An automatic positioning, picking and welding device for oil sealing balls for sensors

Abstract

The invention discloses an automatic positioning, picking and welding device for an oil-sealing ball for a sensor, which relates to the field of sensor production and comprises a frame, on which an image acquisition device for acquiring images is arranged; an oil-sealing ball picking and placing device for grabbing and releasing the oil-sealing ball; a sensor fixing device for fixing a sensor having an oil-filling hole to be sealed; and a welding device for sealing the oil-sealing ball at the oil-filling hole to be sealed; after the image acquisition device acquires that the sensor to be sealed is installed in place, the oil-sealing ball picking and placing device grabs the oil-sealing ball and releases the oil-sealing ball to the oil-filling hole to be sealed, and the welding device seals the oil-sealing ball and the sensor to be sealed according to the information of the position to be sealed acquired by the image acquisition device, and the entire process does not require manual picking and placing of the oil-sealing ball and welding, thereby ensuring production speed and production quality.

Description

Technical Field

[0001] The invention relates to the field of sensor production, in particular to an automatic positioning, picking up and welding device for an oil sealing ball for a sensor. Background Art

[0002] The oil sealing ball is a sealing component, which is often used to seal useless holes in component housings and is widely used in sensors. The existing technology mainly adopts manual installation methods, in which the oil sealing ball is manually grabbed and then positioned and placed on the oil filling hole of the sensor housing, and then the oil sealing ball is fixed by welding to achieve the effect of sealing the sensor. However, the oil sealing ball is small in size and not easy to pick up and place. Even with auxiliary tools such as tweezers, the operator needs to concentrate on the operation, which can easily cause operator fatigue, resulting in reduced work efficiency and decreased positioning accuracy. Therefore, there is a need for an oil sealing ball installation device that overcomes the shortcomings of manual installation. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic positioning, picking up and welding device for an oil sealing ball for a sensor, so as to solve the problems existing in the above-mentioned prior art. The sensor to be sealed only needs to be installed on a sensor fixing device, and image confirmation is performed through an image acquisition device. The sensor is adjusted to the oil filling hole to be sealed vertically upward, and then the oil sealing ball picking and placing device places the oil sealing ball on the oil filling hole to be sealed, and finally the welding device welds the oil filling hole to be sealed. The whole process does not require manual picking and placing of the oil sealing ball and welding, and confirmation and adjustment of the sensor posture can also be completed automatically, which can ensure production speed and production quality.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an automatic positioning, picking and welding device for oil-sealing balls for sensors, comprising: a frame, on which a first image acquisition device and a second image acquisition device for acquiring images are arranged; an oil-sealing ball picking and placing device, arranged on the frame, for grabbing and releasing the oil-sealing ball; a sensor fixing device, arranged on the frame, for fixing a sensor having an oil-filling hole to be blocked; a welding device, arranged on the frame, for sealing the oil-sealing ball at the oil-filling hole to be blocked; wherein, after the sensor to be blocked is installed in place, the second image acquisition device acquires an image of the sensor to determine the orientation of the oil-filling hole to be blocked, the sensor fixing device adjusts the orientation of the oil-filling hole to be blocked to a welding position according to the determination result, the oil-sealing ball picking and placing device grabs the oil-sealing ball, the first image acquisition device confirms the acquisition of the oil-sealing ball, and after confirmation, the oil-sealing ball picking and placing device releases the oil-sealing ball to the oil-filling hole to be blocked, and the welding device seals the oil-sealing ball and the sensor to be blocked according to the information of the position to be sealed acquired by the second image acquisition device.

[0006] Preferably, the oil-sealing ball taking and placing device comprises a vacuum suction device, and the vacuum suction device comprises an air pipe and an air suction pump, wherein the first end of the air pipe is used to suck the oil-sealing ball, and the second end of the air pipe is connected to the air suction pump.

[0007] Preferably, the oil sealing ball taking and placing device further comprises a gas flow meter, the second end of the gas pipe is connected to the first end of the gas flow meter, and the second end of the gas flow meter is connected to the suction pump.

[0008] Preferably, the oil sealing ball taking and placing device further comprises a first moving mechanism, and the air suction pump is arranged on the first moving mechanism.

[0009] Preferably, the welding device comprises a welding gun.

[0010] Preferably, the welding device further comprises a second moving mechanism, and the welding gun is arranged on the second moving mechanism.

