5对新打标内容进行校核。识别采用相机41获取，光源40可调整光线环境，以获得最佳获取环境。
进一步的，所述打标执行器6包括安装座54、打标针37、竖向滑块36、竖向滑轨35、横向滑块38、横向滑轨39；所述打标针37与竖向滑块36固定，通过竖向滑块36沿竖向滑轨35垂直运动；所述竖向滑轨35与横向滑块38固定，通过横向滑块38沿横向滑轨39水平运行；所述横向滑轨39与安装座54固定；所述安装座54与工作台7固定。两个滑块分别通过直线步进电机驱动；打标机设有操作界面，因为不同法兰的外径、厚度均不同，在实际应用过程中，可调试出第一个法兰的水平滑动值和上下滑动值，其 余法兰的调试通过与第一个法兰进行尺寸比较得出偏移值，水平滑动值和上下滑动值对第一个法兰的对应值进行偏移即可，最后在操作界面上输入，打码位置粗定位即可。标执行器6设有气源调压装置4，用于调节打标执行器6入口处压缩空气的压力值，最终实现对法兰打标深度值的调节。所述打标针37通过换向阀与气源调压装置4相连，打标执行器6是利用压缩空气的冲击力和换向阀的高频换向实现打标针37对法兰的打标动作。气源调压装置4是整机设备的压缩空气总入口，压缩空气通过气源调压装置4进入设备内部后，再通过气管分路接头分别给打标针37、三个双杆气缸供气。
进一步的，整个打标机还设有降低打标过程噪音的隔音罩；所隔音罩包括自动移门24、四周封闭上端开放的框架25；所述框架25固定在工作台7上，所述自动移门24设置在框架25上端。当第一检测单元检测法兰上料完成后，自动移门(24)自动关闭，此时法兰在一个密闭的空间内进行打标，当法兰打标完成后，自动移门(24)自动打开。自动移门24通过气缸(29)驱动连杆机构27实现自动打开和关闭，气缸(29)固定框架25内，连杆机构27与自动移门24相连，自动移门24可相对框架25滑动，通过气缸29拉动自动移门24往复移动，实现自动移门24的打开和关闭。
本发明的全自动法兰打标机工作过程如下：
当控制器8接收到打标任务后，自动移门24自动打开，当第一磁性开关16或第二磁性开关17检测存在法兰47时，表示法兰47上料完成，自动移门24自动关闭，开始执行打标作业；气动卡盘1的三个双杆气缸18同步向外运动，通过三个法兰夹持块的同步运动实现法兰47的夹紧动作；直线推送机构2通过滑块3驱动带法兰47的气动卡盘1和旋转机构45进入打标执行器6和视觉识别系统5的工作区域；气动卡盘1驱动法兰47自动旋转，配合视觉识别系统5拍照识别法兰47原有标识55的起始位置和结束位置，并反馈给控制器8；控制器8控制气动卡盘1自动避开原有标识55的圆周区域，自动旋转至新的打标起始位置，控制打标执行器6的打标针37自动运行至打标起始位置；气动卡盘1自动旋转配合打标执行器6同步执行打标动作，并逐步实现所有新标识在法兰47上的打标任务；打标完成后，控制器8控制打标针37自动回零位；直线推送机构2通过滑块3驱动带法兰47的气动卡盘1和旋转机构45离开打标执行器6和视觉识别系统5的工作区域并自动返回至初始位置；气动卡盘1自动回零位，定位销9自动插入定位销孔(48)，实现机械回零位的限位动作；气动卡盘1的三个双杆气缸18同步向内运动，实现三个法兰夹持块的松开动作；自动移门24自动打开，控制器8发送打 标完成信号给上位机，上位机控制下料机构或机器人自动抓取法兰47，当第一磁性开关16或第二磁性开关17检测不存在法兰47时，表示法兰47下料完成，自动移门24自动关闭；打标任务完成，等待下一个打标任务。

Claims (10)

  1. 一种基于视觉识别的全自动法兰打标机，其特征在于，包括气动卡盘(1)、旋转机构(45)、直线推送机构(2)、视觉识别系统(5)、打标执行器(6)、回零限位机构、工作台(7)和控制器(8)；
    所述视觉识别系统(5)、打标执行器(6)、直线推送机构(2)均固定在工作台(7)上；所述气动卡盘(1)与旋转机构(45)相连，用于固定法兰；所述气动卡盘(1)上设有第一检测单元，用于检测法兰是否安装在气动卡盘(1)上；当第一检测单元检测卡盘上安装有法兰时，气动卡盘(1)自动将法兰夹持固定；所述旋转机构(45)与直线推送机构(2)相连，用于旋转气动卡盘(1)上的法兰；所述直线推送机构(2)直线往复运动，用于将法兰推送至打标位置和推出打标位置；当直线推送机构(2)进入打标位置时，所述视觉识别系统(5)检测到法兰并识别法兰上原有标识位置，旋转机构(45)旋转，使打标执行器(6)避开原有标识位置，所述打标执行器(6)用于对法兰进行新的标识的打印；所述直线推送机构(2)上设有回零限位机构，用于打标完成后，气动卡盘(1)回零复位后对卡盘进行限位；所述直线推送机构(2)与气动卡盘(1)之间设有第二检测单元；所述第二检测单元用于检测气动卡盘(1)是否回零复位，以控制回零限位机构自动将气动卡盘(1)限位；所述控制器(8)用于控制气动卡盘(1)、旋转机构(45)、直线推送机构(2)、视觉识别系统(5)、打标执行器(6)、回零限位机构的工作。
