CN115709899A - Visual distinguishing and sorting material penetrating method for rotating shaft parts - Google Patents
Visual distinguishing and sorting material penetrating method for rotating shaft parts Download PDFInfo
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- CN115709899A CN115709899A CN202211325529.1A CN202211325529A CN115709899A CN 115709899 A CN115709899 A CN 115709899A CN 202211325529 A CN202211325529 A CN 202211325529A CN 115709899 A CN115709899 A CN 115709899A
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Abstract
The invention discloses a visual distinguishing sorting and penetrating method for rotating shaft parts, belonging to the technical field of rotating shaft part sorting and penetrating, comprising the following steps: s1, judging whether material parts in a flexible vibration disc are enough or not through an AI camera based on mechanical vision, if not, vibrating and judging, and if so, performing the step S2; s2, the computer calculates the coordinates of the material parts meeting the conditions and provides the coordinates to a transfer mechanism, and the transfer mechanism drives the suction head to move according to the detected coordinates and angles of the material parts.
Description
Technical Field
The invention relates to the field of sorting and penetrating of rotating shaft parts, in particular to a visual distinguishing sorting and penetrating method of rotating shaft parts.
Background
The rotating shaft is a shaft which is used for bearing bending moment and torque in rotating work, and has different forms in industrial production. The rotating shaft is composed of a plurality of parts, and when the rotating shaft parts are machined, automation cannot be realized due to the problems of the direction, the angle and the like of the rotating shaft parts.
The conventional operation of sequencing the rotating shaft parts is long in time consumption, and more waiting time is generated midway, so that the production efficiency is reduced.
Disclosure of Invention
The invention aims to provide a visual sorting and penetrating method for rotating shaft parts, which aims to solve the problems that the conventional rotating shaft part sorting operation in the background art consumes a long time, and the waiting time generated in the midway is long, so that the production efficiency is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: a visual distinguishing and sorting material penetrating method for rotating shaft parts comprises the following steps:
s1, judging whether material parts in a flexible vibration disc are enough or not through an AI camera based on mechanical vision, if not, vibrating and judging, and if so, performing the step S2;
s2, calculating the coordinate of the material part meeting the condition by the computer, providing the coordinate to a transfer mechanism, driving a suction head to move by the transfer mechanism according to the detected coordinate and angle of the material part, and adjusting the initial position of the suction nozzle by arranging the suction nozzle at the bottom of the suction head;
s3, the suction nozzle grabs the material parts in the flexible vibration disc, the material parts are placed into the material disc at one time, material shafts are orderly arranged on the material disc to support the placement of the material parts, and the material shafts can limit the vertical, the left and the right and the rotation directions of the material parts;
wherein: before the material parts are placed into the material tray, the suction nozzle moves the material parts to an oil dispensing mechanism for oil dispensing;
and S3, after the material parts in the material tray are fully arranged, the material tray moves out when a full tray signal is received.
Preferably, in step S1, when judging that the material parts in the flexible vibration disk are insufficient, add the material parts to the flexible vibration disk through the material supplementing bin, wherein: and a threshold value for judging whether the material parts are enough can be set.
Preferably, in the step S3, the oil dispensing mechanism discharges oil at three or more points, with an upward range, so as to facilitate the material parts to be picked up.
Preferably, in the step S3, the suction nozzle moves the material part to the oil applying mechanism to perform the oil applying operation, so that the material part which does not need to be stained with oil can be set to skip the operation.
Preferably, the Z axle of flexible vibration dish has rotatable motor, and for the edging circle when material part hole, need appoint hole angle direction or cam class part and the same face position angle of part to distinguish, it is rotatory through the motor, correct the angle, let the upper and lower, left and right sides, the hole angle of the material part of sequencing, all accord with required appointed state.
Preferably, the flexible vibration disc vibrates for 1-3 seconds, then the AI camera takes pictures for gradual recognition, and the suction nozzles clamp the material parts with the correct positions as long as the correct positions of the material parts are recognized to exceed 2, and at the moment, the algorithm is still in calculation until all the material parts with the correct positions are marked and taken, and the vibration disc vibrates again.
Preferably, the suction nozzles are multiple, and in one stroke, a plurality of material parts are placed into the material tray at one time.
Preferably, the transfer mechanism and the suction head are single-axis robots.
Compared with the prior art, the invention has the beneficial effects that:
1) The invention is suitable for sequencing and penetrating the parts of the rotating shaft, adopts the vision and flexible vibration disc to distinguish the requirements of the parts of the materials, and arranges the required parts of the materials to the material disc (or the designated container) in order for the pre-process of the integral assembly of the rotating shaft, so that the parts can participate in the subsequent process in the form of semi-finished assemblies during the subsequent production, thereby improving the integral assembly production efficiency;
2) The invention adopts the combination of visual distinction and the single-shaft robot, can be compatible with all parts, improves the sharing property of equipment, and simultaneously improves the production efficiency because the efficiency of the single-shaft robot combination is higher than that of a four-shaft robot.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic perspective view of the body of the present invention;
FIG. 3 is a schematic view of a first structure inside the body of the present invention;
fig. 4 is a second structural diagram of the interior of the body of the present invention.