[0011] Preferably, the sensor fixing device includes a clamping jaw, an opening and closing mechanism for controlling the clamping jaw, and a swinging mechanism for adjusting the direction of the clamping jaw, the clamping jaw is arranged on the opening and closing mechanism, and the opening and closing mechanism is connected to the moving end of the swinging mechanism.

[0012] Preferably, the opening and closing mechanism includes a telescopic rod for driving the clamping jaws to open and close, the working end of the telescopic rod is hinged to the first ends of the two connecting rods, the second ends of the two connecting rods are respectively hinged to the two clamping jaws, the sliding end of the clamping jaws extends into a fixed sleeve, the driving end of the telescopic rod is connected to the output end of the first power device, the first power device is arranged in the connecting part, and the fixed sleeve is fixedly connected to the connecting part.

[0013] Preferably, the swing mechanism includes a frame, a connecting rod for connecting the connecting part is provided on the frame, the connecting rod is hinged on the frame, the first end of the connecting plate is provided on the connecting rod, the other end of the connecting plate is provided with a rotating rod, the driving block is slidably provided on the rotating rod, the first end of the rotating plate is rotatably connected to the driving block, and the second end of the rotating plate is connected to the output end of the second power device.

[0014] Preferably, the first image acquisition device is an industrial camera, and the second image acquisition device is an industrial camera.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The present invention provides an automatic positioning, picking up and welding device for oil sealing balls for sensors. The sensor to be sealed is only required to be mounted on a sensor fixing device, image confirmation is performed through an image acquisition device, the sensor is adjusted to a position where the oil sealing hole to be sealed is vertically upward, and then the oil sealing ball picking and placing device places the oil sealing ball on the oil sealing hole to be sealed, and finally a welding device welds the oil sealing hole to be sealed. The entire process does not require manual picking and placing of the oil sealing ball and welding, and confirmation and adjustment of the sensor posture can also be completed automatically, thereby ensuring production speed and production quality.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] The oil sealing ball picking and placing device in the present invention includes a vacuum suction device, which adopts vacuum suction to obtain the oil sealing ball. The negative pressure intensity can be judged according to the monitoring indicators of the gas flow meter, which makes up for the shortcoming that image acquisition cannot confirm the suction intensity. The picking and placing is reliable, and it can ensure that only one oil sealing ball is sucked at a time, and the oil sealing ball will not fall at will. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of an automatic positioning, picking up and welding device for an oil sealing ball for a sensor in an embodiment of the present invention;

[0021] Figure 2 This is a schematic structural diagram of an oil sealing ball taking and placing device according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of an opening and closing mechanism in an embodiment of the present invention;

[0023] Figure 4 This is a schematic structural diagram of a sensor fixing device according to an embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of a welding device in an embodiment of the present invention.

[0025] Among them, 1. Oil sealing ball taking and placing device; 101. Air pipe; 102. Air suction pump; 103. Gas flow meter;

[0026] 2. Sensor fixing device; 201. Clamping claw; 202. Telescopic rod; 203. Connecting rod; 204. Fixed sleeve; 205. First power device; 206. Connecting part; 207. Frame; 208. Connecting rod; 209. Connecting plate; 210. Rotating rod; 211. Driving block; 212. Rotating plate; 213. Second power device;

[0027] 3. Welding device; 301. Welding gun;

[0028] 4. A first image acquisition device;

[0029] 5. A second image acquisition device;

[0030] 6. Sensor; 601. Oil filling hole to be sealed. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide an automatic positioning, picking up and welding device for oil sealing balls for sensors to solve the problems existing in the above-mentioned prior art. The sensor to be sealed only needs to be installed on the sensor fixing device, and the image is confirmed by the image acquisition device. The sensor is adjusted to the oil sealing hole to be sealed vertically upward, and then the oil sealing ball picking and placing device places the oil sealing ball on the oil sealing hole to be sealed. Finally, the welding device welds the oil sealing hole to be sealed. This process does not require manual picking and placing of oil sealing balls and welding, and confirmation and adjustment of the sensor posture can also be completed automatically, avoiding the problem of reduced efficiency due to operator fatigue, and can ensure production speed and production quality.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, the present invention provides an automatic positioning, picking up and welding device for an oil sealing ball for a sensor, comprising:

[0035] A frame, on which a first image acquisition device 4 and a second image acquisition device 5 for acquiring images are arranged, an oil sealing ball picking and placing device 1, arranged on the frame, for grabbing and releasing the oil sealing ball, a sensor fixing device 2, arranged on the frame, for fixing a sensor 6 having an oil filling hole 601 to be sealed, and a welding device 3, arranged on the frame, for sealing the oil sealing ball at the oil filling hole 601 to be sealed. Among them, after the sensor 6 to be sealed is installed in place, the second image acquisition device 5 acquires the image of the sensor 6 to determine the direction of the oil-filled hole 601 to be sealed, and the sensor fixing device 2 adjusts the direction of the oil-filled hole 601 to be sealed to the welding position according to the judgment result, and the oil-sealing ball picking and placing device 1 grabs the oil-sealing ball, and the first image acquisition device 4 confirms the acquisition of the oil-sealing ball. After confirmation, the oil-sealing ball picking and placing device 1 releases the oil-sealing ball to the oil-filled hole 601 to be sealed, and the welding device 3 seals the oil-sealing ball and the sensor 6 to be sealed according to the information of the position to be sealed collected by the second image acquisition device 5. In the present invention, the sensor 6 is manually installed, and the sensor 6 will be adjusted during installation to make the oil-filled hole 601 to be sealed face upward, but there may be errors in manual installation, so it is necessary to fine-tune the position of the oil-filled hole 601 to be sealed so that the oil-filled hole 601 to be sealed is completely vertically upward, so the second image acquisition device 5 must first acquire the image of the installed sensor 6 , the direction of the oil-filling hole 601 to be blocked is determined by the image. If adjustment is required, the second image acquisition device 5 can generate the coordinates where the oil-filling hole 601 to be blocked should be located. The coordinate information is transmitted to the sensor fixing device 2. The sensor fixing device 2 will adjust the position of the oil-filling hole 601 to be blocked by swinging so that it is located at the set coordinates. At this time, the oil-filling hole 601 to be blocked is vertically upward, and the second image acquisition device 5 captures the image again to confirm the adjustment result. After confirmation, the coordinates of the oil-filling hole 601 to be blocked are sent to the oil-sealing ball picking and placing device 1 and the welding device 3. Subsequently, the oil-sealing ball picking and placing device 1 places the oil-sealing ball according to the predetermined coordinates, and then the second image acquisition device 5 captures the image again to confirm the adjustment of the placement of the oil-sealing ball. After confirmation, welding is performed. When obtaining the oil-sealing ball, the first image acquisition device 4 confirms the acquisition of the oil-sealing ball. Only when the oil-sealing ball picking and placing device 1 stably obtains an oil-sealing ball, the oil-sealing ball picking and placing device 1 will enter the next working state.

[0036] like Figure 1 and 2As shown, the oil-sealing ball taking and placing device 1 includes a vacuum suction device, which includes an air pipe 101 and an air suction pump 102. The first end of the air pipe 101 is used to suck the oil-sealing ball, and the second end of the air pipe 101 is connected to the air suction pump 102. In a preferred embodiment, the oil-sealing ball taking and placing device 1 also includes a gas flow meter 103, the second end of the air pipe 101 is connected to the first end of the gas flow meter 103, and the second end of the gas flow meter 103 is connected to the air suction pump 102. During suction, the metering value of the gas flow meter 103 can be used to determine whether sufficient air has been discharged from the air pipe 101 to form a suction effect, which makes up for the shortcoming that image confirmation cannot determine the suction intensity. The air pipe 101 can only suck and place one oil-sealing ball at a time, and the oil-sealing ball will not fall at will.

[0037] like Figure 1 and Figure 2 The oil-sealing ball picking and placing device 1 shown also includes a first moving mechanism, and the air pump 102 is arranged on the first moving mechanism. The first moving mechanism includes a first horizontal rail and a first vertical rail. The first horizontal rail is installed on the frame, and the first vertical rail is installed on the first horizontal rail. The air pump 102 is installed on the first vertical rail. When working, the first horizontal rail drives the first vertical rail to move to realize the lateral movement of the air pump 102, and the first vertical rail directly drives the air pump 102 to move up and down. The first horizontal rail and the first vertical rail work together to complete the movement of the air pump 102 in the plane. In a preferred embodiment, the frame equipped with the first horizontal rail can move on the first moving rail, thereby realizing the three-coordinate movement of the air pump 102. The air pump 102 can also be installed on an industrial robot.