  2. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述直线推送机构(2)包括直线导轨(49)、滑块(3)、驱动单元；所述工作台(7)上固定有两个平行的导轨(49)；所述滑块(3)与导轨(3)配合，所述驱动单元与滑块(3)相连，用于驱动滑块(3)沿导轨(49)往复直线。
  3. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述驱动单元包括驱动电机(44)、丝杠(50)；所述驱动电机(44)固定在工作台(7)台面下端；所述驱动电机(44)转轴上设有主动带轮；所述丝杠(50)两端通过轴承座支撑在工作台(7)台面上端；所述丝杠(50)一端设有从动带轮；所述主动带轮与从动带轮之间通过皮带(43)传动；所述丝杠(50)的丝母与滑块(3)相连。
  4. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述旋转机构包括旋转电机(13)、传动轴(33)、气路滑环(23)；所述旋转电机固定在工作台(7)台面下端；所述旋转电机(13)转轴上设有主动带轮；所述主动带轮通过皮 带(12)与从动带轮(21)相连；所述从动带轮(21)与传动轴(33)固连；所述传动轴(33)上端穿过直线推送机构(2)与气动卡盘(1)相连；所述传动轴(33)与直线推送机构(2)之间设有轴承支撑；所述传动轴(33)下端设有气路滑环(23)；所述传动轴(33)中间设有气动卡盘(1)气路连接的通孔，气路滑环(23)用以气动卡盘(1)在旋转工况下稳定地供气。
  5. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述气动卡盘(1)包括三个双杆气缸(18)、三个法兰夹持块、三个摆杆(30)、底座(46)；所述三个双杆气缸(18)以旋转机构为中心呈120°布置在底座(46)上；所述三个法兰夹持块固分别与三个双杆气缸(18)相连，用于从法兰的内孔固定法兰；所述第一检测单元嵌入夹持块上；所述底座(46)上设有三个呈120°布置槽口(461)；所述旋转机构通过轴承连接有旋转支撑座(31)；所述三个摆杆(30)一端均通过转轴与旋转支撑座(31)转动连接，另一端分别通过转轴与三个双杆气缸(18)相连。
  6. 根据权利要求5所述的基于视觉识别的全自动法兰打标机，其特征在于，所述法兰夹持块包括上夹持块(15)、下夹持块(14)；所述上夹持块(15)固定在下夹持块(14)上；所述上夹持块(15)用于放置夹持内径较小的法兰；夹持块(14)用于放置夹持内径较大的法兰；所述上夹持块(15)内侧设有圆弧形凸台(51)；所述夹持块(15)外侧侧端为圆弧结构。
  7. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述回零限位机构包括单杆气缸(11)、气缸安装座(10)、定位销(9)；所述单杆气缸(11)通过气缸安装座(10)固定在滑块(3)上；所述定位销(9)穿过气缸安装座(10)与单杆气缸(11)相连；所述底座(46)下端设有定位销孔(48)；所述气缸安装座(10)与底座(46)之间设有第二检测单元，用于检测气动卡盘(1)是否回零复位。
  8. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述视觉识别系统(5)包括支架(42)、光源(40)、相机(41)；所述光源(40)和相机(41)均通过支架(42)固定在工作台(7)上。
  9. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，所述打标执行器(6)包括安装座(54)、打标针(37)、竖向滑块(36)、竖向滑轨(35)、横向滑块(38)、横向滑轨(39)；所述打标针(37)与竖向滑块(36)固定，通过竖向滑块(36)沿竖向滑轨(35)垂直运动；所述竖向滑轨(35)与横向滑块(38)固定， 通过横向滑块(38)沿横向滑轨(39)水平运行；所述横向滑轨(39)与安装座(54)固定；所述安装座(54)与工作台(7)固定。
  10. 根据权利要求1所述的基于视觉识别的全自动法兰打标机，其特征在于，还设有隔音罩；所隔音罩包括自动移门(24)、四周封闭上端开放的框架(25)；所述框架(25)固定在工作台(7)上，所述自动移门(24)设置在框架(25)上端。
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