In the figure: 1. a body; 2. a human-computer interaction screen; 3. a support plate; 4. a column; 5. a transverse plate; 6. mounting a plate; 7. a material tray; 8. a material supplementing bin; 9. a vibration feeding controller; 10. a flexible vibratory pan; 11. an oil dispensing mechanism; 12. a transfer mechanism; 13. and (4) sucking the head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1-4, the present invention provides a technical solution: a visual distinguishing and sorting material penetrating method for rotating shaft parts comprises the following steps:
be provided with backup pad 3 on organism 1, install flexible vibration dish 10 in the backup pad 3, move and carry mechanism 12, charging tray 7, some oily mechanism 11, feed supplement storehouse 8, 8 electric connection in feed supplement storehouse have vibrations pay-off controller 9, the discharge gate of feed supplement storehouse 8 is provided with flexible vibration dish 10, be provided with some oily mechanism 11 between flexible vibration dish 10 and the charging tray 7, it is connected with absorption head 13 to move and carry mechanism 12, absorb head 13 bottom and install the suction nozzle, the AI camera is installed to flexible vibration dish 10 top, the AI camera is fixed on mounting panel 6, mounting panel 6 is connected with diaphragm 5, diaphragm 5 is to that on stand 4, human-computer interaction screen 2 is installed to 1 front side of organism.
S1, judging whether material parts in a flexible vibration disc 10 are enough or not through an AI camera based on mechanical vision, if not, performing vibration and judgment, and if so, performing the step S2;
s2, calculating the coordinates of the material parts meeting the conditions by the computer, providing the coordinates to the transfer mechanism 12, driving the suction head 13 to move by the transfer mechanism 12 according to the detected coordinates and angles of the material parts, and adjusting the initial position of the suction nozzle by arranging the suction nozzle at the bottom of the suction head 13;
s3, the suction nozzle grabs the material parts in the flexible vibration disc 10, the material parts are placed into the material disc 7 at one time, material shafts are orderly arranged on the material disc 7 to support the placement of the material parts, and the material shafts can limit the vertical, the left and the right and the rotation directions of the material parts;
wherein: before the material parts are placed into the material tray 7, the suction nozzle moves the material parts to the oil dispensing mechanism 11 for oil dispensing;
s3, after the material parts in the material tray 7 are fully arranged, the material tray 7 is moved out after receiving a full tray signal, the material tray 7 is fixed on the double-shoulder belt line, and the double-shoulder belt line is driven to move through a brake motor so as to move the material tray 7 in or out.
In step S1, when judging that the material parts in the flexible vibration disk 10 are not enough, add the material parts to the flexible vibration disk 10 through the material supplementing bin 8, wherein: and a threshold value for judging whether the material parts are enough can be set.
In the step S3, the oil dispensing mechanism 11 dispenses oil at three or more points, with an upward range, so as to facilitate the material parts to be picked up.
In the step S3, the suction nozzle moves the material part to the oil dispensing mechanism 11 to dispense oil, so that the material part which does not need to be stained with oil can be set to skip the operation, and the worker controls whether the operation needs to be skipped through the human-computer interaction screen 2.
The Z axle of flexible vibration dish 10 has rotatable motor, and is the edging circle when the material part hole, needs appointed hole angle direction or cam class part same face position angle to distinguish, and is rotatory through the motor, corrects the angle, lets the upper and lower, left and right sides, the hole angle of the material part of sequencing, all accords with required appointed state.
The flexible vibration disc 10 vibrates for 1-3 seconds (the flexible vibration disc 10 is set to vibrate for 2 seconds to be optimal), then the AI camera takes pictures for gradual recognition, the suction nozzles clamp the material parts with the correct positions as long as the correct positions of the material parts are recognized to exceed 2, the algorithm is still in calculation at the moment, and the flexible vibration disc 10 vibrates again until all the material parts with the correct positions are marked and are taken.
The suction nozzle is a plurality of, and every suction nozzle homoenergetic snatchs a material part, in the stroke, once only puts a plurality of material parts into pan 7 through a plurality of suction nozzles.
Move and carry mechanism 12 and absorb head 13 and be the unipolar robot, efficiency is higher than the four-axis robot, has promoted production efficiency.