[0038] like Figure 1 and Figure 5 As shown, the welding device 3 includes a welding gun 301, which is a resistance welding gun. The welding device 3 also includes a second moving mechanism, on which the welding gun 301 is arranged. The second moving mechanism includes a second vertical rail and a second horizontal rail. The second vertical rail is installed on the frame, and the second horizontal rail is installed on the second vertical rail. The welding gun 301 is installed on the second horizontal rail. During operation, the second vertical rail drives the second horizontal rail to move to realize the vertical movement of the welding gun 301, and the second horizontal rail directly drives the welding gun 301 to move horizontally. The second vertical rail and the second horizontal rail cooperate to complete the movement of the welding gun 301 in the plane. In a preferred embodiment, the frame equipped with the second vertical rail can move on the second moving rail, thereby realizing the three-coordinate movement of the welding gun 301. The welding gun 301 can also be installed on an industrial robot.

[0039] Figure 3 and Figure 4 As shown, the sensor fixing device 2 includes a clamping jaw 201, an opening and closing mechanism for controlling the clamping jaw 201, and a swinging mechanism for adjusting the direction of the clamping jaw 201. The clamping jaw 201 is arranged on the opening and closing mechanism, and the opening and closing mechanism is connected to the moving end of the swinging mechanism.

[0040] like Figure 3 and 4 As shown, in a preferred embodiment, the opening and closing mechanism includes a telescopic rod 202 for driving the jaws 201 to open and close, the working end of the telescopic rod 202 is hinged to the first ends of the two connecting rods 203, the second ends of the two connecting rods 203 are respectively hinged to the two jaws 201, the sliding end of the jaws 201 extends into the fixed sleeve 204, the driving end of the telescopic rod 202 is connected to the output end of the first power device 205, the first power device 205 is arranged in the connecting part 206, the fixed sleeve 204 is fixedly connected to the connecting part 206, the telescopic rod 202 extends outward to drive the two connecting rods 203 to tighten inward, and the jaws 201 are then closed inward to complete the clamping, the fixed sleeve 204 plays a role in limiting the movement direction of the jaws 201 to ensure that the jaws 201 are correctly closed, and when the telescopic rod 202 retracts, the jaws 201 open and release to complete the processing of the sensor 6, the first power device 205 can be an electric telescopic device, a pneumatic telescopic device, a hydraulic telescopic device or an electric motor.

[0041] like Figure 4 As shown, the swing mechanism includes a frame 207, on which a connecting rod 208 for connecting the connecting part 206 is arranged, and the connecting rod 208 is hinged on the frame 207. The first end of the connecting plate 209 is arranged on the connecting rod 208, and the other end of the connecting plate 209 is provided with a rotating rod 210. The driving block 211 is slidably arranged on the rotating rod 210, and the first end of the rotating plate 212 is rotatably connected to the driving block 211, and the second end of the rotating plate 212 is connected to the output end of the second power device 213. The second power device 213 drives the rotating plate 212 to rotate horizontally. The driving block 211 swings in a vertical plane driven by the rotating plate 212, and then drives the rotating rod 210 to swing, and the connecting rod 208 connected to the rotating rod 210 swings together, and finally the specific angle swing of the connecting part 206 is realized, and the adjustment of the direction of the oil filling hole is completed.

[0042] like Figure 1 As shown, the first image acquisition device 4 and the second image acquisition device 5 are industrial cameras, and the first image acquisition device 4 and the second image acquisition device 5 may also be other devices with image acquisition functions.

