CN110523909B - 一种基于机器人视觉的自动送钉***及方法 - Google Patents
一种基于机器人视觉的自动送钉***及方法 Download PDFInfo
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- CN110523909B CN110523909B CN201910620737.6A CN201910620737A CN110523909B CN 110523909 B CN110523909 B CN 110523909B CN 201910620737 A CN201910620737 A CN 201910620737A CN 110523909 B CN110523909 B CN 110523909B
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- rivet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/16—Drives for riveting machines; Transmission means therefor
- B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
- B23P19/005—Feeding the articles from hoppers to machines or dispensers by using flowing gases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910620737.6A CN110523909B (zh) | 2019-07-10 | 2019-07-10 | 一种基于机器人视觉的自动送钉***及方法 |
US17/289,020 US11648604B2 (en) | 2019-07-10 | 2019-10-08 | Robot vision-based automatic rivet placement system and method |
PCT/CN2019/109866 WO2021003858A1 (zh) | 2019-07-10 | 2019-10-08 | 一种基于机器人视觉的自动送钉***及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910620737.6A CN110523909B (zh) | 2019-07-10 | 2019-07-10 | 一种基于机器人视觉的自动送钉***及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110523909A CN110523909A (zh) | 2019-12-03 |
CN110523909B true CN110523909B (zh) | 2021-02-05 |
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Family Applications (1)
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CN201910620737.6A Active CN110523909B (zh) | 2019-07-10 | 2019-07-10 | 一种基于机器人视觉的自动送钉***及方法 |
Country Status (3)
Country | Link |
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US (1) | US11648604B2 (zh) |
CN (1) | CN110523909B (zh) |
WO (1) | WO2021003858A1 (zh) |
Families Citing this family (27)
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CN110834186B (zh) * | 2019-12-17 | 2024-06-04 | 郑州瑞盛德机械设备有限公司 | 一种设备总装用物料集配***及其集配方法 |
CN111689218B (zh) * | 2020-06-04 | 2021-11-05 | 九江学院 | 产品放料方法、***、移动终端及存储介质 |
CN112008474A (zh) * | 2020-08-27 | 2020-12-01 | 长春理工大学 | 自动钻铆及孔位与孔形参数在线检测装置 |
CN114435951B (zh) * | 2021-02-23 | 2024-01-05 | 昆山市奥森维尔自动化设备有限公司 | 一种隔圈自动排版设备 |
CN113042675A (zh) * | 2021-03-31 | 2021-06-29 | 南京航空航天大学 | 用于自动抓钉机器人的多功能末端执行器及其使用方法 |
CN113253351A (zh) * | 2021-04-07 | 2021-08-13 | 重庆智能机器人研究院 | 一种铆钉取料检测装置与铆钉取料机及检测方法 |
CN113618351B (zh) * | 2021-07-02 | 2022-10-11 | 昆山阿普顿自动化***有限公司 | 一种压装防错自动退料机构 |
CN113458313B (zh) * | 2021-07-29 | 2023-08-11 | 苏州瑞玛精密工业股份有限公司 | 一种铆钉自动识别及放铆装置 |
CN114054664A (zh) * | 2021-11-12 | 2022-02-18 | 上海先惠自动化技术股份有限公司 | 一种铆接用送钉及压钉机构及铆接*** |
CN113953438A (zh) * | 2021-11-15 | 2022-01-21 | 东莞理工学院 | 锁环自动铆接设备 |
CN114029657A (zh) * | 2021-11-23 | 2022-02-11 | 广州丰桥智能装备有限公司 | 一种基于3d视觉引导的柔性上件*** |
CN114193142A (zh) * | 2021-12-03 | 2022-03-18 | 苏州浪潮智能科技有限公司 | 一种服务器线缆、螺丝组装用抓取装置和方法 |
CN114102188B (zh) * | 2021-12-21 | 2023-04-07 | 浙江西子势必锐航空工业有限公司 | 一种航空构件的加工夹具及其加工工艺 |
CN114210757A (zh) * | 2021-12-23 | 2022-03-22 | 东风汽车紧固件有限公司 | 一种冷挤压机自动送料装置 |
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CN114425689B (zh) * | 2022-01-21 | 2023-12-29 | 苏州宏瑞达新能源装备有限公司 | 一种接线盒盖组装设备 |
CN115415787A (zh) * | 2022-04-14 | 2022-12-02 | 湖南航智科技有限公司 | 一种防爆型自动装配专机*** |
CN114850511B (zh) * | 2022-05-07 | 2024-06-18 | 四川竞本科技有限公司 | 一种基于机械手流转作业的工件车削设备 |
CN117340920A (zh) * | 2022-06-27 | 2024-01-05 | 宝山钢铁股份有限公司 | 一种用于混铁车加盖机器人的末端执行器及其加盖方法 |
CN115139240A (zh) * | 2022-06-29 | 2022-10-04 | 和信精密科技(吴江)有限公司 | 一种快速定位*** |