Action description (exemplified with point 2 oil points): the feeding bin 8 is used for feeding materials, the flexible vibration disc 10 is used for adjusting the direction of material parts, the AI camera is used for shooting to obtain coordinates, the suction nozzle is used for sucking a first workpiece (material part) according to the coordinates, the suction nozzle is used for sucking a second workpiece (material part) according to the coordinates, the suction nozzle is used for moving the first workpiece and the second workpiece to the oil dispensing mechanism 11, then oil is dispensed, and the first workpiece and the second workpiece are placed to the axial core of the material disc 7. The oil point I and the oil point II are added point positions for oil point, and if oil point I and the oil point II are not needed to be added, the machine moves to grab the workpiece I, grab the workpiece II and place the workpiece I and the workpiece II. After the oil adding operation, the machine moves to grab the first workpiece, grab the second workpiece, point the oil, put the first workpiece and put the second workpiece, and count five point positions.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not to be construed as limiting the claims.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A visual distinguishing and sorting material penetrating method for rotating shaft parts is characterized in that: the method comprises the following steps:
s1, judging whether material parts in a flexible vibration disc (10) are enough or not by an AI camera based on mechanical vision, if not, vibrating and judging, and if so, performing the step S2;
s2, calculating the coordinate of the material part meeting the condition by a computer, and providing the coordinate to a transfer mechanism (12), wherein the transfer mechanism (12) drives a suction head (13) to move according to the detected coordinate and angle of the material part, and the bottom of the suction head (13) is provided with a suction nozzle for adjusting the initial position of the suction nozzle;
s3, the suction nozzle grabs the material parts in the flexible vibration disc (10), the material parts are placed into the material disc (7) at one time, material shafts are orderly arranged on the material disc (7) to support the placement of the material parts, and the material shafts can limit the vertical, the left and the right and the rotation directions of the material parts;
wherein: before the material parts are placed into the material tray (7), the suction nozzle moves the material parts to the oil dispensing mechanism (11) for oil dispensing;
s3, after the material parts in the material tray (7) are fully arranged, the material tray (7) is moved out after a full tray signal is received.
2. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: in the step S1, when the material parts in the flexible vibration disk (10) are judged to be insufficient, the material parts are added into the flexible vibration disk (10) through the material supplementing bin (8), wherein: and a threshold value for judging whether the material parts are enough can be set.
3. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: in the step S3, the oil dispensing mechanism (11) dispenses oil at three or more points, the range is upward, and the material parts are convenient to pick up.
4. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: in the step S3, the suction nozzle moves the material parts to the oil dispensing mechanism (11) to dispense oil, so that the operation can be skipped, and the material parts which do not need to be stained with oil can be set to skip the operation.
5. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: the Z axle of flexible vibration dish (10) has rotatable motor, and for the edging circle as the material part hole, need appoint hole angle direction or cam class part and the same face position angle and distinguish, it is rotatory through the motor, correct the angle, let the upper and lower, left and right sides, the hole angle of the material part of sequencing, all accord with required appointed state.
6. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: the flexible vibration disc (10) vibrates for 1-3 seconds, then the AI camera takes pictures for gradual recognition, the suction nozzles clamp the material parts with the correct positions as long as the correct positions of the material parts are recognized to exceed 2, the algorithm is still in calculation until all the material parts with the correct positions are marked and are taken, and the vibration disc vibrates again.
7. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: the suction nozzles are multiple, and in one-time stroke, a plurality of material parts are placed into the material tray (7) at one time.
8. The visual distinguishing and sorting material penetrating method for the rotating shaft part as claimed in claim 1, wherein the visual distinguishing and sorting material penetrating method comprises the following steps: the transfer mechanism (12) and the suction head (13) are single-shaft robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211325529.1A CN115709899A (en) | 2022-10-27 | 2022-10-27 | Visual distinguishing and sorting material penetrating method for rotating shaft parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211325529.1A CN115709899A (en) | 2022-10-27 | 2022-10-27 | Visual distinguishing and sorting material penetrating method for rotating shaft parts |
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| Publication Number | Publication Date |
|---|---|
| CN115709899A true CN115709899A (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211325529.1A Pending CN115709899A (en) | 2022-10-27 | 2022-10-27 | Visual distinguishing and sorting material penetrating method for rotating shaft parts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116713725A (en) * | 2023-05-13 | 2023-09-08 | 昆山力普电子橡胶有限公司 | Automatic rod threading machine for watch belt buckle |
-
2022
- 2022-10-27 CN CN202211325529.1A patent/CN115709899A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116713725A (en) * | 2023-05-13 | 2023-09-08 | 昆山力普电子橡胶有限公司 | Automatic rod threading machine for watch belt buckle |
| CN116713725B (en) * | 2023-05-13 | 2024-03-29 | 昆山力普电子橡胶有限公司 | Automatic rod threading machine for watch belt buckle |
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