[0043] The present invention also includes a host computer for receiving, processing and sending instructions. The oil-sealing ball picking and placing device 1, the sensor fixing device 2, the welding device 3, the first image acquisition device 4 and the second image acquisition device 5 are all electrically connected to the host computer. The host computer can receive and process information sent by the oil-sealing ball picking and placing device 1, the sensor fixing device 2, the welding device 3, the first image acquisition device 4 and the second image acquisition device 5 and send separate control instructions to the above-mentioned devices.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A device for automatically positioning, picking up and welding oil sealing balls for sensors, characterized in that: include: A frame, wherein a first image acquisition device (4) and a second image acquisition device (5) for acquiring images are provided on the frame; The oil-sealing ball picking and placing device (1) is arranged on the frame and is used to grab and release the oil-sealing ball. The oil-sealing ball picking and placing device (1) includes a vacuum suction device, and the vacuum suction device includes an air pipe (101) and an air suction pump (102). The first end of the air pipe (101) is used to suck the oil-sealing ball, and the second end of the air pipe (101) is connected to the air suction pump (102). The oil-sealing ball picking and placing device (1) also includes a gas flow meter (103). The second end of the air pipe (101) is connected to the first end of the gas flow meter (103), and the second end of the gas flow meter (103) is connected to the air suction pump (102). When obtaining the oil-sealing ball, the first image acquisition device (4) confirms the acquisition of the oil-sealing ball. Only when the oil-sealing ball picking and placing device (1) stably obtains an oil-sealing ball, the oil-sealing ball picking and placing device (1) will enter the next working state. A sensor fixing device (2), arranged on the frame, for fixing a sensor (6) having an oil filling hole (601) to be blocked; A welding device (3), arranged on the frame, for sealing the oil sealing ball at the oil filling hole (601) to be blocked; wherein, after the sensor (6) to be sealed is installed in place, the second image acquisition device (5) acquires an image of the sensor (6) and determines the orientation of the oil-filling hole (601) to be sealed; the sensor fixing device (2) adjusts the orientation of the oil-filling hole (601) to be sealed to the welding position according to the determination result; the oil-sealing ball taking and placing device (1) grabs the oil-sealing ball; the first image acquisition device (4) confirms the acquisition of the oil-sealing ball; after confirmation, the oil-sealing ball taking and placing device (1) releases the oil-sealing ball to the oil-filling hole (601) to be sealed; and the welding device (3) seals the oil-sealing ball and the sensor (6) to be sealed according to the information of the position to be sealed acquired by the second image acquisition device (5); The sensor fixing device (2) comprises a clamping jaw (201), an opening and closing mechanism for controlling the opening and closing of the clamping jaw (201), and a swinging mechanism for adjusting the direction of the clamping jaw (201); the clamping jaw (201) is arranged on the opening and closing mechanism, and the opening and closing mechanism is connected to the moving end of the swinging mechanism; the opening and closing mechanism comprises a telescopic rod (202) for driving the clamping jaw (201) to open and close, the working end of the telescopic rod (202) is hinged to the first ends of two connecting rods (203), the second ends of the two connecting rods (203) are respectively hinged to the two clamping jaws (201), the sliding end of the clamping jaw (201) extends into the fixed sliding sleeve (204), the driving end of the telescopic rod (202) is connected to the output end of the first power device (205), the first power device (205) is arranged in the connecting portion (206), and the fixed sliding sleeve (204) is fixedly connected to the connecting portion (206); The swing mechanism includes a frame (207), a connecting rod (208) for connecting the connecting portion (206) is provided on the frame (207), the connecting rod (208) is hinged on the frame (207), a first end of a connecting plate (209) is provided on the connecting rod (208), a rotating rod (210) is provided on the other end of the connecting plate (209), a driving block (211) is slidably provided on the rotating rod (210), and a first end of a rotating plate (212) is rotatably connected to the driving block (211). The second end of the rotating plate (212) is connected to the output end of the second power device (213), and the second power device (213) drives the rotating plate (212) to rotate horizontally. Driven by the rotating plate (212), the driving block (211) swings in a vertical plane, thereby driving the rotating rod (210) to swing, and the connecting rod (208) connected to the rotating rod (210) swings together, finally achieving a specific angle of swing of the connecting portion (206), completing the adjustment of the direction of the oil filling hole (601) to be blocked.

2. The automatic positioning, picking up and welding device for oil sealing balls for sensors according to claim 1, characterized in that: The oil sealing ball taking and placing device (1) further comprises a first moving mechanism, and the air suction pump (102) is arranged on the first moving mechanism.

3. The automatic positioning, picking up and welding device for oil sealing balls for sensors according to claim 1, characterized in that: The welding device (3) comprises a welding gun (301).

4. The automatic positioning, picking up and welding device for oil sealing balls for sensors according to claim 3, characterized in that: The welding device (3) further comprises a second moving mechanism, and the welding gun (301) is arranged on the second moving mechanism.

5. The automatic positioning, picking up and welding device for oil sealing balls for sensors according to any one of claims 1 to 4, characterized in that: The first image acquisition device (4) is an industrial camera, and the second image acquisition device (5) is an industrial camera.

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