CN115139074B (zh) * | 2022-07-07 | 2023-11-03 | 华南理工大学 | 一种手机锂电池柔性极耳-塑壳的机械臂装配***及方法 |
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CN115229803B (zh) * | 2022-09-19 | 2023-02-28 | 国网浙江宁波市鄞州区供电有限公司 | 基于视觉识别的集成化机械臂末端执行件及其操控方法 |
CN116604329B (zh) * | 2023-04-27 | 2024-06-11 | 浙江奇碟汽车零部件有限公司 | 一种双片离合器总成的自动组装*** |
CN116833360B (zh) * | 2023-07-20 | 2024-05-24 | 无锡超捷汽车连接技术有限公司 | 一种车用固定支承套连续式旋铆装置 |
CN117484177B (zh) * | 2023-12-29 | 2024-04-09 | 歌尔股份有限公司 | 一种组装设备、及其控制方法 |
CN118073167B (zh) * | 2024-04-19 | 2024-07-05 | 南京原磊纳米材料有限公司 | 一种多片式防饶度自动取放腔机构 |
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US5727300A (en) * | 1995-02-07 | 1998-03-17 | The Boeing Company | Fastener verification system |
JP2006507129A (ja) * | 2002-11-21 | 2006-03-02 | ニューフレイ リミテッド ライアビリティ カンパニー | モジュラー・リベット工具 |
DE102005006795A1 (de) * | 2005-02-14 | 2006-08-24 | Newfrey Llc, Newark | Verfahren und Vorrichtung zum Zuführen von Verbindungselementen zu einem Verarbeitungsgerät |
JP5447483B2 (ja) * | 2011-10-04 | 2014-03-19 | 株式会社安川電機 | ロボットシステムおよび被加工物の製造方法 |
CN103112062B (zh) * | 2013-03-14 | 2014-12-24 | 昆山恒基制刷机械有限公司 | 一种打钉机的空气送料*** |
CN103743350A (zh) * | 2013-12-30 | 2014-04-23 | 江苏保力自动化科技有限公司 | 一种坯饼直径和厚度检测的平行投影方法及装置 |
CN104708322B (zh) * | 2015-02-15 | 2017-03-29 | 南京航空航天大学 | 一种多功能钻铆执行器及其工作方法 |
CN105197584B (zh) * | 2015-07-10 | 2017-04-12 | 上海微松工业自动化有限公司 | 一种使用机器人的自动上料设备 |
DE102016108875A1 (de) * | 2016-05-13 | 2017-11-16 | Broetje-Automation Gmbh | Verfahren zum Befüllen einer Nietkassette mit Nietelementen |
CN106044120B (zh) * | 2016-06-21 | 2018-08-24 | 南京航空航天大学 | 一种自动钻铆***的送钉机构 |
CN106680287B (zh) * | 2016-12-28 | 2020-07-03 | 无锡浩远视觉科技有限公司 | 一种轴承铆钉台阶缺陷的视觉检测方法 |
DE102017101705A1 (de) * | 2017-01-30 | 2018-08-02 | Newfrey Llc | Fügevorrichtung, Beladestation, Zuführanordnung und Verfahren zum Beladen eines Magazins |
CN107138669B (zh) * | 2017-03-07 | 2018-11-27 | 芜湖仅一机械有限公司 | 一种方向盘压铸件自动铆压机的取料铆接机械臂 |
DE102017114972A1 (de) * | 2017-04-03 | 2018-10-04 | Broetje-Automation Gmbh | Verfahren zum Versorgen einer Nietmaschine mit Nietelementen |
DE102017114971A1 (de) * | 2017-05-12 | 2018-11-15 | Broetje-Automation Gmbh | Nietelementversorgungseinheit |
CN109290506B (zh) * | 2018-08-13 | 2019-07-09 | 南京航空航天大学 | 一种基于机器人的自动送钉***及其工作方法 |
CN208731985U (zh) * | 2018-09-14 | 2019-04-12 | 江苏德诺蒙玛机电科技有限公司 | 一种吹钉装置 |
CN109225915B (zh) * | 2018-11-02 | 2019-10-11 | 西南交通大学 | 一种铆钉质量评级和自动分拣***及方法 |
CN110142372B (zh) * | 2019-06-14 | 2024-04-16 | 眉山中车紧固件科技有限公司 | 铆接机器人*** |
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2019
- 2019-07-10 CN CN201910620737.6A patent/CN110523909B/zh active Active
- 2019-10-08 WO PCT/CN2019/109866 patent/WO2021003858A1/zh active Application Filing
- 2019-10-08 US US17/289,020 patent/US11648604B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US11648604B2 (en) | 2023-05-16 |
CN110523909A (zh) | 2019-12-03 |
US20210346939A1 (en) | 2021-11-11 |
WO2021003858A1 (zh) | 2021-01-14 |
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Inventor after: Tian Wei Inventor after: Liao Wenhe Inventor after: Zheng Yi Inventor after: Zhuang Zhiwei Inventor after: Zhang Lin Inventor after: Li Bo Inventor after: Hu Junshan Inventor before: Tian Wei Inventor before: Zheng Yi Inventor before: Zhuang Zhiwei Inventor before: Liao Wenhe Inventor before: Zhang Lin Inventor before: Li Bo Inventor before: Hu Junshan |